【正文】 .............................................................4 障礙物檢測(cè)系統(tǒng) ......................................................................................................4 光源檢測(cè)系統(tǒng) ..........................................................................................................5 速度檢測(cè)系統(tǒng) ..........................................................................................................5 電機(jī)驅(qū)動(dòng)系統(tǒng) ................................................................................................................5 單片機(jī)控制電路系統(tǒng) ....................................................................................................6 顯示模塊 ........................................................................................................................63 硬件設(shè)計(jì) ...............................................................................................................................7 總體設(shè)計(jì)方案 ................................................................................................................7 單片機(jī)控制電路 ............................................................................................................8 電機(jī)驅(qū)動(dòng)電路 ...............................................................................................................10 驅(qū)動(dòng)電路 .................................................................................................................10 PWM 調(diào)速原理 ......................................................................................................11 循跡檢測(cè)電路 ..............................................................................................................12 障礙物檢測(cè)電路 ..........................................................................................................13 光源檢測(cè)電路 ...............................................................................................................14 速度檢測(cè)電路 ..............................................................................................................15 液晶顯示電路 ..............................................................................................................164 軟件設(shè)計(jì) .............................................................................................................................18 系統(tǒng)控制流程 ..............................................................................................................18 算法 設(shè)計(jì) ......................................................................................................................18 循跡算法設(shè)計(jì) .........................................................................................................18 避障算法設(shè)計(jì) ........................................................................................................19 測(cè)速算法設(shè)計(jì) ........................................................................................................19 PID 控制算法 .........................................................................................................205 調(diào)試 ......................................................................................................................................21 調(diào)試方法 ......................................................................................................................21 測(cè)試 結(jié)果與分析 ..........................................................................................................216 結(jié)論與展望 .........................................................................................................................23致 謝 .....................................................................................................................................24參考文獻(xiàn) .................................................................................................................................25附 錄 .....................................................................................................................................261 緒 論 研究背景和發(fā)展現(xiàn)狀隨著電子技術(shù)、計(jì)算機(jī)技術(shù)、智能控制技術(shù)的飛速發(fā)展，產(chǎn)品的智能化和小型化越來越成為人們關(guān)注的熱點(diǎn)。s lives.KEY WORDS: SCM。整個(gè)系統(tǒng)的電路結(jié)構(gòu)較簡(jiǎn)單，可靠性能高，能滿足各種設(shè)計(jì)的要求。 本科畢業(yè)論文(設(shè)計(jì))論文題目 基于 AT89S52 單片機(jī)的循跡避障小車的設(shè)計(jì) 摘 要本文介紹了一種利用 AT89S52 單片機(jī)為控制核心，結(jié)合多種傳感器以及 PID 算法實(shí)現(xiàn)循跡避障功能的智能小車。電機(jī)驅(qū)動(dòng)采用常用的 PWM方式進(jìn)行電機(jī)的調(diào)速控制，小車的速度通過液晶屏來顯示。s attention has been widely applied to design a variety of toys and other products,which greatly enriched people39。 Track finding and obstacle avoidance