智能小车控制器毕业论文中英文资料外文翻译文献.doc

毕业论文中英文资料外文翻译文献Design of an Intelligent Car ControllerBased on Embedded Platform Abstract: The paper presents a design of an intelligent car controller using embedded ARM7 chips as core component. Modular method has been applied in the design of the hardware; the paper focuses on layout of tracking circuit for the car and design ideas for the software. The experiment result proves that the designed intelligent car is stable in operation and good in tracking performance.Keywords: ARM Intelligent Tracking1 、IntroductionIn the 21st century, with development of science and technology, researches on intelligent car and its correlative techniques have become the focus in this field. Aiming to enhance practical ability， innovation, and teamwork performance of college students across the country, the Education Department sponsored National Undergraduate Intelligent Car Contest. Based on the background, the paper introduces the design of multifunctional intelligent car controller on embedded platform, including design of hardware circuit and software implementation for key functional modules.2、Design of hardwareBy function and application, the controlling platform for the intelligent car is divided into several modules as shown below.2.1 Design of core moduleAT91SAM7S256 microprocessor produced by ATMEL has been adopted for the controller of the car, which a 32-bit low-power RISC microprocessor chip based on ARM7 TDMI-S core, and embedded with 64KB SARM, 256KB high-speed Flash and JTAG port for downloading or debugging of the program. As the core component of the car, the microprocessor plays a key role in controlling all running statuses of the car. PWM generating module inside it can be change duty cycle of outputted square wave by programming, and thus change the voltage loaded on the DC motor, which is amplified to control the revolution speed of the motor. The ports PA0, PA1, PA2 and PA3 of the PWM module respectively control the DC motor and the steering motor to perform functions such as go forward, retreat and turn etc.2.2 Design of power moduleThe car is powered by four AA dry batteries. The voltage is outputted through low-Noise LDO regulator MIC5209-3.3 to supply power for ARM7 chips and peripheral circuits. The working current of MIC5209-3.3 is as high as 500mA. When input voltage is above 3.5V, the module of MIC5209-3.3 can output stable voltage of 3.3V and achieve low power consumption. 2.3 Temperature detection Module Mono-line digital temperature sensor DS18B20 is used to detect temperature in the car. The measure range is from -55 to +125, with increment of 0.5. It is low in power consumption and small in size, occupying only one I/O port.2.4 Auto tracking module2.4.1 Principles for tracking of intelligent carTracking means that the car goes along the two-centimeter-wide black guide line on the white floor. Infrared acquisition and camera shooting acquisition are commonly used for it.Infrared acquisition: Taking advantage of the feature that infrared light can change its reflective quality according to object surface of various colors. During running the car continuously sends infrared light to the ground, which will, either be reflected back by the white floor and received by the receiving tube in the car, or be absorbed by the black guide line and thus missed by the receiving tube. By this means the black guide line is positioned to identify the path for the car.Camera shooting