智能小車自動尋址設計--小車懸掛運動控制系統

電子機電論文編號:JD162   字數:13734,頁數:44

目      錄
1   緒論 ...........................................................................1
1.1   作品介紹 .....................................................................1
1.2   設計概述......................................................................2
1.3   方案論證與比較................................................................5
1.3.1   總體方案的選擇 .............................................................5
1.3.2   微控制器的選擇..............................................................6
1.3.3   電機驅動模塊的論證與選擇....................................................6
1.3.4   尋跡方式的論證與選擇 .......................................................7
1.3.5   供電方式的選擇..............................................................8
2   基于總線結構的電路原理分析和設計 ...............................................10
2.1   硬件電路總體設計思路..........................................................10
2.2   主機模塊設計..................................................................11
2.2.1   串行通信概述 ...............................................................11
2.2.2   主機模塊電路設計 ...........................................................11
2.2.3   單片機比較選擇 .............................................................12
2.3   人機交互界面設計 .............................................................15
2.3.1   人機交互模塊電路設計 .......................................................15
2.3.2   LCD1操作界面設計 ...........................................................17
2.3.3   LCD2仿真液晶顯示設計 .......................................................20
2.4   電機驅動模塊設計 .............................................................20
2.4.1   步進電機簡述 ...............................................................20
2.4.2   模塊電路總圖................................................................21
2.4.3   恒流電路 ...................................................................21
2.4.4   H型驅動電路.................................................................23
2.5   跟蹤尋跡模塊設計 .............................................................23
3   系統軟件設計 ...................................................................25
3.1   軟件系統概述 .................................................................25
3.1.1   串行通信程序設計............................................................25
3.1.2   總線數據塊格式..............................................................27
3.2   主機模塊程序設計 .............................................................27
3.3   人機交互模塊程序設計 .........................................................29
3.3.1   LCD工作簡述 ................................................................29
3.3.2   LCD1及鍵盤程序流程圖 .......................................................30
3.3.3   LED及無線發射模塊程序設計 ..................................................31
3.3.4   LCD2程序設計................................................................31
3.4   電機驅動模塊程序設計..........................................................32
3.5   電機尋跡模塊程序設計 .........................................................32
4   系統測試 .......................................................................34
4.1   測試方法及儀器 ...............................................................34
4.2   測試結果 .....................................................................34
4.2.1   人機交互界面測試 ...........................................................34
4.2.2   自設運動測試 ...............................................................35
4.2.3   圓周運動測試................................................................35
4.2.4   設定點運動測試..............................................................36
4.2.4   軌跡跟蹤測試................................................................36
4.3   測試結果分析及總結 ...........................................................36
致   謝 ............................................................................38
附   錄 ............................................................................39

摘    要
本系統通過語音輸入信息對小車運動方向和轉速精確控制為目的，采用總線結構，各功能模塊獨立設計，由主控芯片統籌調度，高效而快捷地實現了系統各項功能。
系統以協定好的總線數據包為通信紐帶，多塊高性價比的AVR MCU構成主從控制網絡，各模塊分散控制，自主設計的H型恒流電路完成電機驅動，獨特的雙液晶顯示實現友好的人機交互界面以及對系統狀態的直觀而實時的監控，巧妙的電機-雙探測器尋跡方式保證了軌跡跟蹤具有極寬的探測范圍和很高的跟蹤精度，全浮點的算法使得字長效應對控制精度的影響減到最小。
基于可靠的硬件設計，高效的軟件算法，整個系統具有相當高的性能。

關鍵詞：總線  電機-雙探測器尋跡  實時界面  MCU

Abstract
This system is designed with the voice of controlling the suspended object precisely, adopting Bus architecture. Each function module is designed dividedly, commended by Master Chip, performing each system function effectually and quickly.
System communicate through message packets meeting with protocol which is the tache connecting system modules as a whole, constructing the master-slave control net made up by several AVR MCU of high perform-price ratio, realizing dispersed control .Self-designed H-type constant-current circuits complete the task of driving the motors excellently. Special Double-LCD achieve a friendly human-machine interactive interface, and monitor the system state directly and Real-time. Skillful motor-double detector seeking-trace mode guarantees very large detect area and tracing precision. All floating-point arithmetic reduce the finite-byte-width effect to smallest.
Base on reliable hardware and effectual software design, this system is qualified with quite high performs.

Keyword:  Bus  motor-double detectors tracing   Real-time interface  MCU