基于stm32的智能小车设计摘要本次试验主要分析了基于STM32F103微处理器的智能小车控制系统的系统设计过程。此智能系统的组成主要包括STM32F103控制器、电机驱动电路、红外探测电路、超声波避障电路。本次试验采用STM32F103微处理器为核心芯片，利用PWM技术对速度以及舵机转向进行控制，循迹模块进行黑白检测，避障模块进行障碍物检测并避障功能，其他外围扩展电路实现系统整体功能。小车在运动时，避障程序优先于循迹程序，用超声波避障电路进行测距并避障，在超声波模块下我们使用舵机来控制超声波的发射方向，用红外探测电路实现小车循迹功能。在硬件设计的基础上提出了实现电机控制功能、智能小车简单循迹和避障功能的软件设计方案，并在STM32集成开发环境Keil下编写了相应的控制程序，并使用mcuisp软件进行程序下载。关键词：stm32;红外探测;超声波避障;PWM;电机控制1基于stm32的智能小车设计AbstractThisexperimentmainlyanalyzesthecontrolsystemofsmartcarbasedonmicroprocessorSTM32F103systemdesignprocess.ThecompositionoftheintelligentsystemmainlyincludingSTM32F103controller,motordrivecircuit,infrareddetectioncircuit,circuitofultrasonicobstacleavoidance.ThisexperimentadoptsSTM32F103microprocessorasthecorechip,usingPWMtechniquetocontrolspeedandsteeringgearsteering,trackingmoduleisusedtodetecttheblackandwhite,obstacleavoidancemoduleforobstacledetectionandobstacleavoidancefunction,otherperipheralextendedcircuittorealizethewholesystemfunction.Whenthecarismoving,obstacleavoidanceprogrampriortotracking,usingultrasonicrangingandobstacleavoidanceobstacleavoidancecircuit,weusesteeringgearunderultrasonicmoduletocontroltheemissiondirectionofultrasonic,infrareddetectioncircuitisusedtoimplementthecartrackingfunction.Onthebasisofthehardwaredesignisproposedformotorcontrolfunction,simpleintelligentcartrackingandobstacleavoidancefunctionofsoftwaredesign,andintheSTM32integrateddevelopmentenvironmentundertheKeil.Writethecorrespondingcontrolprogram,anduseMcUispprogramdownloadsoftware.Keywords：STM32；Infrareddetection；Ultrasonicobstacleavoidance；PWM；Motorcontrol2基于stm32的智能小车设计目录1.绪论..........................................................-4-1.1研究概况..................................................-4-1.2研究思路..................................................-4-2.软硬件设计....................................................-5-2.1中央处理模块..............................................-5-2.1.1stm32f103内部结构.....................................-6-2.1.2stm32最小系统电路设计.................................-7-2.1.3stm32软件设计的基本思路...............................-9-2.1.4stm32中断介绍.........................................-9-2.1.5stm32定时/计数器介绍.................................-11-2.1.6主程序设计流程图.....................................-12-2.2电机驱动模块.............................................-13-2.2.1驱动模块结构及其原理.................................-13-2.2.2驱动模块电路设计.....................................-13-2.2.3驱动软件程序设计......................................-14-2.3避障模块设计.............................................-18-2.3.1避障模块器件结构及其原理.............................-19-2.3.2HC-SR04模块硬件电路设计..............................-21-2.3.3HC-SR04模块程序设计..................................-21-2.4循迹模块设计.............................................-28-2.4.1循迹模块结构及其原理.................................-28-2.4.2循迹模块电路设计.....................................-30-2.4...
