基于单片机的智能小车外文文献翻译.doc

南京航空航天大学金城学院毕业设计（论文）外文文献翻译系 部机电工程系专 业车辆工程学生姓名顾伟学号200901223指导教师卞利云职称讲师2013年2 月Electric intelligent car based on SCMThrough research and to realize a photoelectric sensor for sensitive components ,with AT89C51 as control core electric tracing of intelligent control carbonylation-the car ,the system is also including dc motor ,L9110 chips and LM324 comparator etc. The design USES AT89C51 as intelligent car core controller.The system takes microcontroller as control core and realization of electric before Enter ,back ,turn left and right turn function .Through the Angle sensor detection the seesaw Angle change ,use incremental pl algorithm to control the electric car for balance ,and using photoelectric sensor detection black line ,make the electricity Actuation vehicle in the course of driving keep linear motion and dont skip from atrium .1. Project Design Light buy a sensor ,the reality of the electric car is moving quickly degrees ,bit ,buy, transportation line shape when measured quantity of real condition ,and will be measured quantity number according to preach sent to monolithic machine into line processing, but buy single chip machine according to the measured buy root different forms of several inspection according to real now to electric actuation vehicle wisdom can control system .This kind of square case real now to electric actuation vehicle dynamic shape state into the shipment do real possession in system ,control system spirit alive ,can depend ,pure degree is high ,can full foot of each item of the stockings to bed .(1)straight epidemiological speed is tasseled straight epidemiological speed department with pulse width modulation experience .meanwhile gather speed is experience .meanwhile ,its main electrical pulse width modulation by road system type variable change device ,Jane says PWM variable change device .Adjustable speed by in the department of PWM experience .Meanwhile open shut frequency rate is high ,only on electricity barnado electricity sense of filter wave can be use to get to move very small straight pulse electric flow ,electricity flow barnado electric capacity easily even tantras, department of low speed operation flat experience .meanwhile ,adjustable speed stability van is surrounded relatively wide ,can reach 1000 left light .By on electrical flow wave shape than V-M system .be in phase with flat to all electrical flow dynamic machine ,electric heat consumption and hair loss than a small .with the sample buy in open shut frequency rate is high ,and if a fast speed electrical machine ring should match close ,fasten tasseled phase can be to get very wide frequency band ,because of the fast speed ring should be good ,dynamic configuration sexual can perturbation resistance can force is powerful .According to the root ,with more than ensemble close and this set of electrical machine control project by tolerance of the quantity and electrical machine speed straight flow of hair ,the exhibitor to adopt the project with a single extremely H type can be changed into change device inverse PWM line speed .1.1 photoelectric detection module design The intelligent car was stuck on the black line running on white paper “road”, so this module design need to detect shop on the black rubber belt drive area , including Run straight along the arc district and driving district two area .Because f the black and white paper to light reflection coefficient is different ,can according to receive reflected light .The strength of the judge “road”-the black line .this paper USES is simple and practical detection methods, namely the infrared detection method.Infrared detection method ,I use infrared ray in different colors of physical surface with different reflection properties characteristics .In the car driving process Continually to the ground to launch the infrared ,when the infrared met white ground occurs when the reflected light ,aimless and launch packed on the car of receiving tube receiving ; if Fruit is met black line is absorbed ,and than the infrared cars receiving tube receiving less than signal .1.2 signal comparative module design This part design USES a LM324 comparator ,of sensor signal voltage received compare and amplified ,and will compare the results after Feed to the microcontroller ,used to detect