基于MC9S12DG128B的智能模型车设计  

Design of Smart Car Based on MC9S12DG128B

作　　者：周泉[1] 王贵勇[1] 贾现广[1] 赵应兵[1] 

机构地区：[1]昆明理工大学云南省内燃机重点实验室,云南昆明650224

出　　处：《昆明理工大学学报（理工版）》2010年第5期37-40,46,共5页Journal of Kunming University of Science and Technology(Natural Science Edition)

基　　金：2009国家大学生创新性实验计划项目(项目编号:091067417);云南省内燃机重点实验室开放基金项目(项目编号:200901)

摘　　要：以飞思卡尔公司的l6位微控制器MC9S12DG128B作为核心控制单元,设计了智能循线模型汽车控制系统的软硬件.主要包括传感器选型及信号采集处理、电机和舵机的控制等部分.采用l4对红外光电传感器作为信息采集模块,安装在小车前部,检测跑道信息.通过电路和程序对传感器信号进行采集和处理,获取车模相对赛道的偏移量、方向、速度等信息,对模型车转向舵机和驱动电机进行控制,完成智能模型车在不同弯道和速度下对转向和加减速的柔性控制.The 16-bit Freescale microcontroller MC9S12DG128B is taken as the electronic control unit（ECU）.As a smart car it can be designed and developed to track a black line on the white raceway as fast and stable as possible.The hardware and the software of the smart car are then designed,which include the line tracking module,motor driving module,servo controlling module and speed sensor module.Fourteen infrared reflection sensors in the front are selected to detect the raceway.The relative position of the center black line on the raceway,direction and speed of the car are obtained and analyzed by ECU.PWM signals are then sent to drive the DC motor and turn the servo to become flexible to adapt to different speeds and different corners.

关 键 词：智能运输系统 自动寻迹 单片机编程 智能模型车 控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]