介紹了基于Freescale HCS12系列單片機的智能巡線小車多模式速度控制系統的設計方
案。該速度控制系統主要由直流電機驅動電路、速度檢測模塊和無線通信模塊構成，包含四種速度模式。介紹了速度控制系統的總體結構，并分析了其主要模塊的工作原理。介紹了軟件思想和程序設計流程圖。實驗結果表明，該多模式速度控制系統保證了智能巡線小車具有較好的穩定性和快速跟隨性。
關鍵詞：單片機；多模式；制動；穩定性；快速跟隨性
Abstract: The design of the multi mode speed control system of a small intelligent patrol
line vehicle based on Freescale HCS12 microprocessor is introduced in this paper. The
speed control system is mainly composed of the DC motor circuit, the speed detection
module and the wireless communication module. And four speed models are obtained in
the speed control system. The overall structure of the speed control system and the
operation principles of the main modules are introduced in this paper. The software idea
and the block diagram of the software design are described. Experimental results show
that the small intelligent patrol line vehicle based on the multi mode speed control system
can be steadier and faster in response.
Keywords: single-chip computer, multi mode, brake, stability, fast dynamic response