基于單片機的智能小車外文文獻翻譯

1、南京航空航天大學金城學院畢業(yè)設計（論文）外文文獻翻譯系 部機電工程系專 業(yè)車輛工程學生姓名顧偉學號200901223指導教師卞利云職稱講師2013年2 月electric intelligent car based on scmthrough research and to realize a photoelectric sensor for sensitive components ,with at89c51 as control core electric tracing of intelligent control carbonylation-the car ,the system is

2、 also including dc motor ,l9110 chips and lm324 comparator etc. the design uses at89c51 as intelligent car core controller.the system takes microcontroller as control core and realization of electric before enter ,back ,turn left and right turn function .through the angle sensor detection the seesaw

3、 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

4、 the electric car is moving quickly degrees ,bit ,buy, 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 the measured buy root differen

5、t 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 vehicle dynamic shape state into the shipment do real possession in system ,control system spirit alive ,can depend ,pure degree is hig

6、h ,can full foot of each item of the stockings to 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 varia

7、ble 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 wave can be use to get to move very small straight pulse electric flow ,electricity fl

8、ow barnado electric capacity easily even tantras, department of low speed operation flat experience .meanwhile ,adjustable speed stability van is surrounded relatively wide ,can reach 1000 left light .by on electrical flow wave shape than v-m system .be in phase with flat to all electrical flow dyna

9、mic machine ,electric heat 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 phase can be to get very wide frequency band ,because of the fast speed ring should be good ,dyn

10、amic configuration 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 quantity and electrical machine speed straight flow of hair ,the exhibitor to adopt the project wit

11、h 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 module design need to detect shop on the black rubber belt drive area , including run

12、 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 .the strength of the judge “road”-the black line .this paper uses is simple and practical detection methods, name

13、ly the infrared detection method.infrared detection method ,i use infrared ray 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 the

14、 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 .1.2 signal comparative module design this part design uses a lm324 comparator ,of sensor signal voltage r

15、eceived 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 operati

16、onal 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 ,then turn correct direction .1.3 motor control and driving module design because use is double drive cars ,this part of the ci

17、rcuit 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 same or different ,thus to control its advance and turning .in system design process ,use two l9110 chips to connect scm a

18、nd dc motor respectively .l9110 is 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

19、.the core slice two a ttl/cmos and let electricity flat lose into ,have good anti-jamming ,two output terminal can pick flooding dynamic electric machine straight to the shipment of positive reverse move and it has had a big electricity flow flooding dynamic can force ,each call way can pass over 80

20、0ma continuous current ,peak current capacity of 1.5 oa ; at the same time it has lower output saturation pressure drop and the static electricity ,the built-in clamp a diode can release the perceptual load of reverse current impulse ,making it the drive relays ,dc motors ,stepping motor or switch p

21、ower tube the use of safe and reliable .follow tracing car system to common at89c51, complementary with relatively simple components and circuit design ,the smooth completion of follow under the premise of tracing function ,and fully considered appearance ,costs ,so most of the circuit car by manual

22、 welding is complete .in the design ,we never in a circuit increase redundant functions ,but retained various hardware interface and software subroutines interface to facilitate the expansion and development after.2. system hardware design2.1 motor driver module designin making intelligent car, righ

23、t 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 achieved on the car to the left, turn right and st

24、raight line.motor drive using a integrated electrical 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 contains tow h bridge of high

25、 voltage large current commander bridge type drive，acceptance criteria ttl logic level signals, be driven 46v, 2a below the motor.2.2 tracing module designtracing module mainly composed by photoelectric sensor reflex, photoconductive resistance of the resistance of the light with the surrounding env

26、ironment changes, when the ltt white lines above, 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 significantly changes, the resistance changes value after comparator

27、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

28、 sensitivity silicon photoelectric triode flat. when the light emitting diode reflected back, triode conduction and output low level 2.3 obstacle avoidance module designobstacle avoidance module mainly composed by infrared reflection sensor. infrared reflection sensor by one infrared tubes and photo

29、electric diode constitute, infrared tubes out to meet the infrared object reflective 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.2.4 remote co

30、ntrol module designthis 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 and the single chip computer interface is very convenient. in addition, for the red outside meet after h

31、arvest 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 complete key signal, must for each coding pulse width were measured with discriminate receives the pulse is o still 1. the micr

32、ocontroller 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 clock is about 12mh, clock cycle for 1s, s

33、o 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 designthis system software modular structure, he main program, init

34、ial anti-fuzzy procedures, interrupt subroutines, delay subroutines, buttons pronunciation subroutines, buttons scanning subroutines constitutes.3.1 tracing subroutines designtracing module is designed by the left right photoelectric sensor output terminal receiving monolithic respectively, p22 and

35、p23 tube feet, then through the microcontroller programming, produce pwm control signal. through l 298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.3.2 avoid barrier of programmingobstacle avoidance module is designed by the infrared reflection sen

36、sor module around the output 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 desig

37、nremote control module is designed 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 control motor speed, let the car move forward, l

38、eft turn, turn right and stop driving purpose.4. summaryadopts singlechip, using photoelectric senor and infrared reflection senor 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.

39、this design is the obvious advantage of simple circuit, reliability, low cost, and easy to function of further perfecting and expansion. 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

40、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

41、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，若與快速響應的電機相配合，系統(tǒng)可以獲得很寬的頻帶，因此快速響應性能好，動態(tài)抗擾能力強。根據(jù)以上綜合比較，以及本設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

42、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

43、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1.52.0a；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