2021-2022年收藏的精品资料智能小车毕业论文设计外文翻译.doc

华侨大学厦门工院本科生毕业设计（论文）题 目： 智能小车软件系统设计 姓 名： 魏雄飞 学 号： 1102104031 系 别： 电气工程信息系 专 业： 电气工程及其自动化 年 级： 11级 指导教师： 晏来成 年 月 日基于单片机的智能小车单片机之所以被称为微控制器，是因为它最早被用在工业控制领域。单片机是由芯片内仅有CPU的专用处理器发展而来。最早的设计理念是通过将大量外围设备和CPU集成在一个芯片内，INTEL的Z80是最早按照这种思想设计出的处理器，从此以后，单片机和专用处理器的发展便分道扬镳。早期的单片机都是8位或4位的。其中最成功的是INTEL的8031，因为简单可靠而且性能不错获得了广泛的好评。此后在8031基础上研制出了MCS51系列单片机系统。基于这一系统的单片机系统直到现在还在广泛使用。随着工业控制领域要求的提高，开始出现了16位单使计算机系统更小，更容易集成进复杂的但是对其要求严格的控制设备当中。片机，但因为性价比不理想并未得到很广泛的应用。90年代后随着消费电子产品大发展，单片机技术得到了巨大的普遍的认可。 随着INTEL i960系列特别是后来的ARM系列的广泛应用，32位单片机迅速取代16位单片机的高端地位，并且进入主流市场。而传统的8位单片机的性能也得到了飞速提高，处理能力比起80年代提高了数百倍。目前，高端的32位单片机主频已经超过300MHz，性能直追90年代中期的专用处理器，而普通的型号出厂价格跌落至1美元，最高端的型号也只有10美元。当代单片机系统已经不再只在裸机环境下开发和使用，大量专用的嵌入式操作系统被广泛应用在全系列的单片机上。而在作为掌上电脑和手机核心处理的高端单片机甚至可以直接使用专用的Windows和Linux操作系统。单片机与专用处理器相比适合应用于嵌入式系统，因此它得到了最多的应用。事实上单片机是世界上数量最多的计算机。现代人类生活中所用的几乎每件电子和机械产品中都会集成有单片机。手机、电话、计算器、家用电器、电子玩具、掌上电脑以及鼠标等电脑配件中都配有1-2部单片机。而个人电脑中也会有为数不少的单片机在工作。汽车上一般配备40多部单片机，复杂的工业控制系统上甚至可能有数百台单片机在同时工作！单片机的数量不仅远超过PC机和其他计算的综合，甚至比人类的数量还要多。 在单片机的基础上，我们通过研发实现了一种以光电传感器为敏感元件，以AT89C51单片机为控制核心的电动循迹小车的智能控。该系统还包括直流电机、L9110芯片和LM324比较器等。本设计采用AT89C51单片机作为智能小车核心控制器。 本系统以单片机为控制核心，实现小电动车的前进、退、左转和右转功能，通过角度传感器检测跷跷板的角度变化，利用增量式PI算法控制电动车寻找平衡点，同时利用光电传感器检测黑线，使电动车在行驶过程中保持直线且不会脱离跷跷板。一：方案设计电动车的速度、位置、运行状况的实时测量，并将测量数据传送至单片机进行处理，然后由单片机根据所检测到的各种数据实现对电动车的智能控制。这种方案能实现对电动车的运行状态进行实时控制，且控制灵活可靠、精度高。可满足对系统的各相要求。直流调速系统采用脉宽调速系统，其主电路采用脉宽调制式变换器，简称PWM变换器。由于PWM调速系统的开关频率较高，仅靠电枢电感的滤波作用就可以获得脉动很小的直流电流。电枢电流较易连续，系统低速运行平稳，调速范围较宽，可达1：10000左右。由于电流波形比V-M系统好，在相同的平均电流下电动机的损耗与发热都比较小。同样由于开关频率高，若与快速响应的电机配合系统可以获得很宽的频带。因此快速响应性能好，动态抗扰能力强。根据以上综合比较，以及本设计中受控电机的容量和直流电机调速的发展方向，本设计采用了H型单极型可逆PWM变换器进行调速。1.1光电检测模块设计该智能小车在贴有黑线的白纸路面上行驶，因此本模块设计需要检测铺在行使区的黑胶带，包括直线行使区和沿弧线行使区两个区。由于黑线和白纸对光线的反射系数不同，因此可根据接收到的反射光的强弱来判断道路-黑线。本设计采用的是简单实用的设计方法，即红外探测法。红外探测法即利用红外线在不同的物理表面具有不同的反射性质的特点。在小车行驶的过程中不断向地面发射红外光，当红外光遇到白色地面时发生漫反射，反射光被装在小车上的接受管吸收，如果遇到黑线则红外光被吸收，那么小车上的接受管接受不到信号。1.2信号比较模块设计输送给单片机，用于检测传感器的敏感性，当两个传感器同时检测到光时，直线前进，当传感器检测不到光时，处于截止状态。双运算放大器LM324输出低电平给单片机，由程序处理。若左路未检测到光，则向左纠正方向；若右路未检测到光，则向右纠正方向。1.3电机控制与驱动模块设计由于采用的是双驱动小车，这部分电路必须能够输出两个不同的电压值，分别去控制小车的左、右两个驱动器，使小车的两个车轮的转速和方向相同或不同，从而来控制它的前进和转弯。在系统的设计过程中，用两个L9110芯片来分别连接单片机和直流机。L9110是为控制和驱动电机设计的两通道推免式功率放大专用集成电路器件，将分立电路集成在单片IC之中，使外围器件构成成本降低，整机可靠性提高。该芯片有两个TTL/CMOS兼容电平的输入，具有良好的抗干扰性，两个输出端能直接驱动电机的正反向运动，它具有较大的电流驱动能力，每通道能通过800MA的持续电流，峰值电流可达1.5-2.0A；同时它具有较低的输出饱和压降与静态电流，内置的二极管能释放感性负载的反向冲击电流，使它在驱动继电器、直流电机、步进电机或开关功率管的使用上安全可靠。循迹小车系统以常见的AT89C51单片机为核心，辅以较简单的元器件和电路设计，在顺利完成循迹功能的前提下，又充分考虑到外观、成本等问题。因此，小车的大部分电路由于手工焊接完成，在设计中，我们没有在电路中增加冗余的功能，但是保留了各种硬件接口和软件子程序接口，方便以后的扩展和开发。二：软件设计本系统软件采用模块化结构，由主程序、初始化程序、中断子程序、按键发音子程序、按键扫描子程序构成。2.1寻迹子程序设计寻迹模块设计是通过把左、右光电传感器的输出端分别接到单片机的P22和P23引脚上，然后通过单片机编程，产生PWM控制信号，通过L298控制电机的转速，让小车达到前进、左转、右转、及停止行驶的目的。2.2避障子程序设计避障模块设计是通过把左右红外反射式传感器模块的输出端分别接到单片机的P20和P21引脚上，然后通过单片机编程，产生PWM控制信号，通过L298K控制电机的转速，让小车达到前进、左转、右转、及停止行驶的目的。2.3遥控子程序设计遥控模块设计是通过把红外接收头1838的输出端接到单片机的P32引脚上,然后用万能遥控器对其进行遥控，接着让单片机进行解码，产生PWM控制信号，通过L298控制电机的转速，让小车达到前进、左转、右转及停止行驶的目的。三 设计总结采用单片机为核心，利用光电传感器和红外反射式传感器作为探测系统，设计了可以实现自动寻线行走、自动避障、报警以及遥控等功能的智能小车。该设计的显著优点是电路简单、可靠性强、成本低，且其功能有易于进一步完善和拓展。Electric intelligent car based on SCMThe single slice machine is also called tiny controller, is because it was used in the industry to control realm at the earliest stage.Single slice machine from inside chip have CPU appropriation processor to develop only since then.At the earliest stage of design the principle is to pass to integrate a great deal of peripherals and CPU in a chip, making calculator system smaller, integrating more easily into complicated of but to mention to request a strict control equipments in the middle.The INTEL Z80 is the processor which