基于單片機(jī)的智能小車外文文獻(xiàn)翻譯

畢業(yè)設(shè)計(jì)（論文）外文文獻(xiàn)翻譯系部機(jī)電工程系專業(yè)車輛工程學(xué)生姓名學(xué)號(hào)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(jī)的智能小車通過研發(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)為控制核心的電機(jī)循跡小車的智能控，該系統(tǒng)還包括直流電機(jī)、L9110芯片和LM324比較器等。本設(shè)計(jì)采用AT98C51單片機(jī)作為智能小車核心控制器。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)車在行駛過程保持之先切不會(huì)脫離蹺蹺。一設(shè)計(jì)方案電動(dòng)車的速度、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)車的智能控制。這種方案能實(shí)現(xiàn)對(duì)電動(dòng)車的運(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。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(jiǎn)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(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)計(jì)采用了H型單極型可逆PWM變換器進(jìn)行調(diào)速。1.1光電檢測(cè)模塊設(shè)計(jì)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(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。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)。在小車行駛過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(hào)1.2信號(hào)比較模塊設(shè)計(jì)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。1.3電機(jī)控制與驅(qū)動(dòng)模塊設(shè)計(jì)由于采用的是雙驅(qū)動(dòng)的小車，這部分電路必須能夠輸出兩個(gè)不同的電壓值，分別去控制小車的左、右兩個(gè)驅(qū)動(dòng)電機(jī)，使小車的兩個(gè)車輪的轉(zhuǎn)速和方向相同或不同，從而來控制它的前進(jìn)和轉(zhuǎn)彎。在系統(tǒng)的設(shè)計(jì)過程中，用兩個(gè)L9110芯片來分別連接單片機(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(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、外觀等問題，因此小車的大部分電路有手工焊接完成。在設(shè)計(jì)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(kuò)展和開發(fā)。二系統(tǒng)硬件設(shè)計(jì)2.1電機(jī)驅(qū)動(dòng)模塊設(shè)計(jì)在制作智能小車時(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)，車頭前部裝一個(gè)方向輪，然后通過i/o口控制兩個(gè)直流減速電機(jī)的轉(zhuǎn)速和轉(zhuǎn)