基于光电传感器的自动循迹智能车系统设计 自动化专业毕业设计 毕业论文.doc

摘 要 新一代汽车研究与开发将集中表现在信息技术、微电子技术、计算机技术、智能自动化技术、人工智能技术、网络技术、通信技术在汽车上的应用。智能汽车是是现代汽车发展的方向。 大学生智能车比赛是智能汽车设计的一个实践平台，光电传感器的自动循迹智能车系统，采用光电传感器作为道路信息的采集传感器，单片机为控制系统的核心来处理信号和控制小车行驶。MC9S12系列单片机在汽车电子控制领域得到广泛应用。本课题就是利用Freescale的MC9S12XS128微控制器对智能车系统进行设计。智能车系统设计包括硬件电路和控制软件系统的设计。硬件系统使用专门软件Altium Designer设计。硬件电路系统主要包括freescale单片机最小系统、电源管理系统、路径识别与检测系统、电机驱动系统。而控制系统软件的设计主要包括单片机的初始化、PID控制算法、路径识别算法、舵机控制算法、速度控制算法。软件设计是用Freescale 公司的Codewarrior软件作为软件开发和仿真下载的平台。最后完成了整个自动循迹智能车系统设计。 关键字： 智能车；光电传感器；自动循迹；控制算法；PID; ABSTRACT The design of autoguiding smartcar system based on photoelectric sensor New generation automobile development and researched focus on information technology, microelectronic technology, computer technology, intelligent automation technology, artificial intelligence technology, networking technology, communication technology and so on. The intelligent automobile is the direction in which the modern automobile developed. The university students intelligence vehicle competition is a practice platform in which intelligence automobile designed , we use the photoelectric sensor as gathering sensor to take path information , The microcontroller is used as the control system core ,and process the signal, and controls car to run . signal-chip microcomputer MC9S12 series be widespread utilized in the automobile electronic control domain. I use the Freescale microcontroller MC9S12XS128 to design the intelligent vehicle system. The design of intelligent vehicle system including hardware circuit and control software system. I adopt the software of electronics design Altium Designer to complete designing the hardware . Hardware circuit system mainly includes the freescale ’s Single-chip Microcomputer smallest system, the power source management system , the way recognition and the detecting system, the motor-driven system. But the control software system mainly includes Single-chip Microcomputer s initialization, the PID contro