基于MC9S12DG128智能模型车的设计与实现  

Design of Intelligent Vehicle Based on MC9S12DG128

作　　者：魏武[1] 龚树锋[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广州510640

出　　处：《重庆工学院学报（自然科学版）》2009年第9期5-10,共6页Journal of Chongqing Institute of Technology

摘　　要：以飞思卡尔公司的16位微控制器MC9S12DG128芯片作为该系统信号检测和控制处理的核心,设计并实现了一部能够自主循迹的智能小车.该系统的硬件设计主要包括电机驱动模块、车速检测模块、道路检测模块.利用光电传感器件对黑线进行感知获得的路线位置信号,用脉宽调制(PWM)控制方式控制伺服机构进行转向;利用采集到的后轮转速信号,运用PID控制算法对智能车的车轮转速进行控制.测试结果表明,该智能汽车能沿着赛道稳定、快速地自动行驶.With Freescale＇s 16-bit micro-controller chip the MC9S12DG128 as the core of the signal detection and the control process, a self-tracking smart car is designed and implemented. The design of hardware of the system includes motor drive module, the speed detection module, and the road detection module. In the design of software, the photoelectric sensors for sensing the black line of the road are used to obtain the signal of the car＇s location, pulse width modulation （PWM） method is used to control the steering servo; the PID control algorithm is used to control the car＇s speed with the signals of the rear wheel speed. The test results show that the intelligent vehicle can automatically track down the road stably and quickly.

关 键 词：智能车 红外检测 MC9S12DG128 PWM控制 

分 类 号：U46[机械工程—车辆工程] TP39[交通运输工程—载运工具运用工程]