广西大学学士学位论文
摘要
智能小车，也就是轮式机器人，最适合在那些人类无法工作的环境中工作，该技术可以应用于无人驾驶机动车，无人生产线，仓库，服务机器人，航空航天等领域。作为21世纪自动化领域的重大成就，机器人已经和人类社会的生产、生活密不可分。因此为了使智能小车工作在最佳状态，进一步研究及完善其速度和方向的控制是非常有必要的。随着汽车电子和机器人智能技术的发展,智能车已经成为自动控制领域内的一个研究热点。
本文讲述了以意法半导体有限公司（ST）的STM32F103ZET6为微处理器,设计出一种能自动寻迹的智能小车。着重阐述了道路信息的获取,处理和识别过程,并设计出增量PID控制器对智能小车的速度进行闭环控制,使智能小车能准确快速地对道路进行跟踪。该系统通过光电传感器获取当前道路信息；利用微处理器产生PWM脉冲控制小车的速度与舵机的转向；并采用霍尔传感器检测小车的当前速度，从而实现闭环控制。
系统硬件包括电源模块，寻迹传感器模块，车速测量模块，电机驱动模块以及负责转向的舵机模块的设计。
关键词： STM32F103ZET6 增量PID控制器 PWM调速 自动寻迹
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广西大学学士学位论文
The Design of Intelligent trajectory Car based on PID control algorithm Abstract
Intelligent vehicle，also is called as Wheeled robot，most suits in the environment which these human beings are unable to work，the technology can be applied to unmanned vehicles，unmanned production lines，warehouses，service robots，aerospace and other fields．As the major achievements in the field of automation of the 21th century，robotics and human society has been inseparable in production and daily life．Therefore，in order to let the intelligent vehicle in the best condition the further research and improve its speed and direction control is very necessary．With the development of automotive electronics and intelligent control technology，intelligent vehicle has become the research hotspots in the field of automatic control．
This article describes the design of an automatic tracing smart car based on the chip of ST STM32F103ZET6．Focused on the road information acquisition， processing and identification process and to design an incremental PID controller to control the speed of smart car，smart car to the road quickly and accurately tracked．The system photoelectric sensor for current road information； PWM pulse generated using a microprocessor to control speed and steering car steering； and using Hall sensor car's current speed, in order to achieve closed-loop control．
The system hardware， including power modules， tracing sensor module，measuring module speed，motor drive modules and is responsible for turning the steering gear module．
Keywords： STM32F103ZET6 PID controller PWM control speed Path recognition
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广西大学学士学位论文
目录
摘要 ......................................................................................................................... I ABSTRACT ..........................................................................................................II 目录 ...................................................................................................................... III 第一章 绪论 ...........................................................................................................1 1.1 选题背景 .......................................................................................................1 1.2 智能小车的发展现状 ...................................................................................1 1.2.1智能小车在国外的发展 .........................................................................2 1.2.2 智能小车在国内的发展 ........................................................................3 1.3 研究意义 .......................................................................................................4 1.4 智能小车的关键技术 ...................................................................................4 1.5 本文所开展的研究工作 ...............................................................................5 第二章 硬件电路的设计.......................................................................................7 2.1 智能小车的总体设计方案 ...........................................................................7 2.2 微处理器的介绍 ...........................................................................................8 2.2.1 中央处理器STM32F103ZET6的介绍 .................................................8 2.2.2 STM32F103系列软件开发平台 ..........................................................10 2.3 电源模块 .....................................................................................................10 2.4寻迹传感器模块设计 .................................................................................13 2.4.1 传感器设计方案 ..................................................................................13 2.4.2光电传感器的电路设计 .......................................................................15 2.4.3光电传感器的安装与调试 ...................................................................15 2.5车速检测电路的设计 .................................................................................17 2.6减速电机驱动电路 .....................................................................................18 2.6.1直流PWM调速基本原理....................................................................18 2.6.2 减速电机控制电路 ..............................................................................19 2.7转向舵机模块设计 .....................................................................................20 2.7.1舵机的工作原理 ...................................................................................20
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广西大学学士学位论文
2.7.2舵机的控制 ...........................................................................................21 2.8本章小结 .....................................................................................................23 第三章 PID控制算法的软件设计与实现.........................................................24 3.1 PID控制原理与程序 ..................................................................................24 3.1.1 模拟PID调节器 .................................................................................24 3.1.2 数字PID控制器 .................................................................................25 3.2 减速电机的PID控制算法 ........................................................................29 3.3 转向舵机的控制算法 .................................................................................31 3.4 本章小结 .....................................................................................................33 第四章 智能小车的软件设计与调试.................................................................34 4.1 系统软件的设计思想 .................................................................................34 4.2 速度控制算法 .............................................................................................36 4.3 PID算法控制器参数设定 ..........................................................................36 4.4 调试总结与心得 .........................................................................................38 4.5本章小结 .....................................................................................................40 第五章 结论与展望.............................................................................................41 参考文献 ...............................................................................................................43 附录1 智能小车外型图......................................................................................45 致谢 .......................................................................................................................46
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