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本智能车控制系统采用飞思卡尔16位单片机作为唯一的核心控制单元,加以直流电机、舵机、光电传感器和电源电路以及其他电路构成。由安装在车前部的反射式红外传感器负责采集信号,并将采集到的电平信号传入核心控制单元,核心控制单元对信号进行判别处理后,由PWM4发生模块发出PWM波,分别对转向舵机和直流电机进行控制,完成智能车的转向与前进。智能车后轮上装有霍尔传感器,用来采集车轮转速反馈的脉冲信号,并经由核心控制单元进行PID控制算法处理后会自动调节输入到电机驱动模块的PWM波占空比,从而控制小车的速度。寻迹由RPR220型光电管完成。
The smart car control system uses Freescale 16-bit microcontroller as the only core control unit, to be DC motor, steering gear, photoelectric sensors and power circuits and other circuits. The reflective infrared sensor installed in the front of the car is responsible for collecting signals and transmitting the collected level signals to the core control unit. After the core control unit discriminates the signals, a PWM wave is generated by the PWM4 generating module, Servo and DC motor control to complete the steering and advance of the smart car. The rear wheel of the smart car is equipped with a Hall sensor which is used to collect the pulse signal fed back by the wheel speed feedback and adjust the duty cycle of the PWM wave input to the motor driving module automatically after the PID control algorithm is processed by the core control unit so as to control the car speed. Tracing is done by RPR220 phototube.