智能小车控制系统的设计要点分析.docVIP

摘要 随着自动控制技术的迅速发展，自动化技术已广泛应用于国计民生的各行各业。智能汽车就是自动化技术发展的重要成果之一。本文介绍了智能小车的研究设计背景与现状及其各个工作模块的工作原理、硬件及软件设计。 本设计中的自动循迹模块采用光电传感器循迹方法，选用RPR220型红外一体式发射接收管作为光电传感器，通过三组光电传感器识别小车的运行姿态。避障模块利用超声波测距传感器，超声波发射部分的换能器选用TCT40-16T，接收部分选用TCT40-16R，在小车的左前右分别安装一组测距传感器实现避障功能。设计遥控模块对小车进行启停及加减速控制，通过光电编码实现对小车的测速功能。设计显示模块从而实时了解小车的运行状态。选用包含Ｈ桥的L298Ｎ模块，利用PWM驱动小车行驶。 关键字：循迹，避障，遥控，显示，测速，PWM驱动 ABSTRACT With the rapid development of automatic control technology, automation technology has been widely used in various industries of the national economy and the people’s livelihood. Smart car is one of the important results of the development of automation technology. This article describes the design background and current situation of the intelligent car and the working principle, hardware and software design of the car’s modules. The automatic tracking of this design uses photoelectric sensor tracking method, and we choose RPR220 as the photoelectric sensor, which integrate the infrared transmitting and receiving tubes, three sets of photoelectric sensor distinguish the car’s running posture. Obstacle avoidance module utilizes ultrasonic distance sensor. We choose TCT40-16T as the emitting portion of the ultrasonic transducer and TCT40-16R as the receiving portion. Three distance measuring sensors are respectively fixed on the front, left and right of the car to achieve the obstacle avoidance function. Design remote control to control the start，stop，acceleration and deceleration of the car, and we utilize the optical-electricity encoder to realize the car’s speed measuring function. Design the display module to know the real-time of the car. Choose the L298N module which contains the H-bridge and utilize the PWM to drive the intelligent car running. KEYWORDS:tracking, obstacle avoidance, remote control, display, speed measurement, PWM driving 目录 摘要(中文) I 摘要(外文) II 1 绪论 1 1.1 设计背景与意义 1 1.2 当前国内外的研究设计现状及成果 1 1.2.1 国外研究现状及成果 1 1.2.2 我国研究现状及成果 3 1.3 本设计的内容及结构 4 1.3.1 设计内容 4 1.3.2 本文结构 5 2 智能小车控制系统的设计原