2024年6月17日发(作者：)

智能小车英文文献

Document number：WTWYT-WYWY-BTGTT-YTTYU-2018GT

Electric intelligent car based on SCM

The single slice machine is also called tiny controller, is because

it was used in the industry to control realm at the earliest slice

machine from inside chip have CPU appropriation processor to develop only

since the earliest stage of design the principle is to pass to integrate

a great deal of peripherals and CPU in a chip, making calculator system

smaller, integrating more easily into complicated of but to mention to

request a strict control equipments in the INTEL Z80 is the processor

which designed according to this kind of thought at the earliest stage,

from now on, single slice the development of the machine and appropriation

processor went by different roads then.

The single slice of the earlier period all of machines are 8 or them,

the INTEL is most successful of 8031, because of in brief dependable but

the function was quite good to acquire very big good at 8031 up developed

MCS51 serieses a single slice machine to the single slice of this system

machine system is still in the extensive usage till the industry controls

the exaltation of[with] realm request, starting appearing 16 single slice

machine, but because sex price wanted to don't get a very extensive

application than the greatly along with the consumption electronics

product after 90's, the single slice machine technique got a huge with

the extensive application of INTEL i 960 serieses especially later ARM

series, the 32 single slice machine replaces 16 single slice the high

level position of the machine quickly, and gets into an essential

traditional of 8 single slice the function of the machine also got to fly

to raise soon, handling an ability to compare with to raise few a

hundredfolds in 80', 32 single slice of the high level with main machine

already over 300 MHzs, the function keeps appropriation processor of

making track for the mid 90's, and the common model number factory price

drop into to USD 1, tallest carry of model number also only USD

contemporary and single slice machine system has already no longer

developed and used just under the naked machine environment, the in great

quantities appropriative built-in operate system is applied extensively in

the whole serieseses of the single slice is on Be ising the high level of

handheld PC and cellular phone core processing single slice the machine

even can use appropriative Windows and the Linux operate system directly.

Single slice the machine ratio appropriation processor is the most

suitable to match to apply in the built-in system, so it got the most

fact the single slice machine is an amount the most calculators are in the

modern mankind are living medium use of assemble in almost each

electronics and machine product have a single slice have 1-2 single slice

machine in the computer accessorieses such as cellular phone, telephone,

calculator, home appliances, electronics toy, handheld PC and mouse

etc..And personal computer in would also capable number not a few single

slice the machine be with more than 40 departments a single slice machine

generally on the car, complicated industry's controling the top of the

system even may has single several hundred pedestalses slices machine to

work in the meantime!Single slice the amount of the machine not only far

above the PC machine and other calculations of comprehensive, even than

the mankind's amount still want have another.

On the base of SCM ,through reseach and to realize a photoelectric

sensor for senstive components,with AT89C51 as control core electric

tracing of intelligent control carbonylation-the car,The system is also

including dc motor,L9110 chips and LM324 comparator design USES AT89C51

as intelligent car core controllre.

The system takes microcontroller as control core and realization of

electric before Enter,back,turn left and right turn the angle sensor

detection The seesaw Angle change,use incremental PI algorithm 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 don’t skip from atrium.

一.Project Design

Light by a sensor ,the reality of the car is moving quickly

degrees,bit,buy,transportation line shape when measured quantity of real

condation,and will be measured quantity number according to preach sent to

monnolithic machine into line processing,but by single chip machine

according to real now to electric actuation vehicle wisdor 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 high,can full

foot of each item of the stocking to beg .straight epidemiological speed

is tasseled straight epidemiological speed department with pluse width

modulation gather speed is experience. Meanwhile, its main electric pulse

width modulation by roda system type variable change device, jane says PWM

variable change device. Adjustable speed by in the department of PWM open

shut frequency rate is high, only on electricty barnado electricty sense

of filter wave can be use to gen to move very small straight pulse

electric flow ,electricty flow barnnado electric capacity easil even

tantras, department of low speed operation flat

experience .meanwhile,adjustable electric flow wave shape than V-M system,

be in phase with flat to all electrical flow dynamic machine ,electric

heat consumption and hair loss than a small. With the sample by in open

shut frenquency rate is high, and if a fast speed of electric machine

ring should match close, fasten tasseled phase can be to get very wide

frenquency band, because of the fast speed ring should good ,dynamic

configuration sexual can perturbation resistance can force is powerful.

According to the root, with more than ensemble close and this set of

electric machine speed straight flow of hair, the exhibitor to adopt the

project with a single extremely H type can be changed into change device

inverse PWM line speed.

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, including run straight along the arc district and driving

district two area, becasure 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 methods .namely the infrared detection

method.

Infrared detection method, I,e, use infrared ray in different colors

of physical surface with different reflection properties. In the car

driving process continually to the ground to launch the infrared, when the

infrared met white ground occurs when the reflected light, aimless and

launch packed on the car of receiving tube receiving less than signal.

signal comparative module design

This part design USES aLM324 comparator, of sensor signal voltage

received compare and amplified ,and will compare the result after feed to

the microcontroller, used to detect sensor sensitivity, when two sensors

simultaneously detect light ,straight forward. When the sensor can’t

detect light, in cut-off state, double LM324 operational amplifier output

low level to microcontroller, by program processing, if left not detect

light, then left correct direction; if thf right has not been detected

light, then turn correct direction.

motor control and driving module design

Because use is double drive cars ,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 L910 chips to connect SCM

and dc motor respectively .L9110 is for control and drive motor design two

channels push-pull power amplifer application-specific integrated circuit

device, discrete circuts in monolithic IC integrated such that the

peripheral equipments in lower cost and the whole machine can 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 dynaic

electric machine straight to the shipment of positive reverse move and it

has had a big electricity flow flooding dynamic can force each call way

can pass over 800ma continuous current, peak current capacity of -2a; 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 thf drive relays, dc motors,steeping

motor or switch power tube the use of safe and reliable.

Follwing tracing car system to common AT89C51 ,complementary with

relativel simple components and circuit design ,the smooth completion of

follow under the premise of tracing function, and fully considered

appearance, cost, so most of the circuit car by mannual weiding 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.

二.system software design

This system software modular structure ,the main progrem,initial

anti-fuzzy procedures, interrupt subroutines ,delay subroutines,buttons

pronunciation subroutines buttons scanning subroutines constitutes.

tracing subroutines desin

Tracing module is designed by the left right photoelectric sensor

output terminal receiving monolithic machine respectively, P22and P23 tube

feet, then 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.

barrier of programming

Obstacle avoidance module is designed by the infrared reflection

sensor module around the output terminal receiving MCU respectively P20

and P21 tue feet, then 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.

remote subroutines design

Remote control module is designed by the infrared sensor 1838 an

output terminal of the receiving MCUP 32 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 also stop driving purpose.

三 summary

Adopts singlechip ,using photoelectric sensor and infrared

reflection sensor was designed as a detection system, can realize

automatic homing line to work, automatic obstacle avoidance, alarm and

remote control functions such as intelligent car. This design is the

obvious advantages of simple circuit, reliability, low cast, and very easy

to function of further perfecting and expansion.