智能小车英文文献

.Electric intelligent car based on SCMThe single slice machine is also called tiny controller, is because it was used in the industry to control realm at the earliest stage.Single slice machine from inside chip have CPU appropriation processor to develop only since then.At the earliest stage of design the principle is to pass to integrate a great deal of peripherals and CPU in a chip, making calculator system smaller, integrating more easily into complicated of but to mention to request a strict control equipments in the middle.The INTEL Z80 is the processor which designed according to this kind of thought at the earliest stage, from now on, single slice the development of the machine and appropriation processor went by different roads then.The single slice of the earlier period all of machines are 8 or 4.Among them, the INTEL is most successful of 8031, because of in brief dependable but the function was quite good to acquire very big good opinion.Henceforth at 8031 up developed MCS51 serieses a single slice machine system.According to the single slice of this system machine system is still in the extensive usage till now.Because the industry controls the exaltation ofwith realm request, starting appearing 16 single slice machine, but because sex price wanted to dont get a very extensive application than the disregard.Develop greatly along with the consumption electronics product after 90s, the single slice machine technique got a huge exaltation.Along with the extensive application of INTEL i 960 serieses especially later ARM series, the 32 single slice machine replaces 16 single slice the high level position of the machine quickly, and gets into an essential market.And traditional of 8 single slice the function of the machine also got to fly to raise soon, handling an ability to compare with to raise few a hundredfolds in 80s.Currently, 32 single slice of the high level with main machine already over 300 MHzs, the function keeps appropriation processor of making track for the mid 90s, and the common model number factory price drop into to USD 1, tallest carry of model number also only USD 10.The contemporary and single slice machine system has already no longer developed and used just under the naked machine environment, the in great quantities appropriative built-in operate system is applied extensively in the whole serieseses of the single slice is on board.But Be ising the high level of handheld PC and cellular phone core processing single slice the machine even can use appropriative Windows and the Linux operate system directly.Single slice the machine ratio appropriation processor is the most suitable to match to apply in the built-in system, so it got the most applications.In fact the single slice machine is an amount the most calculators are in the world.The modern mankind are living medium use of assemble in almost each electronics and machine product have a single slice machine.All have 1-2 single slice machine in the computer accessorieses such as cellular phone, telephone, calculator, home appliances, electronics toy, handheld PC and mouse etc.And personal computer in would also capable number not a few single slice the machine be working.Provide with more than 40 departments a single slice machine generally on the car, complicated industrys controling the top of the system even may has single several hundred pedestalses slices machine to work in the meantime!Single slice the amount of the machine not only far above the PC machine and other calculations of comprehensive, even than the mankinds amount still want have another.On the base of SCM ,through reseach and to realize a photoelectric sensor for senstive components,with AT89C51 as control core electric tracing of intelligent control carbonylation-the car,The system is also including dc motor,L9110 chips and LM324 comparator etc.The design USES AT89C51 as intelligent car core controllre.The system takes microcontroller as control core and realization of electric before Enter,back,turn left and right turn function.Through the angle sensor detection The seesaw Angle change,use incremental PI algorithm to control the electric car for balance,and using photoelectric sensor detection black line,make the electricity Actuation vehicle in the course of driving keep linear motion and dont skip from atrium.一.Project DesignLight by a sensor ,the reality of the car is moving quickly degrees,bit,buy,transportation line shape when measured quantity of real condation,and will be measured quantity number according to preach sent to monnolithic machine into line processing,but by single chip machine according to real now to electric actuation vehicle wisdor can control system .this kind of square case can real now to electric actuation vehicle dynamic shape state into the shipment do real possession in system,control system spirit alive,can depend,pure degree is high,can full foot of each item of the stocking to beg .straight epidemiological speed is tasseled straight epidemiological speed department with pluse width modulation experience.meanwhile gather speed is experience. Meanwhile, its main electric pulse width modulation by roda system type variable change device, jane says PWM variable change device. Adjustable speed by in the department of PWM experience.meanwhile open shut frequency rate is high, only on electricty barnado electricty sense of filter wave can be use to gen to move very small straight pulse electric flow ,electricty flow barnnado electric capacity easil even tantras, department of low speed operation flat experience .meanwhile,adjustable electric flow wave shape than V-M system, be