单片机 外文翻译 外文文献 英文文献 基于单片机的电动智能小车

原文出自：原文出自：基于单片机的电动智能小车通过研发实现了一种以光电传感器为敏感元件，以AT89C51单片机为控制核心的电动循迹L9110LM324AT89C51基于单片机的电动智能小车通过研发实现了一种以光电传感器为敏感元件，以AT89C51单片机为控制核心的电动循迹L9110LM324AT89C51片机作为智能小车核心控制器。1PI2器检测黑线,使电动车在行驶过程中保持直线运动且不会脱离跷跷。一．方案设计(1)直流调速系统直PWMPWM调速V-MH型单极型可逆PWM变换器进行调速。1.1光电检测模块设计该智能小车在贴有黑线的白纸“测法。接收管接收；如果遇到黑线那么红外光被吸收，那么小车上的接收管接收不到信号。1.2信号比拟模块设计输送给单片机，用于检测传感器的敏感性，电路图如图5LM324向右纠正方向。1.3电机控制与驱动模块设计1.3电机控制与驱动模块设计L9110L9110和驱动电机设计的两通道推挽式功率放大专用集成电路器件，将分立电路集成在单片IC使外围器件本钱降低，整机可靠性提高。该芯片有两个TTL/CMOS800mA1.5～2.0AAT89C51口，方便以后的扩展和开发。二．系统硬件设计21电机驱动模块设计动,车头前部装一个方向轮,然后通过I/O口控制两个直流减速电机的转速和转向就可以实现小车的左转、右转和直行。L298N。L298N是ST公司的产品,内部包含4通道逻辑驱动电路,是一种二相和四相电机的专用驱动器,即内含二个H桥的高电压大电流双全桥式驱动器,接收标准TTL逻辑电平信号,可驱动46V、2A以下的电机。22寻迹模块设计,光线照射到白线上面时,光线发射强烈;光线照射到黑线上面时,阻在白线和黑线上方时,阻值会发生明显的变化,将阻值的变化值经过比拟器就可以输出上下电平。但是这种方式受环境影响大,工作不稳定。本文实际采用的是RPR220型反射式传感器制作的寻迹模块。RPR220是一种一体化反射型光电探测器,其发射器是一个砷化镓红外发光二极管,而接收器是一个高灵敏度硅平面光电三极管。当发光二极管发出的光反射回来时,三极管导通并输出低电平。23避障模块设计避障模块主要由红外反射式传感器组成。红外反射式传感器由1个红外发射管(发射器)和1个光电二极管(接收器)构成,红外发射管发出的红外光在遇到反光性较强的物体后被折回,被光电二极管接收,引起光电二极管光生电流的增大,将此变化转为电压信号,就可以被处理器接收并处理。24遥控模块设计本模块发射端采用高灵敏的HL38kH1838,AT89C520∀还是!1∀,利用单片机中的定时器/计数器来测量脉冲宽度。定时器/计数器的除分比是可22048,500ms12,12MHz,1s,/计数器每计时一次为1s。5报警模块设计报警模块的核心芯片选择110报警IC,可应用于汽车、摩托车、防盗器、个人防暴器、门磁报警器等场所。三．系统软件设计三．系统软件设计﹑音子程序、按键扫描子程序构成。1寻迹子程序设计让小车到达前进、左转、右转及停止行驶的目的。P22P23,,PWM控制信号,通过L298控制电机的转速,让小车到达前进、左转、右转及停止行驶的目的。32避障子程序设计避障模块设计是通过把左右红外反射式传感器模块的输出端分别接到单片机的P20管脚上,,PWM控制信号,L298控制电机的转速,让小车到达前进、左转、右转及停止行驶的目的。33遥控子程序设计遥控模块设计是通过把红外接收头1838P32管脚上,然后用万能遥控器对其进行遥控,接着让单片机解码,PWM,L298控制电机的转速,让小车到达前进、左转、右转及停止行驶的目的。四．总结采用单片机为核心,利用光电传感器和红外反射式传感器作为探测系统,设计了可以实现靠性强、本钱低,并且非常易于功能进一步完善和扩展。basedonSCMElectricintelligentcarbasedonSCMThroughresearchandtorealizeaphotoelectricsensorforsensitivecomponents,withAT89C51ascontrolcoreelectrictracingofintelligentcontrolcarbonylation-thecar，Thesystemisalsoincludingdcmotor,L9110chipsandLM324comparatoretc.ThedesignUSESAT89C51asintelligentcarcorecontroller。ThesystemtakesmicrocontrollerascontrolcoreandrealizationofelectricbeforeEnter,back,turnleftandrightturnfunction.ThroughtheAnglesensor[1]detectionTheseesawAnglechange,useincrementalPIalgorithm[2]tocontroltheelectricCarforbalance,andusingphotoelectricsensordetectionblackline,maketheelectricityActuationvehicleinthecourseofdrivingkeeplinearmotionanddon'tfromatrium。1.ProjectDesign1.ProjectDesignlightbyasensor,therealityoftheelectriccarismovingquicklydegrees,bit,buy,transportationlineshapewhenmeasuredquantityofrealcondition,andwillbemeasuredquantitynumberaccordingtopreachsenttomonolithicmachineintolineprocessing,butbysinglechipmachineaccordingtothemeasuredbyrootdifferentformsofseveralinspectionaccordingtorealnowtoelectricactuationvehiclewisdomcancontrolsystem.Thiskindofsquarecasecanrealnowtoelectricactuationvehicledynamicshapestateintotheshipmentdorealpossessioninsystem,controlsystemspiritalive,candepend,puredegreeishigh,canfullfootofeachitemofthestockingstobeg.(1)straightepidemiologicalspeedistasseledstraightepidemiologicalspeeddepartmentwithpulsewidthmodulationexperience.meanwhilegatherspeedisexperience.meanwhile,itsmainelectricalpulsewidthmodulationbyroadsystemtypevariablechangedevice,JanesaysPWMvariablechangedevice.AdjustablespeedbyinthedepartmentofPWMexperience.meanwhileopenshutfrequencyrateishigh,onlyonelectricitybarnadoelectricitysenseoffilterwavecanbeusetogettomoveverysmallstraightpulseelectricflow,electricityflowbarnadoelectriccapacityeasilyeventantras,departmentoflowspeedoperationflatexperience.meanwhile,adjustablespeedstabilityvanissurroundedrelativelywide,canreach1000leftright.ByonelectricalflowwaveshapethanV-Msystem,beinphasewithflattoallelectricalflowdynamicmachine,electricheatconsumptionandhairlossthanasmall.Withthesamplebyinopenshutfrequencyrateishigh,andifafastspeedofelectricalmachineringshouldmatchclose,fastentasseledphasecanbetogetverywidefrequencyband,becauseofthefastspeedringshouldbegood,dynamicconfigurationsexualcanperturbationresistancecanforceispowerful.Accordingtotheroot,withmorethanensemblecloseandthissetofelectricalmachinecontrolprojectbytoleranceofthequantityandelectricalmachinespeedstraightflowofhair,theexhibitortoadopttheprojectwithasingleextremelyHtypecanbechangedintochangedeviceinversePWMlinespeed.1.1photoelectricdetectionmoduledesignTheintelligentcarwasstuckontheblacklinerunningonwhitepaper"road",sothismoduledesignneedtodetectshopontheblackrubberbeltdrivearea,includingRunstraightalongthearcdistrictanddrivingdistricttwoarea.Becauseoftheblackandwhitepapertolightreflectioncoefficientisdifferent,canaccordingtoreceivereflectedlight.Thestrengthofthejudge"road"-theblackline.ThispaperUSESissimpleandpracticaldetectionmethods,namelytheinfrareddetectionmethod.Infrareddetectionmethod,i.e.useinfraredrayindifferentcolorsofphysicalsurfacewithdifferentreflectionpropertiescharacteristics.InthecardrivingprocessContinuallytothegroundtolaunchtheinfrared,whentheinfraredmetwhitegroundoccurswhenthereflectedlight,aimlessandlaunchpackedonthecarofreceivingtubereceiving;ifFruitismetblacklineisabsorbed,andthentheinfraredcarsreceivingtubereceivinglessthansignal.1.1.2signalcomparativemoduledesignThispartdesignUSESaLM324comparator,ofsensorsignalvoltagereceivedcompareandamplified,andwillcomparetheresultsafterFeedtothemicrocontroller,usedtodetectsensorsensitivity,diagramshowninfigure5shows.Whentwosensorssimultaneouslydetectlight,straightforward.Whenthesensorcan'tdetectlight,incut-offstate,doubleLM324operationalamplifieroutputlowleveltomicrocontroller,byprogramprocessing,IfleftNotdetectedlight,thenleftcorrectdirection;Iftherighthasnotbeendetectedlight,thenturncorrectdirection.1.1.3motorcontrolanddrivingmoduledesignBecauseuseisdoubledrivecars,thispartofthecircuitmustbeabletooutputoftwodifferentvoltagevalues,respectivelytocontrollingtrolleyrightandlefttwomotordrive,thetwoofthewheelspeedanddirectionofthesameordifferent,thustocontrolitsadvanceandturning.Insystemdesignprocess,usetwoL9110chipstoconnectSCManddcmotorrespectively.L9110isforcontrolanddrivemotordesigntwochannelspush-pullpoweramplifierapplication-specificintegratedcircuitdevice,discretecircuitsinmonolithicICintegratedsuchthattheperipheralequipmentsinlowercostandthewholemachinecancarryonsexualhigh.ThecoreslicetwoaTTL/CMOSandletelectricityflatloseinto,havegoodanti-jamming,Twooutputterminalcanpickfloodingdynamicelectricmachinestraighttotheshipmentofpositivereversemoveandithashadabigelectricityflowfloodingdynamiccaneachcallwaycanpassover800mAcontinuouscurrent,peakcurrentcapacityof1.5~0A;2.Atthesametimeithasloweroutputsaturationpressuredropandthestaticelectricity,Thebuilt-inclampadiodecanreleasetheperceptualloadofreversecurrentimpulse,makingitthedriverelays,dcmotors,steppingmotororswitchpowertubetheuseofsafeandreliable.FollowtracingcarsystemtocommonAT89C51,complementarywithrelativelysimplecomponentsandcircuitdesign,thesmoothcompletionoffollowunderthepremiseoftracingfunction,andfullyconsideredappearance,costs,somostofthecircuitcarbymanualweldingiscomplete.Inthedesign,weneverinacircuitincreaseredundantfunctions,butretainedvarioushardwareinterfaceandsoftwaresubroutinesinterfacetofacilitatetheexpansionanddevelopmentafter.2.2.Systemhardwaredesign2.1motordrivermoduledesignInmakingintelligentcar,afterleft,rightwheelrespectivelywithtwospeedandTorquebasicidenticaldcmotordrivendeceleration,bolt-ontrunk-lidspoilerDepartmenttoinstalladirectionwheel,thenthroughtheI/OmouthtocontroltwodcslowingdownMotorspeedandsteeringcanbeachievedonthecartotheleft,turnrightandstraightLine.MotordriverusingaintegratedelectricalmachinefloodingdynamiccoresliceL298N.L298NisSTtheproductofthecompany,theinternalcontainingfourchannellogicaldrivecircuit,itisakindoftwophasefourphasemotordrive,namelythespecialcontainstwoHbridgeofhighvoltagelargecurrentcommanderbridgetypedrive,acceptancecriteriaTTLlogiclevelsignals,bedriven46V,2Abelowthemotor.2.2.2tracingmoduledesignTracingmodulemainlycomposedbyphotoelectricsensorreflex.Photoconductiveresistanceoftheresistanceofthelightwiththesurroundingenvironmentchanges,whentheLTTwhitelinesabove,lightemissionstrongly;TheLTTblacklineabove,lightemissionarerelativelyweak.Sowhenphotoconductiveresistanceinwhitelineandblacklineabovetheelementswilloccursignificantlychanges,theresistancechangesvalueaftercomparatorcanoutputhighlevel.Butthiswayenvironmentalinfluencesbig,workisnotstable.ThisarticleactualuseisRPR220typereflexsensorsmadetracingmodule.RPR220isanintegrationofreflectivephotoelectricdetector,thetransmitterisagaasinfraredlightemittingdiodeandthereceiverisahighsensitivitysiliconphotoelectrictriodeflat.Whenthelightemittingdiodereflectedback,triodeconductionandoutputlowlevel.2.2.3obstacleavoidancemoduledesignObstacleavoidancemodulemainlycomposedbyinfraredreflectionsensor.Infraredreflectionsensorbyoneinfraredtubes(launchers)and1photoelectricdiode(receiver)constitute,infraredtubesouttomeettheinfraredobjectreflectivesexstrongafterbeturnedback,byphotoelectricdiodereceiving,causephotoelectricdiodecurrentincreases,lightbornthischangeintovoltagesignal,itcouldbeprocessorreceivesandprocessing.2.2.4remotecontrolmoduledesignThismodulewilllaunchendUSEShighsensitiveHL-5000typeuniversaltelevisionremotecontrol,thereceiverusingreceivefrequencyfor38kHz'sreceivinghead1838,thismoduleandthesinglechipcomputerinterfaceisveryconvenient.Inaddition,fortheredoutsidemeetafterharvestofplaitcodeletternumber,thedepartmenttasseledsetwhenshippedwithprojectofAT89C52singlechipmicrocomputerexternalinterruptiontoreceive,signalthefallingedgeoftriggerexternalinterruption.Inordertorecognizeacompletekeysignal,mustforeachcodingpulsewidthweremeasuredwithdiscriminantreceivesthepulseis!0∀still!∀,themicrocontrollertimer/countertomeasuringpulsewidth.Timer/counterexceptpointsthancanbeset,fromexcept2toexcept2048,measurablepulsewidthcanreach500ms.Thispapersetexceptpointsfor12,namelythan12pointsfrequency,becausetheexternalclockisabout12MHz,clockcyclefor1s,sothetimer/counterfor1pertimingonces.2.2.5alarmmoduledesignAlarmmodulecorechip110IC,canchooseapplicationinautomobile,motorcycle,alarms,personalriotdevice,doormagneticalarmdeviceandetc.3.3.SystemsoftwaredesignThissystemsoftwaremodularstructure,themainprogram,initialanti-fuzzyprocedures,interruptsubroutines,delaysubroutines,buttonspronunciationsubroutines,buttonsscanningsubroutinesconstitutes.3.3.1tracingsubroutinesdesignTracingmoduleisdesignedbytheleftrightphotoelectricsensoroutputterminalreceivingmonolithicmachinerespectively,P22andP23tubefeet,thenthroughthemicrocontroll