《基于AD采样的光电传感器阵在智能车中的应用》.doc

摘 要 该智能车系统采用组委会规定的标准车模，以飞思卡半导体公司生产的16位单片机MC9S12DG128 为核心控制器，在CodeWarrior IDE开发环境中进行软件开发。本系统综合了传感器检测，自动控制，信号处理，单片机，机械设计等技术，控制小车在大赛给定赛道上完成自主寻迹，并使智能车在绕赛道行驶两圈之后，自动停在距离起跑线三米以内的范围内。 系统采用光电传感器对赛道进行识别，对赛道上的黑、白两色进行采样，以适应不同的比赛环境；传感器与小车前轮同步转动，以加快过弯速度；采用PID算法稳定电机转速，使智能车加减速以及稳定性能达到最优；采用PD算法控制舵机转向，使小车能够稳定、快速寻线。此外，本系统还能够识别十字路口以及上下坡，并对此做出相应的反应。 关键字：智能车 光电传感器 PID Abstract The third session of the “Freescale Cup” National University Smart car Competition is carrying on. There has been passed only few years since the first session of the competition hold, but more and more universities are coming to run prizes. In this article, we present the smart car system designed by Nanjing University of Aeronautics and Astronautics. It includes the alteration of mechanism, the design of the hardware and the software, the technique of control and so on. The 1/10 EP on-racing car is adopted as the smart car’s mechanism, This contest adopting the standard model car prescribed by the contest organization committee, using the 16-bit MCU MC9S12DG128 produced by Freescale Semiconductor Company as the core controller, developing under the CodeWarrior IDE. The system combines sensor technology, automatic control technology, signal processing technology, microprocessor technology and mechanism projecting technology. It can make car automatic drive along the runway. What’s more, when the smart car has driven along the runway twice, it could stop in 3 meters from the jumping-off line. The system identifies the game road by a line of photoelectric sensor, which running with the front wheel of the smart car in order to accelerate when the smart car wheeling .The sensor sampling the black and white of the runway so as to adapt different environment. The system takes advantage of the PID arithmetic, which enables the model system to acquire better stability and capacity of instantaneous acceleration. Furthermore, it adopts the PD arithmetic to control the veer, to insure the agility and stabilization of t