摘要：本文以大学生“恩智浦”杯智能车竞赛为背景，完成信标导引自平衡车 控制系统软件设计。基于对信标导引自平衡车系统的需求分析，本文分别采用 MPU6050 模块、MINI512 线编码器、OV7725 摄像头模块进行信标车姿态、速度数据和摄像头图像数据的采集。传 感器模块的使用在减小传感器安装难度的同时也保证了数据采集精度。
针对系统处理直立、速度和方向等多个控制任务的需求，采用 PIT 定时器进行软件 时序控制，分时段完成相关控制任务，实现了系统的多任务处理。本文设计了信标导引自平衡车控制系统软件架构，分模块完成了软件设计和后期调 试，减小了软件设计与调试的复杂度。通过系统联调，验证了信标导引自平衡车控制系统 软件的可靠性。
关键词：信标导引自平衡车软件设计调试
毕 业 设 计 说 明 书 外 文 摘 要
TitleDesign and realization of intelligent car for the twelfth national university students “NXP” cup -- software design of the beacon-guided self-balance car control system
Abstract：Based on the background of the Twelfth National University Students “NXP” Cup Intelligent Car Contest, this paper completes the software design of the beacon-guided self-balance car control system.
The MPU6050 module, the OV7725 camera module and the MINI512 line encoder are used to acquire the posture and speed data of the car and imagine data of the camera. The use of sensor modules reduces the difficulty of sensor installation while ensuring the data acquisition accuracy.
For the need to deal with the upright, speed and direction control task of the system, the PIT timer is used to control software timing, the related control tasks are completed in different time period and the multi-tasking of the control system is realized.
In this paper, the software architecture of beacon-guided self-balance car control system is designed. The software design and debugging is completed in modules, which reduces the complexity of software design and debugging. The reliability of beacon-guided self-balance car control system is verified by debugging of whole system.
Keywords： beacon-guided self-balance car software design debugging
目次
1引言·1
1.1课题研究的背景与意义 ··1
1.3本课题研究内容简介 ·3
2信标导引自平衡车控制系统总体结构设计与硬件系统简介5
2.1创意类组别竞赛规则简介与系统需求分析 ··5
2.2系统总体结构设计 5
2.3系统工作原理介绍 6
2.4硬件系统电路总体结构 ··8
2.5核心元器件选型 ···9
2.6系统控制器硬件资源分配 ·11
2.7本章小结12
3信标导引自平衡车控制系统软件架构设计 ··13
3.1系统软件架构设计 ··13
3.2系统软件工作时序设计 14
3.3系统软件工作流程设计 14
3.4本章小结16
4信标导引自平衡车控制系统软件详细设计 ··17
4.1初始化模块 ···17
4.2中断控制模块 20
4.3数据采集与处理模块 ···22
4.4电机控制模块 27
4.5人机接口模块 30
4.6蓝牙通信模块 31
4.7本章小结31
5信标导引自平衡车控制系统调试32
5.1软件开发平台 32
5.2系统调试33
5.3调试中的问题与处理方法 ·36
5.4本章小结37
结论 38
致谢 39
信标导引自平衡车制系统软件设计:http://www.chuibin.com/zidonghua/lunwen_206116.html