摘要
选用LPC54606J512BD100作为主控芯片,设计智能小车的控制系统。硬件部分采用3轮车模、PCB和传感器外设。PCB包括单片机核心板、主控板和电动机驱动板。主控板由电源稳压、运放、视觉感知、直立、远程通信和超声波等模块组成。单片机核心板包含LPC54606J512BD100芯片为主的相关电路。电动机驱动板电路主要由MC34063(DC-DC电源芯片)、SN74LV 245A逻辑芯片和H桥电路组成。软件程序使用卡尔曼滤波算法和PID算法。智能小车控制系统可实现姿态转换、直立、避障、环岛处理和路径规划任务等。
For the control system of the intelligent cart,LPC54606J512BD100 is selected as the main control chip.The hardware part uses NXP tricycle model,PCB board and sensor peripherals.the PCB board includes microcontroller core board,main control board and motor driver board.The main control board modules are power supply voltage regulator module,op-amp module,visual perception module,upright module,remote communication module,ultrasonic module,etc.Micro controller core board contains LPC54606J512BD100 chip as the main related circuit.The motor drive board circuit mainly includes MC34063(DC-DC power supply chip)circuit,SN74LV 245A logic chip circuit,and H-bridge circuit.The software program uses Kalman filtering algorithm and PID algorithm.The intelligent cart control system can realize the tasks of attitude conversion,upright,obstacle avoidance,traffic circle processing,path planning,etc.
作者
杨钊灿
沈永峰
陈飞洋
YANG Zhaocan;SHEN Yongfeng;CHEN Feiyang(School of Mechanical,Shanghai Dianji University,Shanghai 201306,China)
出处
《实验室研究与探索》
CAS
北大核心
2023年第6期106-111,共6页
Research and Exploration In Laboratory
基金
上海市科技创新行动计划项目(21DZ2304600)。
