基于MK60DN512ZVLQ10的自动循迹小车系统的设计

Design of Automatic Tracing Car System Based on MK60DN512ZVLQ10

针对传统智能小车信息采集不稳和实时性不高等问题,提出一种基于MK60DN512ZVLQ10的自动循迹小车系统。系统由主控模块、传感器模块、电机与舵机控制等模块组成。金属传感器采集复杂的赛道信息,按照SPI通信协议将采集回来的数据传到主控器MK60DN512ZVLQ10中;主控芯片对采集的数据进行处理,判断车身位置和赛道信息,控制车的方向;BTS7970作为电机驱动模块,可实现电机的稳定控制;针对车模的双电机特性,设计中采用对后轮分别驱动模式,用两个编码器分别进行速度的测量,采用增量式PID算法实现动力系统的精确闭环控制,可以使小车沿铁丝快速稳定前行。当采集到特殊赛道信息,通过OLED进行实时显示。通过测试,系统能够精确稳定地实现复杂路径的寻迹功能。

Focusing on the questiong that the information collection instability and poor real-time of the traditional intelligent trac-ing car,an automatic tracking system based on MK60DN512ZVLQ10 was proposed.The system consisted of the main control module,the sensor module,the motor and the steering gear control module etc.The metal sensors were used to collect complex track informa-tion.According to the SPI communication protocol,the collected data were back to the MK60DN512ZVLQ10.Then they were pro-cessed in the master chip to determine the body position and track information,to control the direction of the car.As a motor drive module,the BTS7970 could be used to achieve the stability of the motor.For the dual-motor characteristics of the car,the rear wheel respective drive mode was adopted in the design.Two encoders were used to measure speed.Incremental PID algorithm was used to a-chieve precise closed-loop control of the power system,to allow the car to travel quickly along the wire.When the special track infor-mation collected,it was displayed through the OLED real-time.Through test,the system can accurately and steadily achieve the com-plex path tracking function.