[优秀毕业设计精品]基于atmega8的pwm双闭环直流调速设计论文（含开题报告）

摘要本论文主要是对双闭环PWM直流调速系统的研究，实现对电动机的数字化控制。在设计中，对PWM直流调速的原理、双闭环直流调速原理和特点进行了全面阐述。为实现系统的微机数字化控制，采用了ATMEGA8作为整个控制系统的核心部分，配以显示、驱动、测量等模块，实现对电动机转速参数的显示和测量。硬件组成包括ATMEGA8单片微机、电流检测模块、转速检测模块、保护模块、键盘模块、显示模块、直流电机驱动模块等组成。在设计中，采用PWM调速方式，通过改变PWM的占空比从而改变电动机的电枢电压，为了提高控制系统的性能和可靠性，设计中，对电流环和转速环采用PID调节器。在软件实现中，本系统采用增量式PID控制算法来改变PWM的占空比，在硬件结构上采用了集成电路模块，G12628化了硬件电路，提高了系统的G12295G4462性和可靠性，G1363整个系统的性能G5483G2052提高。实现了直流电动机的实G7114数字PWM控制，G1867G7389控制方G1427、组G5589G12628单和G9801G8975性G3835等G1260点。G3关键词G726ATMEGA8单片机G727直流电机G727PWM调速G30G3双闭环G30G3PIDG3ABSTRACTTHISPAPERISMAINLYTOTHEDOUBLELOOPDCSPEEDCONTROLSYSTEMOFSTUDYPWM,TOACHIEVETHEDIGITALCONTROLOFDCMOTORINTHEDESIGN,THEPRINCIPLEOFTHEPWMDCMOTORSPEEDCONTROL,THEPRINCIPLEANDCHARACTERISTICSOFDOUBLECLOSEDLOOPDCSPEEDCONTROLAREANALYZEDCOMPREHENSIVELYEXPOUNDEDFORTHEREALIZATIONOFDIGITALCONTROLCOMPUTERSYSTEM,USINGTHEATMEGA8,ASTHECOREOFTHEWHOLECONTROLSYSTEM,TOGETHERWITHTHEDISPLAY,DRIVE,MEASUREMENTMODULES,TOACHIEVETHEMOTORSPEEDPARAMETERDISPLAYANDMEASUREMENTHARDWAREINCLUDESTHEATMEGA8SINGLECHIPMICROPROCESSOR,THECURRENTDETECTIONMODULE,SPEEDDETECTIONMODULE,PROTECTMODULE,KEYBOARDMODULE,THEDISPLAYMODULE,THEDRIVERMODULEOFDCMOTORANDOTHERCOMPONENTSINTHEDESIGN,USINGPWMCONTROLMODE,THROUGHCHANGINGTHEPWMDUTYCYCLETOCHANGETHEMOTORARMATUREIMPROVETHECONTROLPERFORMANCEANDRELIABILITYOFTHESYSTEM,THEDESIGNOFCURRENTLOOPANDROTATIONALSPEED,USINGPIDREGULATORINTHISSYSTEM,THESOFTWAREREALIZATIONOFINCREMENTALPIDCONTROLALGORITHMISADOPTEDTOREALIZEPIDPARAMETERSOFTHESYSTEMANDTHESOFTWAREPROGRAMMINGREALIZESPEEDCURRENTDIGITALPIDADJUSTEROPERATIONSANDGENERATEDIGITALPWMWAVESINTHESOFTWAREIMPLEMENTATION,THESYSTEMUSESTHEINCREMENTALPIDCONTROLALGORITHMTOCHANGETHEPWMDUTYCYCLEINTHEHARDWARESTRUCTUREOFINTEGRATEDCIRCUITSUSINGMODULES,GREATLYSIMPLIFIEDTHEHARDWARECIRCUIT,IMPROVETHESTABILITYANDRELIABILITYOFTHESYSTEM,THESYSTEMSPERFORMANCEIMPROVEDITREALIZESTHEREALTIMEDIGITALPWMMOTORCONTROL,WITHCONVENIENTCONTROL,SIMPLEANDFLEXIBLECONFIGURATIONADVANTAGESKEYWORDSATMEGA8MICROCONTROLLERDCMOTORPWMSPEEDREGULATORDOUBLECLOSEDLOOPPID目录1绪论A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A311课题的背景和意义A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A312课题研究的主要内容A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A42直流电机PWM调速原理和总体方案确定A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A421直流电机PWM调速原理A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A422PWM脉冲产生方式A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A523双闭环直流调速系统的介绍A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A6231双闭环直流调速系统的工作原理A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A6232双闭环调速系统的作用A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A7233数字双闭环直流调速系统A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A73系统总体方案分析与设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A831系统总体方案的分析A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A832系统总体方案的设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A84系统硬件电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A941ATMEGA8单片机最小系统A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A9411ATMEGA8的简介及特点A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A9412ATMEGA8单片机的最小系统的其他电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A342电源模块电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A443直流电机驱动模块设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A0431H桥驱动电路原理A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A0432直流电机驱动电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A044隔离模块电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A145键盘电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A746速度和电流检测模块电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A9461速度检测电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A3A9462电流检测电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A347