摘要 本文以全国大学生“恩智浦”杯智能汽车竞赛为背景，根据电磁导引自平衡车自主识别赛道、双轮自平衡运行、快速驶完全程的任务需求，提出了电磁导引自平衡车控制系统硬件设计方案并完成了核心元器件的选型。采用模块化设计思想，将控制系统硬件电路分为：最小系统模块、电源模块、路径识别模块、起止线检测模块、姿态检测模块、速度检测模块、电机驱动模块以及辅助调试模块等八个模块，并完成了各个模块的电路原理图和PCB设计。在比赛规则允许前提下，对车模机械结构进行了优化改造，设计了相关连接件，完成了电磁导引自平衡车整车组装。最后，完成了控制系统硬件电路分模块调试以及系统联调工作。实验结果表明，所设计的硬件电路运行可靠且能达到相应的技术指标。87474

毕业论文关键词  智能车 电磁导引 自平衡 控制系统

毕业设计说明书外文摘要

Title  Design and Realization of Intelligent Vehicle for  the  Cup—Hardware Design of Control System of Electromagnetic-guided self-balanced Vehicle

Abstract Under the background of the National Intelligent Vehicle Competition , the hardware design of control system of electromagnetic-guided self-balanced vehicle is presented in the paper, according to competition demands that the intelligent vehicle needs to identiy track autonomously and use the high speed to finish the competition in self-balanced way。And the selection of core components is completed。Using the idea of modular design,the control circuit system is pided into eight parts,including the minimum system module,power module,path recognition module,parking area detection module,angle detection module,speed detection module,motor driving module and auxiliary debugging module。The design of the circuit schematic and PCB of each module are also completed。Without violating rules,the mechanical structure of the car model is optimized and the related connection parts are designed,then,the electromagnetic-guided self-balanced vehicle is assembled。Finally,each module is debugged and the whole system is tested。 The results show that the system is reliable and can achieve the corresponding technical indicators。

Keywords  Smart Car; electromagnetic-guided; self-balanced; control system

目   次

1  引言 1

1。1  课题研究背景及意义 1源-于Y优~尔^论:文.网www.youerw.com 原文+QQ7520`18766

1。2  自平衡车国内外研究现状 1

1。3  “恩智浦”杯智能车竞赛简介 3

1。4  本文主要研究内容 3

2  电磁导引自平衡车控制系统总体设计 5

2。1  系统需求分析 5

2。2  系统总体框架设计 5

2。3  系统工作原理简介 7

2。4  本章小结 8

3  电磁导引自平衡车控制系统硬件电路原理图设计 9

3。1  硬件电路详细框图 9

3。2  最小系统设计 10

3。3  电源模块设计 14

3。4  电机驱动模块设计 17

3。5  路径识别模块设计