基于AT89S52单片机的循迹避障小车的设计论文(1).doc

三 门 峡 职 业 技 术 学 院基于AT89S52单片机的循迹避障小车的设计系 部： 专业/班级: 学 号： 姓 名： 指导教师： 目录摘要····················································································2引言····················································································41.1研究背景和发展现状·································································41.2 研究目的和意义·····································································41.3 研究内容···········································································52 系统总体方案设计与论证·····························································52.1总体方案设计·······································································52.2 方案选择···········································································62.2.1 循迹检测系统···································································62.2.2 障碍物检测系统·································································72.2.3 光源检测系统···································································82.2.4 速度检测系统···································································92.3 电机驱动系统·······································································92.4 单片机控制电路系统································································103 硬件设计············································································113.1 总体设计方案·····································································113.2 单片机控制电路····································································123.3 电机驱动电路·····································································163.3.1驱动电路······································································163.3.2 PWM调速原理··································································193.4 循迹检测电路·····································································193.5 障碍物检测电路····································································203.6光源检测电路······································································223.7 速度检测电路······································································233.8 液晶显示电路······································································244 软件设计············································································264.1 系统控制流程·····································································264.2 算法设计·········································································274.2.1循迹算法设计··································································274.2.2.避障算法设计··································································284.2.3测速算法设计··································································294.2.4 PID控制算法··································································295调试·················································································305.1调试方法··········································································30结论与展望··············································································34参考文献················································································35致 谢··················································································37附 录··················································································381摘 要本文介绍了一种利用AT89S52单片机为控制核心，结合多种传感器以及PID算法实现循迹避障功能的智能小车。

利用反射式光电传感器检测黑线实现小车循迹，利用超声波传感器检测道路上的障碍，控制电动小汽车的自动避障，整个系统具有自动寻迹、寻光和速度测试功能其中，控制部分采用AT89S52，AT89S52是一款8位单片机，它的易用性和多功能性受到了广大使用者的好评电机驱动采用常用的PWM方式进行电机的调速控制，小车的速度通过液晶屏来显示整个系统的电路结构较简单，可靠性能高，能满足各种设计的要求随着我国高科技水平的不断提高和工业自动化进程的不断推进，智能小车被广泛应用于各种玩具和其它产品的设计中，极大地丰富了人们的生活关键词:单片机；传感器；PWM调速；循迹避障；pid控制算AbstractThis paper introduced an kind of intelligent car that use AT89S52 SCM as control core , combine with multiple sensors and PID control algorithm to achieve the function that find track and avoid obstacles. the electrical car uses reflective photoelectric sensor to detect black line to achieve track-finding, uses ultrasonic sensors to detect obstacles on the road to avoid obstacles automatically.The entire system has the function that trace route automatically,find light and test speed .Among them, AT89S52 which has 8-bit single-chip is used as the control part.Because of useing easily and having multi-function ,it suffers large users. The motor driver uses the common way--PWM for the motor controlling speed. the speed of car is displayed by the LCD screen .The circuit structure of the whole system is relatively simple, high reliability, and it can meet the requirements of the various design.With the continuous improvement of high technology and the stead process in industrial automation in our country,the Intelligence-car which gradually access to people's attention has been widely applied to design a variety of toys and other products,which greatly enriched people's 。