可控式室内微型移动小车设计.doc

目 录 摘 要 I Abstract II 第1章 绪 论 11 1.1 可控式室内微型移动小车简介 11 1.2 可控式室内微型移动小车的分类 11 1.3 国内外研究现状及发展趋势 12 第2章 机械部分设计 13 2.1 设计任务 13 2.2 确定机械传动方案 13 2.3 直流伺服电动机的选择 14 2.4 联轴器的设计 17 2.5 蜗杆传动设计 18 2.6 轴的设计 21 2.7 滚动轴承选择计算 28 第3章 控制系统的设计 34 3.1 控制系统总体方案 34 3.2 鉴向 34 3.3 计数的扩展 35 3.4 中断的扩展 37 3.5 数摸转换器的选择 39 3.6 电机驱动芯片选择 40 3.7 运动学分析 44 3.8 控制软件的设计 45 结 论 53 参 考 文 献 54 致 谢 55 附录 56 …53 参考文献…………………………………………………………………….54 致 谢………………………………………………………………………55 附 录………………………………………………………………………56 本科学生毕业 可控式室内微型移动小车设计 系部名称： 机电工程学院 专业班级： 机械 07-9班 学生姓名： 指导教师： 职 称： 黑 龙 江 工 程 学 院 二○一一年六月 The Graduation Thesis for Bachelors Degree Controlled type indoor micro mobile car Candidate：Specialty： Mechanical Design and Manufacture Automation Class： 07-9 Supervisor：.HeiWenguang Heilongjiang Institute of Technology 2011-06·Harbin 摘 要 ABSTRACT Automatic tracing is based on autopilot trolley system, realize the automatic identification of car, and automatic evading obstacles, choosing the correct route. The ground color have bigger difference, the line for guidance seeker line using sensors and perception.The smart car is ATmaga8 MCU as its core, including motor and servo, plus photoelectric sensors, as well as other flame sensor and power circuit. MCU controls the car turning or running on the white line. RPR220 reflective photo sensor seeks the trace. Far infrared flame sensor tracks the flame. In addition, the SCM system with Sunplus for voice broadcast can remind current status. The system transmits information through DF module. The car’s status will be transmitted to the Remote Console. OCMJ4X8C LCD display and 2 keys for start control. Experiments with the ground colors used are very different from the black lines for guidance, the use of reflective infrared sensors perceive and judge the guide wire obstacles. system-driven control method used for the one-way PWM DC motor. Keywords: ATmaga8