循迹小车毕业论文

摘要本设计是一种基于单片机控制的简易自动寻迹小车系统，其研究意义涵盖了工业、生活、勘探以及人类关注的探月工程。设计旨在设计出一款可以自主按照人类预设的轨迹行走（或者完全自主行走）并完成指定任务的小车。从设计的功能要求出发，设计包括小车机械构成设计和控制系统的软硬件设计。为了适应复杂的地形我采用稳定性比较高的四轮构架式，用前轮驱动换向的控制模式。控制系统以STC89C52为控制核心,用单片机产生PWM波，控制小车速度。利用红外光电传感器对路面黑色轨迹进行检测,并确定小车当前的位置状态，再将路面检测信号反馈给单片机。单片机对采集到的信号予以分析判断,及时控制驱动电机以调整小车转向,从而使小车能够沿着黑色轨迹自动行驶,实现小车自动寻迹的目的。ABSTRACTThedesignisasimplemicrocontroller-basedcontrolautomaticallytracingthecarsystem,anditssignificancecoverstheindustry,life,exploration,andhumanconcernlunarexploration.Thedesignaimstodesignacanofindependentwalkinginaccordancewiththetrajectoryofhumandefault(orcompletelyautonomouswalking)andtocompletethetasksassignedtothecar.Thedesignincludesthefunctionalrequirementsfromthedesignofcarmechanicaldesignandcontrolsystemhardwareandsoftwaredesign.Relativelyhighstabilityofthefourtrussesinordertoadapttothecomplexterrain,beforetherotationoftherear-wheeldrivecontrolmode.ControlsystemtocontrolthecoretoSTC89C52microcontrollerPWMwavetocontrolthecarspeed.Usinginfraredphotoelectricsensortodetecttheblacktrackontheroadandtodeterminethecurrentstatusofthecar,andthentheroaddetectionsignalisfedtothemicrocontroller.Microcontrollertobecollectedsignalanalysisandjudgment,andtimelycontrolofthedrivemotortoadjustthesteeringofthecar,sothatthecaristravelingalongtheblacktracktoachievethepurposeofthecarautomaticallytracing.Keywords:cartracking；microcontroller；Infraredsensors1目录1绪论...............................................................................................................................................21.1循迹小车的意义和作用....................................................................................................22系统方案设计................................................................................................................................32.1主控系统...........................................................................................................................42.2电机驱动模块...................................................................................................................42.3循迹模块...........................................................................................................................52.4机械系统...........................................................................................................................63硬件设计.......................................................................................................................................73.1总体设计.........................................................................................................................133.22TCRT5000黑色轨迹识别电路........................................................................................83.3LM324电压比较电路........................................................................................................173.4STC89C52单片机控制电路............................................................................................103.4.1时钟电路.............................................................................................................183.4.2复位电路.............................................................................................................193.4.3EA/VPP（31脚）的功能和接法.......................................................................193.4.4P0口外接上拉电阻...........................................................................................193.5LG9110马达驱动电路....................................................................................................194主要器件介绍................................................................................................................................74.1STC89C52的介绍..............................................................................................................74.2电机驱动的介绍................................................................................................................84.2.1电机驱动的引脚功能............................................................................................84.2.2电机驱动的运行参数............................................................................................84.2.3电机驱动的逻辑控制..........................................................................................194.3TCRT5000的介绍..............................................................................................................94.4LM324的介绍..................................................................................................................205程序设计......................................................................................................................................215.1主程序..............................................................................................................................215.2TCRT5000扫描程序..........................................................................................................235.3调试方案..........................................................................................................................23结束语........................................