in phase with flat to all electrical flow dynamic machine ,electric heat consumption and hair loss than a small. With the sample by in open shut frenquency rate is high, and if a fast speed of electric machine ring should match close, fasten tasseled phase can be to get very wide frenquency band, because of the fast speed ring should good ,dynamic configuration sexual can perturbation resistance can force is powerful. According to the root, with more than ensemble close and this set of electric machine speed straight flow of hair, the exhibitor to adopt the project with a single extremely H type can be changed into change device inverse PWM line speed.1.1 photoelectric detection module designThe intelligent car was stuck on the black line running on white paper road ,so this module design need to detect shop on the black rubber belt drive area, including run straight along the arc district and driving district two area, becasure of the black and white paper to light reflection coefficient is different, can according to receive reflected light.The strength of the judge road the black line. This paper USES is simple and practical detection methods .namely the infrared detection method.Infrared detection method, I,e, use infrared ray in different colors of physical surface with different reflection properties. In the car driving process continually to the ground to launch the infrared, when the infrared met white ground occurs when the reflected light, aimless and launch packed on the car of receiving tube receiving less than signal.1.2 signal comparative module designThis part design USES aLM324 comparator, of sensor signal voltage received compare and amplified ,and will compare the result after feed to the microcontroller, used to detect sensor sensitivity, when two sensors simultaneously detect light ,straight forward. When the sensor cant detect light, in cut-off state, double LM324 operational amplifier output low level to microcontroller, by program processing, if left not detect light, then left correct direction; if thf right has not been detected light, then turn correct direction.1.3 motor control and driving module designBecause use is double drive cars ,this part of the circuit must be able to output of two different voltage values, respectively to controlling trolley right and left two motor drive ,the two of the wheel speed and direction of the same or different, thus to control its advance and turning .in system design process, use two L910 chips to connect SCM and dc motor respectively .L9110 is for control and drive motor design two channels push-pull power amplifer application-specific integrated circuit device, discrete circuts in monolithic IC integrated such that the peripheral equipments in lower cost and the whole machine can carry on sexual high. The core slice two a TTL/CMOS and let electricity flat lose into, have good anti-jamming, two output terminal can pick flooding dynaic electric machine straight to the shipment of positive reverse move and it has had a big electricity flow flooding dynamic can force each call way can pass over 800ma continuous current, peak current capacity of 1.5-2a; at the same time it has lower output saturation pressure drop and the static electricity, the built-in clamp a diode can release the perceptual load of reverse current impulse, making it thf drive relays, dc motors,steeping motor or switch power tube the use of safe and reliable.Follwing tracing car system to common AT89C51 ,complementary with relativel simple components and circuit design ,the smooth completion of follow under the premise of tracing function, and fully considered appearance, cost, so most of the circuit car by mannual weiding is complete, in the design ,we never in a circuit increase redundant functions, but retained various hardware interface and software subroutines interface to facilitate the expansion and development after.二.system software designThis system software modular structure ,the main progrem,initial anti-fuzzy procedures, interrupt subroutines ,delay subroutines,buttons pronunciation subroutines buttons scanning subroutines constitutes.2.1 tracing subroutines desinTracing module is designed by the left right photoelectric sensor output terminal receiving monolithic machine respectively, P22and P23 tube feet, then through the microcontroller programming, produce PWM control signal, through L298 control motor speed, let the car to move forward, left turn ,turn right and stop driving purpose.2.2avoid barrier of programmingObstacle avoidance module is designed by the infrared reflection sensor module around the output terminal receiving MCU respectively P20 and P21 tue feet, then through the microcontroller programming, produce PWM control signal ,through L298 control motor speed ,let the car to move forward ,left turn ,turn right and stop driving purpose.2.3 remote subroutines designRemote control module is designed by the infrared sensor 1838 an output terminal of the receiving MCUP 32 tube feet ,then use all-purpose remote control on the remote control,then let microcontroller decoding, produce PWM control signal ,through L298 control motor speed, let the car to move forward, left turn ,turn right and also stop driving purpose.三 summaryAdopts singlechip ,using photoelectric sensor and infrared reflection sensor was designed as a detection system, can realize automatic homing line to work, automatic obstacle avoidance, alarm and remote control functions such as intelligent car. This design is the obvious advantages of simple circuit, reliability, low cast, and very easy to function of further perfecting and expansion.