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1、基于單片機的電動智能小車 通過研發(fā)實現(xiàn)了一種以光電傳感器為敏感元件，以 AT89C51 單片機為控制核心的電動循跡小車的智能控，該系統(tǒng)還包括直流電機、L9110 芯片和 LM324 比較器等。本設計采用 AT89C51 單片機作為智能小車核心控制器。 本系統(tǒng)以單片機為控制核心 ,實現(xiàn)電動車的前進、退、左轉和右轉功能.通過角度傳感器 [ 1 ]檢測蹺蹺板角度的變化 ,利用增量式 PI算法 [ 2 ]控制電動車尋找平衡點 ,同時運用光電傳感器檢測黑線 ,使電動車在行駛過程中保持直線運動且不會脫離蹺蹺。 一．方案設計 電動車的速度、位置、運行狀況的實時測量 ，并將測量數(shù)據(jù)傳送至單片機進行處理

2、，然后由單片機根據(jù)所檢測的各種數(shù)據(jù)實現(xiàn)對電動車的智能控制。這種方案能實現(xiàn)對電動車的運動狀 態(tài)進行實時控制，控制，靈活可靠 ，精度高 ，可滿足對系統(tǒng)的各項要求。(1)直流調速系統(tǒng)直流調速系統(tǒng)采用脈寬調速系統(tǒng)，其主電路采用脈寬調制式變換器，簡稱PWM變換器。由于PWM調速 系統(tǒng)的開關頻率較高，僅靠電樞電感的濾波作用就可以獲得脈動很小的直流電流，電樞電流容易 連續(xù)，系統(tǒng)的低速運行平穩(wěn)，調速范圍較寬，可達1：10000左右。 由于電流波形比 V-M系統(tǒng)好，在相同的平均電流下，電動機的損耗和發(fā)熱都比較小。同樣由于開關頻率高，若與快速響應的電機相配合，系統(tǒng)可以獲得很寬的頻帶，因此快速響應性能好，動態(tài)抗擾能

3、力強。根據(jù)以上綜合 比較，以及本設計中受控電機的容量和直流電機調速的發(fā)展方向，本設計采用了H型單極型可逆 PWM變換器進行調速。 1.1 光電檢測模塊設計 該智能小車在貼有黑線的白紙“路面”上行駛，因此本模塊設計需要檢測鋪在行駛區(qū) 的 黑 膠 帶，包 括直線行駛區(qū)和沿弧線行駛區(qū)兩個區(qū)域。由于黑線和白紙對光線的反射系數(shù)不同可根據(jù)接收到的反射光的強弱來判斷“道路”---黑線。本文采用的是簡單實用的檢測方法，即紅外探測法。 紅外探測法，即利用紅外線在不同顏色的物理表面具有不同的反射性質的特點。在小車行駛過程中不斷地向地面發(fā)射紅外光，當紅外光遇到白色地面時發(fā)生漫發(fā)射，反射光被裝在小車上的接收管接

4、收； 如果遇到黑線則紅外光被吸收，則小車上的接收管接收不到信號。 1.2 信號比較模塊設計 輸送給單片機，用于檢測傳感器的敏感性，電路圖如圖 5 所示。當兩個傳感器同時檢測到光時，直線前進。當傳感器檢測不到光時，處于截止狀態(tài)，雙運算放大器 LM324 輸出低電平給單片機，由程序處理； 若左路未檢測到光，則向左糾正方向； 若右路未檢測到光，則向右糾正方向。 1.3 電機控制與驅動模塊設計 由于采用的是雙驅動的小車，這部分電路必須能夠輸出兩個不同的電壓值，分別去控制小車的左、右兩個驅動電機，使小車的兩個車輪的轉速和方向相同或不同，從而來控制它的前進和轉彎。在系統(tǒng)的設計過程中，用兩個 L91

5、10 芯片來分別連接單片機和直流電機。L9110 是為控制和驅動電機設計的兩通道推挽式功率放大專用集成電路器件，將分立電路集成在單片 IC 之中，使外圍器件成本降低，整機可靠性提高。該芯片有兩個 TTL / CMOS 兼 容 電 平 的 輸 入，具 有良好的抗干擾性； 兩個輸出端能直接驅動電機的正反向運動，它具有較大的電流驅動能力，每通道能通過800mA 的持續(xù)電流，峰值電流能力可達 1.5 ～ 2.0A； 同時它具有較低的輸出飽和壓降與靜態(tài)電流； 內置的鉗位二極管能釋放感性負載的反向沖擊電流，使它在驅動繼電器、直流電機、步進電機或開關功率管的使用上安全可靠。 循跡小車系統(tǒng)以常見的 AT89

