安徽建筑大学毕业设计(论文)专业通信工程班级10级1班学生姓名刘新学号10205040117课题基于飞思卡尔单片机的智能小车设计与应用---主监控程序和行使控制程序的设计指导教师夏巍2014年6月1日摘要本文主要是以全国大学生“飞思卡尔”杯智能小车竞赛为背景的一项课题研究。本次课题研究主要采用利用飞思卡尔公司的32位单片机MPC5604MINI作为核心控制单元，用CCD进行对道路信息的采集，用编码器对小车速度进行检测，使用7.2V锂电池进行供电，并用MPC5604MINI产生PWM波控制电机模块和舵机模块，从而达到控制小车的速度和转向。本文主要介绍主监控程序和行驶控制程序的编写，就是编写程序让小车各个部分协调工作，让小车行驶并能够实现转向。关键词：智能小车；MPC5604MINI；主控电路；行驶控制。AbstractThisarticleisbasedonNationalCollege"FreescaleCup"smartcarcompetitionasaresearchbackground.TheresearchmainlyusesFreescale's32-bitsinglechipasthecorecontrolunitMPC5604MINI，andCarriedoutontheroadwithaCCDinformationcollection,anduseencodertodetectthespeedofthecar,usinga7.2Vlithiumbattery-poweredandusedtogeneratePWMwaveMPC5604MINImoduleandservomotorcontrolmodule,soastocontrolthecar'sspeedandsteering.Thispaperdescribesthepreparationofthemastercontrolproceduresanddrivingcontrolprogram,istowritetheprogramsothatthecoordinationofthevariouspartsofthecar,sothecardrivingandsteeringcanbeachieved.Keywords:Smartcar；MPC5604MINI；Controlcircuit；Drivingcontrol.目录摘要...........................................................ⅠAbstract.....................................................Ⅱ1引言..........................................................01.1课题研究意义..............................................01.2智能小车国内外概况........................................01.2.1国内研究概况..........................................01.2.2国外研究概况..........................................21.3智能小车发展前景..........................................22系统设计及方案论证............................................32.1系统设计要求..............................................32.2系统设计方案..............................................12.2.1主控芯片的选定........................................32.2.2传感器模块............................................52.2.3测速传感器模块........................................52.2.4转向舵机模块..........................................62.2.5电机驱动模块..........................................62.2.6国内外概况............................................63系统硬件电路介绍..............................................83.1主控芯片电路..............................................83.2速度检测电路..............................................83.3电机驱动电路..............................................83.4舵机驱动电路..............................................93.5拨码开关电路..............................................94软件设计......................................................94.1软件流程.................................................104.1.1程序流程图...........................................104.1.2程序流程图介绍.......................................104.2CodeWarrior介绍..........................................114.2.1CodeWarrior简介.......Error:Referencesourcenotfound4.2.2CodeWarrior功能.......Error:Referencesourcenotfound4.3系统的初始化设计..........Error:Referencesourcenotfound4.3.1时钟模块...............Error:Referencesourcenotfound4.3.2PWM模块...............Error:Referencesourcenotfound4.3.3速度检测...
