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Update time：
2021-04-10 03:19:37
Creation time：
2016-01-23 04:46:14
Description
本智能车系统以飞思卡尔高性能16 位单片机MC9S12XS128MAL 为核心，把对直立小车的运动控制任务分解为三个基本控制任务：车模平衡控制、车模速度控制和车模方向控制。这三个基本控制任务都通过PID 算法来实现，其中，车模平衡控制利用陀螺仪和加速度传感器这两个传感器来测量车模的倾角，通过PD 算法控制两个电机的正反转保持车模直立平衡状态；车模速度控制利用光电对管和光电码盘测速，通过PI 算法控制电机的转速来实现车轮速度的控制；车模方向控制利用电磁传感器来检测跑道的电磁信号，通过PD 算法控制两个电机间的差速实现车模的转向控制。此外，为了监视车模的各个信号和提高调试的方便性
Design Drawing
schematic diagram
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PCB
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| ID | Name | Designator | Footprint | Quantity |
|---|---|---|---|---|
| 1 | LED0 | 5,CPU5,TRANS5 | 0805 | 3 |
| 2 | Header 12X2A | P2 | HDR2X12_CEN | 1 |
| 3 | Header 9X2A | P4,P3 | HDR2X9_CEN | 2 |
| 4 | Component_1 | U2 | 74LS244 | 1 |
| 5 | OLED | P6 | HDR1X7 | 1 |
| 6 | Header 3X2 | DZXS1,DZXS2 | TUSIJI_6 | 2 |
| 7 | 1K | R18,R21,R22 | 0805 | 3 |
| 8 | Header 2 | BAT1,MOTO1 | ED1202DS_1 | 2 |
| 9 | Header 6 | BLUE | HDR1X6 | 1 |
| 10 | SW-DIP4 | BOMA | DIP-8 | 1 |
| 11 | Res1 | RL1,RSP | 0805 | 2 |
| 12 | 4.7K | RL2,RL3,RL4 | 0805 | 3 |
| 13 | Component_2 | PWM | PCBComponent_1 | 1 |
| 14 | Component_1 | L1,L2 | LM2940 | 2 |
| 15 | Cap | C24,C26,C22,C5,C9,C28,C230 | CAP_0805 | 7 |
| 16 | ss24 | D2,D4 | SMC | 2 |
| 17 | Cap Pol1 | C21 | PCBComponent_1 | 1 |
| 18 | Cap2 | C20,C25,C23,C8,C4 | CAP_0805 | 5 |
| 19 | Res1 | R26 | RES_0805 | 1 |
| 20 | LED1 | D5 | 3412_LED | 1 |
| 21 | SW-SPST | KEY1 | bodongkaiguan | 1 |
| 22 | Header 3X2 | LQ1,LQ2 | HDR2X3 | 2 |
| 23 | TPS7350 | 7350-2 | SOP_8 | 1 |
| 24 | Cap Pol1 | C29,C31 | CAP_0805 | 2 |
| 25 | Header 8 | ENC | HDR1X8 | 1 |
| 26 | SW-SPST | S0,S1 | 贴片按键3*6 | 2 |
| 27 | PNP | Q1 | SOT23_M | 1 |
| 28 | Speaker | LS1 | RB7.6-15 | 1 |
| 29 | Header 2 | TRANS-GND,TRANS-5V | HDR1X2 | 2 |
| 30 | Header 7 | P1 | HDR1X7 | 1 |
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