PAGEI二维物体斜面黑线运动算法摘要该系统设计运用机械运动原理、自动控制技术、传感器技术及单片机控制技术让物体能沿2厘米宽无规则黑曲线运动、到达指定坐标点、画圆等二维空间运动要求。在凌阳SPCE061A单片机的控制下，采用键盘作为外部数据、命令控制输入。同时系统采用了两个交流减速齿轮电动机、两个定滑轮、以及其他的辅助设备作为悬挂物体运动控制装置。系统实现了数据处理、电机控制、识别黑色曲线轨线、选择正确的移动方向等功能，也实现了画圆、寻迹等功能及其指标。关键词凌阳SPCE061单片机，光电传感器，交流减速齿轮同步电动机，二维自动控制PAGEIIABSTRACTThatsystemdesignmakesuseofthemachinesportprinciple,automaticcontroltechniqueandtransducertechniqueandthesinglechipcontroltechnologylettingphysicalabilitydoesnothavetheruleblackcurvilinearmotionalong2centimeterswidths,arrivesassignstositthepunctuation,thepicturecircleandsoon,thetwo-dimensionalspacemovementrequest.UnderthecontrolofSPCE061A,exertionthekeyboardtobetheexteriordataandimportationoftheordercontrol.Thatsystemadoptstwoalternatingcurrentgearsdownwheelgearelectrometers,twosettlepulleyandotherassistancesequipmentstobetoSuspendedthesportdeviceoftheobjectcontrolsystem,eaglingwiththedata,controllingtheelectromotor,identifyingtheblacklinesandchoosingthedirectionofmovementetc.Completedtherequiredcircledrawingandtrackseekingfunction.KeywordsTheSPCE061singlechip,Photoelectricitytransducer,Alternatingcurrentgeardownwheelgearelectrometers,Two-dimensionalautomaticcontrol2目录TOC\o"1-3"\u摘要PAGEREF_Toc136341839\hIABSTRACTPAGEREF_Toc136341840\hII1绪论PAGEREF_Toc136341841\h11.1关于本设计PAGEREF_Toc136341842\h11.2设计要求PAGEREF_Toc136341843\h11.3系统整体操作运动PAGEREF_Toc136341844\h22系统基本方案PAGEREF_Toc136341845\h32.1各模块器件选择PAGEREF_Toc136341846\h32.1.1单片机选择模块PAGEREF_Toc136341847\h42.1.2电机选择模块PAGEREF_Toc136341848\h42.1.3电机控制模块PAGEREF_Toc136341849\h52.1.4显示模块PAGEREF_Toc136341850\h62.1.5输入模块PAGEREF_Toc136341851\h62.1.6信号检测模块PAGEREF_Toc136341852\h72.1.7电源设计模块PAGEREF_Toc136341853\h72.2系统各模块的最终方案PAGEREF_Toc136341854\h82.3系统各模块的硬件电路PAGEREF_Toc136341855\h82.3.1电动机及其光电开关检测电路PAGEREF_Toc136341856\h82.3.2光电传感器检测电路PAGEREF_Toc136341857\h92.3.3电机控制部分的单元电路设计PAGEREF_T