双轮平衡车毕业论文.docVIP

双轮平衡车毕业论文 PAGE 3 双轮平衡车毕业论文 基于MC9S12XS128的双轮平衡车控制系统设计 电气工程及其自动化 ［摘　要］本文主要介绍了双轮平衡车的控制系统设计方案。采用MC9S12XS128作为核心控制器，在此基础上增加了各种接口电路板组成整个硬件系统，包括单片机最小系统，直流驱动电机控制模块，电源管理模块，测速编码模块，人机交互等模块。软件调试部分依次对应硬件各模块进行程序设计，包括A/D模块，PWM模块，ECT模块，PID控制算法，人机交互控制等。完成车模的制作和软件设计后对整个控制系统进行调试，先阐述了调试的策略，再分别就现有调试工具条件下的软件和硬件调试进行了分析，对相应的调试方法做了基本的介绍。最后根据调试情况对整个系统做了修改，基本达到设计要求。 ［关键词］ 双轮平衡车；MC9S12XS128；模块设计；调试策略 Based On MC9S12XS128 of the Two-wheeled Balancing Vehicle Control System Design Electrical Engineering and Automation Specialty Abstract: This article mainly introduces the balance of the Two-wheeled balancing vehicle control system design scheme. The MC9S12XS128 as core controller, on the basis of interface circuit board of increasing the hardware system, including single chip minimize system, dc motor control module, power management module, code modules speed, man-machine interaction module. Software debugging session in the corresponding module design program, including A/D module, PWM module, ECT module, PID control algorithm, the man-machine interactive control, etc. Accomplish the production and the software design draw after the whole control system for debugging, first expounds the commissioning of the strategy, second，different debugging tools under the conditions of existing software and hardware debugging are analyzed, the corresponding debugging method basic introduction. According to the situation of the whole system debugging have modified, basic to meet the design requirements. Key words: the Two-wheeled balancing vehicle; MC9S12XS128; MODULAR DESIGN ; Debugging strategy 目录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc323301251 1 引言 PAGEREF _Toc323301251 \h 1 HYPERLINK \l _Toc323301252 1.1 双轮自平衡小车的研究意义 PAGEREF _Toc323301252 \h 1 HYPERLINK \l _Toc323301253 1.2 双轮自平衡小车的发展历程和现状 PAGEREF _Toc323301253 \h 1 HYPERLINK \l _Toc323301254 1.2.1国外的研究成果 PAGEREF _Toc323301254 \h 2 HYPERLINK \l _Toc323301255 1.2.2国内的研究成果 PAGEREF _Toc323