摘要
文章提出了一种电磁寻迹四轮智能小车硬件和软件的设计方案,硬件设计方案以STC32G单片机为控制核心,包括控制系统的电源供电模块、电机驱动模块、舵机驱动模块、激光测距模块、编码器以及干簧管等电路设计方案;软件设计方案包括小车速度控制、舵机打角控制、过环岛控制、避障控制以及出入库控制等控制方案,并运用有限状态机的编程思想将各程序模块按照小车控制逻辑组合成一个整体.最后,根据设计方案制作出智能小车实物,通过程序调试和对参数进行反复实测调整,使小车能够以较快的速度顺利通过赛道上的各元素.
Abstract
In this paper,a hardware and software design scheme of electromagnetic tracking four-wheel intelligent car is proposed.The hardware design scheme takes STC32G single chip microcomputer as the control core,including the circuit design scheme of power supply module,motor drive module,steering gear drive module,laser ranging module,encoder and reed tube of the control system.The software design includes car speed control,steering gear angle control,bypass island control,obstacle avoidance control and warehouse control,and uses the programming idea of finite state machine to combine each program module into a whole according to the car control logic.Finally,the intelligent car is madeaccording to the design scheme.Through the program debugging and the parameters are adjusted repeatedly,so that the car can pass the elements on the track at a faster speed.
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