基于單片機(jī)的智能小車(chē)外文文獻(xiàn)翻譯

1、<p>　　南京航空航天大學(xué)金城學(xué)院</p><p>　　畢業(yè)設(shè)計(jì)（論文）外文文獻(xiàn)翻譯</p><p><b>　　2013年2 月</b></p><p>　　Electric intelligent car based on SCM</p><p>　　Through research and to rea

2、lize a photoelectric sensor for sensitive components ,with AT89C51 as control core electric tracing of intelligent control carbonylation-the car ,the system is also including dc motor ,L9110 chips and LM324 comparator et

3、c. The design USES AT89C51 as intelligent car core controller.</p><p>　　The system takes microcontroller as control core and realization of electric before Enter ,back ,turn left and right turn function .Thr

4、ough 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 i

5、n the course of driving keep linear motion and don’t skip from atrium .</p><p>　　1. Project Design </p><p>　　Light buy a sensor ,the reality of the electric car is moving quickly degrees ,bit ,b

6、uy, transportation 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 machine according to t

7、he measured buy root different forms of several inspection according to real now to electric actuation vehicle wisdom can control system .This kind of square case real now to electric actuation v</p><p>　　1.

8、1 photoelectric detection module design </p><p>　　The intelligent car was stuck on the black line running on white paper “road”, so this module design need to detect shop on the black rubber belt drive area

9、, including Run straight along the arc district and driving district two area .Because f the black and white paper to light reflection coefficient is different ,can according to receive reflected light .</p><p

10、>　　The strength of the judge “road”-the black line .this paper USES is simple and practical detection methods, namely the infrared detection method.</p><p>　　Infrared detection method ,I use infrared ray

11、in different colors of physical surface with different reflection properties characteristics .In the car driving process Continually to the ground to launch the infrared ,when the infrared met white ground occurs when th

12、e reflected light ,aimless and launch packed on the car of receiving tube receiving ; if Fruit is met black line is absorbed ,and than the infrared cars receiving tube receiving less than signal .</p><p>　　1

13、.2 signal comparative module design </p><p>　　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

14、 ,used to detect sensor sensitivity ,diagram shown in figure 5 shows .When two sensors simultaneously detect light ,straight forward .When the sensor can’t detect light ,in cut-off state ,double LM324 operational amplifi

15、er output low level to microcontroller ,by program processing ,If left not detected light ,then left correct direction;</p><p>　　1.3 motor control and driving module design </p><p>　　Because use

16、 is double drive cars ,this part of the circuit must be able to output of two different voltage values ,respectively to controlling trolley right and left two motor drive ,the two of the wheel speed and direction of the

17、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 .L9110 is for control and drive motor design two channels push-pull power

18、 amplifier application-specific integrated circui</p><p>　　Follow tracing car system to common AT89C51, complementary </p><p>　　with relatively simple components and circuit design ,the smooth c

19、ompletion of follow under the premise of tracing function ,and fully considered appearance ,costs ,so most of the circuit car by manual welding is complete .In the design ,we never in a circuit increase redundant functio

20、ns ,but retained various hardware interface and software subroutines interface to facilitate the expansion and development after.</p><p>　　2. System hardware design</p><p>　　2.1 motor driver mod

21、ule design</p><p>　　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 whe

22、el, then through the I/O mouth to control tow dc slowing down Motor speed and steering can be achieved on the car to the left, turn right and straight line.</p><p>　　Motor drive using a integrated electrical

23、 machine flooding dynamic core slice L 298 N. L298N is ST the production of the company, the internal containing four channel logical drive circuit, it is a kind of tow phase four phase motor drive, namely the special co

24、ntains tow H bridge of high voltage large current commander bridge type drive，acceptance criteria TTL logic level signals, be driven 46V, 2A below the motor.</p><p>　　2.2 tracing module design</p><

