[毕业设计 论文 精品]基于avr的直流电动机双闭环调速系统

基于AVR的直流电动机双闭环调速系统摘要A1A0A2A3A4A5A6A7A9A10A8A11A12A4A3A13A14A15A16A17A18A19A21A22A19A20A23A24A25A26A9A11A12A23A24A27A28A29A30A31A32A34A8A33A35A37A36A17A0A38A39A40A42A43A41A34A17A11A12A23A24A27A28A44A45A46A23A22A48A47A49A50A51A11A12A23A24A27A28A9A54A13A14A23A24A52A53A57A21A58A55A24A53A56A21A23A24A59A60A46A20A61A62A63A64A65A66A42A69A7A67A34A71A68A70A74A72A3A71A73A75A76A77A78A79A80A83A81A47A49A50A85A82A21A87A84A86A88A91A19A21A92A89A90A93A94A95A22A96A87A99A97A101A98A103A104A67A100A106A24A21A4A12A102A105A107A47A108A97A111A109A110A11A12A4A3A112A92A23A24A95A22A17A11A12A4A3A47A49A50A23A24A5A6A42关键词A71A68A70A115A102A105A107A115A47A49A50A115A11A12A4A3A23A24AVRBASEDDUALLOOPDCMOTORSPEEDREGULATIONSYSTEMABSTRACTINVARIOUSMECHANICALANDELECTRICALSYSTEMS,DUETODCMOTORHASAGOODSTART,BRAKINGANDSPEEDCONTROLPERFORMANCEOFDCDRIVETECHNOLOGYHASBEENWIDELYUSEDININDUSTRY,ALLASPECTSOFTHEFIELDOFAEROSPACETHEMOSTCOMMONLYUSEDTECHNIQUEISPULSEWIDTHMODULATEDDCSPEEDPWMDCCONVERTERTECHNOLOGY,WHICHHASSPEED,HIGHPRECISION,FASTRESPONSE,WIDESPEEDRANGEANDLOWANDTHEWEARANDTEARTHISPAPERPRESENTSAPWMGENERATEDBYTHEAVRMICROCONTROLLERATMEGA16SIGNAL,L298DRIVEN,THEDETERMINANTOFTHEKEYBOARDCONTROLANDLCDDISPLAY,ANDTOTAKESPEED,THECURRENTDUALLOOPPIDALGORITHMTODCMOTORSPEEDCONTROLOFDCMOTORPWMSPEEDCONTROLSYSTEMKEYWORDSAVRA113DOUBLELOOPA113PWMA113DCMOTORSPEEDCONTROL目录1绪论111绪论112直流电动机简介113直流电机工作原理214直流电机的励磁2141他励电机励磁2142自励电机励磁315直流电机的优越性316直流电动机应用42选题背景421问题的提出422解决方案43系统总设计方案531设计思路532方案论证与设计5321系统控制设计方案论证与选择5322电机控制电路的设计6323键盘电路的设计6324显示电路的设计6325速度测量电路的设计6326电流检测电路设计633系统组成634ATMEGA控制电路735电源及ISP836主要电路单元的设计8361L298驱动接口83611控制逻辑93612L298原理图10362显示电路设计103621液晶模块接线图1036221062接口说明113623基本操作时序11363键盘电路设计113631行列式键盘电路113632按键抖动123633去抖方法12364电机测速电路设计12365光电编码器的工作原理133651绝对式编码器133652增量式编码器143653转速转向信号处理14366电枢电流测量153661测量方法153662AVR数模转换特点154系统软件设计与实现1641PWM软件设计18411产生PWM信号4种方法18412AVR单片机输出PWM的程序1942转向与速度检测19421测速原理19422脉冲数G4395G708P/DG709转换方法20423M/T法测速软件设计20424M/T法数G4395测速软件图21425转向的G2040G70412343电流检测原理23431AD转换程序2344G16855G14422器的设计24441电流G16855G14422器的设计24442转速G16855G14422器的设计2745PID程序流程图295系统G16855G16809G13479G7536306总G1347931G14280G1688632G2454G13783G7003G1049833A114A116基于AVR的直流电动机双闭环调速系统G999G1006G10689G1343506自动G2282G4007G2529G5364G7118G4465