基于AT89S52单片机及PID算法实现循迹避障功能的智能小车【毕业论文,绝对精品】精要.doc

本科毕业论文(设计) 基于AT89S52单片机的多功能智能小车设计论文 2012年4年28月 摘 要 本文介绍了一种利用AT89S52单片机为控制核心，结合多种传感器以及PID算法实现循迹避障功能的智能小车。利用反射式光电传感器检测黑线实现小车循迹，利用超声波传感器检测道路上的障碍，控制电动小汽车的自动避障，整个系统具有自动寻迹、寻光和速度测试功能。其中，控制部分采用AT89S52，AT89S52是一款8位单片机，它的易用性和多功能性受到了广大使用者的好评。电机驱动采用常用的PWM方式进行电机的调速控制，小车的速度通过液晶屏来显示。整个系统的电路结构较简单，可靠性能高，能满足各种设计的要求。随着我国高科技水平的不断提高和工业自动化进程的不断推进，智能小车被广泛应用于各种玩具和其他产品的设计中，极大地丰富了人们的生活。 关键词:单片机；传感器；PWM调速；循迹避障；pid控制算法Abstract This paper introduced an kind of intelligent car that use AT89S52 SCM as control core , combine with multiple sensors and PID control algorithm to achieve the function that find track and avoid obstacles. the electrical car uses reflective photoelectric sensor to detect black line to achieve track-finding, uses ultrasonic sensors to detect obstacles on the road to avoid obstacles automatically.The entire system has the function that trace route automatically,find light and test speed .Among them, AT89S52 which has 8-bit single-chip is used as the control part.Because of useing easily and having multi-function ,it suffers large users. The motor driver uses the common way--PWM for the motor controlling speed. the speed of car is displayed by the LCD screen .The circuit structure of the whole system is relatively simple, high reliability, and it can meet the requirements of the various design.With the continuous improvement of high technology and the stead process in industrial automation in our country,the Intelligence-car which gradually access to peoples attention has been widely applied to design a variety of toys and other products,which greatly enriched peoples lives. KEY WORDS: SCM; Sensor; PWM speed adjusting; Track finding and obstacle avoidance; PID control algorithm 目 录 1 绪 论 1 1.1 研究背景和发展现状 1 1.2 研究目的和意义 1 1.3 研究内容 1 2 系统总体方案设计与论证 3 2.1 总体方案设计 3 2.2 方案选择论证 3 2.2.1 循迹检测系统 4 2.2.2 障碍物检测系统 4 2.2.3 光源检测系统 5 2.2.4 速度检测系统 5 2.3 电机驱动系统 5 2.4 单片机控制电路系统 6 2.5 显示模块 6 3 硬件设计 7 3.1 总体设计方案 7 3.2 单片机控制电路 8 3.3电机驱动电路 10 3.3.1驱动电路 10 3.3.2 PWM调