【正文】 t This paper introduced an kind of intelligent car that use AT89S52 SCM as control core , bine with multiple sensors and PID control algorithm to achieve the function that find track and avoid obstacles. the electrical car uses reflective photoelectric sensor to detect black line to achieve trackfinding, uses ultrasonic sensors to detect obstacles on the road to avoid obstacles entire system has the function that trace route automatically,find light and test speed .Among them, AT89S52 which has 8bit singlechip is used as the control of useing easily and having multifunction ,it suffers large users. The motor driver uses the mon wayPWM for the motor controlling speed. the speed of car is displayed by the LCD screen .The circuit structure of the whole system is relatively simple, high reliability, and it can meet the requirements of the various the continuous improvement of high technology and the stead process in industrial automation in our country,the Intelligencecar which gradually access to people39。s lives. KEY WORDS: SCM。 PWM speed adjusting。 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 ....................................................................................................................... 1 2 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(jī)驅(qū)動系統(tǒng) ............................................................................................................... 5 單片機(jī)控制電路系統(tǒng) ................................................................................................... 6 顯示模塊 ....................................................................................................................... 6 3 硬件設(shè)計 .............................................................................................................................. 7 總體設(shè)計方案 ............................................................................................................... 7 單片機(jī)控制電路 ........................................................................................................... 8 電機(jī)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 ............................................................................................................. 16 4 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