G6363G4560G6957G5084G4437G4443G2115G6957G64921绪论11绪论G5415G1182G712自动G2282控制系统G5061G13475G3324G2520行G2520G1006G5483G2052G1114G5203G8879的应用G2656G2469G4649G712G13792直流G16855速控制作G1038电G8680G1268动的主流G3324现G1207G2282生产G1025G17227G11540主要作用G452本G7003主要G11752G12362直流G16855速系统G712G4439主要G11013G989G18108G2010组成G712G2265G6336控制G18108G2010G451G2163G10587G18108G2010G451直流电动机G452G19283G7411G1209G7481G712直流电动机G3252G1866G1867G7389G16855G14422转速G8616G17751G9801G8975G451方法简单G451G7143G1122G3835G14551G3272G1881G5191G9381G16855速G451控制性G14033G3921G12573特点G712G980直G3324G1268动G20058G3507G2356G7389统G8847G3332G1313G452G5506机G6228G7427的G5567速G2469G4649G712G3324控制G20058G3507G5483G2052G5203G8879应用G452本G7003对基G1122G5506机控制的G2464G19393G10627G2499G17882直流PWMG16855速系统G17839行G1114G17751G9157G1849的G11752G12362G712G1186直流G16855速系统原理出G2469G712G17892G8505G5326G12447G1114G2464G19393G10627直流PWMG16855速系统的数G4410模G3423G712用G5506机G11840件G2656软件G2469G4649的G7380G7044成G7536G712G6518G16764G980G1022G4570G5506机G2656电G2159拖动控制相G13479合的控制方法G712本G7003G3324对控制对象全面回顾的基础上G712重点对控制G18108G2010G4649开G11752G12362G712G4439G2265G6336对实现控制所需要的G11840件G2656软件的G6518G16764G712控制策略G2656控制算法的G6518G16764G12573G1881容G452G3324G11840件方面充G2010利用G5506机外设接口丰富G712运算速度G5567的特点G712采取软件G2656G11840件相G13479合的措施G712实现对转速G451电流G2464G19393G10627G16855速系统的控制G45212直流电动机简介直流电动机是G4570直流电G14033转换成机械G14033的装置G452G3324磁场G1025放如通G7389电流的G4560体就会产生磁感应效应G452直流电动机是应用磁感应原理G4570电G14033转换G1038机械G14033的装置G712G1866转子G2656定子G2010别G11013绕组G2656永久磁铁组成G452直流电动机G1867G7389G16855速性G14033G17751G3921G2656G17227动转矩G17751G3835G12573优点G452直流G16855速G6228G7427已G5203G8879运用G1122工G1006G451航天G20058G3507的G2520G1022方面G452G7380常用的直流G16855速G6228G7427是脉宽G16855制PWM直流G16855速G6228G7427,G4439G1867G7389G16855速精度高G451响应速度G5567G451G16855速G14551G3272宽G2656耗损低G12573特点G452A117A11813直流电机工作原理G3324直流电动机G1025G712外加电压并不是直接加G3324线圈两端G712G13792是通过电刷B1G451B2G2656换向器再加G2052线圈上G452G11013G1122电刷固定不动G712对G1122图G1025的情况G712电流I总是G1186电刷B1流人G712G1186电刷B2流出G452所G1209G5415转子旋转时G712AG451X两G1022G4560体轮流交替G3332处G1122N极G2656S极下时G712G4560体G1025的电流G4570随G1866所处磁极极性的改变G13792同时改变方向G712G1186G13792使电磁转矩的方向始终保持不变G712使电动机持续旋转G452此时换向器G17227G2052G4570外电路的直流改变G1038线圈G1881交流的“G17882变”作用G452A11911A120A121A122A123A124A125直流电动机的电磁转矩常用下式表示TKTIA式G1025KT电动机G13479构系数；每G1022磁