acquisition: In certain resolution sample the image by interlaced scanning. When scanning a point, image sensor transfers the gray threshold into corresponding voltage which will be outputted via video signal port. As the car achieves auto tracking by recognizing the black guide line on the track, the image processing is a process of extracting the destination guide line. The task of image processing program is to identify the dots in the black-and-white image and filter noise, record dot positions relative to the image, and finally, by algorithm of control strategy, realize tracking and turning of the car along the guide line.2.4.2 Installation of tracking infrared probeChoosing proper detection method and sensor is the important factor to achieve tracking. Here we choose infrared acquisition. Correct installation of device is also a decisive factor for accomplishment of tracking circuit. In terms of simplicity, easiness, practicality and reliability, four infrared probes need be installed on the front chassis of the car to fulfill two-staged directional correction control to enhance the reliability of tracking. Four tracking sensors have been fixed, all in one line, among which L1 and R1 are primary sensors for direction control; L2 and R2 are secondary sensors. The distance between the two ipsilateral sensors should nor 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 pre-prepared correction program to navigate the car back onto the track. The secondary sensors are actually a back-up 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 softwareThe software is developed in C language in Keil Uvision3 IDE, debugged and downloaded in J-Link ARM emulator. J-Link 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 E3F-DS10C4 integrated infrared probes with photoelectric switch. There are only three wirespower wire, ground wire, and signal wireat 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. Two-stage control method is adopted to ensure the cars adherence to the black guide line, and the effect is satisdied.4 Debugging of the finished carBased on the design scheme presented above, finish making of PCB board for hardware circuit of the car, welding of components, 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 two-centimeter-wide 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) E3F-DS10C4 photoelectric sensor should be fixed as close to the ground as possible to minimize the interference of environmental light to it. Vertical height of the sensor had better be 58mm. Too far distance from the ground causes weak reflective signal and unstable output of up level signal; too close distance may damage the sensor and intensify the effect of diffuse reflection.(2) Due to common DC motor adopted for it, the control of the car is not accurate and stable enough to perform a break turn unless several same photoelectric sensors are added to the bottom of the car.5 ConclusionIntelligent car is a front subject which has synthesized many other subjects and has a widely-applied prospect. It particularly helps to develop the present Chinese undergraduates imagination, practical abilities, team awareness, and hi-tech innovation capacity.References1 Wu Binghua, Huang Weihua, Cheng Lei among others, Systematic Design of Intelligent Car Based on Route Identification J. Application of Electronic Technique, 2007(3): 80-83.2 Wang Chaoyi, Wang Yihuai. Design of Control System of Auto Tracking Car Based on Infrared