# PLC平面运动控制研究+智能小车总体设计+ 控制系统硬件设计

中国景观行业的现状及发展趋势
Abstract
The research and design of intelligent vehicle refers multi-subject，including mechanism, electronic, wireless communication, automatic control and artificial intelligent , etc. There are many technical difficulties existed in intelligent vehicle design, the motion control is one of them.
First, based on the investigation, a simplification of motion control functions and mechanical model of intelligent vehicle have been proposed. With the design requirements and the actual path model, motion model and mathematical analysis and derivation are studied in the paper.
Second, a motion control algorithm has been suggested based on motion model and mathematical analysis. The main target of control algorithm is to control the speed and real action time. In the design of motion control algorithm, serial data-processing algorithm, half-closed loop speed control algorithm and half-closed distance control algorithm are described.
Finally, a real model of intelligent vehicle is made. Two rear-wheels are driven by two DC motors, tow front-wheel are free. Two control modes are put up: the computer serial port control and the wireless remote control. Intelligent vehicle also has the ability of avoiding obstacle. It will stop moving and excite the alarm message when it encounters obstacles. LED lights are used to instruct the movement. When intelligent vehicle turns or stops, the LED lights have the different status.
The focus of intelligent vehicle’s control is to control the speed and direction of two DC motors based on PLC. The paper mainly includes the following contents: the establishment of motion model of intelligent vehicle; the serial control and wireless remote control based on motion model; the design of motion control algorithm. All above may have some reference values to future researches on mobile robot and intelligent vehicle, etc.

Key Words: Intelligent Vehicle   PLC   Motion Control   DC Motor   Sensor

1.1  问题的提出 1
1.2  国内外研究状况 3
1.2.1  国外智能汽车的发展状况 3
1.2.2  国内智能汽车的发展状况 4
1.3  论文主要工作 5

2.1  运动功能分析 6
2.1  模型建立 6
2.1.1  机械模型 6
2.1.2  路径模型 8
2.1.3  运动模型  10
2.3  运动模型分析  11
2.3.1  运动控制量分析  11
2.3.2  运动模型数学分析  12
2.3.3  小结  15
2.4  控制系统总体设计  15

3.1  控制系统方案确定  16
3.2  直流电机控制  17
3.2.1  直流电机基本概念  17
3.2.2  直流电机调速  18
3.2.3  H桥调速电路  18
3.3  红外反射传感器  22
3.3.1  防撞传感器选择  22
3.3.2  反射式红外传感器的原理  23
3.3.3  反射式红外传感器的参数及应用  24
3.4  光电编码器  25
3.4.1  光电编码器原理  25
3.4.2  旋转编码器  26
3.5  系统硬件配置  27

4.1  PLC及编程软件概述  29
4.1.1  PLC概述  29
4.1.2  FPWIN GR编程软件简介  30
4.1.3  FPWIN GR编程语言  31
4.2  控制系统流程  31
4.2.1  无线遥控  31
4.2.2  串口控制  32
4.2.3  程序总体流程图  32
4.2.4  PLC的I/O配置  33
4.3  无线遥控程序设计  34
4.4  串口控制程序设计  35
4.4.1  串口数据预处理  35
4.4.2  串口数据保存  35
4.4.3  速度控制  35
4.4.4  行程控制  42

5.1  无线遥控操作  46
5.2  串口控制操作与设置  47
5.2.1  上位机串口通信软件操作  47
5.2.2  PLC的串口设置  49
5.2.3  串口数据格式  50
5.2.4  高速计数器设置  51

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