双轮平衡车控制系统毕业论文

双轮平衡车控制系统毕业论文

双轮平衡车控制系统毕业论文

基于MC9S12XS128的双轮平衡车控制系统设计

电气工程及其自动化

［摘 要］本文主要介绍了双轮平衡车的控制系统设计方案。采用MC9S12XS128作为核心控制器，在此基础上增加了各种接口电路板组成整个硬件系统，包括单片机最小系统，直流驱动电机控制模块，电源管理模块，测速编码模块，人机交互等模块。软件调试部分依次对应硬件各模块进行程序设计，包括A/D模块，PWM模块，ECT模块，PID控制算法，人机交互控制等。完成车模的制作和软件设计后对整个控制系统进行调试，先阐述了调试的策略，再分别就现有调试工具条件下的软件和硬件调试进行了分析，对相应的调试方法做了基本的介绍。最后根据调试情况对整个系统做了修改，基本达到设计要求。

［关键词］ 双轮平衡车；MC9S12XS128；模块设计；调试策略

Based On MC9S12XS128 of the Two-wheeled Balancing

Vehicle Control System Design

Electrical Engineering and Automation Specialty

Abstract: This article mainly introduces the balance of the Two-wheeled balancing vehicle control system design scheme. The MC9S12XS128 as core controller, on the basis of interface circuit board of increasing the hardware system, including single chip minimize system, dc motor control module, power management module, code modules speed, man-machine interaction module. Software debugging session in the corresponding module design program, including A/D module, PWM module, ECT module, PID control algorithm, the man-machine interactive control, etc. Accomplish the production and the software design draw after the whole control system for debugging, first expounds the commissioning of the strategy, second，different debugging tools under the conditions

双轮平衡车控制系统毕业论文

of existing software and hardware debugging are analyzed, the corresponding debugging method basic introduction. According to the situation of the whole system debugging have modified, basic to meet the design requirements.

Key words: the Two-wheeled balancing vehicle; MC9S12XS128; MODULAR DESIGN ; Debugging strategy

双轮平衡车控制系统毕业论文

目录

1 引言 ....................................................................................................................................................... 1

1.1 双轮自平衡小车的研究意义 ..................................................................................................... 1

1.2 双轮自平衡小车的发展历程和现状 ......................................................................................... 1

1.2.1国外的研究成果 ............................................................................................................... 2

1.2.2国内的研究成果 ............................................................................................................... 2

1.3 本课题的研究内容和关键问题 ................................................................................................. 2

2 双轮平衡小车系统的总体概述 ............................................................................................................ 3

2.1 系统组成 .................................................................................................................................... 3

2.2 系统各模块的主要功能 ............................................................................................................. 3

2.3 系统的主要特点......................................................................................................................... 4

3 双轮平衡小车硬件电路设计 ................................................................................................................ 4

3.1 整体电路设计............................................................................................................................. 4

3.2 单片机最小系统......................................................................................................................... 5

3.3 直流驱动电机控制电路 ............................................................................................................. 6

3.4 电源模块电路设计 ..................................................................................................................... 6

3.5 测速编码电路设计 ..................................................................................................................... 7

3.5.1 陀螺仪电路 ...................................................................................................................... 8

3.5.2 编码器电路 ...................................................................................................................... 8

3.6 人机交互接口电路设计 ............................................................................................................. 9

3.6.1CAN总线与LIN总线设计 .............................................................................................. 9

3.6.2通信接口设计 ................................................................................................................. 10

3.6.3人机交互电路设计 ......................................................................................................... 10

4 双轮平衡小车软件设计...................................................................................................................... 11

4.1 软件模块功能与框架 ............................................................................................................... 11

4.1 A/D模块 .................................................................................................................................... 12

4.1.1A/D转换原理 .................................................................................................................. 12

4.1.2A/D转换模块功能结构 .................................................................................................. 12

4.1.3A/D …… 此处隐藏：15190字，全部文档内容请下载后查看。喜欢就下载吧 ……