基于飞思卡尔单片机自动循迹小车控制的设计PAGE-1--PAGEIV-摘要随着我国的电子科技的不断发展，我们生活中的自动化设备越来越多，也为嵌入式在智能化上的研究提供了一个广阔的平台。本系统以MK60DN512VMD100微控制器为核心控制单元，选用OV7620CMOS模拟摄像头检测赛道信息，高速AD转换芯片选用TCL5510，将提取后的灰度图像进行软件二值化，进而提取赛道信息；用光电编码器实时检测小车的实时速度，采用PID控制算法调节电机的速度以及舵机转向，从而实现速度和方向的闭环控制。关键字：MK60DN512VMD100，OV7620CMOS，软件二值化，PIDAbstractWiththecontinuousdevelopmentofelectronictechnology,moreandmoreautomationequipmentintotheproductionlifeofthepeople,therapiddevelopmentofembeddedintelligentstudyprovidesabroaderplatform.Inthispaper,thedesignofintelligentvehiclesystemMK60DN512VMD100microcontrollerasthecorecontrolunit,theselectionofOV7620CMOSanalogcamerastodetectthetrackinformation,tousingTCL5510high-speedADconverterchip,softwarebinarizationimage,extractthewhiteguidelineforidentificationofthetrackinformation;opticalencodertodetectthereal-timespeedofthemodelcar,usingthePIDcontrolalgorithmtoadjustthespeedofthedrivemotorandsteeringtheangleofthesteeringgear,inordertoachieveclosed-loopcontrolofvelocityanddirectionofthemodelcar.Keywords:MK60DN512VMD100，OV7620CMOS，softwarebinarization,PID目录TOC\o"1-3"\h\uHYPERLINK\l_Toc6479摘要PAGEREF_Toc6479IHYPERLINK\l_Toc16227AbstractPAGEREF_Toc16227IIHYPERLINK\l_Toc16851前言PAGEREF_Toc16851HYPERLINK\l_Toc250091.1设计的背景以及意义PAGEREF_Toc250091HYPERLINK\l_Toc275131.2智能小车国内外概况PAGEREF_Toc275131HYPERLINK\l_Toc245071.2.1国内研究的概况PAGEREF_Toc245071HYPERLINK\l_Toc259381.2.2国外研究概况PAGEREF_Toc259382HYPERLINK\l_Toc102191.3智能小车的发展前景PAGEREF_Toc102192HYPERLINK\l_Toc140102飞思卡尔单片机自动循迹小车系统设计总方案PAGEREF_Toc140103HYPERLINK\l_Toc216112.1系统硬件部分PAGEREF_Toc216113HYPERLINK\l_Toc186072.2系统软件部分PAGEREF_Toc186074HYPERLINK\l_Toc127563智能车硬件系统PAGEREF_Toc127565HYPERLINK\l_Toc134203.1单片机最小系统PAGEREF_Toc134205HYPERLINK\l_Toc28353.1.1PIT定时器模块PAGEREF_Toc28356HYPERLINK\l_Toc70183.1.2PWM模块PAGEREF_Toc70186HYPERLINK\l_Toc58233.1.3I/O模块PAGEREF_Toc5823