目 录 一、智能小车硬件系统设计 ................................ 2 1 .1 智能小车的车体结构选择............................................................................... 2 1 .2 智能小车控制系统方案................................................................................... 2 1 .3 电源系统设计................................................................................................... 4 1 .4 障碍物检测模块............................................................................................... 4 1 .4 .1 超声波传感器......................................................................................... 4 1 .5 电机驱动模块................................................................................................... 5 1 .5 .1 驱动电机的选择..................................................................................... 5 1 .5 .2 转速控制方法......................................................................................... 6 1 .5 .3 电机驱动模块......................................................................................... 7 1 .6 速度检测模块................................................................................................... 9 1 .6 .1 增量式光电编码器的工作原理............................................................. 9 1 .6 .2 电机转速检测方法............................................................................... 1 0 1 .7 通信扩展模块................................................................................................. 1 1 1 .7 .1 蓝牙透传模块....................................................................................... 1 1 1 .8 硬件设计中注意的问题 ................................................................................. 1 2 二、控制系统软件设计 .................................. 1 3 2 .1 系统程序设计.....................................................................................
