第十一届“恩智浦”杯全国大学生智能汽车竞赛技术报告学校：合肥师范学院队伍名称：风驰电掣参赛队员：伍章满舒先来李想带队教师：范程华、陈兵兵23目录第一章引言.............................................................11.1大赛介绍........................................................11.2系统设计框架介绍................................................2第二章直立车控制原理分析...............................................32.1直立行走任务分解................................................32.2车模平衡控制原理................................................42.3速度控制原理....................................................62.4车模方向控制原理................................................7第三章机械结构调整.....................................................93.1车模的调校改造..................................................93.2电路板的安装....................................................93.3传感器的安装...................................................10第四章硬件设计........................................................154.1PWM及电机驱动电路.............................................154.2循迹传感器放大电路.............................................164.3单片机最小系统.................................................244.4主板电路设计...................................................25第五章智能车控制算法设计..............................................295.1控制核心过程...................................................295.2用于控制直立的直立环程序设计...................................2945.3用于控制速度的速度环程序设计...................................305.4用于控制方向的方向环控制.......................................31第六章系统调试........................................................336.1开发工具.......................................................336.2蓝牙模块.......................................................346.3调试过程.......................................................34第七章智能车技术参数..............................................
