智能车控制系统的硬件设计 毕业设计.doc

摘　要 智能汽车是未来汽车发展的趋势，它体现了自动控制、人工智能、传感技术、机械技术、计算机技术等多个学科领域理论技术的交叉和综合。本文具体介绍了一种基于光电传感器的智能寻迹小车高速方案的设计和实现。智能小车系统以Freescale16 位单片机MC9S12XS128 作为系统控制处理器，采用基于光电传感器的信号采样模块获取赛道黑线信息，通过PID控制策略和PWM控制技术对智能小车的转向和速度进行控制。使小车能够自主识别黑色引导线并根据黑色引导线实现快速稳定的寻线行驶。论文分析了智能小车系统的所存在的机械和控制算法上的不足，发现查表控制方式的线性度不足，改为PD控制后，使控制方式更加线性。并且详细介绍了智能车控制系统的软硬件设计，PID控制方法的原理。包括传感器模块、驱动电机模块、转向舵机模块等，并对控制算法设计进行了调试改进。最后，介绍了智能车的整体调试、测试。结果表明，对舵机采取PD控制，对速度采取PID控制要远比采用类似查表得控制算法更为有效，速度更快。平均速度从一开始的1m/s左右提升到了1.69m/s左右。 关键词：智能车系统, MC9S12XS128，光电传感器，PID。 Abstract Smart cars are the future trends in vehicle development, It embodies the automatic control, artificial Intelligence, sensing technology, mechanical technology, computer technology and other technical disciplines theory and integrated cross. Intelligent Vehicle Systems to Freescale16 bit microcontroller MC9S12XS128 as the system control processor, Photoelectric sensor signals based on the sampling module to obtain the black line the track information. By PID control strategy and intelligent PWM control technology on the car's steering and speed control.This paper analyzes the existence of intelligent car systems and control algorithms on the mechanical deficiencies found linearity look-up table control mode insufficient to PD control, the control mode to a more linear. And details of the intelligent vehicle control system hardware and software design, PID control principle. Including the sensor module, the module drive motor, steering servo module, and the control algorithm to improve the design of debugging. Finally, the introduction of the smart car's overall debugging, testing. The results show that, on the steering gear to PD control, PID control on the speed to take a similar look-up table may be far more effective control algorithm, faster. Keywords: Intelligent Vehicle Systems, MC9S12XS128，Photoelectric sensor, PID 目　录 摘　要 I Abstract II 目　录 III 第一章 绪 论 1 1.1课题背景 1 1.1.1 智能车的现状及发展 1 1.1.2 智能车竞赛的背景及发展 2 1.1.3 智能控制概述 2 1.2文献综述 3 1.3 智能车开发工具介绍 3 1.3.1 USB 接口