基于STM8S105的智能车结构及控制系统的研究

Research on structure and control system of intelligent vehicle based on STM8S105

为了实现基于无碳理念的小车在复杂路径行驶中具备自主识别障碍物和避障轨迹优化等功能,设计了一种由重力驱动的智能车。首先,为使智能车既能行驶较远距离又能变速上坡,基于机械能守恒定律,设计了平滑过渡型阶梯式绕线轮,其结构简单、运行无冲击且加速度恒定,可有效节约驱动能源;其次,对智能车的传动机构进行了基于单自由度的动力学分析和转矩的计算;再次,采用STM8S105单片机作为核心控制器来控制E3Z-D62红外传感器、ES3104舵机和JY61P陀螺仪,实现对障碍物的识别、避让,车体转向和车身偏角预判等功能;最后,运用Python软件对采用不同齿轮传动比时智能车的运行速度及行进距离进行可视化仿真。结果表明:当齿轮传动比为6.3∶1时,利用由质量为1 kg、高度为(400±2)mm的砝码下落产生的重力势能转化的动能驱动智能车,可实现最优的行进距离。所设计的智能车能够实现直线行驶、自主识别和避让障碍物、加速爬坡、减速下坡等系列运动,其外观和成本等问题也已被充分考虑,满足了设计的预期要求。研究结果可为无碳小车的结构优化及控制提供参考。

In order to realize that the vehicle based on the carbon-free concept can identify obstacles and optimize obstacle avoidance trajectory during its complex path driving,a gravity-driven intelligent vehicle was designed.Firstly,in order to make the intelligent car not only travel a long distance but also speed up the slope,based on the law of conservation of mechanical energy,a smooth transition type stepped winding wheel was designed.Its simple structure,shock-free operation and constant acceleration can effectively save driving energy.Secondly,dynamics analysis and torque calculation based on single degree of freedom were carried out for the transmission mechanism of intelligent vehicle.Thirdly,STM8S105 single-chip microcomputer was adopted as the core controller to control the E3ZD62 infrared sensor,ES3104 steering gear and JY61P gyroscope to realize the identification and avoidance of obstacles,as well as the body steering and body deflection angle prediction.Finally,Python software was used to visually simulate the running speed and travelling distance of the intelligent vehicle under different gear transmission ratios.The results showed that when the gear transmission ratio was 6.3:1,the intelligent vehicle could be driven by the kinetic energy transformed by the gravitational potential energy generated by the falling of a weight of 1 kg and a height of(400±2)mm,and the optimal travelling distance could be realized.The designed intelligent vehicle can realize a series of movements such as straight driving,autonomous recognition and avoidance of obstacle,acceleration uphill,deceleration downhill,and the appearance and cost of the intelligent car were fully considered,so it had met the expected design requirements.The research results can provide reference for the structure optimization and control of carbon-free vehicle.