基于MSP430F5529的循迹壁障无线控制智能小车设计报告.doc

课题名称: 智能小车自动控制系统【摘要】本次课程设计以 MSP430 超低功耗单片机系列 MSP430 F5529 为主控制器, 附加电机、电池、传感控制模块等, 完成二驱小车自由运动、检测黑白线实现沿轨道自动运行、能够避开障碍物、无线控制等功能, F5529 的 I/O 口丰富,使得各个功能模块之间信息交流快捷方便。在机械结构上,我们选购用一个万用轮代替两个前轮的小车,大幅度提高了小车的灵敏度。利用单片机产生 PWM 波,控制小车速度,选用 L298N 驱动芯片驱动电路,使用三路红外对接管检测黑白线,使用一个超声波实现测距壁障功能,使小车能够自动左转避开障碍物,使用无线控制模块,可实时控制小车运动。基于可靠的硬件设计和更加优化的软件算法,在实现本课设基本要求的基础上,可实现部分扩展功能。【关键词】: MSP430 F5529 循迹无线控制超声波测距壁障 Abstract This curriculum project uses MSP430F5529, inthe series ofMSP430 ultra low power single chip puter, asits main controller. In addition, the realization ofthe controller ’sfunction can not leave motor, battery, sensing control template and soon, for example, free movement of the two drive vehicle, and automatic operation along runway bytesting black and white lines, avoiding obstacles, wireless operation and other functions. The quick and easy information exchanging among each functional template has tothank tothe abundance ofI/O ofF5529. Onmechanical structure, two front wheels ofthe mini car are replaced byauniversal wheel, soastoimprove its sensitivity bylarge margin. PWM isused tocontrol motor and single chip puter tomake PWM wave, inorder tocontrol its speed. The car can stop and turn left toavoid obstacles because L298N driving chip drives circuit, three infrared ray onpipes isused totest black and white lines, and anultrasonic template ischosen torealize ranging barrier function. With wireless operating template, movement ofthe mini car can reach real-time control. Besides finishing basic requirement ofthis curriculum project, some broadening functions can also beachieved based onreliable hardware design and better software algorithm. Key words: MSP430 F5529 tracking wireless control ultrasonic wa ve ranging counterguard 目录 1 概述……………………………………………………………… 3 2 设计目标…………………………………………………………… 3 3 团队组成与任务分工……………………………………………… 4 4 方案论证……………………………………………………………… 4 电机驱动模块…………………………………………………………..……...4 循迹模块………………………………………………………………..……...5 无线模块……………………………………………………………..………...5 测距