西安电子科技大学“飞跃”代表队技术报告

第一届“飞思卡尔”杯全国大学生智能汽车邀请赛技术报告学校：西安电子科技大学队伍名称：飞跃参赛队员：袁鑫朱恩亮张爱军带队教师：郭万有关于技术报告和研究论文使用授权的说明本人完全了解第一届“飞思卡尔”杯全国大学生智能汽车邀请赛关保留、使用技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人，比赛组委会和飞思卡尔半导体公司可以在相关主页上收录并公开参赛作品的设计方案、技术报告以及参赛模型车的视频、图像资料，并将相关内容编纂收录在组委会出版论文集中。参赛队员签名：带队教师签名：日期：摘要本智能车系统以飞思卡尔公司的HCS12单片机为控制核心，以光电红外管阵列作为路径检测传感器，以光电编码器作为速度传感器，用PWM(脉冲宽度调制)波对电机和舵机进行控制，实现了自动寻迹功能。按照系统要求用基于虚拟仪器的Labwindows自主建立了仿真平台，在此基础上建立了系统模型并进行了算法仿真。系统控制采用了PID算法和滞后补偿算法，提高了智能车寻迹的平均速度。经过仿真、调试和实际测试，取得了良好的控制效果。关键词:单片机LabwindowsPID算法滞后补偿算法AbstractTheintelligentcarsystemusestheproductofFreescaleCompany,MCUofHCS12asthecorecontroller,theinfraredphotoelectricityarrayasthepathdetectionsensorandthephotoelectricencoderasthespeedsensor.ThesystemtakesthecontrolofelectromotorandhelmgearwithPulse-WidthModulationtechnology,andaccordingly,ithasthefunctionofautotracing.Wedevelopedthesimulationplatformunderthedemandofsystem,thisplatformisestablishedbytheLabwindowswhichbasedonthevirtualinstrument.Wesetupasystemmodelandsimulatethearithmetic.TheapplicationofthePIDandTime-DelayCompensationAlgorithmincreasestheaveragespeedoftracing.Bysimulation,debuggingandtesting,wehavegotagoodresult.Keywords:MCULabwindowsPIDAlgorithmTime-DelayCompensationAlgorithmI目录第一章引言......................................................................1第二章方案比较与论证............................................................32.1测量模块方案比较与论证...................................................32.1.1路径检测模块.......................................................32.1.2速度检测模块.......................................................42.2控制模块方案比较与论证...................................................42.2.1方向控制模块.......................................................42.2.2速度控制模块.......................................................52.3执行模块.................................................................52.3.1方向执行模块.......................................................52.3.2速度执行模块.......................................................52.4方案论证总结.............................................................5第三章理论分析及算法实现........................................................73.1模型建立.................................................................73.1.1速度模型...........................................................73.1.2方向模型..........................................................103.2控制算法................................................................143.2.1PID算法...........................................................143.2.2滞后补偿算法......................................................153.3Labwindows仿真及分析....................................................163.3.1速度控制模型的验证................................................163.3.2方向控制模型的验证................................................17第四章硬件设计.................................................................194.1电源设计模块............................................................194.2路径识别模块............................................................204.2.1基本电路设计......................................................204.2.2传感器的布局......................................................224.2.3传感器门限电平的确定..............................................224.3电机驱动模块............................................................234.3.1“H”桥的基本原理..................................................234.3.2驱动电路的设计....................................................264.4速度测量模块............................................................27第五章软件设计.................................................................295.1整体设计................................................................295.2传感器返回信号的处理....................................................305.3算法的验证..............................................................305.4代码设计介绍............................................................31第六章机械设计及技术参数.......................................................336.1机械设计................................................................336.1.1传感器电路板的安装................................................336.1.2舵机的安装........................................................336.1.3控制电路板的安装..................................................336.1.4各部分电路的连接..................................................336.2技术参数................................................................336.2.1改造后的车模参数..................................................336.2.2电路功耗..........................................................346.2.3电容总量..........................................................34III6.2.4传感器种类及个数..................................................346.2.5赛道信息检测精度及频率............................................34第七章系统调试、测试与结果分析.................................................377.1系统调试................................................................377.1.1调试仪器..........................................................377.1.2系统静态调试结果与解决方案........................................377.1.3系统动态调试结果与解决方案........................................387.2系统测试与结果分析......................................................387.2.1测试条件.......................................