基于Cortex-M4内核的自寻迹小车系统设计  

Design of self-tracing car system based on Cortex-M4 kernel

作　　者：阳光 祝忠明[1] 刘静[1] 李峰[1] 王超宇 

机构地区：[1]成都理工大学,成都610059

出　　处：《电子测量技术》2017年第10期243-247,共5页Electronic Measurement Technology

摘　　要：设计采用Cortex-M4内核的MK60FN1M0VLQ15 32位单片机作为核心控制单元(MCU),通过0V7725数字摄像头提取跑道实时图像,用欧姆龙公司的旋转编码器作为速度检测装置,同时使用无刷直流电机作为传动装置,用舵机控制转向以及7.2V锂电池构成整个运动控制系统。在软件设计上对二值化之后的图像中心线采用斜率拟合算法寻找最佳路径,运用PD控制算法处理舵机,PID控制算法调节直流电机的转速,从而完成整个系统的的闭环控制。The MK60 FN1 M0 VLQ15 32-bit microcontroller with cortex-M4 core is designed as the core control unit（MCU）.The 0 V7725 digital camera is used to extract the runway real-time image.With the Omron rotary encoder as the speed detection device,the brushless DC motor is used as the transmission,Steering control with a steering gear and 7.2 Vlithium battery constitute the entire motion control system.In the software design,the slope of the image center line is used to find the best path.The PD control algorithm is used to deal with the steering gear and the PID control algorithm to adjust the speed of the DC motor.Thus completing the entire system of closed-loop control.

关 键 词：智能车 CORTEX-M4 摄像头 PID 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]