毕业论文-智能寻迹小车.doc

摘 要 随着汽车工业的迅速发展，关于汽车的研究也就越来越受人们的关注，而汽车的智能化已成为科技发展的新方向。本设计就是在这样的背景下提出来的。此次设计的简易智能电动车是基于单片机控制及传感器技术的，实现的功能是小汽车可自动寻迹行驶，并且能够利用超声波传感器检测道路上的障碍，控制电动小汽车的自动避障、寻光及自动停车，同时能够在行驶过程中显示里程、速度、时间等。通过寻迹传感器进行黑线的检测、霍尔传感器进行里程的记录，并由单片机系统来控制智能车的行驶状态。采用PWM技术实现了电动机的多级调速，提高了控制决策的有效性。 不同路段的软件模块对各个传感器赋以不同的权值，提高了各个路段行驶策略的针对性。通过均值采样算法降低了噪声信号的干扰，采用模块循环法实现数据采集、分析、处理和控制输出。 关键词：89C51单片机；PWM技术；寻迹传感器；霍尔传感器；超声波测距 Abstract With the development of automobile industry，people pay more attention to the research about cars, and the intelligent electric vehicles are more and more import. The design is put forward in this context.The simple design of intelligent electric vehicles is based on the single-chip control and sensor technology, the realization of an automatic tracing traffic, and can process in a moving display features such as mileage records.The use of rear-wheel drive front wheel steering mode of traveling through tracing sensors, such as Hall sensors detect the black lines and mileage records, by the single-chip system to decision-making Smart car driving. Using PWM technology to achieve a multi-stage motor speed and improve the effectiveness of the control of decision-making. The different road sections software module bestows on to each sensor by the different weight, enhanced each road section travel strategy pointedness. Reduced the noise signal disturbance through the average value sampling algorithm, uses the module cyclic method to realize the data acquisition, the analysis, processing and the control output. Key words: 89C51 monolithic integrated circuit; PWM technology; Seeks the mark sensor; Hall sensor; ultrasonic ranging 目 录 摘 要 1 Abstract 1 1 引言 4 2 系统设计 5 2.1 设计要求 5 2.2 相关原理介绍 5 2.2.1 小汽车寻迹的原理 5 2.2.2 超声波避障原理 7 2.2.3 寻光原理 11 2.2.4 霍尔器件测里程原理 11 2.2.3 PWM调速原理 12 2.2.4 LED数码管显示的原理 14 2.3 模块方案比较与论证 15 2.3.1 车体设计 15 2.3.2 控制器模块 16 2.3.3 电源模块 16 2.3.4 寻迹传感器模块 16 2.3.5 电机驱动调速模块 17 2.3.6 车轮检速及路程计算模块 18 2.3.7 避障模块 18 2.3.8 显示模块 18 2.4 最终方案 18 3 硬件的设计与实现 19 3.1 电动机PWM驱动模块的电路设计与实现 19 3.2 路