1、 I 摘要摘要 瑞萨 MCU 模型车，是在搭载有瑞萨 MCU 主板的模型车上自行设计并编制独立的控 制程序，组装制作成具有自动识别功能的 MCU 汽车模型。MCU 模型车在跑道中央行驶 时读取跑道中央的白线作为输入信息以控制行驶路线，其构造分两大部分：程控部分和机 械部分。程控部分为传感器，当模型车行驶时车体前方的传感器迅速读取路面信息，并传 达至主控制器，以控制行驶方向。机械部分为马达、齿轮、轮胎、舵机等。动力源为 8 节 AA 型电池。 对模型车的深入研究，不仅可以加强我们对机电一体化产品的理解，还能使我们从中 领悟到一些有关电动汽车理论的真谛。 本文主要研究：MCU 模型车的结构组成与工
2、作原理；建立 MCU 模型车的几何模型， 运动学模型及动力学模型，并对其进行理论分析和研究；调试 MCU 模型车的基本性能； 通过实验研究 MCU 模型车在指定轨道上稳定运行的程序及对模型车运行造成影响的因 素。 关键词关键词：MCU 模型车、原理、模型、程序。 Abstract The Micom car of Renesas is a model of car which has the CPU board of Renesas with which you can design and input independent program, and it has the function
3、of distinguishing the course automaticly. The Micom car reads the white central line when it runs in the middle of the course. The construction of the Micom car consists of two parts: One part which is controlled by the program is made up by the sensors in front of the Micom car which read the infor
4、mation of the course and convey it to the main controller. The other part which is the mechanical section is comprised of motors, gears, tyres, servo and so on. 8 pieces of secondary AA batteries are used as the source of the power. The research of the Micom car not only can enhance our understandin
5、g with the products of mechatronics, but also can make us grasp some theories about the motor car. This article mainly discusses the composition and the principle of the Micom car; establishes the geometric model, dynamic model and kinematic model of the Micom car; debugs the basical capabilities of
6、 the Micom car; writes the program which makes the Micom car run stabily on the course and analyses the factors that affect the process of running. Keywords: Micom Car, principle, model, procedures II 目录目录 摘要 Abstract. 1 引言 1 2 MCU 模型车的结构组成及工作原理 2 2.1 传感器基板 2 2.2 传感器子基板 3 2.3 CPU 主板 5 2.4 马达驱动电路 . 5 2.5 伺服舵机控制电路 . 9 2.6 发光二极管电路 . 10 2.7 开/关电路 11 2.8 电源 . 11 3 MCU 模型车的几何模型、运动学模型和动力学模型分析 11 3.1 模型车几何模型的建立与分析： 12 3.2 模型车动力学模型的建立与分析： 13 3.3 模型车运动学模型的建立与分析： 17 4 MCU 模型车在指定轨道上运行的程序设计 19 5 影响 MCU
