基于Freescale单片机的智能赛车设计

The Design of Intelligent Vehicle Model Based on Freescale MCU

以全国大学生飞思卡尔杯智能汽车竞赛为基础,采用MC9S12DGl28 16位单片机作为核心控制单元,通过一个CMOS摄像头检测模型车的运动位置和运动方向,用光电传感器检测模型车的速度,并加以直流电机、舵机、电源电路以及其他电路模块构成整个运动控制系统。在软件设计上我们使用PID控制算法调节驱动电机的转速和舵机的方向,完成对模型车运动速度和运动方向的闭环控制。

In this paper,Freescale Cup National Smart Car University Students race is based on an MC9S12DGl28 16-bit microcontroller as the core control unit,through a CMOS camera motion to detect model car position and direction of motion,with a photoelectric sensor detects the speed of model cars.And the entire motion control system include DC motors,steering gear,power circuit and other circuit blocks.In software design,we use the PID control algorithm to adjust servo drive motor＇s speed and direction,to complete the closed-loop control of the model car of the velocity and direction of motion.