25、;p>　　Tracing module mainly composed by photoelectric sensor reflex, Photoconductive resistance of the resistance of the light with the surrounding environment changes, when the LTT white lines above, light emission st

26、rongly; 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 significantly changes, the resistance changes value afte

27、r comparator can output high level. But this way environmental influ</p><p>　　RPR220 is an integration of reflective photoelectric detector, transmitter is a gas infrared light emitting diode and the receive

28、r is a high sensitivity silicon photoelectric triode flat. When the light emitting diode reflected back, triode conduction and output low level </p><p>　　2.3 obstacle avoidance module design</p><p

29、>　　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 reflectiv

30、e sex strong after be turned back, by photoelectric diode receiving, cause photoelectric diode current increases, light born this change into voltage signal, it could be processor receives and processing.</p><

31、p>　　2.4 remote control module design</p><p>　　This module will launch end USES high sensitive HL-5000 type universal television remote control, the receiver using receive frequency for 38kH receiving head

32、 1838, this module and the 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 AT89C

33、52 single chip microcomputer external interruption. In order to recognize a complete key signal, must for each coding puls</p><p>　　2.5 alarm module design </p><p>　　Alarm module core chip 110 I

34、C, can choose application in automobile, motorcycle, alarms, personal riot device, door magnetic alarm device and etc.</p><p>　　3. System software design</p><p>　　This system software modular st

35、ructure, he main program, initial anti-fuzzy procedures, interrupt subroutines, delay subroutines, buttons pronunciation subroutines, buttons scanning subroutines constitutes.</p><p>　　3.1 tracing subroutine

36、s design</p><p>　　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, pro

37、duce PWM control signal. Through L 298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.</p><p>　　3.2 avoid barrier of programming</p><p>　　Obstac

38、le avoidance module is designed by the infrared reflection sensor module around the output terminal receiving MCU respectively p20 and p21 tube feet, then through the microcontroller programming, produce PWM control sign

39、al, through L298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.</p><p>　　3.3 remote subroutines design</p><p>　　Remote control module is design

40、ed by the infrared sensor 1838 an output terminal of the receiving MZUp32 tube feet, then use all-purpose remote control on the remote control, then let microcontroller decoding, produce PWM control signal, through L298

41、control motor speed, let the car move forward, left turn, turn right and stop driving purpose.</p><p>　　4. Summary</p><p>　　Adopts singlechip, using photoelectric senor and infrared reflection s

42、enor was designed as a detection system, can realize automatic homing line to walk, automatic obstacle avoidance, alarm and remote control functions such as intelligent car. This design is the obvious advantage of simple

43、 circuit, reliability, low cost, and easy to function of further perfecting and expansion.</p><p>　　From www.donic.com</p><p>　　基于單片機(jī)的智能小車(chē)</p><p>　　通過(guò)研發(fā)實(shí)現(xiàn)了一種一光電傳感器為敏感元件，以AT89C51單片機(jī)為

44、控制核心的電機(jī)循跡小車(chē)的智能控，該系統(tǒng)還包括直流電機(jī)、L9110芯片和LM324比較器等。</p><p>　　本設(shè)計(jì)采用AT98C51單片機(jī)作為智能小車(chē)核心控制器。本系統(tǒng)以單片機(jī)為控制核心，實(shí)現(xiàn)電動(dòng)機(jī)的前進(jìn)、退、左轉(zhuǎn)和右轉(zhuǎn)功能。通過(guò)角度傳感器[1]檢測(cè)蹺蹺板角度的變化，利用增量式pi算法[2]控制電動(dòng)車(chē)尋找平衡點(diǎn)，同時(shí)運(yùn)用光電傳感器檢測(cè)黑線，使電動(dòng)車(chē)在行駛過(guò)程保持之先切不會(huì)脫離蹺蹺。</p>&l