Sensor J; Computer and Automation Techniques, 2021, 34(11):60-623 Li Yi, Lu Ren Yi, & Wu Tian. Intelligence Tracking Car J. Electronic Techniques, 2021, 45(1): 39-414 Wen Quangang, Principles and Application of Embedded System Interface M. Beijing: Aeronautics and Astronautics University Press, 20215 G.C.Hua, F.C.Lee. Soft-switching technique in PWM converterJ. IEEE Trans. on Industrial Electronics 995.42(6):595-603.Author BiographyLiu Gang: (1963-) male, senior engineer, received his Bachelors degree from Beijing University of Aeronautics & astronautics in 1991, main research direction: computer measurement and control technology ete 基于嵌入式平台的智能小车控制器的设计 摘要：本论文介绍了智能小车控制器的设计方案。其所使用的核心元件为嵌入式ARM7芯片。硬件设计采用模块化方法。本论文致力于小车跟踪电路的线路图以及软件的设计理念。实验结果证明，设计的智能小车操作平稳，跟踪性能良好。关键词：ARM；智能；跟踪1.引言21世纪，随着科学技术的开展，关于智能小车及其相关技术的研究已经成为该领域的焦点。为了加强全国大学生的实际操作能力，创新思想和团队合作意识，教育部主办了全国在校生智能小车竞赛。基于这种情况，本论文介绍了嵌入式多功能智能小车控制器的设计方案，包括主要实用模块上硬件电路和执行软件的设计。2、硬件设计就功能和应用而言，智能小车的控制平台可分为以下几个模块。2.1、核心模块的设计小车的控制器采用了ATMEL生产的AT91SAM7S256微处理器。该处理机带有一个基于ARM7 TDMI-S核心的32位低能RISC微型处理芯片，同时被嵌入了64KB SRAM，256KB高速闪光存储器和JTAG端口以供程序的下载与调试。作为小车的核心元件，微处理器在控制小车所有运行状态方面起着关键作用。它里面的PWM生成模块可以通过编程设计来改变输出矩形波的填充系数，并从而改变马达上的电压，增强对马达运行速度的控制。PWM模块上的端口PA0，PA1，PA2 and PA3分别控制DC马达和转向马达来执行一些功能，比方前进，后退和转弯等等。2.2、电源模块的设计小车的电源是四节AA干电池。电压是通过低噪音LDO调节器MIC5209-3.3输出的，可以给ARM7芯片和外围电路供电。MIC5209-3.3的工作电流高达500mA。输入电压高于3.5V时，MIC5209-3.3模块可以输出3.3V的稳定电压，实现低能量消耗。2.3、检温器模块单向数字测温传感器DS18B20是用于检测小车内部温度。测量范围是-55+125摄氏度，有0.5摄氏度的增额。它耗能低，尺寸小，仅占一个I/O端口。2.4、自动跟踪器2.4.1 智能小车的跟踪原那么跟踪意味着小车沿着白色地板上两厘米宽的黑色导航路线运行。红外线探测和相机拍摄探测被广泛用在这里。红外线探测：利用了红外线可以根据各种颜色物体外表来改变其反光品质的特征。在运行过程中，小车不断向地面发出红外线，红外线就会被白色地板反射回来，并被小车上的接收管接收，或者红外线被黑色导航路线吸收，从而无法被接收管接收。通过这种方法，就设置了黑色导航路线来让小车识别道路。相机拍摄探测：通过隔行扫描，以特定分辨率来抽样检验图像，当扫描到一个点时，图像传感器会将灰度阈值转换成相应的电压，然后再通过视频信号端口将电压输出。当小车能够通过识别轨道上黑色导航线来实现自动跟踪时，图像处理就成了一个提取终点导航线的过程。图像处理程序的任务就是识别黑白图像上的点和过滤噪音，记录与图像有关的点位置，最后通过控制策略的运算法那么，实现小车沿着导航线的跟踪和转向。2.4.2 跟踪红外线探测器的安装选择适宜的检测方法，传感器是实现跟踪的重要因素。这里我们选择红外线探测。设备的正确安装也是完成跟踪电路的一个决定性因素。就简单，容易，实用性和可靠性而言，小车的前方底盘上应安装四台红外线探测器。这是为了完成两阶段的方向矫正以加强跟踪的可靠性。四个跟踪传感器全部被安装在一条线上，其中L1和R1是控制方向的主要传感器；L2和R2是次要传感器。两个同侧传感器之间的距离应该不超过黑色航向控制线的宽度。当小车运行时，黑色导航线应一直恰好被控制在两个主要传感器L1和R1之间。当小车脱离黑色航线时，两个主要传感器就能检测到。然后ARM7芯片检测水平跨越并执行之前预备的矫正程序去把小车引航回轨道上。次要传感器实际上就是主要传感器的备份。一旦小车由于惯性偏移出轨道，超出主要探测器的检测范围时，次要传感器就开始运行去矫正小车的运动，从而确保跟踪的可靠性。3.软件的设计软件是用C语言Keil Uvision3 IDE开发设计，用J-Link ARM仿真器调试和下载的。J-Link是一种JTAG仿真器，是美国SEGGER为了给ARM核心提供仿真芯片而生产出来的。它和IDEs, 比方IAREWARM, ADS, Keil, WINARM,和RealView等一起运行，支持所有ARM7/ARM9核心仿真芯片，并通过RDI接口流畅地与各种各样的IDE相连接。由于操作简单，连接方便，它是研究和开发ARM的最实用工具。跟踪软件的流程图表：启动-初始化I/O接口-启动马达检测黑线？-不是，继续；是，减速L1是L2？-不是，向左调好；是，向左调；R1是R2？-不是，向左调好；是，向右调-恢复速度完成。软件设计的关键在于跟踪的控制过程。传感器配备了带有光电开关的E3F-DS10C4集成红外线探测仪。模块的输出插头上仅有三根电线电源线，地线和信号线。将信号线连接在ARM7芯片的I/O端口上，并执行询问核对。黑色导航线的低电平和白色地板砖的高电平都将被检测出来。为了确保小车与黑色导航线的吻合度，可以采用两阶段控制方法，效果很令人满意。4.成品小车的调试根据以上介绍的设计方案，完成小车硬件电路上PCB模板的制作，各个元件的焊接以及软件的调试与下载。让小车在白色KT板制成的轨道上进行几次测试。KT板的中间应有一条两厘米宽的黑色导航线。测试结果显示，小车沿着笔直的黑色导航线能平稳甚至高速行驶。当轨道为曲线时，如果将速度控制好，小车也能顺利行驶。以下两条经验是亲身经历所得：1E3F-DS10C4光电传感器应该安装得尽可能靠近地面，是为了最小化环境光对它的干扰。传感器的垂直高度最好为58mm。与地面距离太远会引起反射信号弱和高电平信号输出不稳定；距离太近可能会损害传感器并加剧漫反射的影响。2由于小车采用的是普通DC马达，所以小车的操控不是那么精准，执行急转弯时也不是很平稳，除非能在小车的底部多加几个相同的光电传感器。5.结论智能小车是一个综合了许多其他学科的前沿学科，有着广泛的应用前景。它特别有助于开发当前中国大学生的想象力，实用能力，团队意识，以及高科技创新能力。6.参考文献【1】.吴炳华，黄卫华，程雷等人.智能小车基于路线标识的系统设计J.电子科技的应用，20073：80-83【2】.王超逸，王宜怀.自动追踪小车基于红外线传感器的控制系统设计J.计算机及自动化技术，2021,3411：60-62【3】.刘毅，鲁仁义和吴天.智能跟踪小车J.电子技术，2021,451：39-41【4】.温全刚.嵌入式系统电路的原理及应用M.北京航空航天大学出版，2021【5】.G.C.Hua, F.C.Lee. Soft-switching technique in PWM converterJ.IEEE Trans. On Industrial Electronics 995,42(6):595-603.