极下的磁通WB；IA电枢电流AG45214直流电机的励磁直流电机的主磁场G11013励磁线圈通人直流电流产生G712只G7389G5506G3423直流电机才采用永久磁铁G452励磁方式是G6363励磁线圈的供电方式G452直流电机的运行性G14033与励磁方式G7389密切的关系G452按励磁供电方式不同G712直流电机G2499G2010G1038他励G2656自励两G3835类G452141他励电机励磁他励电机的励磁电流G11013独G12447的直流电源供电G712G1866G3835小与电枢两端电压无A126A127关G712如图28A所示G712G7389G17751G3921的运行性G14033G452142自励电机励磁自励电机的励磁绕组与电枢绕组连接G712按连接方式不同又G2010G1038并励G451串励G451复励G989种G712如图所示G452A12812A129A130A131A132A133A134A135并励电机的励磁绕组与电枢绕组并联G712G3252G1866励磁电流受电机端电压波动的影响故G1866运行性G14033略次G1122他励式电机G452串励电机的励磁绕组与电枢绕组串联G712励磁电流与电枢电流相G12573G452G1866主磁场的强弱与负载电流G3835小G7389直接关系G712所G1209仅对电机G7389特殊性G14033要求时才采用G452复励电机的同G980磁极G7389两套励磁绕组G712G980套绕组与电枢绕组并联G6122G1866他电源供G13485G712G2490G980套绕组与电枢绕组串联G452本G7003重点放G3324直流电动机运行特性G2656应用上G45215直流电机的优越性直流电机是G7380G7101出现的电动机G712G1075是G7380G7101实现G16855速的电动机G452G11013G1122直流电机G1867G7389G14403G3921的线性G16855速特性G451控制简单G451效G10587高及优G5334的动G5589特性G712G19283G7411G1209G7481G980直G2356G6466G11540G16855速控制G20058G3507的统G8847G3332G1313G452G17829G5192G7481G712随G11540交流变G20069电机及无刷电机的G16855速控制G6228G7427的不G7041成G10099G712直流电机G8503面G1032G11540G5052G3835的G6373G6124G452G1306G3324G5468G3822G16855速控制场合G712直流电机G1185是G7380G1351选择G452G3A136A13716直流电动机应用G3324G4490用电器G1025的G12366G16855器G451电G1924G12677G451G20130G6171G451G8939G15927机G451G17317G8505机G12573应用直流电机已G13475G2325G2010G7234G17953G452G3324航G12366G451G1903G1119设施应用G20058G3507G18336的G19659G17810驱动G451机载G8506器G11608G1946驱动G451自行G9791G9858G9791G2159控制驱动G12573G12573G452G3324工G1006控制G20058G3507G712机器人关G14422驱动G2656自动生产线G451电子产G2709加工装G3803上的G2520种G1025小G2163G10587的驱动G12573G4522选题背景21问题的提出G1259所G2620G11705G712直流电动机全压G2563动时G712如G7536G8821G7389G19492流措施G712会产生G5468G3835的冲G1999电流G712G17837不仅对电动机换向不利G712对过载G14033G2159低的电G2159电子器件G7481说G712G7368是不G14033G1813G16780的G452采用转速负G2465G20316的G19393G10627G16855速系统G12373G9994加上G13485定电压时G712G11013G1122G5827性G712转速不G2499G14033G12447G2375G5326G12447G17227G7481G712G2465G20316电压G16760G1038G19658G712相G5415G1122G5058不G3822是G1866G12295G5589工作G1552的1KG1505G452G17837时G712G11013G1122放G3835器G2656变换器的G5827性G18129G5468小G712电枢电压UDG980下子就G17810G2052G4439的G7380高G1552G712对电机G7481说G712相G5415G1122全压G2563动G712G5415G9994是不G1813G16780的G452G2490外G712G7389G1135生产机械的电动机G2499G14033会G17947G2052G3593转的情况G712G1375如G712G11013G1122故G19568是机械G17736