STM32F4多智能小车协作控制系统算法设计

摘要：多智能体系统一般是在一个环境中由多个智能个体构成的计算系统。本研究中由三辆智能小车构成一个分布式控制的小组，以wifi进行通信，小车与小车之间具有相互定位功能距离测量的功能。可以在特定环境下进行编队行走。智能小车的实质是一台机器人，是基于嵌入式开发的设计，由内核为ARM-CortexM4的STM32F4进行控制，搭载了超声波测距模块和磁感应以及红外线探头，用于对外界环境的检测。两台带有旋转编码器的电机作为小车的运动机构，电机速度闭环PID控制，电机驱动采用国际整流器公司的IR2104和MOS管全桥（H桥）的方案。48649

毕业论文关键词：智能小车，MOS管全桥，编队控制算法，PID离散化算法

Algorithm design and implementation of multi - intelligent vehicle cooperative control system

Abstract：Multi agent system is generally composed of several intelligent inpiduals in an environment. In this research, a distributed control system is composed of three intelligent vehicles, and the function of WiFi is to communicate with each other, which has the function of measuring the distance between the car and the car. Can be in a specific environment for the formation of walking. The essence of the smart car is a robot that is based on the design of embedded development, by the kernel for ARM-CortexM4 stm32f4 control, equipped with the ultrasonic ranging module and magnetic induction and infrared probe, was used for the detection of the external environment. Two rotary encoder with the motor as a motor vehicle, motor speed closed-loop PID control, motor drive using the International Rectifier company's IR2104 and MOS pipe full bridge (H bridge) program.

KeyWords：intelligence vehicle, Mos Bridge, Formation control algorithm, PID discretization algorithm

第1章引言 3

1.1多智能体的意义和作用 4

1.2智能车的现状和前景 4

第2章智能车硬件设计与组装 5

2.1电机驱动模块选则 5

2.2电池与电源模块选择 6

2.3主控芯片的选择 10

第3章智能车硬件及电路 12

3.1全桥的辅助接口电路 12

3.1.1 mos全桥驱动电路 14

3.2主控芯片STM32F407简介： 16

第4章程序算法的设计和编写 17

4.1电机的转速闭环PID控制 18

4.1.1：数字PID控制器 18

4.1.2离散化PID实现方法 19

4.2分布式控制算法 20

4.2.1基于到达时间差的声源定位原理 20

4.2.2 发声器电路 22

4.2.3声音传感器硬件电路 23

4.2.4时差电路 25

4.3 STM32f4的输入捕获 26

4.3.1 开启 TIM14时钟 26

4.3.2初始化 TIM14 27

4.3.3设置TIM5的输入捕获参数 27

4.3.4使能捕获和更新中断（设置TIM14的DIER寄存器） 28

4.3.5设置中断优先级编写中断服务函数 STM32F4多智能小车协作控制系统算法设计:http://www.751com.cn/zidonghua/lunwen_51318.html