飞思卡尔智能车大奖赛（电磁组2）软件控制系统设计与开发.docxVIP

飞思卡尔智能车大奖赛（电磁组2）软件控制系统设计与开发 摘要 “飞思卡尔”杯智能车竞赛从2016即第十一届开始改名为恩智浦智能车竞赛。在规定了车模的基础上，使用恩智浦半导体公司指定的单片机作为控制主芯片，加上传感器采集模块、电源模块、电机驱动等模块，结合与之对应的控制程序，完成能自动循迹的智能车。 本课题以32位arm芯片——MK60DN512ZVLQ10为控制主芯片。利用陀螺仪与加速度计的特点，通过互补滤波，便可获得两轮直立小车偏离重心的真实角度，利用PD控制算法，控制电机来保持两轮小车的平衡；用光电编码器测得速度脉冲，经过正交解码使芯片识别小车速度，然后通过PI控制构成小车的速度闭环控制；利用电感检测位于赛道下方导线激发的磁场，通过归一化并根据电感值的变化来确定小车所处位置，加上陀螺仪的转向分量校正，利用动态PD控制算法，来实现对小车的方向控制，让小车自动循迹行驶。其中所使用到的编译软件是IAR，数据采集、分析软件VisualScope、串口猎人，以及芯片解锁软件Jlink4.36。 关键词：PD平衡控制，PI速度控制，电磁归一化，PD转向控制 FREESCALE CUP INTELLIGENT CAR COMPETITION (ELECTROMAGNETIC GROUP2) SOFTWARE CONTROL SYSTEM DESIGN AND EMPOLDER ABSTRACT Freescale Cup smart car competition renamed as NXP smart car competition from 2016 when it has held its eleventh. Specified on the basis of car models, using the NXP designated microcontroller as the main control chip, adding to sensor acquisition module, power module, motor drive and so on, you should complete an automatically tracking smart car with the procedures. 32-bit arm chip --MK60DN512ZVLQ10 is used as the main control chip in this subject. Combining with the characteristics of gyroscope and accelerometer and through the complementary filter, you can get two rounds of upright car real Angle which deviates from the center of gravity, and use PD control algorithm to control the motor to keep the car balance. By Photoelectric encoder measuring speed-pulse and then using orthogonal, you can get the car real speed, through using the PI control algorithm to achieve closed-loop control of the speed of car. By taking advantage of inductances to detect the magnetic fields which excited by circuit conductor under the track. By normalizing the value of inductance to determine the location of the car, adding the gyroscope steering component correction and using Dynamic PID control algorithm to achieve the control of direction, the smart car can achieve automatic tracking with these. The compile software is IAR, data acquisition and analysis software is VisualScope and serial