单片机直流伺服系统设计 毕业设计.doc

I目录摘要·············································································································IAbstract···········································································································1第1章绪论···································································································11.1电力电子技术························································································11.2伺服控制技术························································································11.3控制电机·······························································································21.4单片机··································································································21.4.1单片机的发展················································································21.4.2单片机的应用················································································31.5PWM技术·····························································································41.6设计的任务和要求··················································································5第2章硬件电路设计·······················································································62.1总体方案·······························································································62.2单片机系统设计·····················································································62.2.1MCS-51单片机简介········································································72.2.2MCS-51单片机的内部结构·······························································72.2.3功能模块的设计·············································································92.3功率驱动模块设计················································································142.3.1功率驱动模块方案的选择······························································142.3.2PWM伺服放大器简介···································································152.3.3KXA结构及接线··········································································152.4测量电路设计······················································································162.4.1光电编码器·················································································162.4.2整形辨相电路··············································································17第3章直流伺服电动机·················································································193.1对直流伺服电动机的要求······································································193.2直流伺服电动机的分类·········································································193.2.1高速直流伺服电动机·····································································193.2.2低速大扭矩宽调速电动机·······························································203.3直流电动机转矩平衡方程式···································································213.4电动机的电压平衡方程式······································································22II第4章单片机直流伺服系统的软件设计···························································244.1主程序设计·························································································244.2监控管理程序设计················································································254.2.1键盘/显示器基本程序设计·····························································254.2.2功能键处理程序设计·····································································264.3T0中断服务（控制）程序设计·······························································284.4PID控制算法子程序··············································································29结束语···········································································································31参考文献········································································································32致谢···········································································································33附录单片机直流伺服系统原理图······································································34I单片机直流伺服系统设计摘要：随着数字技术的高速发展和新型执行机构的出现、大功率电力电子器件的诞生以及数字技术的快速发展，伺服控制系统的优势在国民生产中发挥得淋漓尽致。