G15999G2357G1315G712G6122G6378G3315机运行时G11908G2052G3374G11840的G11719块G12573G12573G452G11013G1122G19393G10627系统G19757特性G5468G11840G712G14521无G19492流G10627G14422G712电流G4570G17840G17840G17241过G1813G16780G1552G452如G7536只G1393G19764过流G13499电器G6122G10088G7041器保G6264G712G980过载就G17351G19404G712G1075会G13485G8503常工作G5114G7481不G1427G45222解决方案G1038G1114G1038G1114解决G2465G20316G19393G10627G16855速系统G2563动G2656G3593转时电流过G3835的问题G712系统G1025G5529G20047G7389自动G19492制电枢电流的G10627G14422G452G7693G6466G2465G20316控制原理G712要G13512持G2750G980G1022G10301理量基本不变G712就应G16825G5353G1849G18039G1022G10301理量的负G2465G20316G452G18039G1052G712G5353G1849电流负G2465G20316G712就应G14033保持电流基本不变G712使G4439不G17241过G1813G16780G1552G452G9994G13792对G1122G13475常G8503G451G2465转运行的G16855速系统G712G1375如G21869G19388G2044G5214G451G2499G1332G17723G19062机G12573G712G4625量G13565G11713G17227G451制动工程的时G19400是提高生产效G10587的重要G3252G13044G452G1038此G712G3324电机G7380G3835G1813G16780电流G2656转矩受G19492制的G7477件下G712应G16825充G2010利用电机的过载G14033G2159G712G7380G3921是G3324过G9205过程G1025始终保持电流G708转矩G709G1038G1813G16780的G7380G3835G1552G712使电G2159拖动系统G1209G7380G3835的加速度G2563动G712G2052G17810G12295G5589转速时G712G12447G2375G16765电流G19489下G7481G712使G5483转矩G20544上与负载相G5191G15925G712G1186G13792转G1849G12295G5589运行G452A138A139如图所示A14021A141A142A143A144A145A146A147A148A149A150A151A152A153A144A154A1553系统总设计方案31设计思路题目要求设计G980G1022基G1122AVR的直流电动机G2464G19393G10627G16855速系统G452系统G2499G1209G2010G1038控制G18108G2010G451AD采样G18108G2010G2656显示G18108G2010G452设计G1025采用ATMEGA16单片机G1038主控制核心G712行列式键盘G1038控制G18108G2010G712利用ATMEGA16的自G5114的AD作G1038AD采样电路G712显示G18108G2010采用液晶1602显示G45232方案论证与设计321系统控制设计方案论证与选择方案G980采用DSP芯片G7481产生PWM信号G7481控制电机转动G712同时G2656单片机G13479合G7481实现PID算法G712实现实时控制G452方案二直接采用AVR单片机G11013软件产生脉宽G16855制信号G712G13475过PID算法G7481实现G19393G10627控制G452G11013G1122系统要求G8616G17751简单G712所G1209采用ATMEGA16单片机G7481对电机G17839行控制G452IDLNIDMNIDA156A157322电机控制电路的设计方案G980采用晶G19404管电动机控制系统G708VMG709G17839行控制G452方案二采用G999用电机控制集成芯片L298G7481控制电机转动G712G16825方案电路简单G712G2499G19764G452方案G989直接采用4G1022G989极管搭成桥式电路G7481控制电机的转动G452本设计采用方案二G712采用芯片L298方G1427G11840件设计G712减少G11840件G5114G7481G7368G3835的麻烦G452相对G1122VMG16855速G712PWMG16855速G7389G5468G3822优点G712G8616如PWM开关G20069G10587高G451电流容G7143连续G451谐波少G451低速性G14033G3921G451G12295速精度高G451G