外文文獻(xiàn)與翻譯--基于嵌入式平臺的智能小車控制器的設(shè)計(jì)(編輯修改稿)
2025-06-26 12:24 本頁面
【文章內(nèi)容簡介】 r be more than width of the black direction control. When the car is running, the black guide line is always kept right between the two primary sensors L1 and L2. When the car goes off the black line, the primary sensors detect it, and thus the ARM7 chip detect level jump and execute the preprepared correction program to navigate the car back onto the track. The secondary sensors are actually a backup for the primary. Once the car offsets the track for inertia, beyond the reach of detection of the primary probes, the secondary perform to correct the motion of the car, so as to ensure the reliability of tracking. 3 Design of software The software is developed in C language in Keil Uvision3 IDE, debugged and downloaded in JLink ARM emulator. JLink is a JTAG emulator which was brought out by SEGGER in USA to support emulation chips with ARM core. It works with IDEs such as IAREWARM, ADS, Keil, WINARM, and RealView, supports all ARM7/ARM9 core chips simulation, and seamlessly connects with various IDE by RDI interface. Easy to operate and to connect to, it is the most practical tool for study and development of ARM. The key for the design of software lies in the control process of tracking. The sensors are equipped with E3FDS10C4 integrated infrared probes with photoelectric switch. There are only three wires（ power wire, ground wire, and signal wire） at the output pin of the module. Connect the signal wire to I/O port of ARM7 chip, and execute enquiry check. Low level will be detected for the black guide line, while high level for the white floor. According to the principles stated above, flows of the algorithm for control tracking of the car. Twostage control method is adopted to ensure the car’s adherence to the black guide line, and the effect is satisdied. 4 Debugging of the finished car Based on the design scheme presented above, finish making of PCB board for hardware circuit of the car, welding of ponents, and debugging and downloading of the software. Test the car for several times on the track made of white KT board in the middle of which a twocentimeterwide black guide line is pasted. The results have showed that, the car runs steadily even at a high speed along straight black guide line. When around the curve, if control the speed properly, the car goes smoothly as well. Two pieces of experience as shown below: (1) E3FDS10C4 photoelectric sensor should be fixed as close to the ground as possible to minimize the interference of environmental light to
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