摘要本文以“飞思卡尔”杯全国大学生智能车竞赛为背景，主要完成了光电导引的智能车控制系统的软件设计。本文首先简要介绍了该控制系统总体组成结构以及工作原理，并对智能车系统的机械结构和控制算法进行了介绍。其次，本文详细描述了系统的软件总体架构，主要包括：直立控制模块、速度控制模块、方向控制模块及人机接口模块等，并按照软件设计规范完成了各模块具体程序代码的编写和调试工作。最后对智能车进行系统联调，实际结果表明了该光电导引智能车控制系统能够很好的维持车体平衡，并且可以稳定快速运行，该智能车具有良好的性能。63735

毕业论文关键词  智能车  光电导引  控制  软件  

毕业设计说明书（论文）外文摘要

Title  Design and Implementation of Intelligent Vehicle for the Eighth Freescale Cup--Software Design of Optical Guided Vehicle Control System Based on 32-bit MCU                                    

Abstract According to the Eigth Freescale Cup of National Undergraduate smart car contest, the software design for the optical guided vehicle is completed in this paper. Firstly, the composition structure and work principle of the controlling system are introduced briefly. And the mechanical structure and the controlling algorithm for the intelligent vehicle system are given. Secondly, a detailed description of the software framework for the system is completed in this paper, which includes vertical control module, speed control module, direction control module and man-machine interface module. The writing and debugging job for the specific code for each module in accordance with the software designing specifications are also completed. Finally, the intelligent vehicle is debugged. Practical results indicate that the optical guided intelligent vehicle system can maintain it balance very well and has a stable, fast speed. It turns out that the intelligent vehicle has good performance.

Keywords  intelligent  vehicle  Optical Guided  control  software

1  绪论 1

1．1  课题研究背景及意义 1

1．2  智能汽车发展现状 1

1．3  “飞思卡尔”智能车比赛简介 4

1．4  本课题主要研究内容 5

2  光电导引智能车总体设计 6

2．1  光电导引智能车控制系统组成结构 6

2．2  光电导引智能车控制系统工作原理 7

2．3  MCF5223简介 9

2．4  本章小结 10

3  光电导引智能车机械结构说明 11

3．1  光电导引智能车车模简介 11

3．2  直流电机参数 11

3．3传感器的安装 12

3．4  本章小结 13

4  光电导引智能车的控制算法简介 14

4．1  卡尔曼滤波算法简介 14

4．2  直立控制算法 15

4．3  速度控制算法 15

4．4  方向控制算法