循迹小车毕业论文.doc

摘 要 本设计是一种基于系统。, 用单片机产生PWM波控制小车速度黑色轨迹进行检测,,及时控制驱动电机以调整小车转向,从而使小车能够沿着黑色轨迹自动行驶,实现小车自动寻迹的目的。 关键词 ： 循迹小车，单片机，红外传感器 ABSTRACT The design is a simple microcontroller-based control automatically tracing the car system, and its significance covers the industry, life, exploration, and human concern lunar exploration. The design aims to design a can of independent walking in accordance with the trajectory of human default (or completely autonomous walking) and to complete the tasks assigned to the car. The design includes the functional requirements from the design of car mechanical design and control system hardware and software design. Relatively high stability of the four trusses in order to adapt to the complex terrain, before the rotation of the rear-wheel drive control mode. Control system to control the core to STC89C52 microcontroller PWM wave to control the car speed. Using infrared photoelectric sensor to detect the black track on the road and to determine the current status of the car, and then the road detection signal is fed to the microcontroller. Microcontroller to be collected signal analysis and judgment, and timely control of the drive motor to adjust the steering of the car, so that the car is traveling along the black track to achieve the purpose of the car automatically tracing. Keywords: car tracking；microcontroller；Infrared sensors 目录 1 绪 论 1 1.1 研究背景和发展现状 1 1.2 研究目的和意义 1 1.3 研究内容 2 2方案设计与论证 3 2.1 总体方案设计 3 2.2主控系统 3 2.2 电机驱动模块 4 2.3 驱动电机选择 5 2.4 循迹模块 5 2.5 机械系统 6 3 主要器件介绍 7 3.1 STC89C52的介绍 7 3.2 L298N的介绍 10 3.2.1 L298的引脚功能 10 3.2.2 L298的运行参数 11 3.2.3 L298的逻辑控制 11 3.3 TCRT5000的介绍 11 3.4 LM324的介绍 12 4 硬件设计 14 4.1总体设计 14 4.2 STC89C52单片机控制电路 16 4.2.1 时钟电路 16 4.2.2 复位电路 17 4.2.3 EA/VPP（31 脚）的功能和接法 17 4.2.4 P0 口外接上拉电阻 17 4.3TCRT5000黑色轨迹识别电路 18 4.4LM324电压比较电路 19 4.5电机驱动电路 20 4.5.1驱动电路 20 4.5.2 PWM调速原理 21 5程序设计 23 5.1主程序 23 5.2TCRT5000扫描程序 25 5.3 PWM编码产生程序 26 6调试 28 6.1硬件调试 28 6.1.1电池可靠性 28 6.1.2TCRT5000探头 29 6.1.3 L298N马达驱动模块 29 6.2软件调试 29 6.2.1调试平台介绍 29