电磁导引自平衡车控制系统软件设计

摘要本文以第届全国大学生杯智能汽车竞赛为背景，完成电磁导引自平衡车控制系统软件设计。为了实现小车的电磁信号识别以及平稳行驶，提出了电磁导引自平衡车控制系统的总体设计方案，并简要介绍了系统工作原理。在对电磁导引自平衡车控制系统软件功能需求进行详细分析基础上，完成了系统软件总体架构设计、软件总体工作流程设计以及软件工作时序设计。采用模块化思想完成了软件详细设计，主要包括：系统初始化、时钟、数据采集、定时中断、电机控制、人机接口、蓝牙通讯和主函数等模块。最后，完成了系统软件调试以及电磁导引自平衡车整车的联调工作。实验结果表明，所设计的软件运行可靠，可使电磁导引自平衡车运行特性满足设计要求。87469

毕业论文关键词软件设计自平衡智能汽车电磁导引

毕业设计说明书外文摘要

Title Intelligent Vehicle Design and Realization for the

Cup---Software Design of Electromagnetic-guided Self-balance Vehicle Control System

Abstract This paper completes the software design of electromagnetic-guided self-balance vehicle control system based on the Intelligent Vehicle for the Cup。 In order to realize the function of recognizing electromagnetic signals and running smoothly, the overall design scheme of the control system is presented and the working principle of the system is briefly introduced。 After analyzing the demand of electromagnetic-guided self-balance vehicle control system in detail, the design of system software structure, working procedure and working sequence are completed。 Then, modularization idea is adopted to software design and the whole system is split into eight modules, which contains initialization, clock, interruption, data acquisition, motor control, human-machine interface, Bluetooth communication and main function。 In the end, the debugging of system software and the testing of the overall vehicle are accomplished。 The result of the experiment indicates that the designed software can work reliably and can satisfy the requirements of the operating characteristic of electromagnetic-guided self-balance vehicle。

Keywords Software Design; Self-balance; Intelligent Vehicle; Electromagnetic-guided

1 引言 1

1。1 课题研究背景及意义 1

1。2 国内外研究现状 1源-于Y优~尔^论:文.网www.youerw.com 原文+QQ7520`18766

1。3 全国大学生“恩智浦”杯智能汽车竞赛简介 4

1。4 本课题主要研究内容 4

2 电磁导引自平衡车控制系统总体方案设计 6

2。1 控制系统需求分析 6

2。2 控制系统组成结构 6

2。3 控制系统工作原理 7

2。4 本章小结 9

3 电磁导引自平衡车控制系统硬件简介 10

3。1 硬件电路总体组成结构 10

3。2 Kinetis K60简介 10

3。3 电磁导引自平衡车车模简介 11

3。4 执行电机简介 11 电磁导引自平衡车控制系统软件设计:http://www.youerw.com/zidonghua/lunwen_137864.html