基于MC9S128的电磁导航智能车的设计与实现  

Electromagnetic Navigation Smart Car Control System Based on MC9S128

作　　者：摆玉龙[1] 杨利君[1] 董存辉[1] 

机构地区：[1]西北师范大学物理与电子工程学院,甘肃兰州730070

出　　处：《测控技术》2011年第11期59-64,共6页Measurement & Control Technology

基　　金：甘肃省科技计划项目(1010RJZA021);甘肃省教育厅研究生导师科研项目(0901B-01);西北师范大学科研骨干培育项目(NWNU-KJCXGC-03-54)

摘　　要：介绍了一种基于电磁导航路径识别的智能车控制系统。该系统基于第五届全国大学生飞思卡尔杯智能汽车大赛的设计要求,使用飞思卡尔16位单片机MC9S128为核心控制单元,设计了赛道信号源、电磁导航传感器、电源管理模块、电机驱动电路、停车磁铁检测电路等硬件电路;在控制算法方面利用PID、Bang-Bang及模糊控制相结合的方式,使得智能车能够自动采集信号,分析引导线信息、控制舵机转向,实现了智能车的自动寻迹功能。A smart car with the automatic detecting and fallowing ability based on electromagnetic field was introduced. According to design requirements of the 5th Freescale smart car competition, the Freescale 16-bit MS9S128 MCU was taken as the system core, and the whole system was composed of the road track signal device, the electromagnetic sensor, the power source manage device, the electric motor drive device and the parking position detecting device. By using the PID, Bang-Bang and fuzzy control methods, the smart car can auto- matically collect the signal and control the car moving effectively.

关 键 词：飞思卡尔单片机 电磁导航 自动循迹 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]