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1、廣東工業(yè)大學(xué)華立學(xué)院本科畢業(yè)設(shè)計(jì)（論文）基于MC9S12XS128單片機(jī)的智能小車設(shè)計(jì)論文題目基于MC9S12XS128單片機(jī)的智能小車設(shè)計(jì)系部機(jī)械電氣學(xué)部專業(yè)自動(dòng)化班級(jí)09自動(dòng)化1班學(xué)號(hào)學(xué)生姓名指導(dǎo)教師二0—三年五月摘要木文以第六屆飛思卡爾杯智能汽車競賽為背景詳細(xì)介紹了智能小車系統(tǒng)的軟破件結(jié)構(gòu)和開發(fā)流程。采用1:10的仿真車模，以0思卡爾半導(dǎo)體公司生產(chǎn)的16位單片機(jī)MC9S12XS128為核心控制器，在CodeWarriorIDE開發(fā)環(huán)境中進(jìn)行軟件開發(fā)，使賽車在跑道上沿著黑線以最快的速度行駛。論文介紹了總體方案設(shè)計(jì)、機(jī)械結(jié)構(gòu)設(shè)計(jì)、駛件電路設(shè)計(jì)、軟件設(shè)計(jì)、無線通信子系統(tǒng)設(shè)計(jì)、上位機(jī)監(jiān)控子系
2、統(tǒng)設(shè)計(jì)以及系統(tǒng)的調(diào)試與分析。機(jī)械結(jié)構(gòu)設(shè)計(jì)部分主要介紹了對(duì)車模的改進(jìn)和三舵機(jī)隨動(dòng)系統(tǒng)的機(jī)械結(jié)構(gòu)。硬件電路設(shè)計(jì)部分主要介紹了智能小車系統(tǒng)的硬件電路設(shè)計(jì)原理，包括原理圖和PCB設(shè)計(jì)。軟件設(shè)計(jì)方面，主要介紹了三隨動(dòng)舵機(jī)的控制原理和電機(jī)的PID控制策略。無線通信子系統(tǒng)設(shè)計(jì)則以nRF24L01的介紹和應(yīng)用為主，闡述了無線技術(shù)在智能小車系統(tǒng)中的應(yīng)用思路。在制作小車的過程中，通過不斷的測試調(diào)整了車模輪胎的幷度，經(jīng)過調(diào)整以后，小車能更好地適應(yīng)直線和彎道；舵機(jī)采用了調(diào)轉(zhuǎn)放置的方式，減小了力臂，能更加靈活、快速的轉(zhuǎn)動(dòng)。軟件方面采用了PII）控制算法，控制更加地靈活簡單，最主要的是小車尋軌跡更加地穩(wěn)定、精確。最終
3、本設(shè)計(jì)能夠適應(yīng)各種賽道，直道速度能達(dá)到3.5m/s,平均速度接近2.9m/So關(guān)鍵詞：智能小車，激光傳感器，MC9S12XS128,上位機(jī)，PIDABSTRACTThispaperintroducesthehardwareandsoftwarestructureofsmartcarsystemanddevelopmentprocessinthesixthFreescalecupcompetitionforintelligentvehicle.Using1:10simulationmodels,withFreescaleSemiconductorcompany's16-bitMCUMC9S1
4、2XS128asthecore,dothesoftwaredevelopmentintheCodeWarriorIDEdevelopmentenvironmentandmakecarontheblacklinewiththefastestspeed.Thispaperintroducestheoveralldesign,mechanicaldesign,hardwaredesign,softwaredesign,wirelesscommunicationsubsystemdesign,hostcomputermonitoringsubsystemdesignandsystemdebugan
5、danalysis.Mechanicaldesignshowstheimprovementofthecarmodels,aswellasmechanicalstructuresofthethreeservosystem.Thesectionofhardwaredesignintroducestheprincipleofhardwarecircuit,includingschematicandPCBdesign.Forthesoftwaredesign,itintroducesthetheoryofthree-servocontrolandthestrategyofPIDcontrol.Th
6、esectionofwirelesscommunicationsubsystemdesignmainlydescribedtheapplicationofwirelesstechnologiesinthesmartcarsystem,basedontheintroductionofpropertyandtheapplicationofthenRF24L01.Intheprocessofmakingthecar,adjustthetire'sangleofthemodelsthroughaseriesoftests.Afteradjustment,thecarcanbetteradaptto
7、straightlinesandcorner,steeringgearusedjerkedplacedway,reducedthebehavior,canbemoreflexible,rapidrotation.SoftwareadoptedPIDcontrolalgorithm,controltomoreandmoreflexiblesimple,themostisthecarcanfindmorestabletraj
