基于KEA128的电磁感应平衡车系统硬件电路设计.docVIP

PAGE 10 PAGE 33 基于KEA128的电磁感应平衡车系统硬件电路设计 摘 要 两轮自平衡车具有车体模型体积小、快速转向、可在多种环境下工作等特点，对其的多项研究成果已在交通运输、工业自动化、生活娱乐等方面投入使用。在计算机技术、电子技术高速发展的情况下，可自动驾驶的智能车能够独立对当前环境进行感知，并快速做出反应，进行加减速、转向等操作，已经成为了当前自动控制领域内的一个研究热点。 教育部举办的“恩智浦”（原“飞思卡尔”）智能车大赛，是一项针对自动控制领域当前研究热点的竞赛，为广大本科生提供了一个能够研究并应用自动控制技术的平台。本文以第十一届“恩智浦”智能车大赛为背景，运用S9KEAZ128AMLK单片机，设计了一种通过电磁感应识别道路的两轮自平衡车系统。 本文首先建立了力学模型，对平衡车的控制原理进行了分析。通过对系统的需求分析，对单片机型号进行选型，并且对整体任务进行分解，以模块化的方式对各项功能进行实现，完成系统的平衡控制、速度控制、方向控制以及道路识别等任务。 最后,对机械结构进行搭建并且将各模块合理地安装至车模上，完成了本系统的硬件电路设计与功能实现。 关键词：两轮自平衡车；S9KEAZ128AMLK单片机；力学模型；硬件电路设计 Hardware Circuit Design of Electromagnetic Induction Balance Car System Based on KEA128 Abstract The two-wheeled self-balancing car has the characteristics of small size, fast steering, and can work in various environments. Many of its research results have been put into use in transportation, automated production and entertainment. With the rapid development of computer technology and electronic technology, self-driving smart cars can independently sense the current environment and quickly respond to acceleration, deceleration, steering and other operations, which has become a research hotspot in the field of automatic control. The “NXP” (formerly “Freescale”) Smart Car Competition held by the Ministry of Education is a competition that focuses on current research hotspots in the field of automatic control. It provides a platform for undergraduates to study and apply automatic control technology. Based on the eleventh NXP Smart Car Competition, this paper uses the S9KEAZ128AMLK microcontroller to design a two-wheeled self-balancing car system that recognizes roads through electromagnetic induction. In this paper, the force analysis model is first established to analyze the control principle of the balance car. Through the analysis of the demand of the system, the model of the single-chip microcontroller is selected. Furthermore, the overall task is decomposed, and various functions are implemented in a modular manner to complete eac