1 Introduction This paper takes Freescale's car model as the object, and designs a self-balancing self-balancing control system based on Freescale's MC9S12XS128. The experiment proves that the scheme has accurate, fast and stable independent tracing effect in the two-wheeled vehicle system of camera navigation. 2. System design and principle The system uses the MC9S12XS128 single-chip microcomputer produced by Freescale as the control core, mainly consists of power management module, path detection module, vehicle speed detection block, acceleration detection module, angular velocity detection module, DC motor drive module, liquid crystal display module, serial port debugging and other functions. Module composition. On the basis that the power management module provides a stable power supply for the system, the single-chip microcomputer obtains the attitude information of the trolley obtained by the acceleration and angular velocity detection module, the forward direction information of the trolley obtained by the path information detection module, and the vehicle speed information returned by the vehicle speed detection module, and the DC motor is controlled by the PID algorithm. Drive the module so that the car can travel fast while standing upright. The liquid crystal display module can display system related parameters in real time, and the serial port debugging module sends the data received by the single chip microcomputer to the upper computer to facilitate real-time observation and debugging of relevant parameters and waveforms. The system block diagram is shown in Figure 1. 3. System hardware design 3.1 main controller module The main controller of this system is a 16-bit MC9S12XS128 MCU produced by Freescale. It is responsible for processing the signals collected by the smart car and sending control signals to each functional module. The maximum bus frequency of MC9S12XS128 MCU can reach 40MHz. The on-chip resources include 8KRAM, 8K EEPROM and 128K Flash. It has 4 8-bit or 2-channel 16-bit pulse width modulation modules (PWM) and two 8-channel 10-bit A/D converters. And an 8-channel timer with 16-bit counter, UART, PIT, I2C, FTM and other external interface modules. 3.2 Power Management Module A reliable power supply is a prerequisite for stable operation of the system. This system uses a nickel-cadmium battery with a rated voltage of 7.2 V and a rated capacity of 2000 mAh as the power source. In order to reduce the power supply ripple and obtain a more stable power supply voltage, the system uses a series linear regulator chip LM2940 to build a 5V voltage regulator circuit, and respectively to the main controller module, path information detection module, vehicle speed detection module, acceleration detection module, The angular velocity detection module, the liquid crystal display module and the serial port port debugging module are powered, and then regulated to 3.3V by the AMS1117 to supply power to the wireless transmission module. The DC motor drive module is powered directly from the battery. The system power management module block diagram is shown in Figure 2. 3.3 Path Information Detection Module The path information detection module consisting of a COMS camera and a hardware binarization circuit fits the track center by detecting a black line 2.5 cm wide on both sides of the runway to implement path information detection. The COMS camera captures the points on the image in an interlaced manner at a fixed resolution, and converts the gray values ​​of these points into analog voltage signals through the image sensing chip, and then converts the signals into digital signals using a binarization circuit. The track information is obtained through the I/O port of the single chip microcomputer. The hardware binarization detection circuit is shown in Figure 3. Our company specializes in the production and sales of all kinds of terminals, copper terminals, nose wire ears, cold pressed terminals, copper joints, but also according to customer requirements for customization and production, our raw materials are produced and sold by ourselves, we have their own raw materials processing plant, high purity T2 copper, quality and quantity, come to me to order it! Copper Connecting Terminals,Cable Lugs Insulated Cord End Terminals,Pvc Insulated Cord End Terminal,Cable Connector Insulated Cord End Terminal Taixing Longyi Terminals Co.,Ltd. , https://www.longyicopperterminals.com
December 22, 2022