基于单片机的伺服电机转速控制系统.docVIP

题 目：基于单片机的伺服电机转速控制系统 基于单片机的伺服电机转速控制系统 摘 要 The Servo Motor Speed Control System Based On MCU Abstract The conventional DC drive system of SCR, which Control loop is consisting of simulate electronic circuits, and the SCR trigger is mostly made up of the discrete component, so the hardware devices are extremely complex in the Control loop，the installation and trial run difficultly, the relative failure rate is high. To solve the problems, this paper presents one kind design method of the servo motor speed control system based on MCU, and introduces the design of the PID control algorithm. This design uses AT89C52 as the controller chip, takes PI (proportion - integral) regulation control algorithm to be the foundation, adopts software programming to get the signal for Pulse-Width-Modulation, and controls the armature voltage of servo motor through H bridge driving circuit in power amplification electric circuit, thus it completes to adjust the servo motor rotational-speed, and achieves the good control performance. Meanwhile it sets the servo motor rotational-speed through the 4*4 small keyboard, and minutes the speed of the servo motor by the optical encoder, then shows the speed of the servo motor on the 4 LED. Key word: Direct-current speed regulation; PID control algorithm; AT89C52; Pulse-Width-Modulation; Servo motor 目 录摘 要 I Abstract II 第一章 引 言 1 1.1 课题的研究背景及意义 1 1.2 转速控制系统设计目标及技术要求 3 第二章 伺服电机转速控制系统设计 4 2.1 系统硬件组成原理 4 2.2 PID控制算法简介 4 2.2.1 位置式PID控制算法 6 2.2.2 增量式PID算法 8 第三章 硬件部分的设计 12 3.1 直流电机调速原理 12 3.2 PWM波形发生电路 13 3.2.1 PWM基本原理 13 3.2.2 PWM信号的产生 14 3.3 PWM功率放大电路 15 3.3.1 H桥驱动电路原理 15 3.3.2 PWM驱动电路原理图 17 3.4 测速电路 18 3.5 键盘电路 19 3.6 LED显示电路 21 3.7 AT89C52的时钟电路 23 3.8 AT89C52的复位电路 24 第四章 软件部分的设计 26 4.1 主程序流程 27 4.2 PID控制算法程序流程 28 4.2.1 PID控制算法选择 28 4.2.2 PID运算控制模块子程序 29 4.3 按键处理子程序 30 4.4 键盘扫描程序 31 4.5 转速采集子程序 31 4.6 LED显示子程序 32 结束语 33 附录A 基于单片机的伺服电机转速控制系统电路图 34 附录B 源程序 35 附录C 基于单片机的伺服电机转速控制系统器件一览表 54 参考文献 55 致谢 57 引 言 研究背景目前单片机渗透到我们生活的各个领域，几乎很难找