基于单片机的智能小车外文文献翻译.doc

毕业设计（论文）外文文件翻译 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 2 月 Electric intelligent car based on SCM Through research and to realize a photoelectric sensor for sensitive components ,with AT8 control core electric tracing of intelligent control carbonylation-the car ,the system is dc motor ,L9110 chips and LM324 comparator etc. The design USES AT89C51 as intelligent c core controller. The system takes microcontroller as control core and realization of electric before Enter 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, 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 according to the measured buy root different forms of several inspection according to re electric actuation vehicle wisdom can control system .This kind of square case real now t 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 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 use to get to move very small straight pulse electric flow ,electricity flow barnado elec easily even tantras, department of low speed operation flat experience .meanwhile ,adjusta stability van is surrounded relatively wide ,can reach 1000 left light .By on electricalwave flow shape than V-M system .be in phase with flat to all electrical flow dynamic machine ,ele 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 pha get very wide frequency band ,because of the fast speed ring should be good ,dynamic conf 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 q 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 m need to detect shop on the black rubber belt drive area , including Run straight along the and driving district two area .Because f the black and white paper to light reflection c different ,can according to receive reflected light . The strength of the judge “road”-the black line .this paper USES is simple and practical detec methods, namely the infrared detection method. Infrared detection method ,I use infrared ray in different colors of physical surface with differe reflection properties characteristics .In the car driving process Continually to the grou 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 absor 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 ,t 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 ,respectivelyto 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 .L91 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 flooding dynamic electric machine straight to the shipment of positive reverse move and i 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 saturatio drop and the static electricity ,The built-in clamp a diode can release the perceptual lo current impulse ,making it the drive relays ,dc motors ,stepping motor or switch power tu of safe and reliable . Follow tracing car system to common AT89C51, complementary with relatively simple components and circuit design ,the smooth completion of follow un premise of tracing function ,and fully considered appearance ,cosof the circuit car by s ,so mos manual welding is complete .In the design ,we never in a circuit increase redundant func retained various hardware interface and software subroutines interface to facilitate the expansion and development after. 2. System hardware design 2.1 motor driver module design In 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 ach 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. L ST the production of the company, the internal containing four channel logical drive circ kind of tow phase four phase motor drive, namely the special contains tow H bridge of high large current commander bridge type drive，acceptance criteria TTL logic level signals, be drive46V, 2A below the motor. 2.2 tracing module design Tracing module mainly composed by photoelectric sensor reflex, Photoconductive resistance resistance of the light with the surrounding environment changes, when the LTT white line 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 sig 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. emitting diode reflected back, triode conduction and output low level 2.3 obstacle avoidance module design Obstacle 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 rece photoelectric diode current increases, light born this change into voltage signal, it could be processor receives and processing. 