【正文】 ................................................... 13 光電傳感器發(fā)射與接收電路設(shè)計(jì) ....................................................... 13 路徑識別傳感器布局設(shè)計(jì) ................................................................... 14 測速檢測模塊 .......................................................................................... 16 第 6 章 電機(jī)驅(qū)動模塊 ................................................................................................. 19 直流電機(jī)驅(qū)動模塊 ......................................................................................... 19 電機(jī)的工作原理 ................................................................................... 19 MC33886 介紹 ....................................................................................... 21 PWM 信號控制電機(jī)的轉(zhuǎn)速 .................................................................. 22 舵機(jī)驅(qū)動模塊 ............................................................................................... 23 第 7 章 智能車軟件的設(shè)計(jì) ......................................................................................... 29 單片機(jī)初始化 ................................................................................................. 30 PID 控制算法 ................................................................................................ 32 路徑識別算法 ............................................................................................... 34 舵機(jī)控制算法 ............................................................................................... 34 速度控制算法 ............................................................................................... 36 安放：基于光電傳感器的自動循跡智能車系統(tǒng)設(shè)計(jì) II 第 8 章 開發(fā)制作與調(diào)試 ............................................................................................. 38 軟件及其應(yīng)用 .................................................................. 38 BDM for S12 的使用 .................................................................................... 43 結(jié)論和展望 ................................................................................................................... 44 致 謝 ........................................................................................................................... 45 參考文獻(xiàn) ....................................................................................................................... 46 主要參考文獻(xiàn)摘要 ....................................................................................................... 48 附錄 A ..................................................................................................錯(cuò)誤 !未定義書簽。 auto track。s Codewarrior as the software development ,the simulation and downloading?s platform in the software designing . Finally The design of auto track smartcar system based on photoelectric sensor is pleted. Key words: Intelligent vehicle。 安放：基于光電傳感器的自動循跡智能車系統(tǒng)設(shè)計(jì) II ABSTRACT The design of autoguiding smartcar system based on photoelectric sensor New generation automobile development and researched focus on information technology, microelectronic technology, puter technology, intelligent automation technology, artificial intelligence technology, working technology, munication technology and so on. The intelligent automobile is the direction in which the modern automobile developed. The university students intelligence vehicle petition is a practice platform in which intelligence automobile designed , we use the photoelectric sensor as gathering sensor to take path information , The microcontroller is used as the control system core ,and process the signal, and controls car to run . signalchip microputer MC9S12 series be widespread utilized in the automobile electronic control domain. I use the Freescale microcontroller MC9S12XS128 to design the intelligent vehicle system. The design of intelligent vehicle system including hardware circuit and control software system. I adopt the software of electronics design Altium Designer to plete designing the hardware . Hardware circuit system mainly includes the freescale ’ s Singlechip Microputer smallest system, the power source management system , the way recognition and the detecting system, the motordriven system. But the control software system mainly includes Singlechip Microputer 39。最后完成了整個(gè)自動循跡智能車系統(tǒng)設(shè)計(jì)。 而控制系統(tǒng)軟件的設(shè)計(jì)主要包括單片機(jī)的初始化、 PID 控制算法、路徑識別算法、舵機(jī)控制算法、速度控制算法。硬件系統(tǒng)使用專門軟件Altium Designer 設(shè)計(jì) 。本課題就是利用 Freescale 的 MC9S12XS128 微控制器對智能車系統(tǒng)進(jìn)行設(shè)計(jì)。 大學(xué)生智能車比賽是智能汽車設(shè)計(jì)的一個(gè)實(shí)踐平臺，光電傳感器的自動循跡智能車系統(tǒng)，采用光電傳感器作為道路信息的采集傳感器，單片機(jī)為控制系統(tǒng)的核心來處理信號和控制小車行駛。安徽工程大學(xué)畢業(yè)設(shè)計(jì)（論文） I 摘 要 新一代汽車研究與開發(fā)將集中表現(xiàn)在信息技術(shù)、微電子技術(shù)、計(jì)算機(jī)技術(shù)、智能自動化技術(shù)、人工智能技術(shù)、網(wǎng)絡(luò)技術(shù)、通信技術(shù)在汽車上的應(yīng)用 。 智能汽車是是現(xiàn)代汽車發(fā)展的方向。 MC9S12 系列單片機(jī)在汽車電子控制領(lǐng)域得到廣泛應(yīng)用。智能車系統(tǒng)設(shè)計(jì) 包括硬件電路和控制軟件系統(tǒng)的設(shè)計(jì)。 硬件電路系統(tǒng)主要包括 freescale 單片機(jī)最小系統(tǒng)、電源管理系統(tǒng)、路徑識別與檢測系統(tǒng)、電機(jī)驅(qū)動系統(tǒng)。軟件設(shè)計(jì)是 用 Freescale 公司的 Codewarrior 軟件作為軟件開發(fā)和仿真下載的平臺。 關(guān)鍵字： 智能車；光電傳感器；自動循跡；控制算法； PID。s initialization, the PID control algorithm, the way recognition algorithm, the steering engine control algorithm, the speed control algorithm . It uses Freescale Corporation39。 photoelectric Sensor。 Control algorithm 。 安徽工程大學(xué)畢業(yè)設(shè)計(jì)（論文） I 插圖清單 圖 21 系統(tǒng)信息的控制流程圖 ....................................... 4 圖 22 智能車控制系統(tǒng)整體結(jié)構(gòu)圖 ................................... 5 圖 23 系統(tǒng)硬件結(jié)構(gòu)圖 ............................................. 6 圖 24 系統(tǒng)軟件結(jié)構(gòu) ............................................... 7 圖 31 最小系統(tǒng)原理圖和 PCB 圖 .................................... 10 圖 41 電源系統(tǒng)結(jié)構(gòu)框圖 .............................