Design And Simulation Research Of Intelligent Model Car System Base On MC9S12DG128

With the development of automotive and intelligent control technology, the intelligent car has been invented and become a research hotspots. This paper takes the national Freescale intelligent model car competition as research background, using MC9S12DG128 as the core processor and doing deep research into the mechanical structure, hardware platform and the control algorithm of the intelligent car.Combined with the vehicle theory and practical experience, this paper regulates the related mechanical parameters of the intelligent model car which makes the car has stable mechanical structure.With this basis,in order to ensure the driving stability and high reliability,this paper designs and researches the hardware circuit platform which includes single chip computer minimal system module,power module,road recognition module,motor driver module,wireless module,hardware online debugging LCD module. Due to using infrared senors for road recognition, this paper also researches the impact on driving characteristics with different look-ahead infrared and infrared sensors layout on simulation platform Plastid2.Because the vehicle system having high nonlinear characteristics and being hard to establish the accurate mathematical model, the classic PID control algorithm is widely used. But due to it cannot overcome the problem of key parameters dismatching and lacking of robustness which appears in different road conditions. This paper puts forward fuzzy self-correction PID algorithm which based on expert experiences. And builds simulation model on simulation platform of Plastid2. And the real-time simulation results showing that the improved algorithm has better driving characteristics and higher driving speed.And,in the meantime,it has good instruction meaning to the practice debugging.