基于线性TSL1401CCD的直立智能小车设计

Upright intelligent car design based on linear TSL1401CCD

按照全国大学生智能车竞赛的规则,设计一种两轮直立智能寻迹小车。小车以MC9S12XS128单片机(MCU)为控制单元,利用线性TSL1401CCD传感器采集赛道信息,陀螺仪检测小车的角速度,加速度计测量小车的加速度。MCU计算出控制左右电机转速的PWM输出量,通过控制电机转速实现小车的直立、速度和方向控制。测试表明线性TSL1401CCD传感器具有很好的前瞻性,硬件系统稳定可靠,软件能够及时有效对小车进行PID控制,小车能够实时跟踪赛道,完成比赛。

To design a two wheels upright intelligent tracing car according to the rules of the National College Students＇Intelligent Car Racing.The car uses MC9S12XS128 microcontroller （MCU） as the control unit,uses linear TSL1401CCD sensor to get the detailed information of the racing circuit,uses gyroscope to detect the angular velocity of the car,uses the accelerometer to measure the car＇s acceleration.The MCU can calculates the PWM output to control the speed of the motors,which decides on uprightness,speed and direction of the car.Tests show that the linear TSL1401CCD sensor has very good prospective,the hardware system of the car is stable and reliable,the software can be timely and effective to control the car by means of the PID algorithm.The car can real-time tracking black line to complete the racing.