智能迷宫小车控制系统设计

电子论文编号:JD1117  论文字数:15120,页数:34,附原理图

目        录
摘要 ……………………………………………………………………………………………I
Abstract………………………………………………………………………………………Ⅱ
第1章  绪论…………………………………………………………………………………1
   1.1  单片机及C语言介绍  ……………………………………………………1
   1.2  设计内容及要求………………………………………………………………1
   1.3  设计目的和意义………………………………………………………………2
第2章 系统硬件电路设计  ………………………………………………………………3
   2.1  系统硬件组成及说明……………………………………………………………3
   2.2  P89C51简介   ……………………………………………………………3
   2.3  步进电机及驱动模块  …………………………………………………………10
    2.3.1步进电机工作原理 …………………………………………………………10
    2.3.2步进电机驱动电路  ………………………………………………………12
   2.4  红外线检测模块   ……………………………………………………………13
   2.5  数码显示模块   …………………………………………………………………14
   2.6  电源模块的选型…………………………………………………………………17
   2.7  系统原理图………………………………………………………………………18
第3章 系统软件设计   ……………………………………………………………………19
   3.1  步进电机控制的实现方法………………………………………………………19
   3.2  Keil μvision的使用…………………………………………………………24
   3.3  ZLGISP下载编程器的使用 ……………………………………………………25
   3.4  程序流程……………………………………………………………………………26
   3.5  程序实现过程 ……………………………………………………………………27
结论 ……………………………………………………………………………………………33
致谢 …………………………………………………………………………………34
参考文献 ……………………………………………………………………………35
附录

摘    要
 
 本设计就是利用MCU P89C51和软件Keil uvision2、ZLGISP实现的智能迷宫小车。MCU P89C51RA的运算能力较强，具有十万级的可擦写次数。最重要的是支持在线编程，极有利于试验的进行。电源设计部分使用的是9V电源，使用稳压管（7805）分出一个稳定的5V电压。小车采用红外线探测周围障碍，再由P89C51RA做出判断，选择正确路线。由于安装的是两个步进电机，小车在运行过程中走过距离可通过步进电机的转动圈数精确计算，与直流电机相比，还具有控制简单的优点。数码显示模块主要是用芯片ZLG7289驱动八个共阴极数码管来实现的。输出的内容包括运行的距离和左右转弯的次数。C51语言是现在针对单片机编程的非常流行的语言，能够用简短的程序语句实现更多的功能。这是我们设计选择其作为编程语言的原因。
 步进电机控制简单，而且能够精确计算转动的圈数，非常有利于小车的转弯的控制，甚至可以精确计算出转动的角度。步进电机的精确计步，在许多制造设备上应用也是相当广泛的。红外线探测与简单的感光元件相比，具有更大的探测范围,能够识别更多的物体。小车在迷宫中首先由红外探测模块检测障碍的情况，当前、左、右三个方向均没有障碍时，小车判断无需运行，即小车在出口处。只要三个模块中的一个或多个检测到障碍时，则执行运行程序。
 综合而言，小车具有以下特点：
 控制灵活，转向迅速、准确。
 红外检测距离可调，能适应不同的迷宫。
 具有可扩展性，例如可增加探测模块的个数。
 
关键词：  P89C51RA、步进电动机、红外线检测、C51语言
 
 
  
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