基于单片机的智能小车外文文献翻译

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学号指导教师职称讲师2013年2月ElectricintelligentcarbasedonSCMThroughresearchandtorealizeaphotoelectricsensorforsensitivecomponents,withAT89C51ascontrolcoreelectrictracingofintelligentcontrolcarbonylation-thecar,thesystemisalsoincludingdcmotor,L9110chipsandLM324comparatoretc.ThedesignUSESAT89C51asintelligentcarcorecontroller.ThesystemtakesmicrocontrollerascontrolcoreandrealizationofelectricbeforeEnter,back,turnleftandrightturnfunction.ThroughtheAnglesensordetectiontheseesawAnglechange,useincrementalplalgorithmtocontroltheelectriccarforbalance,andusingphotoelectricsensordetectionblackline,maketheelectricityActuationvehicleinthecourseofdrivingkeeplinearmotionanddon’tskipfromatrium.1.ProjectDesignLightbuyasensor,therealityoftheelectriccarismovingquicklydegrees,bit,buy,transportationlineshapewhenmeasuredquantityofrealcondition,andwillbemeasuredquantitynumberaccordingtopreachsenttomonolithicmachineintolineprocessing,butbuysinglechipmachineaccordingtothemeasuredbuyrootdifferentformsofseveralinspectionaccordingtorealnowtoelectricactuationvehiclewisdomcancontrolsystem.Thiskindofsquarecaserealnowtoelectricactuationvehicledynamicshapestateintotheshipmentdorealpossessioninsystem,controlsystemspiritalive,candepend,puredegreeishigh,canfullfootofeachitemofthestockingstobed.(1)straightepidemiologicalspeedistasseledstraightepidemiologicalspeeddepartmentwithpulsewidthmodulationexperience.meanwhilegatherspeedisexperience.meanwhile,itsmainelectricalpulsewidthmodulationbyroadsystemtypevariablechangedevice,JanesaysPWMvariablechangedevice.AdjustablespeedbyinthedepartmentofPWMexperience.Meanwhileopenshutfrequencyrateishigh,onlyonelectricitybarnadoelectricitysenseoffilterwavecanbeusetogettomoveverysmallstraightpulseelectricflow,electricityflowbarnadoelectriccapacityeasilyeventantras,departmentoflowspeedoperationflatexperience.meanwhile,adjustablespeedstabilityvanissurroundedrelativelywide,canreach1000leftlight.ByonelectricalflowwaveshapethanV-Msystem.beinphasewithflattoallelectricalflowdynamicmachine,electricheatconsumptionandhairlossthanasmall.withthesamplebuyinopenshutfrequencyrateishigh,andifafastspeedelectricalmachineringshouldmatchclose,fastentasseledphasecanbetogetverywidefrequencyband,becauseofthefastspeedringshouldbegood,dynamicconfigurationsexualcanperturbationresistancecanforceispowerful.Accordingtotheroot,withmorethanensemblecloseandthissetofelectricalmachinecontrolprojectbytoleranceofthequantityandelectricalmachinespeedstraightflowofhair,theexhibitortoadopttheprojectwithasingleextremelyHtypecanbechangedintochangedeviceinversePWMlinespeed.1.1photoelectricdetectionmoduledesignTheintelligentcarwasstuckontheblacklinerunningonwhitepaper“road”,sothismoduledesignneedtodetectshopontheblackrubberbeltdrivearea,includingRunstraightalongthearcdistrictanddrivingdistricttwoarea.Becauseftheblackandwhitepapertolightreflectioncoefficientisdifferent,canaccordingtoreceivereflectedlight.Thestrengthofthejudge“road”-theblackline.thispaperUSESissimpleandpracticaldetectionmethods,namelytheinfrareddetectionmethod.Infrareddetectionmethod,Iuseinfraredrayindifferentcolorsofphysicalsurfacewithdifferentreflectionpropertiescharacteristics.InthecardrivingprocessContinuallytothegroundtolaunchtheinfrared,whentheinfraredmetwhitegroundoccurswhenthereflectedlight,aimlessandlaunchpackedonthecarofreceivingtubereceiving;ifFruitismetblacklineisabsorbed,andthantheinfraredcarsreceivingtubereceivinglessthansignal.1.2signalcomparativemoduledesignThispartdesignUSESaLM324comparator,ofsensorsignalvoltagereceivedcompareandamplified,andwillcomparetheresultsafterFeedtothemicrocontroller,usedtodetectsensorsensitivity,diagramshowninfigure5shows.Whentwosensorssimultaneouslydetectlight,straightforward.Whenthesensorcan’tdetectlight,incut-offstate,doubleLM324operationalamplifieroutputlowleveltomicrocontroller,byprogramprocessing,Ifleftnotdetectedlight,thenleftcorrectdirection;Iftherighthasnotbeendetectedlight,thenturncorrectdirection.1.3motorcontrolanddrivingmoduledesignBecauseuseisdoubledrivecars,thispartofthecircuitmustbeabletooutputoftwodifferentvoltagevalues,respectivelytocontrollingtrolleyrightandlefttwomotordrive,thetwoofthewheelspeedanddirectionofthesameordifferent,thustocontrolitsadvanceandturning.Insystemdesignprocess,usetwoL9110chipstoconnectSCManddcmotorrespectively.L9110isforcontrolanddrivemotordesigntwochannelspush-pullpoweramplifierapplication-specificintegratedcircuitdevice,discretecircuitsinmonolithicICintegratedsuchthattheperipheralequipmentsinlowercostandthewholemachinecancarryonsexualhigh.ThecoreslicetwoaTTL/CMOSandletelectricityflatloseinto,havegoodanti-jamming,twooutputterminalcanpickfloodingdynamicelectricmachinestraighttotheshipmentofpositivereversemoveandithashadabigelectricityflowfloodingdynamiccanforce,eachcallwaycanpassover800mAcontinuouscurrent,peakcurrentcapacityof1.5~OA;Atthesametimeithasloweroutputsaturationpressuredropandthestaticelectricity,Thebuilt-inclampadiodecanreleasetheperceptualloadofreversecurrentimpulse,makingitthedriverelays,dcmotors,steppingmotororswitchpowertubetheuseofsafeandreliable.FollowtracingcarsystemtocommonAT89C51,complementarywithrelativelysimplecomponentsandcircuitdesign,thesmoothcompletionoffollowunderthepremiseoftracingfunction,andfullyconsideredappearance,costs,somostofthecircuitcarbymanualweldingiscomplete.Inthedesign,weneverinacircuitincreaseredundantfunctions,butretainedvarioushardwareinterfaceandsoftwaresubroutinesinterfacetofacilitatetheexpansionanddevelopmentafter.2.Systemhardwaredesign2.1motordrivermoduledesignInmakingintelligentcar,rightwheelrespectivelywithtwospeedandTorquebasicidenticaldcmotordrivendeceleration.bolt-ontrunk-lidspoilerDepartmenttoinstalladirectionwheel,thenthroughtheI/OmouthtocontroltowdcslowingdownMotorspeedandsteeringcanbeachievedonthecartotheleft,turnrightandstraightline.MotordriveusingaintegratedelectricalmachinefloodingdynamiccoresliceL298N.L298NisSTtheproductionofthecompany,theinternalcontainingfourchannellogicaldrivecircuit,itisakindoftowphasefourphasemotordrive,namelythespecialcontainstowHbridgeofhighvoltagelargecurrentcommanderbridgetypedrive，acceptancecriteriaTTLlogiclevelsignals,bedriven46V,2Abelowthemotor.2.2tracingmoduledesignTracingmodulemainlycomposedbyphotoelectricsensorreflex,Photoconductiveresistanceoftheresistanceofthelightwiththesurroundingenvironmentchanges,whentheLTTwhitelinesabove,lightemissionstrongly;TheLTTblacklineabove,lightemissionarerelativelyweak.Sowhenphotoconductiveresistanceinwhitelineandblacklineabovetheelementswilloccursignificantlychanges,theresistancechangesvalueaftercomparatorcanoutputhighlevel.Butthiswayenvironmentalinfluencesbig,workisnotstable.ThisarticleactualuseisRPP220typereflexsensorsmadetracingmodule.RPR220isanintegrationofreflectivephotoelectricdetector,transmitterisagasinfraredlightemittingdiodeandthereceiverisahighsensitivitysiliconphotoelectrictriodeflat.Whenthelightemittingdiodereflectedback,triodeconductionandoutputlowlevel2.3obstacleavoidancemoduledesignObstacleavoidancemodulemainlycomposedbyinfraredreflectionsensor.Infraredreflectionsensorbyoneinfraredtubesandphotoelectricdiodeconstitute,infraredtubesouttomeettheinfraredobjectreflectivesexstrongafterbeturnedback,byphotoelectricdiodereceiving,causephotoelectricdiodecurrentincreases,lightbornthischangeintovoltagesignal,itcouldbeprocessorreceivesandprocessing.2.4remotecontrolmoduledesignThismodulewilllaunchendUSEShighsensitiveHL-5000typeuniversaltelevisionremotecontrol,thereceiverusingreceivefrequencyfor38kHreceivinghead1838,thismoduleandthesinglechipcomputerinterfaceisveryconvenient.Inaddition,fortheredoutsidemeetafterharvestofplaitcodeletternumberthedepartmenttasseledsetwhenshippedwithprojectofAT89C52singlechipmicrocomputerexternalinterruption.Inordertorecognizeacompletekeysignal,mustforeachcodingpulsewidthweremeasuredwithdiscriminatereceivesthepulseisostill1.themicrocontrollertimer/countertomeasuringpulsewidth.Timer/counterexceptpointsthancanbeset,fromexcept2toexcept2048,measurablepulsewidthcanreach500m/s.Thispapersetexceptpointfor12,namelythan12pointsfrequency,becausetheexternalclockisabout12MH,clockcyclefor1s,sothetimer/counterfor1pertimingonces.2.5alarmmoduledesignAlarmmodulecorechip110IC,canchooseapplicationinautomobile,motorcycle,alarms,personalriotdevice,doormagneticalarmdeviceandetc.3.SystemsoftwaredesignThissystemsoftwaremodularstructure,hemainprogram,initialanti-fuzzyprocedures,interruptsubroutines,delaysubroutines,buttonspronunciationsubroutines,buttonsscanningsubroutinesconstitutes.3.1tracingsubroutinesdesignTracingmoduleisdesignedbytheleftrightphotoelectricsensoroutputterminalreceivingmonolithicrespectively,p22andp23tubefeet,thenthroughthemicrocontrollerprogramming,producePWMcontrolsignal.ThroughL298controlmotorspeed,letthecartomoveforward,leftturn,turnrightandstopdrivingpurpose.3.2avoidbarrierofprogrammingObstacleavoidancemoduleisdesignedbytheinfraredreflectionsensormodulearoundtheoutputterminalreceivingMCUrespectivelyp20andp21tubefeet,thenthroughthemicrocontrollerprogramming,producePWMcontrolsignal,throughL298controlmotorspeed,letthecartomoveforward,leftturn,turnrightandstopdrivingpurpose.3.3remotesubroutinesdesignRemotecontrolmoduleisdesignedbytheinfraredsensor1838anoutputterminalofthereceivingMZUp32tubefeet,thenuseall-purposeremotecontrolontheremotecontrol,thenletmicrocontrollerdecoding,producePWMcontrolsignal,throughL298controlmotorspeed,letthecarmoveforward,leftturn,turnrightandstopdrivingpurpose.4.SummaryAdoptssinglechip,usingphotoelectricsenorandinfraredreflectionsenorwasdesignedasadetectionsystem,canrealizeautomatichominglinetowalk,automaticobstacleavoidance,alarmandremotecontrolfunctionssuchasintelligentcar.Thisdesignistheobviousadvantageofsimplecircuit,reliability,lowcost,andeasytofunctionoffurtherperfectingandexpansion.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1.5~2.0A；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电机驱动模块设计在制作智能小车时，后左、右轮分别用两个转速和力矩基本完全相同的直流减速电机进行驱动，车头前部装一个方向轮，然后通过i/o口控制两个直流减速电机的转速和转