designed according to this kind of thought at the earliest stage, from now on, single slice the development of the machine and appropriation processor went by different roads then.The single slice of the earlier period all of machines are 8 or 4.Among them, the INTEL is most successful of 8031, because of in brief dependable but the function was quite good to acquire very big good opinion.Henceforth at 8031 up developed MCS51 serieses a single slice machine system.According to the single slice of this system machine system is still in the extensive usage till now.Because the industry controls the exaltation ofwith realm request, starting appearing 16 single slice machine, but because sex price wanted to don't get a very extensive application than the disregard.Develop greatly along with the consumption electronics product after 90's, the single slice machine technique got a huge exaltation.Along with the extensive application of INTEL i 960 serieses especially later ARM series, the 32 single slice machine replaces 16 single slice the high level position of the machine quickly, and gets into an essential market.And traditional of 8 single slice the function of the machine also got to fly to raise soon, handling an ability to compare with to raise few a hundredfolds in 80's.Currently, 32 single slice of the high level with main machine already over 300 MHzs, the function keeps appropriation processor of making track for the mid 90's, and the common model number factory price drop into to USD 1, tallest carry of model number also only USD 10.The contemporary and single slice machine system has already no longer developed and used just under the naked machine environment, the in great quantities appropriative built-in operate system is applied extensively in the whole serieseses of the single slice is on board.But Be ising the high level of handheld PC and cellular phone core processing single slice the machine even can use appropriative Windows and the Linux operate system directly.Single slice the machine ratio appropriation processor is the most suitable to match to apply in the built-in system, so it got the most applications.In fact the single slice machine is an amount the most calculators are in the world.The modern mankind are living medium use of assemble in almost each electronics and machine product have a single slice machine.All have 1-2 single slice machine in the computer accessorieses such as cellular phone, telephone, calculator, home appliances, electronics toy, handheld PC and mouse etc.And personal computer in would also capable number not a few single slice the machine be working.Provide with more than 40 departments a single slice machine generally on the car, complicated industry's controling the top of the system even may has single several hundred pedestalses slices machine to work in the meantime!Single slice the amount of the machine not only far above the PC machine and other calculations of comprehensive, even than the mankind's amount still want have another.On the base of SCM ,through reseach and to realize a photoelectric sensor for senstive components,with AT89C51 as control core electric tracing of intelligent control carbonylation-the car,The system is also including dc motor,L9110 chips and LM324 comparator etc.The design USES AT89C51 as intelligent car core controllre.The system takes microcontroller as control core and realization of electric before Enter,back,turn left and right turn function.Through the angle sensor detection The seesaw Angle change,use incremental PI algorithm to control the electric car for balance,and using photoelectric sensor detection black line,make the electricity Actuation vehicle in the course of driving keep linear motion and dont skip from atrium.