基于Kinetis-K60单片机直立智能车的设计与研究

Design and research on Kinetis-K60-based vertical intelligent vehicle

本文主要介绍了基于Kinetis-K60单片机控制车模实现直立行驶的原理及应用。其控制核心为飞思卡尔32位单片机MK60FN1M0VLQ15,通过工字电感检测赛道上的电磁信号,将采集到的信号传送到单片机作为转向的依据,采用编码器来实时检测车模电机的转速,将采到的速度反馈到控制器,再通过单片机输出PWM信号来控制电机并改变车模的转向。此外,用IAR对程序进行编译下载,用Altium Designer绘制pcb电路板,最终实现对智能车的控制。

The paper proposes the principle and applications of controlling vehicle model to realize vertical driving based on Kinetis-K60. In the design, take Freescale Carle 32 bit microcontroller MK60FN1MOVLQ15 as controlling core, use I inductance to detect electromagnetic signals on the track, transmit the received signal to MCU for the basis of steering;after that, use the encoder to detect the speed of the motor, provide the speed feedback to the controller, therefore output signal of the PWM by a single chip microcomputer to control the steering of vehicle model. In addition, the paper uses IAR to compile and download the program, draws pcb circuit board with Ahium Designer, and achieves the final implementation of intelligent vehicle control.