用于工程训练的多功能智能小车设计毕业设计.doc

PAGE 3 第一章　各部件的工作原理 目录 摘要 自主反应式智能系统是一种应用广泛的控制系统。对电路的分析和验证工作依靠智能化来完成，效率高。因此它的研究与开发是一项非常有意义的工作。 本小车以MSP430超低功耗单片机为核心，在SHARK二型小车的基础上研究小车避障寻迹的设计和实现方法，完成障碍检测、避障、寻迹功能。充分运用了430单片机的功能。本论文介绍了智能小车的机械结构及相应的硬件电路和实现算法。在机械结构上，对普通的小车作了改进，即用一个万用轮来代替两个前轮，使小车的转向更加灵敏。利用反射式红外传感器来寻迹、红外一体化接收头来检测障碍物的位置，通过改变单片机产生的PWM方波的占空比，使其能在设计范围内可实现任意角度黑线和任意角度移动，还可以实现避障的功能。在算法上，利用矢量分解法、PID算法等对小车的运行进行控制并能有效的改善其运行轨迹。 关键字：MSP430　　寻迹　避障　　PWM Abstract Independence’s responding type intelligence system is a kind of applied extensive control system. Analyzing electric circuit and verifying a work depends on the intelligence to complete, its efficiency is high. So its research and development is a very meaningful works. With the core of 430microcomputer and at the foundation of SHARK, the No.3 small car can complete an obstacle examination, avoiding stumbling block and looking for vestige function, making full use of 430microcomputer. This thesis introduced machine structure, homologous hardware electric circuit and the calculate way of the intelligence small car .Making improvement to the common car on the machine structure, we use a perfect wheel to make the car turning more easily. And we use some sensors to look for vestige and avoid stumbling block. By change the empty ratio of PWM, the car can arbitrarily move with any angle of the black line within the scope of the design. On the calculate way, we use vector decomposition method、PID to control the car and improve its track. Key word: MSP430 looking for vestige avoiding stumbling block PWM PID 目录 TOC \o 1-2 \h \z \u HYPERLINK \l _Toc169663131 第一章　　　绪论 HYPERLINK \l _Toc169663132 第二章 各部件的工作原理 PAGEREF _Toc169663132 \h 4 HYPERLINK \l _Toc169663133 2.1 前轮（导向轮） PAGEREF _Toc169663133 \h 4 HYPERLINK \l _Toc169663134 2.2　后轮 PAGEREF _Toc169663134 \h 5 HYPERLINK \l _Toc169663135 2.3　电机 PAGEREF _Toc169663135 \h 1 HYPERLINK \l _Toc169663136 2.4　反射式红外传感器 PAGEREF _Toc169663136 \h 2 HYPERLINK \l _Toc169663137 2.5　红外一体化接收头 PAGEREF _To