（毕业设计论文）电磁直立循迹智能汽车的设计.doc

湖北汽车工业学院科技学院毕业论文 PAGE PAGE 1 摘要 本文详细叙述了对两轮电磁寻迹直立智能车的运动控制设计过程。随着科技技术迅猛发展和生活水平的提高，人们对于汽车的安全性、方便性要求也越来越高。智能车辆的使用可以改善道路安全状况，提高道路的利用率。对于智能汽车的传感技术和数据分析技术的研究能够有效地提高智能汽车对于复杂环境道路的通过性，从而让智能车的运用能够更加方便、快捷、安全的为我们服务。 “飞思卡尔智能车竞赛”是由教育部主办的全国大学生智能汽车竞赛，目前已经成功举办了六届。该竞赛根据传感器的不同分别设立了：光电组，电磁车组和电磁组。本文主要研究的是两轮寻迹电磁智能车。 两轮电磁寻迹直立智能车的原理是通过电磁传感器采集赛道信息，同时电子陀螺仪和加速度传感器采集直立智能车的当前车身信息，再交由单片机对路况信息进行识别、分析和信息处理，最后再交由单片机给出控制信号来控制车的双电机让小车在保证直立的状态下沿着指定路线行驶。在工作中主要用到的编程环境使比赛组委会提供的CodeWarrior。设计过程主要运用了汇编语言和单片机的相关知识以及PID控制算法。 关键词：智能车;单片机;两轮循迹直立电磁车;PID;陀螺仪;加速度传感器  Abstract This paper illustrate details of the design process of the upright two electromagnetic tracing smart cars motion control . With the rapid development of science and technology and the improvement of living standards,peoples requirements of vehicle safety, convenience become higher and higher. The use of intelligent vehicles can improve road safety conditions and the utilization of the road. To study the smart car by testing sensing technology and data analysis techniques can effectively improve its ability for passing complex environment of the road , so that the use of smart cars can be more convenient, faster and safer for our services. Freescale Smart Car Competition organized by the Ministry of Education of the National Smart car race has already hold for 6 sessions. The contest was set up according to the different sensors: photoelectric group, camera group and electromagnetic group. This paper studies the two tracing electromagnetic smart car. The principle of two electromagnetic tracing upright to intelligent vehicles is to track information collected through electromagnetic sensors, electronic gyroscopes and acceleration sensors collect current body upright smart car, then the microcontroller on the traffic information to the identification, analysis and information handling. Finally, the microcontroller gives the control signal to control the car motor car traveling along the designated route in the state to ensure vertica