畢業(yè)設(shè)計（論文）外文文獻翻譯系部機電工程系專業(yè)車輛工程學(xué)生姓名學(xué)號指導(dǎo)教師職稱講師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基于單片機的智能小車通過研發(fā)實現(xiàn)了一種一光電傳感器為敏感元件，以AT89C51單片機為控制核心的電機循跡小車的智能控，該系統(tǒng)還包括直流電機、L9110芯片和LM324比較器等。本設(shè)計采用AT98C51單片機作為智能小車核心控制器。本系統(tǒng)以單片機為控制核心，實現(xiàn)電動機的前進、退、左轉(zhuǎn)和右轉(zhuǎn)功能。通過角度傳感器[1]檢測蹺蹺板角度的變化，利用增量式pi算法[2]控制電動車尋找平衡點，同時運用光電傳感器檢測黑線，使電動車在行駛過程保持之先切不會脫離蹺蹺。一設(shè)計方案電動車的速度、位置、運行狀況的實時測量，并將測量數(shù)據(jù)傳送至單片機進行處理，然后又單片機根據(jù)所監(jiān)測的各種數(shù)據(jù)實現(xiàn)對電動車的智能控制。這種方案能實現(xiàn)對電動車的運動狀態(tài)進行實時控制，控制，靈活可靠，精度高，可慢豬對系統(tǒng)的各項要求。直流調(diào)速系統(tǒng)采用脈寬調(diào)速系統(tǒng)，其主電路采用脈寬調(diào)制式變換器，簡稱PWM變換器。由于PWM調(diào)速系統(tǒng)的開關(guān)頻率較高，僅靠電樞電感的濾波作用就可以獲得脈動很小的直流電流，電樞電流容易連續(xù)，系統(tǒng)的低速運行平穩(wěn)，調(diào)速范圍較寬，可達1：10000左右。由于電流波形比V-M系統(tǒng)好，在相同的平均電流下，電動機的損耗和發(fā)熱都比較小。同樣由于開關(guān)頻率高，若與快速響應(yīng)的電機相配合，系統(tǒng)可以獲得很寬的頻帶，因此快速響應(yīng)性能好，動態(tài)抗擾能力強。根據(jù)以上綜合比較，以及本設(shè)計中受控電機的容量和直流電機調(diào)速的發(fā)展方向，本設(shè)計采用了H型單極型可逆PWM變換器進行調(diào)速。1.1光電檢測模塊設(shè)計該智能小車在貼有黑線的白紙“路面”上行駛，因此本模塊設(shè)計需要檢測鋪在行駛區(qū)的黑膠帶，包括直線行駛區(qū)和沿弧線行駛區(qū)兩個區(qū)域。由于黑線和白紙對光線的反射系數(shù)不同可根據(jù)接收到的反射光的強弱來判斷“道路”---黑線。本文采用的是簡單實用的檢測方法，即紅外探測法。紅外探測法，即利用紅外線在不同顏色的物理表面具有不同的反射性質(zhì)的特點。在小車行駛過程中不斷地向地面發(fā)射紅外光，當紅外光遇到白色地面時發(fā)生漫發(fā)射，反射光被撞在小車上的接收管接收；如果遇到黑線則紅外光被吸收，則小車上的接收管接收不到信號1.2信號比較模塊設(shè)計輸送給單片機，用于檢測傳感器的敏感性，電力圖如圖5所示。當兩個傳感器同時接收到光時，直線前進。當傳感器檢測不到光時，處于截止狀態(tài)，雙運算放大器LM324輸出低電平給單片機，由程序處理；若左路未檢測到光，則向左糾正方向；若右路未檢測到光，則向右糾正方向。1.3電機控制與驅(qū)動模塊設(shè)計由于采用的是雙驅(qū)動的小車，這部分電路必須能夠輸出兩個不同的電壓值，分別去控制小車的左、右兩個驅(qū)動電機，使小車的兩個車輪的轉(zhuǎn)速和方向相同或不同，從而來控制它的前進和轉(zhuǎn)彎。在系統(tǒng)的設(shè)計過程中，用兩個L9110芯片來分別連接單片機和直流電機。L9110是為控制和驅(qū)動電機設(shè)計的兩道推挽式功率放大專用集成電路件，將分立電路集成在單片ic之中，使外圍器件成本降低，整機可靠性提高。該芯片有兩個TTL/CMOS兼容電平的出入，具有良好的抗干擾性；兩個輸出端能之間驅(qū)動電機的正反向運動，它具有較大的電流驅(qū)動能力，每通道能通過800mA的持續(xù)電流，峰值電流能力可達1.5~2.0A；同時它具有較低的輸出飽和壓降與靜態(tài)電流；內(nèi)置的鉗位二極管能釋放感性負載的反向沖擊電流，使它在驅(qū)動繼電器、直流電機、步進電機或開關(guān)功率管的使用上安全可靠。循跡小車系統(tǒng)以常見的AT89C51單片機為核心，輔以較簡單的元器件和電路設(shè)計，在順利完成循跡功能的前提下，又充分考慮到了成本、外觀等問題，因此小車的大部分電路有手工焊接完成。在設(shè)計中，我們沒有在電路中增加冗余的功能，但是保留了各種硬件接口和軟件子程序接口，方便以后的擴展和開發(fā)。二系統(tǒng)硬件設(shè)計2.1電機驅(qū)動模塊設(shè)計在制作智能小車時，后左、右輪分別用兩個轉(zhuǎn)速和力矩基本完全相同的直流減速電機進行驅(qū)動，車頭前部裝一個方向輪，然后通過i/o口控制兩個直流減速電機的轉(zhuǎn)速和轉(zhuǎn)