基于飞思卡尔16位单片机电磁型智能小车【毕业设计】.docVIP

本科毕业论文 基于飞思卡尔16位单片机电磁型智能小车的设计 BASED ON FREESCALE 16-BITMICROCONTROLLER SMART CAR DESIGN 学院（部）： 机械工程学院 专业班级： 机设09-12 2013年 月 日 基于飞思卡尔16位单片机电磁型智能小车的设计 摘要 本文是以飞思卡尔智能车竞赛为背景设计的一个智能小车运行系统。本系统是以飞思卡尔MC9S12XS128单片机为核心通过传感器识别道路的智能车控制系统。本文着重阐述了道路信息的获取,处理和识别过程,并设计出PID控制器，运用有效的控制算法对智能小车进行控制,使智能小车能准确快速地对道路进行跟踪。该系统通过光电传感器获取当前道路信息，通过有效的数字图像处理算法对原始图像进行处理，对主要的有用信息进行分析和提取。在智能小车运动的控制中,对小车的转向和速度采用PID控制算法,控制表来对智能小车进行转向和速度控制。 关键词：单片机，智能小车，PID控制算法 Based on Freescale 16-bit microcontroller smart car design Abstract It is based on freescale intelligence car competition as the background design of a smart car running system in this article. This system is based on freescale MC9S12XS128 single-chip microcomputer as the core through the sensors to identify road intelligent car control system.The article focuses on the acquisition,processing and recognition of the target path information.The Fuzzy controller using an effective controlling algorithm for intelligent vehicle control makes the smart car track the road fast and accurate.With the CCD camera the system obtains the current road information and deal with the original image,the main useful analysis and information extraction through effective digital image processing algorithms.According to the motion rules of the intelligent vehicle,fuzzy control algorithm and fuzzy PID algorithm can be applied to control the steering and speed of the intelligent vehicle separately.Fuzzy control rules can be generated according to the requirement of the path tracking,which is followed by the generation of the fuzzy control table,then the steering and motion speed of the intelligent vehicle can be regulated after querying the fuzzy control table according to the path information which is already inquired. KEYWORDS：, smart car , PID, 目录 摘要（中文） I 摘要（外文） II 1、绪论 1 1.1 智能汽车赛事概况 1 1.2 课题研究现状 1 1.3 本课题的研究内容 2 2、智能车原理 3 2.1 直立行走任务分解 3 2.2 车模直立控制 4 2.3 车模速度控制 8 2.4 车模方向控制 10 2.4.1 道路电磁中心线的偏差检测 10 2.4.2 电机差动控制 10 2.5 车模倾角测量 11 2.5.1 加速度传感器