基于飞思卡尔单片机的智能车的设计.doc

毕业论 文 基于飞思卡尔单片机的智能车设计 系 别 自动化工程系 专 业 测控技术与仪器 班 级 姓 名 指导教师 马淑华 20年月日基于飞思卡尔单片机的智能车设计摘要本论文以第届全国大学生飞思卡尔杯智能车为基础，围绕飞思卡尔单片机MC9S12DG128B，通过一个CMOS摄像头检测模型车的运动位置和运动方向，用光电传感器检测模型车的速度并使用PID控制算法调节驱动电机的转速和舵机的方向，完成对模型车运动速度和运动方向的闭环控制。在系统设计中，我们自行设计了硬件电路板，在总结了设计过程中的经验教训后，我们将电源设计和电机驱动设计做了很大的调整，经过反复测试对比后，在电源模块选用了更加稳定的线性电源模块TPS7350；电机驱动模块由最初组委会提供的单片MC33886发展到了由分立元件制作的可逆双极型桥式驱动H桥电路，额定工作电流可以轻易达到70以上，相对MC33886能提供的最大6A的电流来说，大大提高了电动机的工作转矩和转速。在软件设计上我们使用PID控制算法调节驱动电机的转速和舵机的方向，完成对模型车运动速度和运动方向的闭环控制。经过试验对比，实验结果表明，系统设计方案可行。 关键词：智能车，MC9S12DG128，CMOS，PIDThe Design and Research of Intelligent Vehicle Based on 16-bit MCU MC9S12DG128B Author： Tutor：Ma shuhua Abstract e will demonstrate a intelligent vehicle system based on the micro-controller unit MC9S12DG128 in this paper，through a CMOS camera movement detection model vehicles the location and movement direction, photoelectric sensor detection model with the speed of vehicles and use the PID control algorithm for adjustment drive motor speed and direction of the steering gear, model cars to complete the movement speed and direction of movement of the closed-loop control. In system design, we design a hardware circuit board, at the conclusion of the design lessons learned in the process, we will supply the design and motor drive design has done a lot of adjustment, contrast, after repeated tests, the power supply module in the selected more stable linear power supply module TPS7350; motor drive modules provided by the organizing committee from the initial development of the MC33886 single-chip discrete components produced by the reversible bipolar H-bridge driver bridge circuit, rated operating current can easily reach more than 70A, the relative with the MC33886 can provide the greatest 6A of the current term, greatly enhanced the work of the motor torque and