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本科毕业设计论文题目小车驱动系统设计系别电气与信息工程专业电气工程及其自动化班级电气703学号07010261学生姓名李伟龙指导老师申忠如2011年5月摘要I摘要开展月球探测不仅有重要的科学技术意义，而且有极其深远的社会和经济意义，以及重要的军事政治意义。本文介绍了月球探测车的基本原理，描述了一个简易的基于MSP430系列16位单片机的月球探车小车的硬件和软件的实现过程，并通过调试实现了其功能和主要技术指标。本系统分为上位机控制软件和下位机两大部分。上位机软件由VisualBasic语言编写，为用户提供了一个监视、控制小车状态的平台，直观的向用户展示小车当前的运行状态。用户也可以向小车发送控制指令、显示小车返回的图像，以及手动操作小车。下位机模块主要由MSP430系列单片机系统、小车驱动模块、输入输出电路、串行口通信模块、超声波模块、电子指南针模块、数字摄像头模块、用户键盘功能模块、机械运动模块、转动编码器模块及充电控制模块组成。执行过程是以MSP430单片机为控制中心、上位机下达指令，由颜色传感器寻找目标物、超声波传感器检测及避障，完成对目标物拍照的整个过程。软件部分由主程序和子程序模块组成，主要实现了各功能模块的启动、对数据的处理及完成输入输出功能。程序在IAREmbeddedWorkbench环境中用C语言写成，模块化的编程使得程序具有可读性和易于维护的特点。经过不断的查询资料、讨论研究，确定了系统方案后设计并手工制作了小车基板，购买及制作了各子功能模块，最后由杜邦线连接，完成了样机的制作和调试。在实验室里，进行了测试，结果表明系统达到设计要求。关键词：MSP430，串口通讯，超声波测距，电子指南针，数字摄像头西安交通大学城市学院本科生毕业设计（论文）IIABSTRACTIIIABSTRACTThemoonisEarth'snearestneighborandtheonlynaturalsatellite.Notonlydoescarryingoutlunarexplorationhavesignificanceofscienceandtechnology,butalsoprofoundsocialandeconomicmeaning,andimportantmilitaryandpoliticalsignificance.Thisarticledescribesthebasicprinciplesoflunarrover,showsthehardwareandsoftwareimplementationprocessofourlunarexplorationvehiclebyaMSP430MCU,andachieveditsfunctionalityandthetechnicalindicatorsthroughthetrialandfailure.ThesystemconsistsofPCsoftwareandmooncar.PCsoftwarewhichiswrittenbyVisualBasicnotonlyprovidestheuserwithacontrolplatform,butcandirectlytelluserstherunningstatusofthecar.Userscanalsoviewtheimageuploadedbythecar.HardwaresystemiscomposedbytheMSP430MCU,I/Ocircuits,serialportmodule,ultrasonicmodule,electroniccompassmodule,digitalcameramodule,keyboard,movementmodule,encodersandthepowermanagementmodule.Workingprocessisthatafterthecarreceivesataskorders,itstartstofindthetargetwithitssensor,walktowardsthetargetwithultrasonicsensorstoavoidobstacles,automaticallytakepictureinfrontofthetargetwhichmakeuptheentireprocess.SoftwareiscomposedofmainfunctionandsubfunctionswhichcoordinatethemodulesandI/Oandprocessdatareturnedfromthesensors.CarprogramiswrittenusingCinIAREmbeddedWorkbench,modularprogrammingmakestheprogramreadableandeasymaintenance.Aftercontinuousofinformationinquiry,discussionandresearch,weboughtthefunctionmodulesasneededandfinallyfinishedthedesignedandactualmaterial.Throughtesting,theresultsshowthatthesystembasicallymeetthedesignrequirements.KEYWORDS:Msp430,Uart,Ultrasonic,Compass,DigitalCamera西安交通大学城市学院本科生毕业设计（论文）IV目录I目录前言................................................................................................................................................11绪论..........................................................................................................................................31.1目前国内外月球车研究情况.............................................................................................31.1.1国外月球车研究现状..............................................................................................31.1.2月球车国内研究现状.............................................................................................41.2设计的任务和要求............................................................................................................51.2.1设计的基本要求.....................................................................................................51.2.2课题的具体工作内容..............................................................................................51.2.3本设计中用到主要试验器材.................................................................................61.2.4本文结构安排..........................................................................................................62系统基本原理...............................................................................................................................72.1系统整体方案设计.............................................................................................................72.2系统功能简介....................................................................................................................73硬件电路设计与方案分析...........................................................................................................93.1小车驱动模块.....................................................................................................................93.1.1方案论证与选择.....................................................................................................93.2超声波测距及避障模块...................................................................................................103.2.1超声波测距............................................................................................................103.2.1避障模块................................................................................................................113.3寻光模块..........................................................................................................................123.4定位模块...........................................................................................................................143.5电子指南针模块...............................................................................................................163.6充电