45、t;p><b>　　一 設(shè)計(jì)方案</b></p><p>　　電動(dòng)車(chē)的速度、位置、運(yùn)行狀況的實(shí)時(shí)測(cè)量，并將測(cè)量數(shù)據(jù)傳送至單片機(jī)進(jìn)行處理，然后又單片機(jī)根據(jù)所監(jiān)測(cè)的各種數(shù)據(jù)實(shí)現(xiàn)對(duì)電動(dòng)車(chē)的智能控制。這種方案能實(shí)現(xiàn)對(duì)電動(dòng)車(chē)的運(yùn)動(dòng)狀態(tài)進(jìn)行實(shí)時(shí)控制，控制，靈活可靠，精度高，可慢豬對(duì)系統(tǒng)的各項(xiàng)要求。</p><p>　　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

46、器，簡(jiǎn)稱(chēng)PWM變換器。由于PWM調(diào)速系統(tǒng)的開(kāi)關(guān)頻率較高，僅靠電樞電感的濾波作用就可以獲得脈動(dòng)很小的直流電流，電樞電流容易連續(xù)，系統(tǒng)的低速運(yùn)行平穩(wěn)，調(diào)速范圍較寬，可達(dá)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(dòng)機(jī)的損耗和發(fā)熱都比較小。同樣由于開(kāi)關(guān)頻率高，若與快速響應(yīng)的電機(jī)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(dòng)態(tài)抗擾能力強(qiáng)。根據(jù)以上綜合比較，以及本設(shè)計(jì)中受控電機(jī)的容量和直流電機(jī)調(diào)速的發(fā)展方向，本設(shè)

47、計(jì)采用了H型單極型可逆PWM變換器進(jìn)行調(diào)速。</p><p>　　1.1光電檢測(cè)模塊設(shè)計(jì)</p><p>　　該智能小車(chē)在貼有黑線的白紙“路面”上行駛，因此本模塊設(shè)計(jì)需要檢測(cè)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(gè)區(qū)域。由于黑線和白紙對(duì)光線的反射系數(shù)不同可根據(jù)接收到的反射光的強(qiáng)弱來(lái)判斷“道路”---黑線。本文采用的是簡(jiǎn)單實(shí)用的檢測(cè)方法，即紅外探測(cè)法。</p>&l

48、t;p>　　紅外探測(cè)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(diǎn)。在小車(chē)行駛過(guò)程中不斷地向地面發(fā)射紅外光，當(dāng)紅外光遇到白色地面時(shí)發(fā)生漫發(fā)射，反射光被撞在小車(chē)上的接收管接收；如果遇到黑線則紅外光被吸收，則小車(chē)上的接收管接收不到信號(hào)</p><p>　　1.2信號(hào)比較模塊設(shè)計(jì)</p><p>　　輸送給單片機(jī)，用于檢測(cè)傳感器的敏感性，電力圖如圖5所示。當(dāng)兩個(gè)傳感器同時(shí)接收

49、到光時(shí)，直線前進(jìn)。當(dāng)傳感器檢測(cè)不到光時(shí)，處于截止?fàn)顟B(tài)，雙運(yùn)算放大器LM324輸出低電平給單片機(jī)，由程序處理；若左路未檢測(cè)到光，則向左糾正方向；若右路未檢測(cè)到光，則向右糾正方向。</p><p>　　1.3電機(jī)控制與驅(qū)動(dòng)模塊設(shè)計(jì)</p><p>　　由于采用的是雙驅(qū)動(dòng)的小車(chē)，這部分電路必須能夠輸出兩個(gè)不同的電壓值，分別去控制小車(chē)的左、右兩個(gè)驅(qū)動(dòng)電機(jī)，使小車(chē)的兩個(gè)車(chē)輪的轉(zhuǎn)速和方向相同或不同，從