16855速G14551G3272宽G12573G452323键盘电路的设计G11013G1122系统要求控制G2163G14033少G712所G1209直接采用行列式键盘G17839行控制G452324显示电路的设计显示电路采用LCM1602显示G13479G7536G452325速度测量电路的设计速度测量采用光电编码器G17839行速度采集G712G13475过单片机G1025G7041G4570采样的数G6466换算G452326电流检测电路设计L298设G7389感应电流检测G5353脚1G2656G5353脚15G712G33241脚G2656G3332之G19400串G1849小G112205欧姆的电阻G712通过测量非G3332端电G1313G2375G2499计算出通过电阻电流G2375L298A路电流G452详见本G7003436G18108G2010G45233系统组成G13475过G8616G17751与论证G712G7380终确定的系统组成框图如下G712G1866G1025采用ATMEGA16G1038主控制芯片G712采用1602G17839行显示G712键盘控制电路G452系统控制G13479构如图31A158A159A16031A161A162A163A164A165A166A167A168A169A17034ATMEGA控制电路A16032AVRA171A172A173A174A175A176A160A158A17735电源及ISPA16033A173A178A179ISPA175A176A16036主要电路单元的设计361L298驱动接口AVR单片机ATMEGA16输出的脉宽G16855制PWM信号需G13475过G2163G10587放G3835才G14033驱动电机,本G16855速控制系统采用的是L298驱动芯片,驱动接口电路如图42所示G452L298G7389单极性G451G2464极性2种工作方式G452单极性工作方式G6363的是G3324G980G1022PWMG2620G7411G1881,电机的电枢只承受单极性的电压G2464极性工作方式是G6363G3324G980G1022PWMG2620G7411G1881电机电枢两端的电压呈G8503负变G2282G452G16855速控制系统采用的是单极性工作方式G452单片机的PWM输出G5353脚PD4G6122PD5接L298的ENAG2656ENBG5353脚,G4439控制G11540电机转速G3835小单片机的PD6G6122PD7G13475过G980定的逻辑电路接G2052L298的IN1IN4输G1849G5353脚上,G4439控制电机的转动方向G452G1038G1114增强L298的驱动G14033G2159,本G16855速控制系统对L298的两路驱动G17839行G1114并联使用,G7380G3835驱动G14033G2159G2499G1209G17810G20523AG452A180A181A18234L298A183A184A185A186A187A188A1823611控制逻辑A18235A185A189A190A191A192A193A182G5415电机使G14033端AG1038高电G5191时G712如G7536输G1849端M1DIRECTIONG5353脚G1038高电G5191G712G989极管G4560通G712输G1849G5353脚1G1038低电G5191G13792输G1849G5353脚2G1038高电G5191G712电机G2465转；如G7536输G1849端M1DIRECTIONG5353脚G1038低电G5191G712G989极管截止G712输G1849G5353脚2G1038低电G5191G13792输G1849G5353脚1G1038高电G5191G712电机G8503转；G5415电机使G14033端AG1038低电G5191时G712电机停止G452A194A195A1963612L298原理图A19736L298A198A199A197362显示电路设计显示G13485定的速度G2454数G2656G13475过PIDG16855速后G12295定的速度G2454数G4523621液晶模块接线图A197371602A200A201A197A194A195A19536221062接口说明A202381602A203A204A205A206A207A2083623基本操作时序363键盘电路设计3631行列式键盘电路A209A210A211A20239A212A213A214A215A216A217A2183632按键抖动按键G3324G19393合G2656G7041开时G712触点会存G3324抖动现象G452A219A220A221A222A223A224A225A226A2273633去抖方法G11840件方法设计G980G1022滤波延时电路G6122单G12295G5589电路G12573G11840件电路G7481避开按键的抖动时G19400G452软件方法G6363编制G980段时G19400G3835G112220MS的延时程序G712G3324第G980次检测G2052G7389键按下时G712执行G17837