基于单片机的两轮智能车设计
发布时间：2019-07-04 14:05
【摘要】：伴随汽车电子技术的快速发展,大众对于汽车除了驾驶之外的安全,环保以及智能化和信息技术的要求越来越高。应运而生的智能汽车在智能交通系统(ITS)越来越扮演关键角色,智能汽车自动驾驶的关键技术在交通方面,具有广阔的应用前景,并得到了广泛的关注。智能车系统的研究与自动控制,人工智能,信息融合,传感器,图像处理和计算机科学等多门学科技术相关,并且智能车辆控制系统的研究是最活跃的研究领域之一。 智能车系统设计,基于智能车基本模型,设计智能汽车车身的机械结构和硬件电路计,智能车自动循迹决策系统和控制算法进行研究。本文设计寻磁直立智能车系统MC9S12XS128MAL单片机为核心的控制单元,结合ENC-03陀螺仪和数字加速度传感器MMA7660测量智能车与地面的倾斜,通过IIC串行采集,通过单片机的A／D转换器采集加速度传感器MMA7660的数据。采用卡尔曼滤波对ENC-03和MMA7660数据融合,以得到更精确的倾斜角度。PWM其输出来控制电动机的速度和方向,通过一个数字PID控制器,根据角度传感器获取的角度信息作为其输入。再利用霍尔编码器测量车轮速度,为了克服陀螺仪和加速度计的漂移误差,实现前部和后部的智能车的行走方向均可。差速转向控制智能车的转向。对于电磁轨道采用磁传感器,用于搜索一个RC谐振测量通过一个固定的频率和位置的固定大小的交流电流的导体来实现。在本系统中采用两个由A／D转换器的磁传感器来收集数据,计算两个寻求磁传感器数据,然后将两个差动速度的控制是通过一个数字PD控制器,控制智能车的两个轮子,实现差速运行,其中PD控制中的微分环节通过陀螺仪实现的。整个系统是由镍镉充电电池来进行供电的,驱动芯片直接由电池供电的,最小系统,编码器5V稳压芯片7805稳压成5V,3.3v稳压器芯片1117的陀螺仪和加速度传感器供电。智能车的在线调试使用串行端口。 通过两轮智能循迹车系统的设计,开发和研究,取得了一定的成绩,但仍然不完善的地方,有待进一步研究。
[Abstract]:With the rapid development of automobile electronic technology, Volkswagen requires more and more safety, environmental protection, intelligence and information technology in addition to driving. The intelligent vehicle, which emerges as the times require, plays a more and more key role in the intelligent transportation system (ITS). The key technology of intelligent vehicle autopilot has a broad application prospect in traffic, and has received extensive attention. The research of intelligent vehicle system is related to automatic control, artificial intelligence, information fusion, sensor, image processing and computer science, and the research of intelligent vehicle control system is one of the most active research fields. The design of intelligent vehicle system, based on the basic model of intelligent vehicle, the mechanical structure and hardware circuit meter of intelligent vehicle body are designed, and the automatic tracking decision system and control algorithm of intelligent vehicle are studied. In this paper, the magnetic pursuit vertical intelligent vehicle system MC9S12XS128MAL single chip microcomputer is designed as the core control unit, combined with ENC-03 gyroscope and digital acceleration sensor MMA7660 to measure the tilt of intelligent vehicle and ground, the data of acceleration sensor MMA7660 is collected through IIC serial acquisition and A 鈮，
本文编号：2509973
[Abstract]:With the rapid development of automobile electronic technology, Volkswagen requires more and more safety, environmental protection, intelligence and information technology in addition to driving. The intelligent vehicle, which emerges as the times require, plays a more and more key role in the intelligent transportation system (ITS). The key technology of intelligent vehicle autopilot has a broad application prospect in traffic, and has received extensive attention. The research of intelligent vehicle system is related to automatic control, artificial intelligence, information fusion, sensor, image processing and computer science, and the research of intelligent vehicle control system is one of the most active research fields. The design of intelligent vehicle system, based on the basic model of intelligent vehicle, the mechanical structure and hardware circuit meter of intelligent vehicle body are designed, and the automatic tracking decision system and control algorithm of intelligent vehicle are studied. In this paper, the magnetic pursuit vertical intelligent vehicle system MC9S12XS128MAL single chip microcomputer is designed as the core control unit, combined with ENC-03 gyroscope and digital acceleration sensor MMA7660 to measure the tilt of intelligent vehicle and ground, the data of acceleration sensor MMA7660 is collected through IIC serial acquisition and A 鈮，
本文编号：2509973
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