【正文】 用 AT89S52 單片機為控制核心，結(jié)合多種傳感器以及 PID 算法實現(xiàn)循跡避障功能的智能小車。整個系統(tǒng)的電路結(jié)構(gòu)較簡單，可靠性能高，能滿足各種設(shè)計的要求。s lives.KEY WORDS: SCM。 PID control algorithm目 錄III目 錄1 緒 論 ...................................................................................................................................1 研究背景和發(fā)展現(xiàn)狀 ....................................................................................................1 研究目的和意義 ............................................................................................................1 研究內(nèi)容 ........................................................................................................................12 系統(tǒng)總體方案設(shè)計與論證 ...................................................................................................3 總體方案設(shè)計 ................................................................................................................3 方案選擇論證 ................................................................................................................3 循跡檢測系統(tǒng) ..........................................................................................................4 障礙物檢測系統(tǒng) ......................................................................................................4 光源檢測系統(tǒng) ..........................................................................................................5 速度檢測系統(tǒng) ..........................................................................................................5 電機驅(qū)動系統(tǒng) ................................................................................................................5 單片機控制電路系統(tǒng) ....................................................................................................6 顯示模塊 ........................................................................................................................63 硬件設(shè)計 ...............................................................................................................................7 總體設(shè)計方案 ................................................................................................................7 單片機控制電路 ............................................................................................................8 電機驅(qū)動電路 ...............................................................................................................10 驅(qū)動電路 .................................................................................................................10 PWM 調(diào)速原理 ......................................................................................................11 循跡檢測電路 ..............................................................................................................12 障礙物檢測電路 ..........................................................................................................13 光源檢測電路 ...............................................................................................................14 速度檢測電路 ..............................................................................................................15 液晶顯示電路 ..............................................................................................................164 軟件設(shè)計 .............................................................................................................................18 系統(tǒng)控制流程 ..............................................................................................................18 算法 設(shè)計 ......................................................................................................................18 循跡算法設(shè)計 .........................................................................................................18學(xué)士學(xué)位論文IV 避障算法設(shè)計 ........................................................................................................19 測速算法設(shè)計 ........................................................................................................19 PID 控制算法 .........................................................................................................205 調(diào)試 ......................................................................................................................................21 調(diào)試方法 ......................................................................................................................21 測試 結(jié)果與分析 ..........................................................................................................216 結(jié)論與展