段延时子程序使键的前沿抖动消失后检测G16825键状G5589G712如G7536G16825键G1185保持G19393合状G5589电G5191G712则确G16760G16825键已G12295定按下G712否则无键按下G712G1186G13792消除G1114抖动的影响G452同理G712G3324检测G2052按键释放后G712G1075同样要延时G980段时G19400G712G1209消除后沿抖动G712G9994后转G1849对G16825按键的处理G452本设计采用软件方法G452364电机测速电路设计G1268感器接口电路用G1122对直流电机的输出量G17839行采样G712G1209实现G19393G10627控制G452转速信号通过与直流电机同G17736连接的增量式光电编码器输出的相G505890度相角的两路方波信号获取G452G3光电编码器接线电路如图G3A228A229A230G3A231A232A233A234A234A235A236A237A238365光电编码器的工作原理光电编码器G712是G980种通过光电转换G4570输出G17736上的机械几何G1313移量转换成脉冲G6122数G4395量的G1268感器G452G17837是目前应用G7380G3822的G1268感器G712G3光电编码器是G11013光栅盘G2656光电检测装置组成G452光栅盘是G3324G980定直径的圆板上G12573G2010G3332开通G14521干G1022G19283方形孔G452G11013G1122光电码盘与电动机同G17736G712电动机旋转时G712光栅盘与电动机同速旋转G712G13475G2469光二极管G12573电子元件组成的检测装置检测输出G14521干脉冲信号G712G1866原理示意图如图1所示；通过计算每秒光电编码器输出脉冲的G1022数就G14033G2465映G5415前电动机的转速G452此外G712G1038G2040G7041旋转方向G712码盘还G2499提供相G1313相G505890的两路脉冲信号G452G3G3G7693G6466检测原理G712编码器G2499G2010G1038光G4410式G451磁式G451感应式G2656电容式G452G7693G6466G1866刻度方法及信号输出形式G712G2499G2010G1038增量式G451绝对式G1209及混合式G989种G452G3G33651绝对式编码器绝对编码器是直接输出数G4395量的G1268感器G712G3324G4439的圆形码盘上沿径向G7389G14521干同心码道G712每G7477道上G11013透光G2656不透光的G6171形区相G19400组成G712相邻码道的G6171区数目是G2464G1505关系G712码盘上的码道数就是G4439的二G17839制数码的G1313数G712G3324码盘的G980侧是光源G712G2490G980侧对应每G980码道G7389G980光敏元件；G5415码盘处G1122不同G1313置时G712G2520光敏元件G7693G6466受光照与否转换出相应的电G5191信号G712形成二G17839制数G452G17837种编码器的特点是不要计数器G712G3324转G17736的任意G1313置G18129G2499G3读出G980G1022固定的与G1313置相对应的数G4395码G452显G9994G712码道越G3822G712G2010辨G10587就越高G712对G1122G980G1022G1867G7389G3NG1313二G17839制G2010辨G10587的编码器G712G1866码盘G5529G20047G7389NA239A240A241G7477码道G452目前国G1881已G738916G1313的绝对编码器产G2709G452G33652增量式编码器G3G3G3增量式光电编码器G3324圆盘上G7389规则G3332刻G7389透光G2656不透光的线G7477G712G3324圆盘两侧安放G2469光元件G2656光敏元件G452G5415圆盘随电机旋转时G712光敏元件接收的光通量随透光线G7477同G8505变G2282G712光敏元件输出波形G13475过整理后变G1038脉冲G452码盘上G7389相标志G712每转G980圈Z相输出G980G1022脉冲G452此外G712G1038G2040G7041旋转方向G712码盘还G2499提供相G1313相G505890度的两路脉冲信号G712如图49所示G452G3G3A242A243A244A245A246A247A248A249A250A251A252A253A2543653G3转速转向信号处理G3G4570AG451B两相脉冲G1025任何G980相输G1849计数器G1025G712均G2499使计数器G17839行计数G452编码盘输出Z相脉冲用G1122复G1313计数器G712每转G980圈复G1313G980次计数器G452G3编码盘的旋转方向G2499G1209通过D触G2469器的输出信号QG7481G2040G7041G452整形后的AG451B两相输出信号G2010别接G2052触G2469器的时