论文简介：
毕业设计-飞思卡尔智能赛车控制系统设计，共42页，12882字
摘 要
飞思卡尔智能车比赛要求参赛队研究并设计一款能够自主识别线路并能够自主行驶的智能车，在专门设计的封闭跑道上行驶，跑完整个赛道用的时间越短比赛成绩越好。
本智能赛车以飞思卡尔公司的16 位的单片机MC9S12XS128MAL为核心控制器，采用光电传感器采集路况信息，配合光电编码器、电机、舵机、电池等组成的驱动电路进行信息处理，以达到路劲识别的目的，控制模型车高速稳定地在跑道上行驶。硬件电路部分主要采用桥式驱动电路模块稳定地驱动直流电动机和舵机。所用的电压管理芯片在7.2 伏电池供电的条件下为系统的各功能模块提供了稳定地工作电源。测速部分采用光电编码器完成对速度的及时测量和反馈。设计中系统控制采用了PID调整算法，结合光电编码器的速度检测组成闭环控制系统，对赛车的速度和方向进行实时修正，以保证车子稳定高速地行驶。最后通过实际的测试验证了该算法的可行性。
关键词：智能赛车 飞思卡尔 循迹 传感器 PID调节
Abstract
Intelligence car race use a new models with differential rear wheel drive model car which is provided by the competition committee unity.Research and design team competition with the requirements of a independent identify lines and independent intelligent car driving,driving on a specially designed closed the runway and the shorter the car used the better the performance is.
This intelligent vehicle use freescale company 16 single-chip MC9S12XS128 as the core control making machines,adopting photoelectric sensors to collect traffic information,Cooperating with the driving circuit composed by the sensors, motor, steering gear scheme and the battery, in order to achieve the purpose of road strength recognition and control model car high-speed steadilydrving on the runway road.The hardware circuit used the bridge type to drive the DC moter and servo steadily.The voltage management chips used in 7.2 volt battery power supply to provide the energy for the system block.Velocimetry part adopts photoelectric encoder timely completion of speed measuring and reverse feedback.The control system adopting the PID algorithm ,combining the speed provided by the adjusting Encoder forms the close control system so that the model car can drive stablely.Lastly，we verify the feasibility of the PID algorithm the by a test about the car.
Key words: intelligent car Freescale tracking Sensor PID adjusting
目 录
摘要……………………………………………………………………………………Ⅰ
Abstract………………………………………………………………………………Ⅱ
绪论………………………………………………………………………………………1
1 飞思卡尔智能赛车整体机械设计……………………………………………………2
1.1 飞思卡尔智能赛车的机械结构……………………………………………………2
1.2 传感器的布局和安装………………………………………………………………2
1.3 主控制电路板和驱动电路板的安装………………………………………………2
1.4 舵机的安装…………………………………………………………………………3
1.5 光电编码器的选择与安装…………………………………………………………3
1.6 机械部分的调整与改装……………………………………………………………5
2 飞思卡尔智能赛车硬件电路设计……………………………………………………6
2.1 硬件电路原理………………………………………………………………………6
2.2 MCU控制模块介绍…………………………………………………………………6
2.3 电源模块设计方案…………………………………………………………………8
2.3.1 电源保护和指示电路……………………………………………………………8
2.3.2 主控板和传感器电源……………………………………………………………9
2.4 电机与舵机驱动模块设计…………………………………………………………9
2.5 传感器电路设计……………………………………………………………………10
2.6 光电编码器测速模块设计…………………………………………………………11
3 小车控制策略设计…………………………………………………………………14
3.1 循迹方案设计………………………………………………………………………14
3.2 PID控制算法设计…………………………………………………………………15
3.3 PID参数的整定……………………………………………………………………16
4 系统调试与测试……………………………………………………………………18
4.1 软硬件调试…………………………………………………………………………18
4.2 系统性能测试………………………………………………………………………18
4.2.1 长直赛道加速性能测试…………………………………………………………18
4.2.2 弯道转弯性能测试………………………………………………………………19
结论………………………………………………………………………………………21
致谢………………………………………………………………………………………22
参考文献………………………………………………………………………………23
附录1软件程序………………………………………………………………………………24

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• 毕业设计-飞思卡尔智能赛车控制系统设计
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