基于H8/3048F智能模型车出入库功能设计与应用

Design and Application of Modle-vehicle Stock Based on H8/3048F

基于H8/3048F单片机设计了一款具有自动出入车库功能的智能模型车。单片机H8/3048F根据模型车前后两排光电传感器检测的赛道与车库信息判断模型车的当前位置,确定行驶状态,控制电机转速和舵机转角,从而使模型车精确快速的出入车库。本文分析了模型车倒车出库时的前轮转向特点,同时针对模型车出入车库特点提出了闭环PD调节的车速控制与开环PWM控制舵机转向的控制策略。试验结果证明,利用本控制策略的模型车能够快速平稳精确地出入模型车车库,具备响应速度快、抗干扰能力强等特点,具有一定的参考与应用价值。

The actuality of model-vehicle garage is brifely introduced,and an intelligent model car with automatically garage function has been designed and implemented based on H8/3048F.The intelligent model-vehicle systeem mainly includes power module,road detecting module,speed detecting module,steering control module,and motor driving module.The machanical structure of the model-vehicle is particularly introduced.According to the information of track and garage detected by two rows photoelectric sensors in the front and rear,microcontroller estimates the car＇s current position,determines the running state,and controls motor speed and steering angle.The feature of steering with rear wheels is analysed.After the analyzation of the steering feature with rear wheels,it is found that the garaged out radium is bigger than that of garaged in.Based on the former theory analysis,a control strategy which includes speed controlling based on closed-loop PD and steering controlling with open-loop PWM is put forward.Experimental results show that the model vehicle based on the strategy runs quickly and smoothly with high responding speed and excellence anti-jamming capability,etc,and has certain reference and application value.