钟端G2656D输G1849端G712D触G2469器的CLK端G3324A相脉冲的上升沿触G2469G452G11013G1122AG451B两相的脉冲相G1313相G505890度G712G5415电机G8503转时G708假设A相脉冲G17241前时G1038G8503转G712G2465之G1038G2465转G709G712A相脉冲G17241前B相脉冲90度G712触G2469器总是G3324B脉冲G1038高电G5191触G2469G712G17837时D触G2469器的输出端Q输出高电G5191G452如图410所示G452G5415电机G2465转时G712B相脉冲G17241前A相脉冲90度G712则D触G2469器总是G3324B脉冲G1038低电G5191时触G2469G712G17837时Q输出端输出G1038低电G5191G452G11013此确定电机的转动方向G452A255A3A0G3A1A52A2A4A52A59A5A6A7A8A9A10A11A12A1366电枢电流测量3661测量方法G3G3324L298的1脚G265615脚串接电阻G2499G2010别检测L298A路G2656B路电流G3835小G712G11013电路图G2499G11705电阻G980端接G3332只要测量G2490G980端电压G2375G2499算出电路电流G452本G7003直接采用AVR16自G5114的AD转换电路测量SEA端电压G452A13A14A15A16A17A69A18A19A20A72A21A22A23A24A21A25A26A27A28A29A30A133662AVR数模转换特点G3ATMEGA16G7389G980G102210G1313的G17892次逼G17829G3423ADCG452ADC与G980G10228通道的模拟G3822路复用器连接G712G14033对G7481自端口A的8路单端输G1849电压G17839行采样G452单端电压输G1849G12090VGNDG1038基G1946G452器件还支持16路G5058G2010电压输G1849组合G452两路G5058G2010输G1849ADC1G451ADC0与ADC3G451ADC2G7389G2499编程增益G13435G712G3324A/D转换前G13485G5058G2010输G1849电压提供A31A32A330DB1XG45120DB10XG612246DB200X的放G3835G13435G452七路G5058G2010模拟输G1849通道共享G980G1022通用负端ADC1,G13792G1866他任何ADC输G1849G2499做G1038G8503输G1849端G452如G7536使用1XG612210X增益G712G2499G5483G20528G1313G2010辨G10587G452如G7536使用200X增益G712G2499G5483G20527G1313G2010辨G10587G452ADCG2265G6336G980G1022采样保持电路G712G1209确保G3324转换过程G1025输G1849G2052ADC的电压保持恒定G452标称G1552G1038256V的基G1946电压G712G1209及AVCCG712G18129G1313G1122器件之G1881G452基G1946电压G2499G1209通过G3324AREFG5353脚上加G980G1022电容G17839行解耦G712G1209G7368G3921G3332抑制噪声G4524系统软件设计与实现软件编写主要G2265G6336PWM波形的产生G712电机转速的实时检测G451电机电枢电流实时测量G712PID控制算法G712键盘扫描G2656液晶显示程序G452G3如图程序框图的构成G712G5415程序G17839G1849“初始G2282”时G712开放外G18108G1025G7041G712G17839行电机转速计数G712G5415定时器定时1SG2052G17810时G712停止计时G2656G1025G7041外G18108G1025G7041G712转G1849计算G5415前转速G712G7693G6466G5415前转速与AVR单片机G13485定的转速G8616G17751G712采取PID算法的对直流电机G17839行G16855速控制G712G5415G17241过PWMG19492幅G15521024时G712返回PID算法程序再G17839行直流电机G16855速控制G712否则输出PWM信号G452G3G31控制总流程图G3A34A35A36A37A68A38A39A40A41A42A40A432转速G451电流G2464G19393G10627直流G16855速系统框图G3A43A44A45A46A81A47A82A48A42A49A50A51A53A42A54A47A55A56ASRA116A116A106A57A58A60A61ACRA116A116A62A63A58A60A61TGA116A116A119A57TAA116A116A62A63A64A119A65UPEA116A116A62A66A62A67A70A71A61UNA116A116A106