50、而來(lái)控制它的前進(jìn)和轉(zhuǎn)彎。在系統(tǒng)的設(shè)計(jì)過(guò)程中，用兩個(gè)L9110芯片來(lái)分別連接單片機(jī)和直流電機(jī)。L9110是為控制和驅(qū)動(dòng)電機(jī)設(shè)計(jì)的兩道推挽式功率放大專(zhuān)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(jī)可靠性提高。該芯片有兩個(gè)TTL/CMOS兼容電平的出入，具有良好的抗干擾性；兩個(gè)輸出端能之間驅(qū)動(dòng)電機(jī)的正反向運(yùn)動(dòng)，它具有較大的電流驅(qū)動(dòng)能力，每通道能通過(guò)800mA的持續(xù)電流，峰值電流能力可達(dá)1.5~2.0A；同時(shí)它具有較低的輸

51、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(fù)載的反向沖擊電流，使它在驅(qū)動(dòng)繼電器、直流電機(jī)、步進(jìn)電機(jī)或開(kāi)關(guān)功率管的使用上安全可靠。</p><p>　　循跡小車(chē)系統(tǒng)以常見(jiàn)的AT89C51單片機(jī)為核心，輔以較簡(jiǎn)單的元器件和電路設(shè)計(jì)，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(wèn)題，因此小車(chē)的大部分電路有手工焊接完成。在設(shè)計(jì)中，我們沒(méi)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

52、以后的擴(kuò)展和開(kāi)發(fā)。</p><p><b>　　二 系統(tǒng)硬件設(shè)計(jì)</b></p><p>　　2.1電機(jī)驅(qū)動(dòng)模塊設(shè)計(jì)</p><p>　　在制作智能小車(chē)時(shí)，后左、右輪分別用兩個(gè)轉(zhuǎn)速和力矩基本完全相同的直流減速電機(jī)進(jìn)行驅(qū)動(dòng)，車(chē)頭前部裝一個(gè)方向輪，然后通過(guò)i/o口控制兩個(gè)直流減速電機(jī)的轉(zhuǎn)速和轉(zhuǎn)向就可以實(shí)現(xiàn)小車(chē)的轉(zhuǎn)輪、右輪和直行。</p>

53、<p>　　電機(jī)驅(qū)動(dòng)采用片集成電機(jī)驅(qū)動(dòng)芯片L298N。L298N是ST公司的產(chǎn)品，內(nèi)部包含4通道邏輯驅(qū)動(dòng)電路，是一種二相和四相電機(jī)的專(zhuān)用驅(qū)動(dòng)器，即內(nèi)含二個(gè)H橋的高電壓大電流雙全橋式驅(qū)動(dòng)器，接受標(biāo)準(zhǔn)TTL邏輯電平信號(hào)，可驅(qū)動(dòng)46v、2A以下的電機(jī)。</p><p><b>　　2.2循跡模塊設(shè)計(jì)</b></p><p>　　迅即模塊主要由廣電反射式傳感器組

54、成。光敏電阻的阻值隨周?chē)?lt;/p><p>　　環(huán)境光線的變化而變化，當(dāng)光線照射到白線上面時(shí)，光線發(fā)射強(qiáng)烈；光線發(fā)射到黑線上面時(shí)，阻值會(huì)發(fā)生明顯的變化，將阻值的變化只經(jīng)過(guò)比較器就可以輸出高低電平。但是這種方式受環(huán)境影響大，工作不穩(wěn)定。本文實(shí)際采用的是RPR220型反射式傳感器制作的循跡模塊。</p><p>　　RPR220是一種一體化反射型光電探測(cè)器，其發(fā)射器是一個(gè)砷化鎵紅外發(fā)光二極管，而

55、接收器是一個(gè)高靈敏度硅平面光電三極管。當(dāng)發(fā)光二極管發(fā)出的光反射回來(lái)時(shí)，三級(jí)管道通病輸出低電平。</p><p><b>　　2.3避障模塊設(shè)計(jì)</b></p><p>　　避障模塊主要有紅外反射式傳感器組成。紅外反射式傳感器由1個(gè)紅外發(fā)射管（發(fā)射器）和1個(gè)光電二極管（接收器）構(gòu)成，紅外發(fā)射管發(fā)出的紅外光在遇到反光性較強(qiáng)的物體后被折回，被光電二極管接收，引起光電二極管光

