The Development And Research Of Intelligent Model Vehicle System Based On 16-Bit MCU MC9S12DG128

In 2007, china has organized the second national university students, "Freescale Cup" intelligent model vehicle competition, this is the rapid development of the automotive electronics as the background, covering control, pattern recognition, sensor technology, electronics, electrical, computer, machinery, and other interdisciplinary scientific and technological innovation competitionAccording to competition rules requirements, design and intelligent model vehicle control system, the whole system is perfect, stable and high reliability. This System is composed of the core control module, power management module, Path Recognition and memory module, steering control module, rear-wheel-drive motor control module, speed detection module, the battery voltage monitoring module and wireless communication module.The core control module of the system used freescale 16-bit MCU MC9S12DG128. The system is completed in the CodeWarrior integrated development environment, with a mixed C and assembly language programming; In order to more in-depth understanding of all key system and the characteristics of devices, before the system design, we have done some related calibration experiments, prepare for the followed hardware design, software design and control algorithms and control of the formulation of a strategy; In Path Recognition module used the software subdivision algorithm and based on sensor discrete layout path continuous recognition algorithm to overcome the shortcomings of the limited information collected because of discrete photoelectric sensor layout and improve the accuracy of the Path Recognition; Steering control module used the incremental digital PID control algorithm, the algorithm technology is mature, simple structure and easy adjustment of parameters, and do not require specific mathematical model, it is widely used in industry and and has a good control result; the drive motor control module adopt fuzzy adaptive PID control algorithm, make full use of the fuzzy inference machine, which is integrated in the MCU MC9S12DG128; The speed detection module design a kind of virtual encoder based on the photoelectric encoder, not only meet the requirement of motor control, but also convenient for installation; Against competition rules and requirements, the control strategy adopt the path memory algorithm based on path pulse points, greatly improves the speed of the second lap; in order to facilitate the system debug, design wireless communications modules based on PTR2000 module, and developed a corresponding communication protocol; in order to improve the development Efficiency and deeply research on the model vehicle system, developed a intelligent model vehicle development platform based on visual basic language.Through design, develop and research on intelligent model vehicle, have made a certain result, but there some aspect need improve and deeply research.