智能迷宮小車控制系統(tǒng)設計

電子論文編號:JD1117  論文字數:15120,頁數:34,附原理圖

目        錄
摘要 ……………………………………………………………………………………………I
Abstract………………………………………………………………………………………Ⅱ
第1章  緒論…………………………………………………………………………………1
   1.1  單片機及C語言介紹  ……………………………………………………1
   1.2  設計內容及要求………………………………………………………………1
   1.3  設計目的和意義………………………………………………………………2
第2章 系統(tǒng)硬件電路設計  ………………………………………………………………3
   2.1  系統(tǒng)硬件組成及說明……………………………………………………………3
   2.2  P89C51簡介   ……………………………………………………………3
   2.3  步進電機及驅動模塊  …………………………………………………………10
    2.3.1步進電機工作原理 …………………………………………………………10
    2.3.2步進電機驅動電路  ………………………………………………………12
   2.4  紅外線檢測模塊   ……………………………………………………………13
   2.5  數碼顯示模塊   …………………………………………………………………14
   2.6  電源模塊的選型…………………………………………………………………17
   2.7  系統(tǒng)原理圖………………………………………………………………………18
第3章 系統(tǒng)軟件設計   ……………………………………………………………………19
   3.1  步進電機控制的實現(xiàn)方法………………………………………………………19
   3.2  Keil μvision的使用…………………………………………………………24
   3.3  ZLGISP下載編程器的使用 ……………………………………………………25
   3.4  程序流程……………………………………………………………………………26
   3.5  程序實現(xiàn)過程 ……………………………………………………………………27
結論 ……………………………………………………………………………………………33
致謝 …………………………………………………………………………………34
參考文獻 ……………………………………………………………………………35
附錄

摘    要
 
 本設計就是利用MCU P89C51和軟件Keil uvision2、ZLGISP實現(xiàn)的智能迷宮小車。MCU P89C51RA的運算能力較強，具有十萬級的可擦寫次數。最重要的是支持在線編程，極有利于試驗的進行。電源設計部分使用的是9V電源，使用穩(wěn)壓管（7805）分出一個穩(wěn)定的5V電壓。小車采用紅外線探測周圍障礙，再由P89C51RA做出判斷，選擇正確路線。由于安裝的是兩個步進電機，小車在運行過程中走過距離可通過步進電機的轉動圈數精確計算，與直流電機相比，還具有控制簡單的優(yōu)點。數碼顯示模塊主要是用芯片ZLG7289驅動八個共陰極數碼管來實現(xiàn)的。輸出的內容包括運行的距離和左右轉彎的次數。C51語言是現(xiàn)在針對單片機編程的非常流行的語言，能夠用簡短的程序語句實現(xiàn)更多的功能。這是我們設計選擇其作為編程語言的原因。
 步進電機控制簡單，而且能夠精確計算轉動的圈數，非常有利于小車的轉彎的控制，甚至可以精確計算出轉動的角度。步進電機的精確計步，在許多制造設備上應用也是相當廣泛的。紅外線探測與簡單的感光元件相比，具有更大的探測范圍,能夠識別更多的物體。小車在迷宮中首先由紅外探測模塊檢測障礙的情況，當前、左、右三個方向均沒有障礙時，小車判斷無需運行，即小車在出口處。只要三個模塊中的一個或多個檢測到障礙時，則執(zhí)行運行程序。
 綜合而言，小車具有以下特點：
 控制靈活，轉向迅速、準確。
 紅外檢測距離可調，能適應不同的迷宮。
 具有可擴展性，例如可增加探測模塊的個數。
 
關鍵詞：  P89C51RA、步進電動機、紅外線檢測、C51語言
 
 
  
Abstract
 
This design plan, making use of MCU P89C51RA and softwares of Keil uvision2, ZLGISP, gives the realization of brainpowering maze car. MCU P89C51RA has greater capability of calculating and a-hundred-thousand class erasuring times. First of all, it bears the function of programming online, which is favor of our design Uses the 9V power source. I use (7805) branches out astable 5V voltage,.The dolly adopt the technology of infrared-ray detecting to explore the obstacles around, subsequently P89C51 gives the right judgments and chooses the right route .Installed two stepper motors , the car can gives the value of the distance it passed in running, by counting the stepper motors’ wheeling times. And compared to direct current motor, the stepper motor can be much more easily operated. The numerical code demonstrated the module mainly is actuates eightcommon cathodes numerical codes tube with chip ZLG7289 to realize，Output content including movement distance and about curve number oftimes. The C51 language is a much popular programming language to MCU, which can realize more functions in short programming sentences. That is why we choose it as our programming language in the design plan.
 It is easy to control the electric machinery and it is easy to calculate the circles accurately, which are beneficial to control the switching of the car, even calculating the circles of the car moved. The accurate calculation of electric machinery has thorough application in many manufacturing devices. Compared with sensitized parts, the scope infrared detector can examined much wider. In addition, infrared detector can distinguish more objects. Firstly, it is infrared detector to examine the barriers. When there is no barrier from the angle of front, right, and left, the car judges no moving, i,e, car is at the exit. When one model of the infrared detector examined there is barrier, the program should be applied.
 As a general, the car has features as listed:
 1) It has an elastic controlling and a swift and exact turning.
 2) Its infrared-ray detecting distance can be adjusted, which make it fit to different mazes. 
 3) It has a good expansibility. For example, we can add more detecting-modules to car.
 
Keywords：  P89C51RA、Stepper motor、Infrared-ray detecting、C51 Language