一.Project DesignLight by a sensor ,the reality of the car is moving quickly degrees,bit,buy,transportation line shape when measured quantity of real condation,and will be measured quantity number according to preach sent to monnolithic machine into line processing,but by single chip machine according to real now to electric actuation vehicle wisdor can control system .this kind of square case can real now to electric actuation vehicle dynamic shape state into the shipment do real possession in system,control system spirit alive,can depend,pure degree is high,can full foot of each item of the stocking to beg .straight epidemiological speed is tasseled straight epidemiological speed department with pluse width modulation experience.meanwhile gather speed is experience. Meanwhile, its main electric pulse width modulation by roda system type variable change device, jane says PWM variable change device. Adjustable speed by in the department of PWM experience.meanwhile open shut frequency rate is high, only on electricty barnado electricty sense of filter wave can be use to gen to move very small straight pulse electric flow ,electricty flow barnnado electric capacity easil even tantras, department of low speed operation flat experience .meanwhile,adjustable electric flow wave shape than V-M system, be in phase with flat to all electrical flow dynamic machine ,electric heat consumption and hair loss than a small. With the sample by in open shut frenquency rate is high, and if a fast speed of electric machine ring should match close, fasten tasseled phase can be to get very wide frenquency band, because of the fast speed ring should good ,dynamic configuration sexual can perturbation resistance can force is powerful. According to the root, with more than ensemble close and this set of electric machine speed straight flow of hair, the exhibitor to adopt the project with a single extremely H type can be changed into change device inverse PWM line speed.1.1 photoelectric detection module designThe intelligent car was stuck on the black line running on white paper road ,so this module design need to detect shop on the black rubber belt drive area, including run straight along the arc district and driving district two area, becasure of the black and white paper to light reflection coefficient is different, can according to receive reflected light.The strength of the judge road the black line. This paper USES is simple and practical detection methods .namely the infrared detection method.Infrared detection method, I,e, use infrared ray in different colors of physical surface with different reflection properties. In the car driving process continually to the ground to launch the infrared, when the infrared met white ground occurs when the reflected light, aimless and launch packed on the car of receiving tube receiving less than signal.1.2 signal comparative module designThis part design USES aLM324 comparator, of sensor signal voltage received compare and amplified ,and will compare the result after feed to the microcontroller, used to detect sensor sensitivity, when two sensors simultaneously detect light ,straight forward. When the sensor cant detect light, in cut-off state, double LM324 operational amplifier output low level to microcontroller, by program processing, if left not detect light, then left correct direction; if thf right has not