6、C51 單片機為核心，輔以較簡單的元器件和電路設計，在順利完成循跡功能的前提下，又充分考慮到了外觀、成本等問題，因此小車的大部分電路由手工焊接完成。在設計中，我們沒有在電路中增加冗余的功能，但是保留了各種硬件接口和軟件子程序接口，方便以后的擴展和開發(fā)。 二． 系統(tǒng)硬件設計 2. 1 電機驅動模塊設計 在制作智能小車時, 后左、右輪分別用兩個轉速和力矩基本完全相同的直流減速電機進行驅動, 車頭前部裝一個方向輪, 然后通過 I/O 口控制兩個直流減速電機的轉速和轉向就可以實現(xiàn)小車的左轉、右轉和直行。 電機驅動 采用 一片 集成電機驅動芯片L 298N。L298N是ST公司的產(chǎn)品, 內部包含

7、 4通道邏輯驅動電路, 是一種二相和四相電機的專用驅動器, 即內含二個H 橋的高電壓大電流雙全橋式驅動器, 接收標準 TTL邏輯電平信號, 可驅動 46V、2A 以下的電機。 2. 2 尋跡模塊設計 尋跡模塊主要由光電反射式傳感器組成。光敏電阻的阻值隨周圍環(huán)境光線的變化而變化, 當光線照射到白線上面時, 光線發(fā)射強烈; 光線照射到黑 線上面時, 光線發(fā)射較弱。因此當光敏電阻在白線和黑線上方時, 阻值會發(fā)生明顯的變化, 將阻值的變化值經(jīng)過比較器就可以輸出高低電平。但是這種方式受環(huán)境影響大, 工作不穩(wěn)定。本文實際采用的是 RPR220 型反射式傳感器制作的尋跡模塊。 RPR220是一種一體

8、化反射型光電探測器, 其發(fā)射器是一個砷化鎵紅外發(fā)光二極管, 而接收器是一個高靈敏度硅平面光電三極管。當發(fā)光二極管發(fā)出的光反射回來時, 三極管導通并輸出低電平。 2. 3 避障模塊設計 避障模塊主要由紅外反射式傳感器組成。紅外反射式傳感器由 1 個紅外發(fā)射管 (發(fā)射器 )和 1個光電二極管 (接收器 )構成, 紅外發(fā)射管發(fā)出的紅外光在遇到反光性較強的物體后被折回, 被光電二極管接收, 引起光電二極管光生電流的增大, 將此變化轉為電壓信號, 就可以被處理器接收并處理。 2. 4 遙控模塊設計 本模塊發(fā)射端采用高靈敏的 H L - 5000型萬能電視遙控器, 接收端采用接收頻率為 38kH

9、z的萬能接收頭 1838, 該模塊與單 片機接口非常方便。另外, 對于經(jīng) 紅 外 接 收 后 的 編 碼 信 號, 本系統(tǒng)設計時運用AT89C52單片微機的外部中斷來接收, 信號的下降沿觸發(fā)外部中斷。為了識別一個完整的鍵信號, 必須對每一個編碼脈沖的寬度進行測量, 以判別接收到的脈是 ! 0?還是 ! 1?, 利用單片機中的定時器 /計數(shù)器來測量脈沖寬度。定時器 /計數(shù)器的除分比是可以設定的, 從除 2到除 2048, 可測量的脈沖寬度可達 500m s。本文設定的除分比為 12, 即 12分頻, 因為外部時鐘約為 12MH z, 時鐘周期為 1 s, 所以定時器 /計數(shù)器每計時一次為 1 s

10、。 2. 5 報警模塊設計 報警模塊的核心芯片選擇 110報警 IC, 可應用于汽車、摩托車、防盜器、個人防暴器、門磁報警 器等場所。 三． 系統(tǒng)軟件設計 本系統(tǒng)軟件采用模塊化結構, 由主程序﹑初始化子程序、中斷子程序、延時子程序、按鍵發(fā)音子程序、按鍵掃描子程序構成。 3. 1 尋跡子程序設計 尋跡模塊設計是通過把左 右光電傳感器 的輸出端分別接到單 片機的 P 22 和 P23 管腳 上, 然后 通過單片機編程, 產(chǎn)生 PWM 控制信號, 通過 L 298控制電機的轉速, 讓小車達到前進、左轉、右轉及停止行駛的目的。 3. 2 避障子程序設計 避障模塊設計是通過把左右紅外反射

11、式傳感器模塊的輸出端分別接到單片機的 P20和 P21管腳上, 然后通過 單片機編程, 產(chǎn)生 PWM 控制信號, 通過 L298控制電機的轉速, 讓小車達到前進、左轉、右轉及停止行駛的目的。 3. 3 遙控子程序設計 遙控模塊設計是通過把紅外接收頭 1838的輸出端接到單片機的 P32管腳上, 然后用萬能遙控器對其進行遙控, 接著讓單片機解碼, 產(chǎn)生 PWM 控制 信號,通過 L298控制電機的轉速, 讓小車達到前進、左轉、右轉及停止行駛的目的。 四．總結 采用單片機為核心, 利用光電傳感器和紅外反射式傳感器作為探測系統(tǒng), 設計了可以實現(xiàn)自動尋線行走、自動避障、報警以及遙控等功能的智能

