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，用后轮驱动前轮换向的控制模式。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。

关键词：循迹小车，单片机，红外传感器

ABSTRACT

The design is a simple microcontroller-based control automatically tracing the car system, and its significance covers the industry, life, exploration, and human concern lunar exploration. The design aims to design a can of independent walking in accordance with the trajectory of human default (or completely autonomous walking) and to complete the tasks assigned to the car. The design includes the functional requirements from the design of car mechanical design and control system hardware and software design. Relatively high stability of the four trusses in order to adapt to the complex terrain, before the rotation of the rear-wheel drive control mode. Control system to control the core to STC89C52 microcontroller PWM wave to control the car speed. Using infrared photoelectric sensor to detect the black track on the road and to determine the current status of the car, and then the road detection signal is fed to the microcontroller. Microcontroller to be collected signal analysis and judgment, and timely control of the drive motor to adjust the steering of the car, so that the car is traveling along the black track to achieve the purpose of the car automatically tracing.

Keywords:car tracking；microcontroller；Infrared sensors

目录

1 绪论 (1)

1.1 研究背景和发展现状 (1)

1.2 研究目的和意义 (1)

1.3 研究内容 (2)

2方案设计与论证 (3)

2.1 总体方案设计 (3)

2.2主控系统 (3)

2.2 电机驱动模块 (4)

2.3 驱动电机选择 (5)

2.4 循迹模块 (5)

2.5 机械系统 (6)

3 主要器件介绍 (7)

3.1 STC89C52的介绍 (7)

3.2 L298N的介绍 (10)

3.2.1 L298的引脚功能 (10)

3.2.2 L298的运行参数 (11)

3.2.3 L298的逻辑控制 (11)

3.3 TCRT5000的介绍 (11)

3.4 LM324的介绍 (12)

4 硬件设计 (14)

4.1总体设计 (14)

4.2 STC89C52单片机控制电路 (16)

4.2.1 时钟电路 (16)

4.2.2 复位电路 (17)

4.2.3 EA/VPP（31 脚）的功能和接法 (17)

4.2.4 P0 口外接上拉电阻 (17)

4.3TCRT5000黑色轨迹识别电路 (18)

4.4LM324电压比较电路 (19)

4.5电机驱动电路 (20)

4.5.1驱动电路 (20)

4.5.2 PWM调速原理 (21)

5程序设计 (23)

5.1主程序 (23)

5.2TCRT5000扫描程序 (25)

5.3 PWM编码产生程序 (26)

6调试 (28)

6.1硬件调试 (28)

6.1.1电池可靠性 (28)

6.1.2TCRT5000探头 (29)

6.1.3 L298N马达驱动模块 (29)

6.2软件调试 (29)

6.2.1调试平台介绍 (29)

6.3 测试结果与分析 (30)

结束语 (32)

参考文献 (33)

致谢 (34)

附录 (35)

附录1：源程序 (35)

附录2：原理图 (39)

附录3：PCB设计 (40)