智能车的控制系统设计 毕业论文.doc

智能车控制系统设计摘要本文主要介绍了智能小车控制系统的软硬件设计及开发过程。车模系统的简单工作原理是单片机收集红外传感器返回来的赛道信息,通过相应运算后,软件判断其有效性,结合控制算法控制随动舵机给出合理舵值,控制前轮舵机转向,单片机再给出合适的 PWM 波占空比以控制电机转速。小车设计主要包括硬件电路设计和软件控制设计两大部分。此智能车系统采用模块化设计思想,完成了系统硬件电路的设计,其主要包括核心控制模块、电源管理模块、电机驱动模块、舵机控制模块、车速检测模块、路径识别模块等。本系统以 16位微处理器 MC9S12DG128 为控制核心,MC9S12DG12 8 微控制器是 M68HC S12系列 16位单片机中的一种,其内部结构主要有单片机基本部分和 CAN 功能块部分组成。为了提高系统的运行性能,对转向控制策略、行驶速度控制策略及后轮驱动闭环 PID 控制算法策略等进行了详细分析与设计。在此基础上,完成了系统软件的具体设计和实现。关键字:模块化 PID 单片机 PWM 1 - Abstract This paper mainly introduces the hardware and software of the control system of intelligent car design and development process. The simple models system working principle is to collect infrared sensor mcu return circuit information, through the corresponding operation, the software judge its effectiveness, combining control algorithm with dynamic steering gear control, reasonable front wheel steering gear control rudder values steering ,mcu and then presents the right PWM waves occupies pared to control motor speed. Car design includes hardware circuit and software control design of two parts. The smart car system adopts the idea of modular design, complete the hardware circuit design, and its main including core control module, power management module, motor driver module, steering gear control module, speed detection module, path recognition module, system to MC9S12DG128 as control core, M68HC12 series MC9S12DG128 microcontroller isone of16 bit mcu , its internal structure is mainly a mcu basic parts and CAN function blocks parts. In order to improve the operation of the system performance, the steering control strategy and speed closed-loop control strategies and rear wheel drive strategy of PID control algorithm isa detailed analysis and design. On this basis, completed the specific software system design and implementation. Key word : modular PID MCU PWM 河南理工大学毕业设计说明书 2 目录 1 绪论.................................................................................................... 1 课题研究背景和意义............