A57A73A74A62A75A76A77A78UNA116A116A106A57A79A80A62A75UIA62A63A73A74A62A75UIA116A116A62A63A79A80A62A7541PWM软件设计脉冲宽度G16855制G708PWMG709是英G7003“PUG79SG72G3WG76G71G87G75G3MG82G71UG79G68G87G76G82G81”的G13565写G712简称脉宽G16855制G452G4439是利用G5506处理器的数G4395输出G7481对模拟电路G17839行控制的G980种非常G7389效的G6228G7427G712G5203G8879应用G1122测量G712通信G712G2163G10587控制与变换G12573G16780G3822G20058G3507G452G980种模拟控制方式G712G7693G6466相应载G14667的变G2282G7481G16855制晶体管栅极G6122基极的G1571置G712G7481实现开关G12295压电源输出晶G3体管G6122晶体管G4560通时G19400的改变G712G17837种方式G14033使电源的输出电压G3324工作G7477件变G2282时保持恒定G452G3脉冲宽度G16855制G708PWMG709是G980种对模拟信号电G5191G17839行数G4395编码的方法G452通过高G2010辨G10587计数器的使用G712方波的G2356G12366G8616G15999G16855制用G7481对G980G1022G1867体模拟信号的电G5191G17839行编码G452PWM信号G1185G9994是数G4395的G712G3252G1038G3324G13485定的任何时刻G712G9397幅G1552的直流供电要G1052G4448全G7389G11G50NG12G712要G1052G4448全无G11G50G41G41G12G452电压G6122电流源是G1209G980种通G11G50NG12G6122G7041G11G50G41G41G12的重复脉冲序列G15999加G2052模拟负载上去的G452通的时G1517G2375是直流供电G15999加G2052负载上的时G1517G712G7041的时G1517G2375是供电G15999G7041开的时G1517G452只要G5114宽G17287G3827G712任何模拟G1552G18129G2499G1209使用PWMG17839行编码G452G3G3822数负载G11无论是电感性负载还是电容性负载G12需要的G16855制G20069G10587高G112210G43G93G712通常G16855制G20069G10587G10381G78G43G93G2052200G78G43G93之G19400G452PWM的G2356G12366G8616决定输出G2052直流电机的G5191均电压G3PWM不是G16855G14422电流的PWM的意思是脉宽G16855G14422G15G1075就是G16855G14422方波高电G5191G2656低电G5191的时G19400G8616G15G980G102220G8G2356G12366G8616波形G15会G738920G8的高电G5191时G19400G2656G270G8的低电G5191时G19400G712G13792G980G102260G8G2356G12366G8616的波形则G1867G738960G8的高电G5191时G19400G265640G8的低电G5191时G19400G15G2356G12366G8616越G3835G15高电G5191时G19400越G19283G15则输出的脉冲幅度越高G15G2375电压越高如G7536G2356G12366G8616G10380G8G15G18039G1052高电G5191时G19400G10380G15则G8821G7389电压输出如G7536G2356G12366G8616G1038100G8G15G18039G1052输出全G18108电压G3G3所G1209通过G16855G14422G2356G12366G8616G15G2499G1209实现G16855G14422输出电压的目的G15G13792G1000输出电压G2499G1209无G13435连续G16855G14422G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G7084G161G709G3G1866G1025UD整流电压G3G3G3G3G3G3US电源电压G3G3G3G3G3G3TON开通时G19400T开关G2620G7411G3G3411产生PWM信号4种方法G311G2010G12447电子元件组成的PWM信号G2469生器G17837种方式是用G2010G12447的逻辑电子元件SONSONSOND12UTTUTTTUTTUA83A84A85组成PWM信号电路G15是G17751G7101采用的方法G15G2499G19764性G451G2499G16855性G17751G5058G30G3G312软件模拟式利用单片机的G980G1022I