基于MC9S12DG128单片机的智能循线车的设计

以飞思卡尔公司的16位微控制器MC9S12DG128作为核心控制单元,设计了智能循线汽车控制系统的软硬件,主要包括传感器选型及信号采集处理、电机和舵机的控制等部分。采用12对红外光电传感器作为信息采集模块,安装在小车前部,检测白色跑道上的黑色引导线。根据12对红外光电传感器相对黑线的位置,通过所设计的电路和程序对传感器信号进行采集处理,从而获取车模相对赛道的偏移量、方向、速度等信息。通过编写控制程序,产生PWM脉冲信号,对模型车转向舵机以及驱动电机进行控制,最后完成了智能车工程制作及调试,并实现车模能够沿着赛道高速稳定地行驶。

Design of Smart Car Based on MC9S12DG128

Using 16-bit Freescale microcontroller MC9S12DG128 as the electronic control unit(ECU),this paper designed and developed a smart car which tracks a black line on the white raceway as fast and stable as possible.The hardware and software of the smart car were designed,which included the line tracking module,motor driving module,servo controlling module,and speed sensor module,etc.It selected 12 infrared reflection sensors to detect the black line.The relative position of the center black line on the raceway,direction and speed of the car were obtained and analyzed by ECU,according to the controlling algorithms,PWM signals were sent to drive the DC motor and turn the servo.So the smart car can run by tracking the black line.