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摘 要
本系统通过语音输入信息对小车运动方向和转速精确控制为目的，采用总线结构，各功能模块独立设计，由主控芯片统筹调度，高效而快捷地实现了系统各项功能。
系统以协定好的总线数据包为通信纽带，多块高性价比的AVR MCU构成主从控制网络，各模块分散控制，自主设计的H型恒流电路完成电机驱动，独特的双液晶显示实现友好的人机交互界面以及对系统状态的直观而实时的监控，巧妙的电机-双探测器寻迹方式保证了轨迹跟踪具有极宽的探测范围和很高的跟踪精度，全浮点的算法使得字长效应对控制精度的影响减到最小。
基于可靠的硬件设计，高效的软件算法，整个系统具有相当高的性能。

关键词：总线 电机-双探测器寻迹 实时界面 MCU

目 录
1 绪论...........................................................................1
1.1 作品介绍.....................................................................1
1.2 设计概述......................................................................2
1.3 方案论证与比较................................................................5
1.3.1 总体方案的选择.............................................................5
1.3.2 微控制器的选择..............................................................6
1.3.3 电机驱动模块的论证与选择....................................................6
1.3.4 寻迹方式的论证与选择.......................................................7
1.3.5 供电方式的选择..............................................................8
2 基于总线结构的电路原理分析和设计...............................................10
2.1 硬件电路总体设计思路..........................................................10
2.2 主机模块设计..................................................................11
2.2.1 串行通信概述...............................................................11
2.2.2 主机模块电路设计...........................................................11
2.2.3 单片机比较选择.............................................................12
2.3 人机交互界面设计.............................................................15
2.3.1 人机交互模块电路设计.......................................................15
2.3.2 LCD1操作界面设计...........................................................17
2.3.3 LCD2仿真液晶显示设计.......................................................20
2.4 电机驱动模块设计.............................................................20
2.4.1 步进电机简述...............................................................20
2.4.2 模块电路总图................................................................21
2.4.3 恒流电路...................................................................21
2.4.4 H型驱动电路.................................................................23
2.5 跟踪寻迹模块设计.............................................................23
3 系统软件设计...................................................................25
3.1 软件系统概述.................................................................25
3.1.1 串行通信程序设计............................................................25
3.1.2 总线数据块格式..............................................................27
3.2 主机模块程序设计.............................................................27
3.3 人机交互模块程序设计.........................................................29
3.3.1 LCD工作简述................................................................29
3.3.2 LCD1及键盘程序流程图.......................................................30
3.3.3 LED及无线发射模块程序设计..................................................31
3.3.4 LCD2程序设计................................................................31
3.4 电机驱动模块程序设计..........................................................32
3.5 电机寻迹模块程序设计.........................................................32
4 系统测试.......................................................................34
4.1 测试方法及仪器...............................................................34
4.2 测试结果.....................................................................34
4.2.1 人机交互界面测试...........................................................34
4.2.2 自设运动测试...............................................................35
4.2.3 圆周运动测试................................................................35
4.2.4 设定点运动测试..............................................................36
4.2.4 轨迹跟踪测试................................................................36
4.3 测试结果分析及总结...........................................................36
致 谢............................................................................38
附 录............................................................................39

Abstract
This system is designed with the voice of controlling the suspended object precisely, adopting Bus architecture. Each function module is designed dividedly, commended by Master Chip, performing each system function effectually and quickly.
System communicate through message packets meeting with protocol which is the tache connecting system modules as a whole, constructing the master-slave control net made up by several AVR MCU of high perform-price ratio, realizing dispersed control .Self-designed H-type constant-current circuits complete the task of driving the motors excellently. Special Double-LCD achieve a friendly human-machine interactive interface, and monitor the system state directly and Real-time. Skillful motor-double detector seeking-trace mode guarantees very large detect area and tracing precision. All floating-point arithmetic reduce the finite-byte-width effect to smallest.
Base on reliable hardware and effectual software design, this system is qualified with quite high performs.

Keyword: Bus motor-double detectors tracing Real-time interface MCU

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