通过调节电枢电压可以很方便地实现对转速的控制，并能在一定范围内实现位置控制，直流伺服系统因此被应用于对系统性能要求较高的场合。本文详细介绍了单片机直流伺服控制系统的组成和原理。着重介绍单片机直流伺服控制系统的硬件电路设计，同时详细介绍了模块化PWM功率驱动的结构和应用及其相关的保护电路。认真分析了各个模块的功能及作用，较系统的介绍了模块化程序设计。关键字：直流伺服；KAX；模块化功率驱动；单片机；整形变相；1TheDesignofSingle-chipDCservoControlsystemAbstract:Withtherapiddevelopmentofdigitaltechnologyandtheemergenceofnewimplementingagencies,high-powerpowerelectronicdevices,aswellasthebirthoftherapiddevelopmentofdigitaltechnology,theadvantagesofservo-controlsystemofthenationalproductonitshead.Byadjustingthearmaturevoltagecanbeeasilycontrolledtoachievespeed,andcanachieveacertainpositioncontrol,DCservosystemwasusedinhigherperformancerequirementsonthesystemtodoso.Thispaperdescribesasingle-chipDCservocontrolsystemandprinciplesofcomposition.Focusedonsingle-chipDCservocontrolsystemhardwarecircuitdesign,whiledetailsofPWMpower-drivenmodularstructureandtheapplicationanditsassociatedprotectioncircuitry.Acarefulanalysisofthevariousmodulesofthefunctionandrole,amoresystematicintroductionofamodularprogramdesign.Keywords:DCservo；KAX；modularpower-driven；singlechip；plasticdisguiser；1第1章绪论1.1电力电子技术电力电子技术广泛用于电气工程中，各种电力电子装置广泛应用与高压直流输电、静止无功补偿、电力机车牵引、交直流电力传动、电解、励磁、电加热、高性能交直流电源等电力系统和电气工程中。电力电子技术是电气工程学科中的一个最活跃的分支。控制理论广泛用于电力电子技术中，它使电力电子装置和系统的性能不断满足人们日益增长的各种需求。电力电子技术可以看成是弱电控制强电的技术，是弱电和强电之间的接口。而控制理论则是实现这种接口的一条强有力的纽带。另外，控制理论和自动化技术密不可分，而电力电子装置则是自动化技术的基础元件和重要支撑技术。电力电子学是随着电力半导体器件的发展而发展的。1948年晶体管的发明，使电子工业产生了一次革命。1957年晶闸管的出现和在电力领域中的应用，实质上就是电力电子学的开端（晶闸管雏形再1956年由贝尔电话研究所JohnMoll研制出来，1958年由通用电气公司的RAYork等完成了其生产工艺，并开始将其应用于电力控制）。1980年可关断晶闸管GTO的商品化（2500V/1000V）,使电力电子学向前推进了一大步。1975年美国Siliconix公司制造出V型沟道的金属氧化物半导体场效应功率晶体管，即MOSFET。1988年IGBT的出现，它集功率晶体管BJT和场效应功率晶体管的优点于一体，这是电力半导体器件向理想化方面迈进的最重大事件，使电力电子学的发展进入到一个日新月异的阶段。1.2伺服控制技术伺服控制技术是自动化学科中与产业部门联系最紧密、服务最广泛的一个分支。自从第二次世界大战期间雷达和火炮伺服系统出现以来，在近半个世纪中，伺服控制技术及其系统在工业、农业、国防等各个领域都得到了广泛的应用。伺服控制经历了发电机-电动机系统、交磁电机扩大机控制、磁放大器控制、晶闸管控制、晶体管控制、集成电路控制、计算机控制的发展过程，至今已经进入一个全新的鼎盛时期。反映这一时期的现代伺服控制技术及其系统的主要特征可以概况为：全控型电力电子器件组成的脉宽调制技术在伺服功率驱动中的广泛应用；微处理机特别是单片数字信号处理器（DSP）在伺服系统中的普遍应用，使得现代控制理论逐渐工程使用化；各种伺服控制原件与线路向着集成化、数字化、功能化、模块化、智能化，以便于计算机控制的方向发展；伺服系统的可靠性设计及其自诊断技术伴随着系统功能、性能以及复杂化程度的升级而受到人们的普遍重视。21.3控制电机在各类自动控制系统、遥控和解算装置中，需要用到大量的各种各样的元件。控制电机就是其中的重要元件之一。它属于机电元件，在系统中具有执行、检测和解算的功能。虽然从基本原理来说，控制电机与普通旋转电机没有本质上的差别，但后者着重于对电机的力能指标方面的要求，而前者则着重于对特性、高精度和快速响应方面的要求，满足系统对它提出的要求。控制电机已经成为现代工业自动化系统、现代科学技术和现代军事装备中不可缺少的重要元件。它的应用范围非常广泛，例如，火炮和雷达的自动定位，舰船方向舵的自动操纵，飞机的自动驾驶，遥远目标位置的显示，机床加工过程的自动控制和自动显示，阀门的遥控，以及机器人、电子计算机、自动记录仪表、医疗设备、录音录像设备等中的自动控制系统。1.4单片机随着大规模集成电路的发展，可以将CPU、RAM、定时器/计数器以及输入/输出（I/O）接口电路等计算机部件，集成在一块电路芯片上。这样所组成的芯片级的微型计算机称为单片微型计算机（singlechipmicrocomputer），直译为单片微机或单片机。虽然单片机只是一个芯片，但从组成和功能上，它已具有了微机系统的含义。由于单片机从功能和形态来说都是应控制领域应用的要求而诞生的，并且发展到新一代80C51、M68HCO5、M68HC11系列单片机时，在其中扩展了各种控制功能，如A/D、PWM、PCA、计数器的捕获/比较逻辑、高速I/O口、WDT等，已突破了微型计算机的传统内容，所以，更准确地反映单片机本质的叫法应是微控制器。1.4.1单片机的发展单片机发展到今天，经历了五个发展阶段：第一阶段（19741976）：单片机的初级阶段。由于生产工艺水平和集成度的限制，单片机采用双片形式，且功能比较简单。第二阶段（19761979）：为低性能单片机阶段。此时的单片机是真正的8位单片微型计算机，体积小，功能全。在单块芯片上已经集成有CPU、并行口、定时器、RAM和ROM等器件。第三阶段（19791982）：为高性能单片机阶段。此时的单片机品种多，功能强，一般片内RAM、ROM都相对增大，寻址范围可达64KB，并有窜行输入/输出口，还可以进行多级中断处理。第四阶段（19821990）：16位单片机和8位高性能单片机并行发展阶段。它们最3大的特点是实时处理能力强，生产工艺先进，集成度高、内部功能强，而且允许用户采用工业控制的专用语言编程，如PL/M、C语言、BASIC语言等。第五阶段（1990至今）：1990年2月美国推出的i80860超级单片机轰动了整个计算机界，它的运算速度为1.2亿次/秒，可进行32位整数运算、64位浮点运算，同时片内具有一个三维图形处理器，可构成超级图形工作站。随着半导体技术的发展，巨型计算机但片化将成为现实。目前，单片机正朝着高性能和多品种方向发展，尤其是8位单片机由于它具有价格低廉、应用软件齐全、开发应用方便等特点使它成为当前单片机中的主流，16位单片机和专用单片机也进入普及应用阶段。1.4.2单片机的应用单片机广泛应用于仪器仪表、家用电器、医用设备、航空航天、专用设备的智能化管理及过程控制等领域，大致可分如下几个范畴：（1）在智能仪器仪表上的应用单片机具有体积小、功耗低、控制功能强、扩展灵活、微型化和使用方便等优点，广泛应用于仪器仪表中，结合不同类型的传感器，可实现诸如电压、功率、频率、湿度、温度、流量、速度、厚度、角度、长度、硬度、元素、压力等物理量的测量。采用单片机控制使得仪器仪表数字化、智能化、微型化，且功能比起采用电子或数字电路更加强大。例如精密的测量设备（功率计，示波器，各种分析仪）。（2）在工业控制中的应用用单片机可以构成形式多样的控制系统、数据采集系统。例如工厂流水线的智能化管理，电梯智能化控制、各种报警系统，与计算机联网构成二级控制系统等。（3）在家用电器中的应用可以这样说，现在的家用电器基本上都采用了单片机控制，从电饭褒、洗衣机、电冰箱、空调机、彩电、其他音响视频器材、再到电子秤量设备，五花八门，无所不在。（4）在计算机网络和通信领域中的应用现代的单片机普遍具备通信接口，可以很方便地与计算机进行数据通信，为在计算机网络和通信设备间的应用提供了极好的物质条件，现在的通信设备基本上都实现了单片机智能控制，从手机，电话机、小型程控交换机、楼宇自动通信呼叫系统、列车无线通信、再到日常工作中随处可见的移动电话，集群移动通信，无线电对讲机等。（5）单片机在医用设备领域中的应用单片机在医用设备中的用途亦相当广泛，例如医用呼吸机，各种分析仪，监护仪，超声诊断设备及病床呼叫系统等等。