12、小車。該設計的顯著優(yōu)點是電路簡單、可靠性強、成本低, 并且非常易于功能進一步完善和擴展。 Electric intelligent car based on SCM Through research and to realize a photoelectric sensor for sensitive components, with AT89C51 as control core electric tracing of intelligent control carbonylation-the car，The system is also incl

13、uding dc motor, L9110 chips and LM324 comparator etc. The design USES AT89C51 as intelligent car core controller。 The system takes microcontroller as control core and realization of electric before Enter, back, turn left and right turn function. Through the Angle sensor [1] detection The seesaw Ang

14、le change, use incremental PI algorithm [2] to control the electric Car for balance, and using photoelectric sensor detection black line, make the electricity Actuation vehicle in the course of driving keep linear motion and dont skip from atrium。 1.Project Design light by a sensor, the reality of

15、 the electric car is moving quickly degrees, bit, buy, transportation line shape when measured quantity of real condition, and will be measured quantity number according to preach sent to monolithic machine into line processing, but by single chip machine according to the measured by root different

16、forms of several inspection according to real now to electric actuation vehicle wisdom can control system. This kind of square case can real now to electric actuation vehicle dynamic shape state into the shipment do real possession in system, control system spirit alive, can depend, pure degree is h

17、igh, can full foot of each item of the stockings to beg. (1) straight epidemiological speed is tasseled straight epidemiological speed department with pulse width modulation experience.meanwhile gather speed is experience.meanwhile, its main electrical pulse width modulation by road system type vari

18、able change device, Jane says PWM variable change device. Adjustable speed by in the department of PWM experience.meanwhile open shut frequency rate is high, only on electricity barnado electricity sense of filter wave can be use to get to move very small straight pulse electric flow, electricity fl

19、ow barnado electric capacity easily even tantras, department of low speed operation flat experience.meanwhile, adjustable speed stability van is surrounded relatively wide, can reach 1 000 left right. By on electrical flow wave shape than V - M system, be in phase with flat to all electrical flow dy

20、namic machine, electric heat consumption and hair loss than a small. With the sample by in open shut frequency rate is high, and if a fast speed of electrical machine ring should match close, fasten tasseled phase can be to get very wide frequency band, because of the fast speed ring should be good,

21、 dynamic configuration sexual can perturbation resistance can force is powerful. According to the root, with more than ensemble close and this set of electrical machine control project by tolerance of the quantity and electrical machine speed straight flow of hair, the exhibitor to adopt the project

22、 with a single extremely H type can be changed into change device inverse PWM line speed. 1.1 photoelectric detection module design The intelligent car was stuck on the black line running on white paper "road", so this module design need to detect shop on the black rubber belt drive area, includin

23、g Run straight along the arc district and driving district two area. Because of the black and white paper to light reflection coefficient is different, can according to receive reflected light. The strength of the judge "road" - the black line. This paper USES is simple and practical detection meth

24、ods, namely the infrared detection method. Infrared detection method, i.e. use infrared ray in different colors of physical surface with different reflection properties characteristics. In the car driving process Continually to the ground to launch the infrared, when the infrared met white grou

25、nd occurs when the reflected light, aimless and launch packed on the car of receiving tube receiving; if Fruit is met black line is absorbed, and then the infrared cars receiving tube receiving less than signal. 1. 2 signal comparative module design This part design USES a LM324 comparator, of sen

26、sor signal voltage received compare and amplified, and will compare the results after Feed to the microcontroller, used to detect sensor sensitivity, diagram shown in figure 5 shows. When two sensors simultaneously detect light, straight forward. When the sensor cant detect light, in cut-off state,

27、double LM324 operational amplifier output low level to microcontroller, by program processing, If left Not detected light, then left correct direction; If the right has not been detected light, then turn correct direction. 1. 3 motor control and driving module design Because use is double drive ca

28、rs, this part of the circuit must be able to output of two different voltage values, respectively to controlling trolley right and left two motor drive, the two of the wheel speed and direction of the same or different, thus to control its advance and turning. In system design process, use two L9110

29、 chips to connect SCM and dc motor respectively. L9110 is for control and drive motor design two channels push-pull power amplifier application-specific integrated circuit device, discrete circuits in monolithic IC integrated such that the peripheral equipments in lower cost and the whole machine ca

30、n carry on sexual high. The core slice two a TTL/CMOS and let electricity flat lose into, have good anti-jamming, Two output terminal can pick flooding dynamic electric machine straight to the shipment of positive reverse move and it has had a big electricity flow flooding dynamic can force, each ca

