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毕业设计(论文)-基于单片机的智能车车控制系统自动路径识别设计.doc
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毕业设计(论文)-基于单片机的智能车车控制系统自动路径识别设计.doc
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各专业完整优秀毕业论文设计图纸
学 号_1009131118
毕 业 设 计
课 题 基于单片机的智能小车系统自动路径识别设计
学生姓名
系 别 电气工程系
专业班级 通信工程
指导教师
二 0 一四 年 六 月
![](https://csdnimg.cn/release/download_crawler_static/87956538/bg2.jpg)
基于单片机的智能车系统自动路径识别设计
2
2
目 录
目 录 ...............................................................................................................................................................II
插图清单...............................................................................................................................................................V
插表清单 .............................................................................................................................................................VI
摘 要 ............................................................................................................................................................VII
Abstract .............................................................................................................................................................VIII
第一章 综述........................................................................................................................................................1
1.1 智能车现状和发展................................................................................................................................1
1.2 相关开发环境.........................................................................................................................................1
1.3c 语言的简单介绍...................................................................................................................................2
1.4 本文的主要工作....................................................................................................................................2
第二章 智能汽车总体控制系统..........................................................................................................................3
2.1 系统工作原理........................................................................................................................................3
2.2 系统硬件结构........................................................................................................................................4
2.3 系统软件结构........................................................................................................................................5
2.4 本章小结................................................................................................................................................5
第三章 智能汽车机械系统调整与改造..............................................................................................................6
3.1 模型车基本结构参数介绍.....................................................................................................................6
3.2 机械结构调整与改造..........................................................................................................................6
3.2.1 前轮定位参数调整..................................................................................................................6
3.2.2 车体重心调整..........................................................................................................................7
3.2.3 激光传感器的安装....................................................................................................................7
3.3 小车整体机械结构的实物图..............................................................................................................7
3.4 本章小结..............................................................................................................................................8
第四章 光电导引智能汽车控制系统硬件电路设计..........................................................................................9
4.1 激光传感器电路..................................................................................................................................9
4.1.1 激光发射与接收原理..............................................................................................................9
4.1.2 激光传感器电路设计............................................................................................................10
4.2 电机驱动模块......................................................................................................................................11
4.2.1 驱动芯片的选择....................................................................................................................12
4.2.2 驱动芯片..................................................................................................................................12
4.3 舵机驱动模块..................................................................................................................................12
4.4 编码器模块........................................................................................................................................13
4.5 电源管理............................................................................................................................................14
4.5.1 电源管理模块..........................................................................................................................14
4.5.2 各模块供电情况分析............................................................................................................14
4.5.3 电源芯片外围电路原理图....................................................................................................15
4.6 无线通讯模块....................................................................................................................................15
4.8 本章小结............................................................................................................................................16
第五章 智车系统控制算法及软件设计............................................................................................................17
5.1 主程序流程........................................................................................................................................17
5.1.2 控制策略路径识别策略........................................................................................................20
5.2 激光发射管调制分时发光................................................................................................................20
5.3 舵机控制策略....................................................................................................................................22
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铜陵学院毕业设计
III
5.4 速度控制策略....................................................................................................................................23
5.5 起跑线检测..........................................................................................................................................25
5.6 本章小结..............................................................................................................................................25
致谢......................................................................................................................................................................27
附录 1 总原理图.................................................................................................................................................28
附录 2 智能车控制主程序代码.........................................................................................................................29
![](https://csdnimg.cn/release/download_crawler_static/87956538/bg4.jpg)
沈敬红:基于单片机的智能车系统自动路径识别设计
IV
插图清单
图 1- 1 开发环境 ..................................................................................................................................................1
图 1- 2 调试界面 ..................................................................................................................................................2
图 2- 1 系统的工作原理设计框图 ......................................................................................................................3
图 2- 2 系统总体结构 ..........................................................................................................................................4
图 2- 3 系统软件结构 ..........................................................................................................................................5
图 3- 1 前轮外倾示意图 ......................................................................................................................................6
图 3- 2 前轮前束示意图 ..................................................................................................................................7
图 4- 1 光电传感器工作原理示意图 ..................................................................................................................9
图 4- 2 赛道基本参数 ........................................................................................................................................10
图 4- 3 发射电路原理图 ....................................................................................................................................10
图 4- 4 接收电路原理图 ..................................................................................................................................11
图 4- 5 激光传感器 PCB 布局 ..........................................................................................................................11
图 4- 6 双 BTS7970 并联驱动原理图 ................................................................................................................12
图 4- 7 舵机 SD5 ...............................................................................................................................................13
图 4- 8 编码器及接口电路 ................................................................................................................................14
图 4- 9 电源管理框图 ........................................................................................................................................14
图 4- 10 基于 LM2940 -5V 供电 ......................................................................................................................15
图 4- 11 基于 LM1117-6V 可调供电 .................................................................................................................15
图 4- 12 主板电路 pcb 图 ..................................................................................................................................16
图 5- 1 系统初始化流程图 ................................................................................................................................18
图 5- 2 赛道处理流程图 ..................................................................................................................................22
图 5- 3 舵机控制流程图 ....................................................................................................................................23
图 5- 4 PID 控制器结构图..................................................................................................................................24
图 5- 5 pid 控制流程 ........................................................................................................................................24
图 5- 6 起跑线检测流程图 ..............................................................................................................................25
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