基于MC9S12DG128单片机的智能车控制系统设计与调试.docVIP

山东科技大学学士学位论文 摘要 PAGE 摘 要 智能车控制系统设计与调试是通过设计单片机的自动控制器控制模型车在封闭的跑道上自主循线运行，在保证不冲出跑道的前提下，跑完一圈的时间越小成绩越好。 我们通过对整体方案、电路、算法、调试、车辆参数的分析，硬件电路部分主要采用MC33886模块稳定、有力地驱动直流电动机和舵机，采用激光传感器实现道路检测，获取赛道信息，反馈给单片机MC9S12DG128。电机驱动采用基于MC33886全桥电机驱动芯片。软件系统部分主要包括以下与路径识别系统相关模块的算法，同时车速检测模块采用光电编码器检测模型车速度，反馈给单片机形成闭环的PID速度控制；同时采用PWM技术控制舵机得转向和电机转速。 本系统利用开发工具CodeWarrior进行编程开发，用BDM进行程序下载，利用串口传输的数据进行在线调试。这些工具的使用，使得软件的设计编程和调试工作得到了保证。 在准备比赛的过程中，我们小组成员涉猎控制、模式识别、传感技术、汽车电子、电气、计算机、机械等多个学科，这次磨练对我们的知识融合和实践动手能力的培养有极大的推动作用。 关键词：智能车;路径识别;激光传感器;PID;MC9S12DG128单片机 ABSTRACT Intelligent Vehicle control system design and debugging MCU is through the design of automatic controller model car in a closed runway independent line running through, ensuring the car is not out of the premise of the runway,finish the lap time for the less used the better results. Through the whole program,circuit,algorithm,debug,annalysis of vehicle parameters,we decided to use some of the major MC33886 hardware module that can stabilize a powerful DC motor and servo drive.And laser sensors to achieve the road test in result to get track information,and finally feedback to the microcontroller MC9S12DG128. Software systems, including some major recognition system associated with the path of the algorithm module in addition to vehicle speed detection module uses optical encoders to detect model car speed,the purpose is that you can form a closed loop of the PID speed control;while car steering control with PWM technology was streering and motor speed. CodeWarrior software development tools enable the design of programming and debugging work is guaranteed. All in all, the temper of our knowledge integration and practical ability to train great role. Keywords：Smart car; Path identtification; Laser sensors; PID; MC9S12DG128SCM 目录 1 绪论……………………………………………………………1 1.1课题的发展概况………………………………………………………1 1.2课题内容与意义………………………………………………………2 1.3文本结构………………………………………………………2 2智能车的整体设计……………………………………………4 2.1系统总体方案