56、生電流的增大，將此變化轉(zhuǎn)為電壓信號(hào)，就可以被處理器接收并處理。</p><p><b>　　2.4遙控模板設(shè)計(jì)</b></p><p>　　本模塊發(fā)射端采用高靈敏的HL-5000型萬(wàn)能電視遙控器，接收端采用接收頻率為38KHZ的萬(wàn)能接收頭182，該模塊與單片機(jī)接口非常方便。另外，對(duì)于景紅外接收后的編碼信號(hào)，本系統(tǒng)設(shè)計(jì)時(shí)運(yùn)用AT89C52單片微機(jī)的外部中斷來(lái)接收，信號(hào)的

57、下降沿觸發(fā)外部中斷。為了識(shí)別一個(gè)完整的鍵信號(hào)，必須對(duì)每一個(gè)編碼脈沖的寬度進(jìn)行測(cè)量，以判別接收到的脈沖是0還是1，利用單片機(jī)中的定時(shí)器/計(jì)數(shù)器來(lái)測(cè)量脈沖寬度。定時(shí)器/計(jì)數(shù)器的除分比是可以設(shè)定的，從除2到除2048，可測(cè)量的脈沖寬度可達(dá)500ms。時(shí)鐘周期為1s，所以定時(shí)器/計(jì)數(shù)器每計(jì)時(shí)一次為1s。</p><p>　　2.5報(bào)警模塊的設(shè)計(jì)</p><p>　　報(bào)警模塊的核心芯片選擇110報(bào)警

58、IC，可應(yīng)用于汽車(chē)、摩托車(chē)、防盜器、個(gè)人防暴器、門(mén)磁報(bào)警器等場(chǎng)所。</p><p><b>　　三 統(tǒng)軟件設(shè)計(jì)</b></p><p>　　本系統(tǒng)軟件采用模塊化結(jié)構(gòu)，由主程序、初始化子程序、中斷子程序、延時(shí)子程序、按鍵發(fā)音子程序、按鍵掃描子程序構(gòu)成。</p><p>　　3.1循跡子程序設(shè)計(jì)</p><p>　　循跡模塊

59、設(shè)計(jì)是通過(guò)把左右光電傳感器的輸出端分別接到單片機(jī)的P22和P23管腳上，然后通過(guò)單片機(jī)編程，產(chǎn)生PWM控制信號(hào)，通過(guò)L298控制電機(jī)的轉(zhuǎn)速，讓校車(chē)達(dá)到前進(jìn)、左轉(zhuǎn)、右轉(zhuǎn)即停止行駛的目的。</p><p>　　3.2避障子程序設(shè)計(jì)</p><p>　　避障模塊設(shè)計(jì)是通過(guò)把左右紅外線反射式傳感器模塊的輸出端分別接到單片機(jī)的P20和P21管腳上，然后通過(guò)單片機(jī)編程，產(chǎn)生PWM控制信號(hào)，通過(guò)L29

60、8控制電機(jī)的轉(zhuǎn)速，讓小車(chē)達(dá)到前進(jìn)、左轉(zhuǎn)、右轉(zhuǎn)及停止行駛的目的。</p><p>　　3.3遙控子程序設(shè)計(jì)</p><p>　　遙控模塊設(shè)計(jì)師通過(guò)吧紅外接收頭1838的輸出端接到單片機(jī)的p32管腳上，然后用萬(wàn)能遙控器對(duì)其進(jìn)行遙控，接著讓單片機(jī)解碼，產(chǎn)生PWM控制信號(hào)，通過(guò)L298控制電機(jī)的轉(zhuǎn)速，讓小車(chē)達(dá)到前進(jìn)、左轉(zhuǎn)、右轉(zhuǎn)及停止行駛的目的。</p><p><b&