sensor sensitivity ,diagram shown in figure 5 shows .When two sensors simultaneously detect light ,straight forward .When the sensor cant detect light ,in cut-off state ,double LM324 operational amplifier output low level to microcontroller ,by program processing ,If left not detected light ,then left correct direction; If the right has not been detected light ,then turn correct direction .1.3 motor control and driving module design Because use is double drive cars ,this part of the circuit must be able to output of two different voltage values ,respectively to controlling trolley right and left two motor drive ,the two of the wheel speed and direction of the same or different ,thus to control its advance and turning .In system design process ,use two L9110 chips to connect SCM and dc motor respectively .L9110 is for control and drive motor design two channels push-pull power amplifier application-specific integrated circuit device ,discrete circuits in monolithic IC integrated such that the peripheral equipments in lower cost and the whole machine can carry on sexual high .The core slice two a TTL/CMOS and let electricity flat lose into ,have good anti-jamming ,two output terminal can pick flooding dynamic electric machine straight to the shipment of positive reverse move and it has had a big electricity flow flooding dynamic can force ,each call way can pass over 800mA continuous current ,peak current capacity of 1.5 OA ; At the same time it has lower output saturation pressure drop and the static electricity ,The built-in clamp a diode can release the perceptual load of reverse current impulse ,making it the drive relays ,dc motors ,stepping motor or switch power tube the use of safe and reliable .Follow tracing car system to common AT89C51, complementary with relatively simple components and circuit design ,the smooth completion of follow under the premise of tracing function ,and fully considered appearance ,costs ,so most of the circuit car by manual welding is complete .In the design ,we never in a circuit increase redundant functions ,but retained various hardware interface and software subroutines interface to facilitate the expansion and development after.2. System hardware design2.1 motor driver module designIn making intelligent car, right wheel respectively with two speed and Torque basic identical dc motor driven deceleration. bolt-on trunk-lid spoiler Department to install a direction wheel, then through the I/O mouth to control tow dc slowing down Motor speed and steering can be achieved on the car to the left, turn right and straight line.Motor drive using a integrated electrical machine flooding dynamic core slice L 298 N. L298N is ST the production of the company, the internal containing four channel logical drive circuit, it is a kind of tow phase four phase motor drive, namely the special contains tow H bridge of high voltage large current commander bridge type drive，acceptance criteria TTL logic level signals, be driven 46V, 2A below the motor.2.2 tracing module designTracing module mainly composed by photoelectric sensor reflex, Photoconductive resistance of the resistance of the light with the surrounding environment changes, when the LTT white lines above, light emission strongly; The LTT black line above, light emission are relatively weak. So when photoconductive resistance in white line and black line above the elements will occur significantly changes, the resistance changes value after comparator can output high level. But this way environmental influences big, work is not stable. This article actual use is RPP220 type reflex sensors made tracing module.RPR220 is an integration of reflective photoelectric detector, transmitter is a gas infrared light emitting diode and the receiver is a high sensitivity silicon photoelectric triode flat. When the light emitting diode reflected back, triode conduction and output low level 2.3 obstacle avoidance module designObstacle avoidance module mainly composed by infrared reflection sensor. Infrared reflection sensor by one infrared tubes and photoelectric diode constitute, infrared tubes out to meet the infrared object reflective sex strong after be turned back, by photoelectric diode receiving, cause photoelectric diode current increases, light born this change into voltage signal, it