基于HCS12单片机的智能车设计  

HCS12 MCU-based Design of Intelligent Vehicle

作　　者：曹亚丽[1] 李佳音[1] 牛学芬[1] 

机构地区：[1]东北大学秦皇岛分校电子信息系

出　　处：《可编程控制器与工厂自动化（PLC FA）》2011年第6期80-82,共3页Programmable controller & Factory Automation(PLC & FA)

摘　　要：本系统以Freescale半导体公司生产的16位单片机MC9S12DG128为核心控制器,采用红外式光电管对赛道进行检测,通过边缘提取获得黑线位置,用PID方式对舵机进行反馈控制。同时通过速度传感器获取当前速度,采用优化后的Bang-Bang控制实现速度闭环。从而使赛车在未知道路上完成快速寻线,提高了智能赛车的行驶速度和可靠性。Using the 16-bit MCU MC9S12DG128 produced by Freescale Semiconductor Company as the core controller in this system,It captures the road information through a photoelectric cell scheme,then abstracts the black line position by edge-detection method. After that,PID feedback control is used on the steering.At the same time,the system obtains the current speed using a speed sensor,so that it can realize the feedback control of the speed by an optimized Bang-Bang control method.So the car track the line fast on the road and increase the speed and the reliability of the car.

关 键 词：MC9S12DG128 速度传感器 PID 智能车 

分 类 号：TP368[自动化与计算机技术—计算机系统结构]