设计论文-飞思卡尔智能小车控制系统设计大学论文.doc

本科毕业 飞思卡尔智能小车控制系统设计 指导教师 级实验师 摘 要 本文以智能小车竞赛为背景，阐述了研究本课题的意义，开发了一种高性能的智能小车车控制系统。本智能小车以飞思卡尔公司的16位单片机MC9S12XS128B为核心控制器，利用CMOS视频传感器采集路况信息，配合速度传感器、电机、舵机、电池等组成的电路进行信息处理，以达到路径识别的目的，控制模型车高速稳定地在跑道上行驶。 智能小车系统是一个时变且非线性的系统，采用传统PID算法的单一的反馈控制会使系统存在不同程度的超调和振荡现象，无法得到理想的控制效果。本文将前馈控制引入到了智能小车系统的控制中，有效地改善了系统的实时性，提高了系统的反应速度；并且根据智能小车系统的特点，对数字PID算法进行了改进，引入了比例参数自动调节的方法，改善了系统的动态特性；同时，本文将bang-bang算法与PID算法相结合，有效地提高了智能小车的适应性和鲁棒性，改善了系统的控制性能。 硬件电路部分主要包括用半桥芯片BTS7970B搭建的全桥电机驱动电路、用TPS7350和LM1117作为核心芯片的稳压电路以及用E6A2-CS3C编码器构成的测速部分。软件系统部分主要包括与路径识别系统相关模块的算法。利用开发工具CodeWarrior进行编程开发，用BDM进行程序下载，利用串口传输的数据进行在线调试。 本文基本实现了路径识别的功能，在实际的测试中，小车能够较好的完成循线行驶的任务。 关键词：The design of Freescale smart car control system Cai Jianbin (College of Engineering, South China Agricultural University, Guangzhou 510642, China) Abstract: Based on the smart car competition as a background, elaborated on the significance of this thesis, the control system is developed for intelligent car high performance. The smart car use the Freescale company’s 16 bit microcontroller MC9S12XS128B as the core controller, using CMOS video sensors to collect traffic information, with the circuit speed sensor, motor, servo motor, battery, information processing, in order to achieve the purpose of path identification, control the smart car speed and stable on the runway running. The smart car system is a system with time-varying and nonlinear, the traditional PID algorithm of single feedback control can make the system overshoot and oscillation phenomenon in different degree, could not get ideal control effect. In this paper, the feedforward control is introduced to control the smart car system, effectively improve the real-time performance of the system, improving the reaction speed of the system; and according to the characteristics of the smart car system, the digital PID algorithm is improved, the proportion parameter method is automatically adjusted, to improve the dynamic characteristics of the system; at the same time in this pape