毕业设计基于stm32的智能小车设计说明.docx

摘要 本次试验主要分析了基于STM32F103微处理器的智能小车控制系统的系统 设计过程。此智能系统的组成主要包括STM32F103控制器、电机驱动电路、红外 探测电路、超声波避障电路。本次试验采用STM32F103微处理器为核心芯片，利 用PWM技术对速度以及舵机转向进行控制，循迹模块进行黑白检测，避障模块達 行障碍物检测并避障功能，其他外围扩展电路实现系统整体功能。小车在运动时， 避障程序优先于循迹程序，用超声波避障电路进行测距并避障，在超声波模块下 我们使用舵机来控制超声波的发射方向，用红外探测电路实现小车循迹功能。在 硬件设计的基础上提出了实现电机控制功能、智能小车简单循迹和避障功能的软 件设计方案，并在STM32集成开发环境Keil下编写了相应的控制程序，并使用 mcuisp软件进行程序下载。 关键词：stni32;红外探测；超声波避障；PWM;电机控制 Abstract This experiment mainly analyzes the control system of smart car based on microprocessor STM32F103 system design process. The composition of the intelligent system mainly including STM32F103 controller, motor drive circuit, infrared detection circuit, circuit of ultrasonic obstacle avoidance. This experiment adopts STM32F103 microprocessor as the core chip, using PWM technique to control speed and steering gear steering, tracking module is used to detect the black and white, obstacle avoidance module for obstacle detection and obstacle avoidance function, other peripheral extended circuit to realize the whole system function. When the car is moving, obstacle avoidance program prior to tracking, using ultrasonic ranging and obstacle avoidance obstacle avoidance circuit, we use steering gear under ultrasonic module to control the emission direction of ultrasonic, infrared detection circuit is used to implement the car tracking function. On the basis of the hardware design is proposed for motor control function, simple intelligent car tracking and obstacle avoidance function of software design, and in the STM32 integrated development environment under the Keil. Write the corresponding control program, and use Mcllisp program download software. Keywords :STM32 Unfrared detection Ultrasonic obstacle avoidance ；PfM ； Motor control 皿測 一?踪苍 — 4 L1 一器蒸歩 I 4 I L 2与冷倒蒂 I 4 I 2?萍濕辛萍芋 — 5 — 2?一十泠滓黄鳶洛 I 5 — 2.一. 1 Sm32fs3 雪浦芯 — 6 — 2?一?2 sim32滲亠，滲海面薜萍牛 I 7 I 2?一? 3 %m32 萍弁涔牛S泗C85S I 9 I 2?一?4 Sg32-frM 題 I 9 I 2?一?5 %鳧2対卑、牛?踝紹监 I 11 — 2?一?6 时诡不苗牛海诡囹 I 12 I 2?2面?歯漆蒲洛 I 一3 I 2?2?1歯堂藏洛湯§*翊A I 13