基于AT89C51小车寻迹系统的设计

毕业论文基于AT89C51小车寻迹系统的设计摘要：本次设计就是研究一款能自动跟踪给定路线的寻迹小车，该小车采用带有万向轮的简易三轮车，左右两个轮子各由一个直流电机控制，车后身的万向轮用来配合调整方向。该设计是以AT89C51单片机作为系统微控制器，寻迹模块采用两组高灵敏度的光电传感器ST168，对路面黑色轨迹进行检测。传感器输出信号经处理后送AT89C51单片机，单片机通过检测到的不同信号，调用相关程序，从I/O口输出两路脉宽可调的PWM波，PWM波经过电机驱动芯片L298N，分别用来控制小车上的左右两个电机的转速，从而改变小车的速度和方向，最终自动完成寻迹功能。测试结果表明，小车能跟踪任何弯道的给定路线。小车寻迹的过程无需人来操控，通过不断自动调用单片机的相关程序来改变小车方向，是一个自动化的寻迹过程。关键词：AT89C51单片机；光电传感器；脉冲宽度调制；寻迹ThecartracingsystemdesignedbyAT89C51Abstract：Thisistheprojectofthestudywhichisgivenanautomatictrackingfollowingthecartracingline,ThisSmartcarusesatricyclewithanuniversalwheelsupportingthebody，therotationoftheleftwheelandrightwheelarecontrolledbytwoDcmotors,Theuniversalwheelinthebackisusedforadjustingtheorientation.ThisdesignusestheAT89C51whichusedwidelyinthemicrocontrollerofthesystem,thetracingmodeladoptstwogroupsofhigh-performancephotoelectricsensorsST168,whichisusedfortracing.ThesignalisinputtoAT89C51afteroutputtingfromthesensor.AT89C51callstherelevantprogramstoproducetwochannelsofPWMbythedetectedsignal.ThetwochannelsofPWMareusedtocontrolthespeedoftheleftandrightwheelbythemotordrivechipL298N,sothatthesmalltricyclecancontroltheblack毕业论文tracksforwardbychangingthedirectionandspeed.Theresultofdeterminationexhibitsthatthewholesystemisofhighreliabilityandpracticability,andtracingfunction,Thesmartcarscantrackanycornersofthegivenroute.Theprocessesofthecartracingdonotneedpeopletocontrol,Throughcontinuousautomaticusingmicrocontrollerprogramwhichcalledtherelatedtochangesthedirectionofcar,thisisanautomatictracingprocess.Keywords:AT89C51SCM;PhotoelectricSensor;PWM;tracing毕业论文目录前言······························································1第1章系统总体设计思路方案··································31.1寻迹小车总体概况··············································31.1.1概况····················································31.1.2总体结构图··············································31.2小车寻迹的原理················································41.3模块方案比较与论证············································51.3.1车体的选择··············································51.3.2寻迹传感器方案的设计····································51.3.3控制器模块··············································61.3.4电机方案的选择··········································61.3.5电机驱动模块选择········································71.3.6小车系统总体设计方案····································7第2章硬件实现及单元电路设计································82.1单元电路设计··················································82.1.1AT89C51主控芯片介绍·····································82.1.2电源电路的设计·········································102.1.3红外对管传感器ST168电路的设计·························112.1.4驱动电路L298N的设计···································142.2系统电路·····················································192.2.1电路原理图·············································192.2.2电路工作原理···········································20第3章软件设计··············································21毕业论文3.1定时器T0、T1的功能和使用方法·······························213.2软件设计思路及流程图········································233.3寻迹小车系统的软件程序······································29第4章系统的安装与调试·····································304.1硬件系统的安装··············································304.1.1车体的安装············································304.1.2红外对管传感器ST168的安装····························304.1.3其他电路的安装········································314.1.4硬件实物图············································314.2硬件系统的调试··············································314.3硬件与软件的联机调试········································33参考文献························································35致谢词··························································36附录····························································37附录1基于AT89C51小车寻迹系统的设计整机电原理图附录2基于AT89C51小车寻迹系统的软件程序附录3寻迹小车实物图附录4英汉翻译毕业论文第1页共43页前言在科学技术高度发达的现代社会中，人类已进入瞬息万变的信息时代。人们在从事工业生产和科学实验等活动中，主要依靠对信息资源的开发、获取、传输和处理。传感器处于研究对象与测控系统的接口位置，是感知、获取与检测信息的窗口，一切科学实验和生产过程，特别是自动检测和自动控制系统要获取的信息。都要通过传感器将其转换为容易传输与处理的电信号。传感器技术是测量技术、半导体技术、计算机技术、信息处理技术、微电子学、光学、声学、精密机械、仿生学和材料科学等众多学科相互交叉的综合性和高新技术密集型前沿技术之一，是现代新技术革命和信息社会的重要基础，是自动检测和自动控制技术不可缺少的重要组成部分[1]。直流电机作为执行机构被广泛地应用于各类控制系统中，其驱动与转速精度是电机能够稳定工作的关键。与此同时，调速系统的电路结构和有关理论发展非常迅速，随着可控关断的电力电子器件的出现，由它实现的斩波与PWM技术的应用也越来越广泛。为使智能车系统反应更为快速，该智能车应用AT89C51单片机和传感器系统，具有执行效率高、占用空间小、实时性能优良等特点。采用红外探测法实现寻迹功能，即将红外光电传感器固定在底盘前沿，利用其在不同颜色的物体表面具有不同的反射性质的特点，在小车行驶过程中不断地向地面发射红外光，单片机就是否收到反射回来的红外光为依据来确定黑线的位置和小车的行走路线。根据光电反射原理，调整车速。为保证智能车在行驶过程具有良好的平稳性，控制系统对直流电机驱动提出了较为理想的解决方案。当设计完成后，要求达到一个能在一定的弧度范围内，并利用小车的底盘、左右轮电机及其自动复原装置，能够平稳跟踪路面黑色轨迹。本次毕业设计研究的小车寻迹系统的主要内容，是一种基于AT89C51单片机的小车寻迹系统。该系统采用两组高灵敏度的光电对管，对路面黑色轨迹进行检测，并利用单片机产生的PWM波来控制小车速度。其硬件电路设计包括四部分由：电源电路；AT89C51单片机系统；电机驱动电路；寻迹传感器。电路设计要求输出电压为5V，而且寻迹传感器的寻迹检测距离必须在8-15mm之间。毕业论文第2页共43页基于AT89C51小车寻迹系统采用光电传感器可自动对小车前进方向的路径进行识别。路径识别模块能准确、快速、超前的采集路面信息，把它转变成电信号，传送到单片机中处理。通过此课题的研究学习，我将所学到的单片机知识也应用到了实际中去，了解了两组高灵敏度的光电对管，对路面黑色轨迹进行检测的原理，还掌握了电机驱动电路在电路设计中的作用。另外，通过此次综合毕业设计的制作，我对硬件软件的设计，及对专业知识及应用动手能力方面都得到了一个巩固和提高。本次毕业设计分4章。第1章介绍了寻迹小车的系统总体设计思路方案，给出小车总体概况；第2章介绍寻迹小车的硬件实现及单元电路设计，概括整机电路的工作原理；第3章介绍系统的软件设计，分模块设计；第4章介绍寻迹小车系统的安装与调试。毕业论文第3页共43页第1章系统总体设计思路方案1.1寻迹小车总体概况智能寻迹小车的整个电路系统分为检测、控制、驱动三