智能汽车电磁导引车控制系统软件设计与实现
摘要本文以第八届“飞思卡尔”杯全国大学生智能车竞赛为背景，主要完成了基于电磁导引智能车控制系统的软件设计。本文系统地阐述了智能车控制系统的总体需求、组成结构以及工作原理，在此基础上完成了电磁导引智能车各个模块的软件设计，主要包括：电磁传感器的检测模块、电机转速闭环控制模块、舵机控制模块、人机接口模块以及辅助调试的无线通讯模块。为了使智能车又稳又快的运行，在软件设计中进行了路况的识别，并且使用了分段控制。最后完成了实际电磁导引智能车系统的调试，实际结果表明电磁导引智能车系统具有良好的性能。 63903
毕业论文关键词 智能车 电磁导引 控制 系统调试
毕业设计说明书（论文）外文摘要
Title Design and Implementation of Intelligent Vehicle for the Eighth Freescale Cup--The Software Design of The Electromagnetic Guided Vehicle Control System
Abstract According to the Eighth Freescale Cup of National Undergraduate smart car contest, the software design for the electromagnetic guided vehicle is given in this paper. The requirement of the smart car, the composition structure and the work principle of the controlling system are systematically introduced in this paper. On this basis, the software modules of the electromagnetic guided vehicle are described in this paper, which includes the electromagnetic sensors module, the closed-loop control module of the motor speed, the servo control module, the Human-Computer Interaction module and the Wireless Communications module for debugging. Furthermore, the road identification and the segmented control are used in the design of the software in order to let the smart car run fast and steady. At last, the smart car can be well controlled after a series of debugging. Practical results turn out the smart car of visual guidance has good performance.
Keywords Smart Car Electromagnetic Guided Control Debugging
1 引言 1
1.1 课题研究背景 1
1.3 本文任务 4
2 电磁导引智能车系统总体设计 5
2.1 系统需求分析 5
2.2 智能车系统总体组成结构 6
2.3 控制系统的工作原理 7
2.4 MC9S12XS128简介 9
2.5 本章小结 9
3 电磁导引智能车的机械系统 10
3.1 电磁导引智能车车模简介 10
3.2 电磁导引智能车硬件接口简介 12
3.3 本章小结 12
4 电磁导引智能车控制系统软件设计 13
4.1 电磁导引智能车系统软件需求分析 13
4.2 电磁导引智能车系统软件模块规划 13
4.3 电磁导引智能车系统工作流程 14
4.4 系统模块化程序设计 15
4.5 时钟模块 15
4.6 电磁传感器检测模块 16
4.7 电机和舵机驱动模块