视觉导航智能车姿态控制系统设计与实现.docVIP

杨云鹏：视觉导航智能车姿态控制系统设计与实现 视觉导航智能车姿态控制系统设计与实现 摘 要 近年两轮自平衡电动车得到了很大的发展，因为其具有灵活、便利、节能等特点。全国大学生“飞思卡尔”杯智能汽车竞赛中的摄像头平衡组比赛要求是：让智能车模仿两轮电动平衡车的运行方式，让智能车仅用两个后轮驱动实现直立行走。 本课题以第九届全国大学生“飞思卡尔杯”智能汽车竞赛为背景，使用IAR编程软件对直立智能车进行软件开发。本文详细论述了智能车的各个模块的工作原理、电路图、机械安装以及控制算法。其中详细的开发过程，以及期间碰到的各种问题和解决方法都在文中有详细的论述。 本系统采用飞思卡尔公司K60单片机作为主控芯片，使用陀螺仪和加速度传感器采集角度信息，光电码盘采集速度信息，分别作为角度反馈和速度反馈，再结合PID控制算法，控制两个电机的转速，最终实现智能车能够直立并能够实现按预期的速度向前运行。 关键字：智能车，直立控制，陀螺仪，加速度传感器，K60单片机 Abstract In recent years, two self-balancing electric vehicle has been great development, because it is flexible, convenient, energy-saving features. National College Student Freescale Cup smart car race in the camera balance group competition requirements is: Let the smart car to imitate two electric counterbalance vehicle operating mode, make the smart car with only two rear-wheel drive to achieve walk upright. In this paper Ninth National University Freescale Cup Smart Car race background, using the IAR programming software for intelligent vehicle upright for software development. This paper discusses in detail the working principle of each module smart car, schematics, mechanical installation and control algorithms. Which details the development process, as well as a variety of problems and solutions encountered during are discussed in detail in the text. The system uses Freescale K60 MCU as the master chip, using a gyroscope and an accelerometer sensor angle information collection, information gathering speed optical encoder, respectively, as the angle feedback and velocity feedback, combined with PID control algorithm to control two motors speed, and ultimately achieve smart car can stand and be able to achieve speeds forward as expected. Keywords: smart car, upright control, gyroscope, accelerometer, K60 MCU 杨云鹏：视觉导航智能车姿态控制系统设计与实现 西安理工大学本科生毕业设计（论文） II I 目 录TOC \o 1-3 \h \u 第1章 绪论 1 1.1 课题背景概述 1 1.2 本文主要工作内容 2 第2章 视觉导航智能车姿态控制系统总体方案设计 3 2.1 系统总体方案简介 3 2.2 硬件方案 3 2.3 软件方案 4 2.4 本章小结 5 第3章 视觉导航智能车姿态控制系统硬件设计 6 3.1