31、ll way can pass over 800mA continuous current, peak current capacity of 1. 5 ~ 0A; 2. At the same time it has lower output saturation pressure drop and the static electricity, The built-in clamp a diode can release the perceptual load of reverse current impulse, making it the drive relays, dc motors

32、, stepping motor or switch power tube the use of safe and reliable. Follow tracing car system to common AT89C51, complementary with relatively simple components and circuit design, the smooth completion of follow under the premise of tracing function, and fully considered appearance, costs, so most

33、 of the circuit car by manual welding is complete. In the design, we never in a circuit increase redundant functions, but retained various hardware interface and software subroutines interface to facilitate the expansion and development after. 2. System hardware design 2. 1 motor driver module des

34、ign In making intelligent car, after left, right wheel respectively with two speed and Torque basic identical dc motor driven deceleration, bolt-on trunk-lid spoiler Department to install a direction wheel, then through the I/O mouth to control two dc slowing down Motor speed and steering can be ac

35、hieved on the car to the left, turn right and straight Line. Motor driver using a integrated electrical machine flooding dynamic core slice L 298N. L298N is ST the product of the company, the internal containing four channel logical drive circuit, it is a kind of two phase four phase motor drive, n

36、amely the special contains two H bridge of high voltage large current commander bridge type drive, acceptance criteria TTL logic level signals, be driven 46V, 2A below the motor. 2. 2 tracing module design Tracing module mainly composed by photoelectric sensor reflex. Photoconductive resistance of

37、 the resistance of the light with the surrounding environment changes, when the LTT white lines above, light emission strongly; The LTT black line above, light emission are relatively weak. So when photoconductive resistance in white line and black line above the elements will occur significantly ch

38、anges, the resistance changes value after comparator can output high level. But this way environmental influences big, work is not stable. This article actual use is RPR220 type reflex sensors made tracing module. RPR220 is an integration of reflective photoelectric detector, the transmitter is a g

39、aas infrared light emitting diode and the receiver is a high sensitivity silicon photoelectric triode flat. When the light emitting diode reflected back, triode conduction and output low level. 2. 3 obstacle avoidance module design Obstacle avoidance module mainly composed by infrared reflection s

40、ensor. Infrared reflection sensor by one infrared tubes (launchers) and 1 photoelectric diode (receiver) constitute, infrared tubes out to meet the infrared object reflective sex strong after be turned back, by photoelectric diode receiving, cause photoelectric diode current increases, light born th

41、is change into voltage signal, it could be processor receives and processing. 2. 4 remote control module design This module will launch end USES high sensitive H L - 5000 type universal television remote control, the receiver using receive frequency for 38kH zs receiving head 1838, this module and

42、 the single chip computer interface is very convenient. In addition, for the red outside meet after harvest of plait code letter number, the department tasseled set when shipped with project of AT89C52 single chip microcomputer external interruption to receive, signal the falling edge of trigger ext

43、ernal interruption. In order to recognize a complete key signal, must for each coding pulse width were measured with discriminant receives the pulse is! 0 ? still! 1 ?, the microcontroller timer/counter to measuring pulse width. Timer/counter except points than can be set, from except 2 to except 20

44、48, measurable pulse width can reach 500m s. This paper set except points for 12, namely than 12 points frequency, because the external clock is about 12MH z, clock cycle for 1 s, so the timer/counter for 1 per timing once s. 2. 5 alarm module design Alarm module core chip 110 IC, can choose appli

45、cation in automobile, motorcycle, alarms, personal riot device, door magnetic alarm device and etc. 3. System software design This system software modular structure, the main program, initial anti-fuzzy procedures, interrupt subroutines, delay subroutines, buttons pronunciation subroutines, button

46、s scanning subroutines constitutes. 3. 1 tracing subroutines design Tracing module is designed by the left right photoelectric sensor output terminal receiving monolithic machine respectively, P 22 and P23 tube feet, then through the microcontroller programming, produce PWM control signal, through

47、 L 298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose. 3. 2 avoid barrier of programming Obstacle avoidance module is designed by the infrared reflection sensor module around the output terminal receiving MCU respectively P20 and P21 tube feet, the

48、n through the microcontroller programming, produce PWM control signal, through L298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose. 3. 3 remote subroutines design Remote control module is designed by the infrared sensor 1838 an output terminal of t

49、he receiving MCU P32 tube feet, then use all-purpose remote control on the remote control, then let microcontroller decoding, produce PWM control signal, through L298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose. 4 Summary Adopts singlechip, usi

50、ng photoelectric sensor and infrared reflection sensor was designed as a detection system, can realize automatic homing line to walk, automatic obstacle avoidance, alarm and remote control functions such as intelligent car. This design is the obvious advantages of simple circuit, reliability, low cost, and very easy to function of further perfecting and expansion