been detected light, then turn correct direction.1.3 motor control and driving module designBecause use is double drive cars ,this part of the circuit must be able to output of two different voltage values, respectively to controlling trolley right and left two motor drive ,the two of the wheel speed and direction of the same or different, thus to control its advance and turning .in system design process, use two L910 chips to connect SCM and dc motor respectively .L9110 is for control and drive motor design two channels push-pull power amplifer application-specific integrated circuit device, discrete circuts in monolithic IC integrated such that the peripheral equipments in lower cost and the whole machine can carry on sexual high. The core slice two a TTL/CMOS and let electricity flat lose into, have good anti-jamming, two output terminal can pick flooding dynaic electric machine straight to the shipment of positive reverse move and it has had a big electricity flow flooding dynamic can force each call way can pass over 800ma continuous current, peak current capacity of 1.5-2a; at the same time it has lower output saturation pressure drop and the static electricity, the built-in clamp a diode can release the perceptual load of reverse current impulse, making it thf drive relays, dc motors,steeping motor or switch power tube the use of safe and reliable.Follwing tracing car system to common AT89C51 ,complementary with relativel simple components and circuit design ,the smooth completion of follow under the premise of tracing function, and fully considered appearance, cost, so most of the circuit car by mannual weiding is complete, in the design ,we never in a circuit increase redundant functions, but retained various hardware interface and software subroutines interface to facilitate the expansion and development after.二.system software designThis system software modular structure ,the main progrem,initial anti-fuzzy procedures, interrupt subroutines ,delay subroutines,buttons pronunciation subroutines buttons scanning subroutines constitutes.2.1 tracing subroutines desinTracing module is designed by the left right photoelectric sensor output terminal receiving monolithic machine respectively, P22and P23 tube feet, then through the microcontroller programming, produce PWM control signal, through L298 control motor speed, let the car to move forward, left turn ,turn right and stop driving purpose.2.2avoid barrier of programmingObstacle avoidance module is designed by the infrared reflection sensor module around the output terminal receiving MCU respectively P20 and P21 tue feet, then through the microcontroller programming, produce PWM control signal ,through L298 control motor speed ,let the car to move forward ,left turn ,turn right and stop driving purpose.2.3 remote subroutines designRemote control module is designed by the infrared sensor 1838 an output terminal of the receiving MCUP 32 tube feet ,then use all-purpose remote control on the remote control,then let microcontroller decoding, produce PWM control signal ,through L298 control motor speed, let the car to move forward, left turn ,turn right and also stop driving purpose.三 summaryAdopts singlechip ,using photoelectric sensor and infrared reflection sensor was designed as a detection system, can realize automatic homing line to work, automatic obstacle avoidance, alarm and remote control functions such as intelligent car. This design is the obvious advantages of simple circuit, reliability, low cast, and very easy to function of further perfecting and expansion.