摘要
提出一种使用激光检测白底黑色跑道的寻迹智能车的软硬件设计方法,在硬件上设计了最小系统、主板、电机驱动、激光传感器模块、测速模块等电路,采用8位freescale单片机MC9S08AC16作为控制核心,使用低成本的红外传感器测速方案,采用14发射、7接收"一"字型排开的激光传感器检测赛道信息,电机驱动采用"H"型双极性驱动电路。硬件设计上使用了适合8位单片机的枚举查表为主的舵机控制算法,而速度控制则为bang-bang控制与P算法控制相结合的方法。
A smart car system which takes laeser seneors to obtain lane information was proposed.The hardware includes the circuit of MCU system,mainboard,motor driving,sensors module and speed measuring.The system uses MC9S08AC16 as the core,low-cost infrared sensor to detect speed and bipolar circuit driving the motor,lasers of 14 emissions and 7 receipts detect the track,motor drive with ＂H＂ type bipolar drive circuit.The method of enumeration and table look-up to control steering gear is applied,and this arithmetic is suitable for 8 bit MCU.Bang-bang and P controlalgorithm are taken to control speed.
出处
《电子设计工程》
2011年第10期128-131,共4页
Electronic Design Engineering
