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智能小车的自动驾驶系统的设计☆

智能小车的自动驾驶系统的设计(21000字) 摘 要 本文介绍的是一种基于微处理器智能汽车控制器的设计。主要介绍智能汽车的运动模型、硬件系统和直流电机控制方法。重点针对智能汽车的调速系统进行建模，利用protel软件对系统的启动、调速和抗扰的特性电路进行 ...

智能小车的自动驾驶系统的设计☆(字)
摘  要

本文介绍的是一种基于微处理器智能汽车控制器的设计。主要介绍智能汽车的运动模型、硬件系统和直流电机控制方法。重点针对智能汽车的调速系统进行建模，利用protel软件对系统的启动、调速和抗扰的特性电路进行设计，同时初步优化控制策略。

智能汽车的硬件系统主要由电源模块、主控制器模块、电机驱动模块、转向控制模块、速度检测模块、路径识别模块和实时显示模块组成。主控制器模块采用飞思卡尔公司的MC9S12DG128B单片机作为处理核心，用以处理方位信号和速度信号，同时对转向和转速进行实时控制；路径识别模块采用红外传感器收集路径信息，并分析红外传感器分布对路径识别的影响；驱动模块采用MC驱动芯片，通过控制PWM占空比实现对直流电机的控制；速度检测模块使用霍尔传感器获得智能车信息，并以此形成速度的闭环控制；实时显示模块用于当前小车相关信息的显示。

智能汽车的软件系统包括以下几个模块：红外传感器信息采集及处理模块、速度检测模块、转向控制模块、转速控制模块和实时显示模块。根据仿真结果，分析转速控制方法对智能汽车调速性能的影响，转向控制中分析PD控制对智能汽车的转向控制的影响。

该智能汽车控制系统具有硬件电路结构简单，系统稳定性强、响应性快，控制效果好的特点。

关键词：智能汽车；红外传感器；PID控制；自动循迹；
 
ABSTRACT

This article describes an intelligent vehicle controller design based on Freescale microprocessor. Introduces the smart car’s hardware system,sports model and the DC motor control method. Focusing on the smart car to the speed control system modeling,use of Protel simulation software on the system start-up,speed control and anti-interference characteristics to simulate,at the same time optimize the initial control strategy.

The hardware system of intelligent car is mainly including power supply module,the main controller module,motor driver modul,steering control module,speed detection module,the path identification module and real-time display module. Main controller module using

Freescale’s single-chip microcomputer of the core MC9S12DG128B,for the processing of the signal diretion and speed signals,and real-time controling steering and speed; path

identification module uses infrared sensors to gather path information and analyze the impact of the paths in different distributions of infrared sensors; motor driver module is driven by MC,and control the PWM duty cycle to achieve the control of DC motor; speed detection module uses Hall sensors to obtain information on the intelligent car,and to form the closed-loop speed control; real-time display module is used for the current vehicle information display.
Intelligent car of the software system includes the following modules:infrared sensor data acquisition and processing module,the speed of detection module, steering control module,speed control module and real-time display module. According to simulation results,analysis of the intelligent speed control performance of vehicle speed. Analysis of steering control in the PD control of the steering control intelligent car impact.

Experiments show that the intelligent vehicle control system has a simple hardware circuit， the system stability,fast response,good control features.
   

Keywords: Intelligent car；Infrared sensor；PID control；Aototrack；

摘要

随着工业化的技术发展，规模的扩大，以及对生存环境和生存条件的无限制扩展，使得物内装置的机电设备越来越多，对办公建筑物的管理越来越复杂、越来越繁重。人们迫切希望改善传统的人工管理模式，减轻建筑管理的复杂程度。同时，日益严重的生态危机要求人类加强环境保护，确保生活质量和可持续性发展。而此时政府办公楼的建造也逐渐的发展起来。作为政府人员办公的场所，即要求其具有的威严的形象、又有完善的管理模式。因而政府办公楼的设计无论从立面还是平面都显得尤为重要。本建筑采用纵横向框架承重结构根据我国现在的建筑业的发展趋势，已经成为最主要的结构形式。它的优势是不容我们所忽视的：它

具有结构自重较轻、空间利用率高、分割灵活等优点。而且施工灵活、简便、结构材料的价格相对较低廉，抗震性好、房间空间大；运输、安装方便，施工周期短。本建筑因地制宜地融入到环境之中，并恰当地表达出“环保、经济、适用、美观”的设计观念。

关键词：  框架；空间形态；环境；

THE DESIGNING OF THE  GOVERNMENT TRANSACTS

Abstract

This graduction project is a design of a concrete frame building.It includes three parts: architecture design and structural design. The architecture  design is mainly illustrated in architecture drawing according to code, Structural design is key skill for a engineering graduate and it is made of structural calculation and structural working drawing.

Design of structurate is made up of a frame calculation under vertical loads. anti—selsimil calculation under horizonatal loads internat farces constitate disposing steel bar for beams and column stair calculation .foundation calculation .The frame calculation under vertical loads . In this parts the frame is irregular . 5 storys and 1 pum .To solve the problems the

separate—layers methed and  distribution of moment methed are used.In horizontal anti—seismmie calculation used D value methed.

After finishing the calculation of intered forces .disposed steel bar in beams and columns .
Finally , Foundation design is made according to the geology piled footing is used.

Keywords :  frames,  structural design,  anti-seismic design

目    录   字
1引言1
2 工程概况2
2.1工程概况2
2.2 设计依据2
3框架结构计算3
3.1结构布置及设计简图4
3.1结构承重方案选择4
3.2框架结构的计算简图4

4 截面初估6
4.1 梁截面高度及板厚6