【正文】 廣西大學(xué)學(xué)士學(xué)位論文 I 摘要 智能小車，也就是輪式機(jī)器人，最適合在那些人類無法工作的環(huán)境中工作，該技術(shù)可以應(yīng)用于無人駕駛機(jī)動(dòng)車，無人生產(chǎn)線，倉庫，服務(wù)機(jī)器人，航空航天等領(lǐng)域。作為 21 世紀(jì)自動(dòng)化領(lǐng)域的重大成就，機(jī)器人已經(jīng)和人類社會(huì)的生產(chǎn)、生活密不可分。因此為了使智能小車工作在最佳狀態(tài)，進(jìn)一步研究及完善其速度和方向的控制是非常有必要的。隨著汽車電子和機(jī)器人智能技術(shù)的發(fā)展 ,智能車已經(jīng)成為自動(dòng)控制領(lǐng)域內(nèi)的一個(gè)研究熱點(diǎn)。 本文講述了以 意法半導(dǎo)體有限公司 （ ST）的 STM32F103ZET6 為微處理器 ,設(shè)計(jì)出一種能自動(dòng)尋跡的智能小車。著重闡述了道路信息的獲取 ,處理和識(shí)別過程 ,并設(shè)計(jì)出增量 PID 控制器對(duì)智能小車的速度進(jìn)行閉環(huán)控制 ,使智能小車能準(zhǔn)確快速地對(duì)道路進(jìn)行跟蹤。該系統(tǒng)通過光電傳感器獲取當(dāng)前道路信息；利用微處理器產(chǎn)生 PWM 脈沖控制小車的速度與舵機(jī)的轉(zhuǎn)向；并采用霍爾傳感器檢測小車的當(dāng)前速度，從而實(shí)現(xiàn)閉環(huán)控 制。 系統(tǒng)硬件包括電源模塊，尋跡傳感器模塊，車速測量模塊，電機(jī)驅(qū)動(dòng)模塊以及負(fù)責(zé)轉(zhuǎn)向的舵機(jī)模塊的設(shè)計(jì)。 關(guān)鍵詞： STM32F103ZET6 增量 PID 控制器 PWM 調(diào)速 自動(dòng)尋跡 廣西大學(xué)學(xué)士學(xué)位論文 II The Design of Intelligent trajectory Car based on PID control algorithm Abstract Intelligent vehicle， also is called as Wheeled robot， most suits in the environment which these human beings are unable to work， the technology can be applied to unmanned vehicles， unmanned production lines， warehouses，service robots， aerospace and other fields． As the major achievements in the field of automation of the 21th century， robotics and human society has been inseparable in production and daily life． Therefore， in order to let the intelligent vehicle in the best condition the further research and improve its speed and direction control is very necessary． With the development of automotive electronics and intelligent control technology， intelligent vehicle has bee the research hotspots in the field of automatic control． This article describes the design of an automatic tracing smart car based on the chip of ST STM32F103ZET6． Focused on the road information acquisition， processing and identification process and to design an incremental PID controller to control the speed of smart car， smart car to the road quickly and accurately tracked． The system photoelectric sensor for current road information； PWM pulse generated using a microprocessor to control speed and steering car steering； and using Hall sensor car39。s current speed, in order to achieve closedloop control． The system hardware， including power modules， tracing sensor module，measuring module speed， motor drive modules and is responsible for turning the steering gear module． Keywords： STM32F103ZET6 PID controller PWM control speed Path recognition 廣西大學(xué)學(xué)士學(xué)位論文 III 目錄 摘要 ......................................................................................................................... I ABSTRACT ..........................................................................................................II 目錄 ...................................................................................................................... III 第一章 緒論 ...........................................................................................................1 選題背景 .......................................................................................................1 智能小車的發(fā)展現(xiàn)狀 ...................................................................................1 智能小車在國外的發(fā)展 .........................................................................2 智能小車 在國內(nèi)的發(fā)展 ........................................................................3 研究意義 .......................................................................................................4 智能小車的關(guān)鍵技術(shù) ...................................................................................4 本文所開展的研究工作 ...............................................................................5 第二章 硬件電路的設(shè)計(jì) .......................................................................................7 智能小車的總體設(shè)計(jì)方案 ...........................................................................7 微處理器的介紹 ...........................................................................................8 中央處理器 STM32F103ZET6 的介紹 .................................................8 STM32F103 系列軟件開發(fā)平臺(tái) ..........................................................10 電源模塊 .....................................................................................................10 尋跡傳感器模塊設(shè)計(jì) .................................................................................13 傳感器設(shè)計(jì)方案 ..................................................................................13 光電傳感器的電路設(shè)計(jì) .......................................................................15 光電傳感器的安裝與調(diào)試 ...................................................................15 車速檢測電路的設(shè)計(jì) .................................................................................17 減速電機(jī)驅(qū)動(dòng)電路 .....................................................................................18 直流 PWM 調(diào)速基本原理 ....................................................................18 減速電機(jī)控制電路 ..............................................................................19 轉(zhuǎn)向舵機(jī)模塊設(shè)計(jì) .....................................................................................20 舵機(jī)的工作原理 ...................................................................................20 廣西大學(xué)學(xué)士學(xué)位論文 IV 舵機(jī)的控制 ...........................................................................................21 本章小結(jié) .....................................................................................................23 第三章 PID 控制算法的軟件設(shè)計(jì)與實(shí)現(xiàn) .........................................................24 PID 控制原理與程序 ..................................................................................24 模擬 PID 調(diào)節(jié)器 .................................................................................24 數(shù)字 PID 控制器 .................................................................................25 減速電機(jī)的 PID 控制算法 ........................................................................29 轉(zhuǎn)向舵機(jī)的控制算法 .................................................................................31 本章小結(jié) .....................................................................................................33 第四章 智能小車的軟件設(shè)