基于单片机的步进电机驱动智能小车研制

 

目 录

1 

   

 

引 言

 

                                                                                                                       

 

 

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 4  

2 

   系统设计

 

                                                                                                               

 

 

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 5  

2.1 

   设计要求

 

                                                                                                                                                    

 

 

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 5  

2.2 

   总体设计方案

 

                                                                                                                                           

 

 

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 5  

2.2.1 

 

 系统总体设计方案

 

                                                                                                                        

 

 

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 5  

2.2.2 

 

 基本模块设计方案

 

                                                                                                                        

 

 

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 6  

3 

   单元硬件电路设计

 

                                                                                              

 

 

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 8  

3.1 

   电源电路模块

 

                                                                                                                                           

 

 

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 8  

3.2 

   光电寻迹模块

 

                                                                                                                                           

 

 

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 8  

3.3 

   金属探测传感器模块

 

                                                                                                                               

 

 

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 9  

3.4 

   红外避障模块

 

                                                                                                                                         

 

 

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 10

   

3.5 

   单片机

 

 

    AT89S51

 

     核心模块

 

                                                                                                                    

 

 

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 10

   

3.5.1 

 

 单片机芯片的选择

 

                                                                                                                      

 

 

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 10

   

3.5.2

 

     时钟及复位电路

 

                                                                                                                           

 

 

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 11

   

3.6 

   按键控制模块设计

 

                                                                                                                                 

 

 

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 13

   

3.7 LCD

 

     显示电路

 

                                                                                                                                         

 

 

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 14

   

3.7 

   步进电机驱动设计电路

 

                                                                                                                         

 

 

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 15

   

4 

   系统软件设计

 

                                                                                                    

 

 

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 16

   

4.1 

   主程序流程图

 

                                                                                                                                         

 

 

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 16

   

4.2 

   步进电机方向及速度控制程序流程图

 

                                                                                                

 

 

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 17

   

4.3 

   金属探测及控制设计流程图

 

                                                                                                                 

 

 

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 17

   

4.4 

   红外避障及控制设计流程图

 

                                                                                                                 

 

 

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 18

   

5 

   系统调试

 

                                                                                                             

 

 

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 19

   

5.1 

   硬件调试

 

                                                                                                                                                  

 

 

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 19

   

5.1.1 

 

 单元模块的测试

 

                                                                                                                          

 

 

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 19

   

5.2 

   软件调试

 

                                                                                                                                                  

 

 

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 19

   

6 

   心得体会

 

                                                                                                             

 

 

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 20

   

参考文献

 

                                                                                                                

 

 

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 21

   

附录

 

                                                                                                                         

 

 

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 22

   

附录

 

     1 

   系统程序

 

                                                                                                                                            

 

 

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 22

   

附录

 

     2      实物图

 

                                                                                                                                                

 

 

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 24

   

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