基于直流电机精确定位系统设计.doc

XX大学 本科毕业论文（设计、创作） 题　　目：　基于直流电机的精确定位系统设计 In order to keep an medical control system operating safely,fastly, position accurately, and ensure the stability and reliability , we specifically use the internal resources MSP430F149 as the main chip, in conjunction with high-performance DC motor with optical encoder. Base on the mathematical model of the digital dc motor positioning system, we choose the current and the motor speed as feedback signals, using the PWM as the system output signal, forming a double closed loop feedback speed regulation system to control the motor speed. In order to realize the system of thigh speed and accurate location, we use the extensive application in project —the PI algorithm as the Core control theory. Keywords: MSP430F149 ;DC motor; PI ;Double closed loop 目 录 1 引言......................................................................1 1.1 开发背景................................................................1 1.2 选题的目的与意义........................................................1 2 系统的设计方法研究........................................................2 2.1 执行电机的选择..........................................................2 2.1.1 伺服电机..............................................................3 2.1.2 步进电机..............................................................4 2.1.3 综述..................................................................5 2.2 位置和速度传感器的选择..................................................6 2.2.1 光电编码器............................................................6 2.2.2 霍耳式传感器..........................................................8 2.3 直流定位系统的数学模型分析..............................................8 2.3.1 直流电机调速方法概述..................................................8 2.3.2 转速、电流双闭环直流调速系统.........................................10 3 硬件电路设计.............................................................13 3.1 直流电机精确定位系统总体方案设计.......................................13 3.2 MSP430F14