2.4 remote control module design This 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 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 comple signal, must for each coding pulse width were measured with discriminate receives the pu 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 cloc12MH, 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 design This system software modular structure, he main program, initial anti-fuzzy procedures, subroutines, delay subroutines, buttons pronunciation subroutines, buttons scanning subroutines constitutes. 3.1 tracing subroutines design Tracing 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 forwar turn, turn right and stop driving purpose. 3.2 avoid barrier of programming Obstacle avoidance module is designed by the infrared reflection sensor module around the 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 design Remote control module is designed by the infrared sensor 1838 an output terminal of the rMZUp32 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, l car move forward, left turn, turn right and stop driving purpose. 4. Summary Adopts singlechip, using photoelectric senor and infrared reflection senor was designed as a detection system, can realize automatic homing line to walk, automatic obstacle avoidanc 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 exp From .com基于单片机智能小车 经过研发实现了一个一光电传感器为敏感元件，以AT89C51单片机为控制关键电机循迹小车智能控，该系统还包含直流电机、L9110芯片和LM324比较器等。 本设计采取AT98C51单片机作为智能小车关键控制器。本系统以单片机为控制关键，实现电动机前进、退、左转和右转功效。经过角度传感器1检测跷跷板角度改变，利用增量式pi算法2控制电动车寻找平衡点，同时利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 电动车速度、位置、运行情况实时测量，并将测量数据传送至单片机进行处理，然后又单片机依照所监测各种数据实现对电动车智能控制。这种方案能实现对电动车运动状态进行实时控制，控制，灵活可靠，精度高，可慢猪对系统各项要求。 直流调速系统采取脉宽调速系统，其主电路采取脉宽调制式变换器，简称 PWM变换器。因为PWM调速系统开关频率较高，仅靠电枢电感滤波作用就能够取得脉动很小直流电流，电枢电流轻易连续，系统低速运行平稳，调速范围较宽，可达1：10000左右。因为电流波形比V-M系统好，在相同平均电流下，电动机损耗和发烧都比较小。一样因为开关频率高，若与快速响应电机相配合，系统能够取得很宽频带，所以快速响应性能好，动态抗扰能力强。依照以上综合比较，以及本设计中受控电机容量和直流电机调速发展方向，本设计采取了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白纸“路面”上行驶，所以本模块设计需要检测铺在行驶区黑胶带，包含直线行驶区和沿弧线行驶区两个区域。因为黑线和白纸对光线反射系数不一样可依照接收到反射光强弱来判断“道路”-黑线。本文采取是简单实用检测方法，即红外探测法。 红外探测法，即利用红外线在不一样颜色物理表面具备不一样反射性质特点。在小车行驶过程中不停地向地面发射红外光，当红外光碰到白色地面时发生漫发射，反射光被撞在小车上接收管接收；假如碰到黑线则红外光被吸收，则小车上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，用于检测传感器敏感性，电力图如图5所表示。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 因为采取是双驱动小车，这部分电路必须能够输出两个不一样电压值，分别去控制小车左、右两个驱动电机，使小车两个车轮转速和方向相同或不一样，从而来控制它前进和转弯。在系统设计过程中，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，整机可靠性提升。该芯片有两个TTL/CMOS兼容电平出入，具备良好抗干扰性；两个输出端能之间驱动电机正反向运动，它具备较大电流驱动能力，每通道能经过 800mA 连续电流，峰值电流能力可达 1.52.0A；同时它具备较低输出饱和压降与静态电流；内置钳位二极管能释放感性负载反向冲击电流，使它在驱动继电器、直流电机、步进电机或开关功率管使用上安全可靠 。循迹小车系统以常见AT89C51单片机为关键，辅以较简单元器件和电路设计，在顺利完成循迹功效前提下，又充分考虑到了成本、外观等问题，所以小车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功效，不过保留了各种硬件接口和软件子程序接口，方便以后扩展和开发。 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直流减速电机进行驱动，车头前部装一个方向轮，然后经过i/o口控制两个直流减速电机转速和转向就能够实现小车转轮、右轮和直行。 电机驱动采取片集成电机驱动芯片L298N。L298N是ST企业产品，内部包含 4 通道逻辑驱动电路，是一个二相和四相电机专用驱动器，即内含二个 H 桥高电压大电流双全桥式驱动器，接收标准TTL逻辑电平信号，可驱动46v、2A以下电机。 2.2循迹模块设计 迅即模块主要由广电反射式传感器组成。光敏电阻阻值随周围 环境光线改变而改变，当光线照射到白线上面时，光线发射强烈；光线发射到黑线上面时，阻值会发生显著改变，将阻值改变只经过比较器就能够输出高低电平。不过这种方式受环境影响大，工作不稳定。本文实际采取是RPR220型反射式传感器制作循迹模块。 RPR220是一个一体化反射型光电探测器，其发射器是一个砷化镓红外发光二极管，而接收器是一个高灵敏度硅平面光电三极管。当发光二极管发出光反射回来时，三级管道通病输出低电平。 2.3避障模块设计 避障模块主要有红外反射式传感器组成。红外反射式传感器由1个红外发射管（发射器）和1个光电二极管（接收器）组成，红外发射管发出红外光在碰到反光性较强物体后被折回，被光电二极管接收，引发光电二极管光生电流增大，将此改变转为电压信号，就能够被处理器接收并处理。 2.4遥控模板设计 本模块发射端采取高灵敏HL-5000型万能电视遥控器，接收端采取接收频率为38KHZ万能接收头182，该模块与单片机接口非常方便。另外，对于景红外接收后编码信号，本系统设计时利用 AT89C52单片微机外部中止来接收，信号下降沿触发外部中止。为了识别一个完整键信号，必须对每一个编码脉冲宽度进行测量，以判别接收到脉冲是 0 还是 1，利用单片机中定时器/ 计数器来测量脉冲宽度。定时器/计数器除分比是能够设定，从除 2 到除 2048，可测量脉冲宽度可达500ms。时钟周期为1s，所以定时器/计数器每计时一次为1s。 2.5报警模块设计 报警模块关键芯片选择 110 报警 IC，可应用于汽车、摩托车、防盗器、个人防暴器、门磁报警器等场所。 三 统软件设计 本系统软件采取模块化结构，由主程序、初始化子程序、中止子程序、延时子程序、按键发音子程序、按键扫描子程序组成。 3.1循迹子程序设计 循迹模块设计是经过把左右光电传感器输出端分别接到单片机 P22 和 P23管脚上，然后经过单片机编程，产生PWM控制信号，经过L298控制电机转速，让校车达成前进、左转、右转即停顿行驶目标。 3.2避障子程序设计 避障模块设计是经过把左右红外线反射式传感器模块输出端分别接到单片机P20和P21管脚上，然后经过单片机编程，产生PWM控制信号，经过L298 控制电机转速，让小车达成前进、左转、右转及停顿行驶目标。 3.3遥控子程序设计 遥控模块设计师经过吧红外接收头1838输出端接到单片机p32管脚上，然后用万能遥控器对其进行遥控，接着让单片机解码，产生PWM控制信号，经过L298控制电机转速，让小车达成前进、左转、右转及停顿行驶目标。 四 总结 采取单片机为关键，利用光电传感器和红外反射式传感器作为探测系统，设计了能够实现自动寻线行走、自动避障、报警以及遥控等功效智能小车。该设计显著优点是电路简单、可靠性强、成本低，而且非常易于功效深入完善和扩展。