基于MCU的自动寻迹智能车控制系统的设计

Control System of Automatically Tracing Intelligent Vehicle Based on the MCU

当今的汽车产业,应用电子技术的程度已成为提升汽车技术水平的重要标志之一。自动寻线智能车技术由此不断发展。该文设计的是基于MCU的自动寻迹智能车。硬件上该车采用Freescale公司的16位单片机MC9S12DG128B作主控单元,小型直流电机作驱动部分,智能车的转向控制由舵机完成。通过光栅编码器测速,构成带速度反馈的伺服控制系统。本系统以CMOS数字摄像头OV6620作为路径识别单元,经图像处理提取路径信息。利用增量型PID算法进行速度调节。实验证明:系统路径识别良好,运行稳定,抗干扰性强。

For today＇s auto industry,the application of electronic technology to enhance the level of automotive technology has become an important indicator of the level of one. So the technology of automatic tracing smart car continue to develop. My design is auto-tracing intelligent vehicle system based on the MCU.The hardware uses Freescale＇s 16-bit single-chip microcomputer MC9S12DG128B as the main control unit,and small DC motor as the drive part. Intelligent vehicle steering control could be completed through steering gear .In addition,speeding through a grating encoder which constitutes a feedback with the speed of the servo control system..The system uses a CMOS camera OV6620 as the path identification devices. Path through the image recognition information extraction. Using PID algorithm in incremental speed regulation. Tested to prove that the system could run stably,recognize well the path, anti-jamming performance.