飛思卡爾智能車論文英文文獻-資料下載頁

　　

【正文】 dated once every 1ms speed, to achieve precise control of speed in real time. The main control module Our own design of the master module eliminates the need for all unused interfaces, which reduces the area of ??the master module. And interfaces for each module position designed to facilitate the layout of the interface, this design enables the jumper does not cross together, beautiful, but also to improve the reliability of the hardware. Still the main control module designed eight DIP switches and eight LED indicators to facilitate our usual test, eight DIP switches for switching of the petition program. Two board inserted in the form of the power of the master module and most of the other signal lines, eliminating the need for a lot of jumpers, has once again demonstrated our simple whole idea.Control Software Design Description the main design The program is mainly used in the modular design of the S12 chip PWM module, ECT module, I / O modules, as well as the SCI module and so on. The PWM module is mainly used to control the steering gear and the motor running。 of ECT module is mainly used in the speed measurement modules and data acquisition, capture interrupt and calculate the instantaneous speed。 I / O modules is used to assign to the button and the laser tube trigger and input。 SCI module is mainly used in wireless serial transmission module. overall control flow chartFigure The main program running flowchart car control strategyPath information collected back, we used an array of storage data, and road information collected through the program design to predict the following track. For example, when a row that we detected 10 times straight information is that we can think the car is now moving on the long straights, so you can accelerate to high speed. When the black line of the car consecutive detected in the sensor left part, you can believe that the location of the car in the left corner. In this way, we can detect the judgment to the present location of the car and make the appropriate program response. Into the corner of the long straights, the speed of long straights and faster corners when ran wide of the risk, so the last paragraph in the track we should be quick braking, the speed value to the desired bending speed. In the program we use a memory flag, to a smaller value of the desired speed in the motor suddenly saw the corners so that the role of the PID regulator, the motor will quickly decelerate down to reach into the corners system the effect of the move. In the control of the speed detection section, we use the optical encoder disk collection will e the number of pulses is calculated, converted into a parameter value that corresponds with the number of rear wheels, according to the value of this parameter, we can clearly see now In this state, the motor speed, which can be quickly translated to the speed of the current moment.寧可累死在路上，也不能閑死在家里！寧可去碰壁，也不能面壁。是狼就要練好牙，是羊就要練好腿。什么是奮斗？奮斗就是每天很難，可一年一年卻越來越容易。不奮斗就是每天都很容易，可一年一年越來越難。能干的人，不在情緒上計較，只在做事上認真；無能的人！不在做事上認真，只在情緒上計較。拼一個春夏秋冬！贏一個無悔人生！早安！—————獻給所有努力的人.學習參考