基于STM32的智能小车设计与实现.doc

摘 要 智能车是一集环境感知、规划决策、多等级辅助驾驶等功能于一体的综合系统，它集中运用了、现代传感、信息融合及自动控制等技术，是典型的高新技术综合体Cortex- M3内核的STM32F10x系列芯片是新型的32位嵌入式微处理器，其性能优良，移植性好，提高了对直流电机的控制效率，可以对控制系统进行模块化设计，有利于智能小车的功能扩展和升级。 本论文主要分析了基于STM32F103的小车控制系统的设计过程。此系统硬件电路主要包括STM32F103控制器、直流电机驱动电路、红外距离探测电路等。在硬件设计的基础上，在STM32集成开发环境Keil MDK-ARM下编程实现智能小车运动控制及红外测距等功能。智能小车的运动形成一个基于PID算法的闭环控制模式；用红外探测电路实现对边界检测，并控制升降电机的正、反转，实现清除目标物体功能。 关键词：STM32F103；直流电机；红外测距 ABSTRACT Intelligent vehicle is a integrate system of environment perception, planning and decision-making, multi-level driver assistance and other functions in one, it focuses on using a modern microprocessor, sensor, information fusion and automatic control technology, is a typical high-tech complex. Intelligent vehicle control, its core is the main motor steering and speed control. DC motor as an electromechanical energy conversion device, its application has been throughout all areas of the national economy and peoples daily life, it is important to how to better control of DC motor. STM32F10x series chip Cortex-based on M3 core is the 32 bit embedded microprocessor model, its excellent performance, good portability, and improve the control efficiency of DC motor, can carry out the modular design of the control system of intelligent vehicle, is conducive to the expansion of functions and upgrade. This paper mainly analyzes the design process of the vehicle control system based on STM32F103. The hardware circuit of this system mainly includes STM32F103 controller, DC motor drive circuit, infrared distance detection circuit. Based on the hardware design, the STM32 integrated development environment Keil programming under MDK-ARM implementation of intelligent vehicle motion control and infrared distance function. The movement of intelligent car form a closed loop control model based on PID algorithm; the boundary detection by infrared detection circuit, positive, reverse and control lifting motor, to achieve clear target object function. KEY WORDS: STM32F103；DC motor；Infrared d