微机直流伺服控制系统设计

论文字数:37325,页数:65 附任务书

摘   要
 本论文介绍了微机直流伺服系统的工作原理和系统硬件设计概要。
 本系统是以87C51单片机为控制核心，因此在这里以MCS-51单片机指令系统为基础来实现单片机的键盘/显示监控、中断、定时、计算等功能，和改进了的位置式PID数字控制器来控制系统的运行。系统可以通过键盘对PID参数进行修改，然后进行调试，找到最优的参数，达到系统的运行指标。在整个系统中是以键盘的监视程序为中心，以系统的启动控制为目的，来实现控制直流伺服电动机运动，使输出达到由键盘给定的转角。整个系统是在按误差控制的方式下设计的，要求建立闭环控制，故在直流伺服电动机与信号给定（微机部分）之间建立信号反馈电路，该部分包括检测和信号转换电路。
 关键词：     PWM脉宽调制    GTR   微机   D/A   光电编码器   伺服电动机  
 Abstract
 This thesis has recommended the servo systematic operation principle of direct current of the computer and systematic hardware to design outline. This system regards 87C51 one-chip computers as the core of controlling, Not at here it come based on MCS - 51 instruction system of one-chip computer realize the keyboards of one-chip computer /show controlling, cutting off, timings, function of calculating sects of, Function that the control system comes with the position type PID digital controller that is improved. The system can revise PID parameter through the keyboard , then debug, Find the optimum parameter, reach the systematic function index . Controlled for the purpose with systematic arrival by regarding procedure of monitoring of the keyboard as the centre in the whole system, Come to realize that control the sport of servo motor of direct current, enable exporting and reach from corner of the setting of the keyboard. Whole system in design according to way that error control, demand and set up and close ring control, So set up the feedback circuit of signal between the servo motor of direct current and signal setting( the part of computer), Part this including measuring and change the circuit with the signal.
 Keyword:   PWM pulse width modulates   GTR   The computer   D/A   photoelectricity encoder   Servo motor  

目   录

摘要
Abstract
第一章  概述...............................................1
第二章  总体设计方案.......................................4
 2.1 毕业设计任务与要求.......................................4
 2.2 系统的工作原理...........................................5
 2.3 硬件的设计...............................................5
第三章  控制系统硬件设计...................................6
 3.1 微机部分的设计...........................................6
 3.1.1 MCS-51单片机的组成................................6
 3.1.2 MCS-51的扩展......................................9
 3.2 反馈电路的设计............................................25
 3.3 PWM系统设计..............................................29
 3.3.1 功率转换模块.......................................29
 3.3.2  PWM伺服系统驱动模块的设计........................ 41
 3.4 电源电路设计..............................................52
第四章  控制系统软件设计简介................................57
 4.1 软件设计的总体思想........................................57
 4.2 软件设计步骤..............................................57
结束语......................................................60
参考文献....................................................61