基于单片机的运动控制系统.doc

摘 要 运动控制系统主要是电动机的控制，如今电动机在人们的工业生产和生活中起着十分重要的作用，其中直流电机以其优异的性能一直具有广泛的应用，而数字化控制是运动控制系统一个重要发展趋势。 本设计为基于单片机的运动控制系统，以AT89C52单片机作为控制核心，小型直流电机作为控制对象。硬件部分包括电源电路、矩阵键盘、L298电机驱动电路、液晶显示等；软件部分包括按键扫描、PWM波生成、转速测量、PID调节、液晶显示以及上位机设计等。利用定时器计算出电机实时转速，将实时转速在LCD1602上显示并通过串口发送给上位机，然后将实时转速与矩阵键盘设定的转速值比较，再经过PID调节，改变PWM波的占空比，从而调节电机转速。经过多次调试，本系统基本能够实现转速无静差，而且抗扰动性能良好。 关键词：单片机，PWM波，PID调节，直流闭环调速，上位机 ABSTRACT The motion control system is mainly designed for electric motor．Nowadays,the electric motor plays a crucial role in industrial production and people’s daily life. And DC motor is widely used for its outstanding performance. Meanwhile, digital control is an important development tendency in motion control system. This is a design of motion control system based on single chip microcomputer，which is the cybernetic core while the control object is a small DC motor. In the system，thehardware part consists of power circuit、matrix keyboard、DC motor driver used L298N、liquid crystal display etc; And the software part consists of key-scan subroutine、 PWM wave subroutine、speed measurement、PID regulation、LCD subroutine and supervisor software etc. The single chip microcomputer work out the real-time speed with its inner timer. Then the real-time speed is shown on LCD1602 and is sent to supervisor software through serial port. Next,the single chip microcomputer will compare the real-time speed with the set-speed，and after the regulation of PID controller，the duty cycle of PWM wave is changed. As a result，the speed of DC motor is changed. After many times of system debugging，this system is able to eliminate steady-state error of speed and have good disturbance-resistant performance. KEY　WORDS: Single Chip Microcomputer, PWM Wave, PID regulation, closed-loop DC motor speed regulation，supervisor software  目录 第1章 绪论………………………………………………………………………1 1.1 运动控制系统的组成 …………………………………………………1 1.2 运动控制系统的发展 …………………………………………………2 1.3 单片机在电动机控制中的优点…………………………………………3 1.4 上位机在控制工程中的作用……………………………………………4 1.5 本次设计所研究的内容