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毕 业 设 计 [论 文]
题 目：基于单片机的智能电动小车控制系统 学 院： 电气与信息工程学院 专 业： 姓 名： 学 号： 指导老师： 完成时间：
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摘 要
基于单片机的智能电动小车作为实现无人驾驶小汽车的方案之一,以其智能、灵活、便携、智能等优点满足了玩具小汽车发展的需要。本文设计的智能电动小车控制系统有自动循迹的功能，能满足按预设轨道行走并完成给定任务的要求，单片机是实现电动智能小车控制系统的核心，其软硬件设计是实现循迹功能的基本要求和关键环节。
本智能电动小车在循迹方面做了相对系统化的设计，本文主要工作包括两个个方面：
1.硬件设计:用红外光电传感器检测路面的黑色轨迹物，确定小车的位置和运动状态并再将检测信号反馈给单片机,单片机对采集到的信号予以分析判断，及时控制直流电机调整小车转向与行车速度。
2.软件设计：通过对AD转换、电机和循迹等模块的编程，控制硬件电路工作，实现软硬件结合，完成判断控制功能。
本设计以STC12C5A60S2单片机为核心，通过合理软硬件设计、调试，获得了较好的测试效果，样品实际工作稳定，满足实际要求。
关键词 ： 循迹小车，单片机，红外传感器
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Abstract
MCU based electric car of smart program as one scheme of driverless cars with its advantages like smart ,flexible and portable made intelligent toys meeting the needs of car development. This design of smart electric car with automatic tracking control system functions is to meet the preset orbit by walking and complete the given tasks. STC89C52 MCU is a core of electric smart car control system's ,its hardware and software design is to achieve the tracking function of the basic requirements and key links .
The smart electric tracking car has done some thing in a relatively systematic design, this paper includes two aspects:
1. Hardware design : Using infrared sensors to detect the black track pavement materials , determine the location and movement of the car and then the state detection signal feedback to the MCU, the MCU of the collected signals are analyzed to determine , in a timely manner to control a DC motor to adjust the car steering and driving speed .
2. Software design : By programming the AD converter , motor and tracking modules , can control the hardware circuit, to achieve a combination of hardware and software to complete the judgment control.
STC12C5A60S2 MCU is a core of the design , through reasonable hardware and software design , debugging , testing to get a better effect , sample real job stability, to meet the actual requirements.
Keywords: tracking car , MCU , infrared sensors
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目录
摘 要.............................................................. I Abstract........................................................... II 第一章 绪论......................................................... 1
1.1引言 ........................................................ 1 1.2智能小车的研究现状 .......................................... 1
1.2.1国外概况 .............................................. 1 1.2.2国内概况 .............................................. 2
第二章 方案设计与论证............................................... 6
2.1 控制系统.................................................... 6 2.2 电机驱动模块................................................ 7 2.3 循迹模块.................................................... 7 2.4 机械系统.................................................... 8 第三章 硬件设计..................................................... 9
3.1总体设计 .................................................... 9 3.2 STC12C5A60S2单片机控制电路 ................................ 10
3.2.1 STC12C5A60S2单片机的介绍 ............................ 10 3.2.2 时钟电路............................................. 14 3.2.3 复位电路............................................. 15 3.2.4 P0口外接上拉电阻 .................................... 15 3.3 TCRT5000黑色轨迹识别电路 .................................. 16
3.3.1 TCRT5000的介绍 ...................................... 19 3.4 TB6612FNG电机驱动电路 ..................................... 19
3.4.1 TB6612FNG的介绍 ..................................... 20 3.5 升降压模块................................................. 22
3.5.1 LM2577的介绍 ........................................ 22
第四章 软件设计.................................................... 24
4.1主程序流程 ................................................. 24 4.2循迹子程序流程图 ........................................... 27 第五章 设计安装与调试.............................................. 31
5.1 PCB的设计制作与安装 ....................................... 32 5.2 小车调试................................................... 35 结论............................................................... 36 参考文献........................................................... 37 致谢............................................................... 38 附录1：主程序 ..................................................... 39 附录2：PCB走线图.................................................. 53 附录3：小车实物图 ................................................. 54 总原理图........................................................... 55
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