基于电磁传感器的智能车控制毕业设计论文.doc

PAGE 毕 业 设 计基于电磁传感器的智能车控制摘 要随着智能交通系统（ITS）的研究在各国越来越被重视，智能车的控制技术也成为一项新兴技术，教育部决定举办基于高速发展的智能车技术为背景的“飞思卡尔杯”全国大学生智能车大赛。 本设计以第六届飞思卡尔杯全国智能车大赛为背景，系统以飞思卡尔公司的16位微控制器MC9S12XS128作为核心处理器，并综合了传感器技术，自动控制技术，信号处理技术，单片机技术，采用LC 谐振回路感应电磁信号寻迹方案，同时配合编码器、电机、舵机、电池以及相关驱动电路来进行信息的处理，使车模能够以最合适的速度自主循线,并通过PID 方式对电机和舵机进行相关调节，最终以闭合回路的形式控制模型车高速稳定地在跑道上行驶，使车具有更强的稳定性与瞬时提速性能。在文中详细介绍电磁智能车的设计方案，其中包括机械结构的安装与调整、硬件电路的设计与制作、信号采样策略、舵机的转向控制、速度的闭环控制，以及与此次竞赛相关的各类调试方法的思路和用到的相关调试工具。关键词：微控制器； 电磁感应； PID； 自主循线； 闭环控制；AbstractWith the study of the intelligent Transportation System (ITS) in the States are being taken seriously, Intelligent vehicle control technology has become an emerging technology. With the fast development of the intelligent vehicle technology, The Ministry of Education holds the “Freescale Cup” National University Smart car Competition.This design builds an intelligent vehicle control system based on the MC9S12X- S128 microcontroller，and combines sensor technology, automatic control technology, signal processing technology, microprocessor technology. And determine the route by signal from oscillation circuits due to electromagnetic wave from the alternating curr- ent in the guiding wire. After processing the signal, CPU drives the car by controlling motor and steer engine and stops the car by distinguishing the termination by read switches. Throughout the race, the algorithm of PID contributes to tracing route and controlling pace.It also can monitor car’s performance and timely modify the drive parameter. The model system syncretizes intelligence and humanity, and shows outstanding security and stability. The system provides valuable experiences for further researches in coming future.Key Word: Microcontroller;Electromagnetic induction ;PID;Self through the line;Closed-loop control目录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc293307282 1绪论 PAGEREF _Toc293307282 \h 1 HYPERLINK \l _Toc293307283 2智能汽车控制系统总体设计 PAGEREF _Toc293307283 \h 1 HYPERLINK \l _Toc293307284 2.1 总体设计思路 PAGEREF _Toc293307284 \h