could be processor receives and processing.2.4 remote control module designThis module will launch end USES high sensitive HL-5000 type universal television remote control, the receiver using receive frequency for 38kH receiving head 1838, this module and the single chip computer interface is very convenient. In addition, for the red outside meet after harvest of plait code letter number the department tasseled set when shipped with project of AT89C52 single chip microcomputer external interruption. In order to recognize a complete key signal, must for each coding pulse width were measured with discriminate receives the pulse is o still 1. the microcontroller timer/counter to measuring pulse width. Timer/counter except points than can be set, from except 2 to except 2048, measurable pulse width can reach 500m/s. This paper set except point for 12, namely than 12 points frequency, because the external clock is about 12MH, clock cycle for 1s, so the timer/counter for 1 per timing once s.2.5 alarm module design Alarm module core chip 110 IC, can choose application in automobile, motorcycle, alarms, personal riot device, door magnetic alarm device and etc.3. System software designThis system software modular structure, he main program, initial anti-fuzzy procedures, interrupt subroutines, delay subroutines, buttons pronunciation subroutines, buttons scanning subroutines constitutes.3.1 tracing subroutines designTracing module is designed by the left right photoelectric sensor output terminal receiving monolithic respectively, p22 and p23 tube feet, then through the microcontroller programming, produce PWM control signal. Through L 298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.3.2 avoid barrier of programmingObstacle avoidance module is designed by the infrared reflection sensor module around the output terminal receiving MCU respectively p20 and p21 tube feet, then through the microcontroller programming, produce PWM control signal, through L298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.3.3 remote subroutines designRemote control module is designed by the infrared sensor 1838 an output terminal of the receiving MZUp32 tube feet, then use all-purpose remote control on the remote control, then let microcontroller decoding, produce PWM control signal, through L298 control motor speed, let the car move forward, left turn, turn right and stop driving purpose.4. SummaryAdopts singlechip, using photoelectric senor and infrared reflection senor was designed as a detection system, can realize automatic homing line to walk, automatic obstacle avoidance, alarm and remote control functions such as intelligent car. This design is the obvious advantage of simple circuit, reliability, low cost, and easy to function of further perfecting and expansion. From 基于单片机的智能小车通过研发实现了一种一光电传感器为敏感元件，以AT89C51单片机为控制核心的电机循迹小车的智能控，该系统还包括直流电机、L9110芯片和LM324比较器等。本设计采用AT98C51单片机作为智能小车核心控制器。本系统以单片机为控制核心，实现电动机的前进、退、左转和右转功能。通过角度传感器1检测跷跷板角度的变化，利用增量式pi算法2控制电动车寻找平衡点，同时运用光电传感器检测黑线，使电动车在行驶过程保持之先切不会脱离跷跷。一 设计方案电动车的速度、位置、运行状况的实时测量，并将测量数据传送至单片机进行处理，然后又单片机根据所监测的各种数据实现对电动车的智能控制。这种方案能实现对电动车的运动状态进行实时控制，控制，灵活可靠，精度高，可慢猪对系统的各项要求。直流调速系统采用脉宽调速系统，其主电路采用脉宽调制式变换器，简称PWM变换器。由于PWM调速系统的开关频率较高，仅靠电枢电感的滤波作用就可以获得脉动很小的直流电流，电枢电流容易连续，系统的低速运行平稳，调速范围较宽，可达1：10000左右。由于电流波形比V-M系统好，在相同的平均电流下，电动机的损耗和发热都比较小。同样由于开关频率高，若与快速响应的电机相配合，系统可以获得很宽的频带，因此快速响应性能好，动态抗扰能力强。根据以上综合比较，以及本设计中受控电机的容量和直流电机调速的发展方向，本设计采用了H型单极型可逆PWM变换器进行调速。1.1光电检测模块设计该智能小车在贴有黑线的白纸“路面”上行驶，因此本模块设计需要检测铺在行驶区的黑胶带，包括直线行驶区和沿弧线行驶区两个区域。由于黑线和白纸对光线的反射系数不同可根据接收到的反射光的强弱来判断“道路”-黑线。本文采用的是简单实用的检测方法，即红外探测法。红外探测法，即利用红外线在不同颜色的物理表面具有不同的反射性质的特点。在小车行驶过程中不断地向地面发射红外光，当红外光遇到白色地面时发生漫发射，反射光被撞在小车上的接收管接收；如果遇到黑线则红外光被吸收，则小车上的接收管接收不到信号1.2信号比较模块设计输送给单片机，用于检测传感器的敏感性，电力图如图5所示。当两个传感器同时接收到光时，直线前进。当传感器检测不到光时，处于截止状态，双运算放大器LM324输出低电平给单片机，由程序处理；若左路未检测到光，则向左纠正方向；若右路未检测到光，则向右纠正方向。1.3电机控制与驱动模块设计由于采用的是双驱动的小车，这部分电路必须能够输出两个不同的电压值，分别去控制小车的左、右两个驱动电机，使小车的两个车轮的转速和方向相同或不同，从而来控制它的前进和转弯。在系统的设计过程中，用两个L9110芯片来分别连接单片机和直流电机。L9110是为控制和驱动电机设计的两道推挽式功率放大专用集成电路件，将分立电路集成在单片ic之中，使外围器件成本降低，整机可靠性提高。该芯片有两个TTL/CMOS兼容电平的出入，具有良好的抗干扰性；两个输出端能之间驱动电机的正反向运动，它具有较大的电流驱动能力，每通道能通过800mA的持续电流，峰值电流能力可达1.52.0A；同时它具有较低的输出饱和压降与静态电流；内置的钳位二极管能释放感性负载的反向冲击电流，使它在驱动继电器、直流电机、步进电机或开关功率管的使用上安全可靠。循迹小车系统以常见的AT89C51单片机为核心，辅以较简单的元器件和电路设计，在顺利完成循迹功能的前提下，又充分考虑到了成本、外观等问题，因此小车的大部分电路有手工焊接完成。在设计中，我们没有在电路中增加冗余的功能，但是保留了各种硬件接口和软件子程序接口，方便以后的扩展和开发。二 系统硬件设计2.1电机驱动模