精密黑线运动的小车.doc

智能小车的黑线运动 摘 要 随着电子信息技术的飞速发展，现代电子技术将会在汽车上得到越来越多的运用，本次要求设计的模拟小车，基于电子技术应用、传感器、自动控制、单片机应用、电机传动等原理实现小车准确沿黑线运动。采用黑色胶布铺设在浅色纸张中心，作为小车运动时的模拟黑线跑道在凌阳公司单片机SPCE061A的支持下，通过反射式光电传感器判断小车运动时的路面信息，经过算法处理，送出控制信号到小车电机，从而控制小车左转、右转、前进和后退，使小车能够跟踪黑线跑道，实现小车的简易智能化。同时在小车运动时，利用SPCE061A内部的中断计数功能，同步的实时显示小车运动时间。 ABSTRACT Along with the electronic information technology rapid development, the modern electronic technology will be able to obtain more and more utilization on the automobile, and this direction ultimate objective could realize the intellectualization, no driver automobile. The request of design a simulation car based on the principle of electronic technology application, sensor, automatic control, single chip computer application, electrical machinery transmission and so on theories to let the simulation car accurately follow the black line sport. Using the black adhesive plaster locates on the center of the white paper, as the car’s simulation line runway. Under the support of Lingyang single chip mirco computer SPCE061A, through the reflection type electro-optical sensor judgment the road surface information when the car begin to move, according procedure’s processing, sends out the control signal to the car electrical engineering, and controls the simulation car’s right, left, advance and the back to enable the simulation car accurately to track the runway to attain system of simple intellectualization. Meanwhile when car move, making use of the count function of the SPCE061A interior severance, synchronously display the car’s movement time. Keywords The SPCE061A single chip mirco computer，he reflection type electro-optical sensor，ime display  目 录 摘 要 I ABSTRACT II 1 绪论 1 1.1 课题背景 1 1.1.1 当前智能汽车发展背景 1 1.1.2 本次毕业设计情况 2 1.2 毕业设计要求 3 2 系统基本方案确定 4 2.1 控制模块选择 4 2.1.1 采用FPGA作为系统的控制器 4 2.1.2 MCS-51与SPCE061A的比较 4 2.2 电机位置选择 8 2.2.1 电机位置的选取 8 2.3 电机控制方案 11 2.3.1 励磁控制法 11 2.3.2 电枢电压控制法 11 2.3.3 V—M控制法 11 2.3.4 直流脉宽调制 12 2.3.5 凌阳公司的配套小车 13 2.4 路面检测模块选择 14 2.5 显示模块 15 3