智能车后向通道自动控制器设计.doc

摘　要 为了缓解经济发展给交通运输带来的压力，使现有道路资源发挥其最大作用，发展智能交通系统（ITS）成为必然。智能车是智能交通系统的重要组成部分。 设计自动控制器是制作智能车的核心环节，本设计采用NEC78F0547单片机为简易智能小车的核心器件。后向通道设计主要是根据前向通道提供的信息控制单片机进行电机驱动与舵机驱动。首先了解电机、舵机原理，进行了方案的选择，电机模块有电机种类、型号选择，因为单片机无法直接驱动大功率等直流电机，又设计了多种驱动电路，画出了原理图、PCB图，最后进行选择确定了L298N驱动电路，并制作出了PC板。在舵机方面，也是先选择了其型号，因其安装会影响小车运动，设计了安装方式。软件方面都是利用PWM进行控制，编写了程序，使小车能够自主识别黑色引导线并根据黑色引导线实现加减速等多种行驶功能。 通过对智能小车机械、电路、控制各部分的设计，实现了自动循迹功能，表明设计方案可行。 智能车，Abstract In order to alleviate the pressure of traffic brought about by economic development, and maximize the use of existing road resources, developing the Intelligent Transportation Systems (ITS) has become inevitable. As a part of ITS, intelligent cars can run automatically on road using their own information collecting and processing system. Automatic controller is the key step in designing intelligent car , this design uses the NEC78F0547 microcontroller as the core component of simple intelligent car. The design of backward channel is mainly used to control MCU to drive motor and to drive steering gear according to the information provided from forward channel. First of all, we must know motor and steering gear principle, then make a choice of the scheme. In motor module, motor type, type selection has been made. Because MCU cant directly drive such high power dc motor, so designed various drive circuit, draw a diagram, PCB figure, finally choose determined the L298N drive circuit, and made PC board. In the steering gear, also model is the first choice, because its installation will affect car movement, we designed the installation. Software is using PWM control, we write the program, make the car to autonomously recognize black leading lines according to black guide line, realizing acceleration and deceleration of driving function. Through machinery, circuit, control all parts of the design of the intelligence car, we realized function of following mark automaticly, which is aimed for unmanned, the automatic forward, turn, stop function has been realized