STC89C52单片机循迹小车智能预测控制方法研究.docVIP

STC89C52单片机循迹小车智能预测控制方法研究 摘要：本设计主旨就现阶段已经实践的智能车基础上开发,原有的在运行中不太稳定,添加预测功能使其更加平稳快速。主要有四个模块，分别是控制模块、信息采集模块、驱动模块和反馈模块。信息采集模块用以对黑线路况检测。控制模块主要采用STC89C52单片机为控制芯片。电机驱动模块采用L298N专用电机驱动芯片，使整个系统有更好的稳定性。反馈模块主要由霍尔传感器与单片机和信息采集模块共同完成。信息采集模块将采集到的路况信息传入STC89S52单片机，当小车行驶速度有偏差或者在将要转弯时，霍尔传感器把即时速度反馈到单片机里，先由PID算法程序处理偏差,单片机根据处理结果再调整,传输信息,使舵机做出相应调整，更加平稳快速的转弯行驶，实现预测循迹功能。8154 关键词：PID；算法智能小车；STC89C52单片机；L298N Research on the Control Method of Robot Intelligent Prediction Abstract: This design theme is already practice at the present stage of smart car based on the development, the original is not so stable in running, add the prediction function to make it more steady and rapid. There are mainly four modules, respectively is control module, information collection module, drive module and feedback module. Information acquisition module for the black line traffic detection. Control module mainly adopts STC89C52 microcontroller to control chip. Motor drive module adopts special motor L298N drive chip, make the whole system has better stability. Feedback module is mainly composed of hall sensor and single-chip computer and information acquisition module. Information acquisition module of traffic information collected into the STC89S52 microcontroller, when the small car speed deviation or in turn, the hall sensor in the instant speed feedback to the single chip microcomputer, first by the PID algorithm processing deviation, monolithic integrated circuit to adjust according to the results of the processing, transmission information, make the steering gear accordingly, more steady and rapid turning drive, realize forecast tracking function. 1. 绪论 21世纪循迹智能小车得到很快发展，在玩具智能车以及其相关应用领域都有了实质性的跨越。智能车大致具有避障、循迹、检测贴片、避崖、寻光入库等基础性能，这几届的电子设计竞赛智能循迹小车在声控系统方面有了进步。比较出名的飞思卡尔智能小车更是走在前列[2]。本设计具有预测功能，在原有出现偏差就调整的基础上，添加PID算法控制,在出现偏差时,先由PID算法处理偏差,再根据处理结果舵机进行相应的调整。用以避免小车在运行中出现误差和故障而不稳定，有一定的实用价值。通过这次设计，把自己所学习的理论知识与实践紧密结合在一起，从实践中加深对单片机的认识与理解，也从中找到理论的不足之处，具有一定意义。 2. 方案设计与论证 根据要求，方案确定在已经实践过的智能车基础上，加装光电检测器和霍尔传感器，达到对智能车的方位、运