飞思卡尔智能车电磁组参考方案-最新版

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1、第七届全国大学生“飞思卡尔”杯智能汽车竞赛电磁组直立行车参考设计方案（版本1.0）直立控制速度控制方向控制竞赛秘书处2011-12-221目录一、前言....................................................................................................................................4二、原理篇................................................................................

2、................................................62.1直立行走任务分解..............................................................................................................62.2车模直立控制.................................................................................................................

3、.....72.3车模速度控制....................................................................................................................112.4车模方向控制....................................................................................................................142.5车模倾角测量........................

4、............................................................................................152.6车模直立行走控制算法总图............................................................................................19三、电路设计篇...................................................................................

5、...................................213.1整体电路框图....................................................................................................................213.2DSC介绍与单片机最小系统...........................................................................................223.3倾角传感器电路..........

6、......................................................................................................253.4电机驱动电路....................................................................................................................273.5速度传感器......................................................

7、..................................................................283.6电磁线检测电路................................................................................................................29四、机械设计篇...........................................