转速显示电路模块设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A348串行通信模块电路设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A45电机控制策略的研究A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A051PID算法A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A052数字滤波算法A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A76系统软件设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A861主程序设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A862初始化程序设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A963中断服务子程序设计A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A4A97总结与展望A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A0A0参考文献A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A0A5附录A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A10A11A10A11A10A11A12A12A13A14A15A16A17A15A16A18英文资料A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A10A11A10A11A10A11A12A12A13A14A15A16A17A15A16A18中文译文A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A10A11A10A11A10A11A12A12A13A14A15A16A17A15A16A18致谢A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A2A10A11A10A11A10A11A12A12A13A14A15A16A17A15A16A181绪论11课题的背景和意义世界上最早电机原型就是永磁电机，当时永磁材料性能不良，而被电磁式电机占了主流。后来又发展到交流电动机，但交流电动机的调速要增加变频装置，比较复杂，20世纪60年代和80年代，稀土钴永磁和钕铁硼永磁（二者统称稀土永磁）相继问世，它们的高剩磁密度、高磁能积和线性退磁曲线的优异磁性能特别适合于制造电机，我国的稀土矿的储藏量居世界首位，目前正大力研究和推广应用以稀土永磁直流电机为代表的各种永磁直流电机，而使永磁直流电机的发展进入一个G7044的时G7411。直流电动机G18331用永磁G2181磁后，G7094G1457G11053了电G2181磁直流电动机良G3921的调速特性和机G7812特性，G17836G3252G11477G2447了G2181磁G13481G13464和G2181磁G6451G13803而G1867G7389G13479G7512G5049G14414G12628G2345、G1319积G4579、用G19120量G4581、G6940G10587高G12573特G9869。G3252而G1186G4490用电G3132、G1427G6670式电G4388G16786G3803、电动G5049G1867到要G8726G7389良G3921动G5589性能的G12946密速度和位置G1268动G13007统G18129大量应用永磁直流电动机。G2400G3G58以G991的G5506型直流电动机G1025，永磁直流电机占G282G8，而G200G3G58以G991的永磁直流电机占G28G28G8以上。永磁直流电动机G2533G13475G8994型和高性能型G1016个G7053G2533发展，应用G19766G1186G10621G1867电机、G19911G1699电机、G8785G17722G5506电机、电动G17730G7897到G5049G1006用G4579G2163G10587G20549动和G1294G7393G20549动G3，G3926G6980G6523机G5214用电机、电动G5049G1867G12573。G7424G16850G20076研究的G13007统适用于G2000G58以G991的永磁直流电机，G2499用于G4490用电G3132、G1427G6670式电G4388G16786G3803、电动G5049G1867和一G1135G5049G1006G6523制G1025的电机。G3G4557G17837G12879电机调速G13007统G18331用G5506机G4466G10628G6980G4395G2282G6523制，是电G8680G1268动发展的主要G7053G2533。G18331用G5506机G6523制后，G6984个调速G13007统G2499以G4466G10628G1852G6980G4395G2282，G13479G7512G12628G2345，G2499G19764性G6564高，G6817G1328G13512G6264G7053G1427，电机G12295G5589G17828G15904时的G12295速G12946度G2499以G17810到较高G8712G5191。G3324电力电G4388G6228G7427高速发展的时代，G2345G10267机G3324复杂G6523制G20058G3507G6210G9448G7509为G18337要的G16294G14406，G2345G10267机性能G2499G19764，G12255G5219G16786G16757G7053G1427G9801G8975，G6251G5190G6212能力G5390，G17828G15904G12295G4462。PG58M调速G13007统以其调速范围宽、G12946度高、响应速度快G12573优G9869成为当前主要G6523制G7053式。所以，G7424G16850G20076G18331用G2345G10267机G6523制的PG58M直流电机调速，G3324G4466际应用G1025，它较G3921的G4466G10628了G4557直流电机的速度G6523制，G1867G7389G6523制G12946度高、G12295G4462性G3921、响应速度快G12573优G9869。AVRG2345G10267机G1867G7389较高的性价比和G12295G4462性，将它应用于直流电机的PG58M调速，G1867G7389良G3921的性能和很高的G4466际应用价值。G3G7424G16850G20076G18331用ATMEGA8G2345G10267机G1328为主G6523制G3132，ATMEGA8G2345G10267机内部G7389PG58M和AD转换通，就G2499以不用G3324外围再G16786置A/D转换G3132，硬件G13479G7512和G6523制大大G12628G2282，G2499以G4466G10628较复杂的G6523制，G2345G10267机G7389更G5390的逻辑G2163能，G17828算速度和G12946度高、G7389大容量的存储G2345元，G3252此G7389能力G4466G10628复杂的G6523制,；G7424G16850G20076G18331用软件代替G1268统的模拟电路G4466G10628电流环和转速环的PID调节，不会出G10628模拟电路G1025G13475常遇到的零G9869漂移问G20076，无论被G6523量的大G4579，G18129G2499以G1457证足够的G6523制G12946度；与模拟直流调速G13007统相比，G6523制算法易于改进、G12255G5219易于移植、G6523制G12946度高、调速范围宽、静差G10587G4579、G2163G10587G3252G6980高G12573优G9869。G2345G10267机的G6523制G7053式是由软件完成的，G3926果需要修改G6523制规律，一般不必改变G13007统的硬件电路，只需修改G12255G5219即G2499，G3324G13007统调试和升级时，G2499以不断尝试选择最优参G6980，非常G7053G1427；G3G7424G13007统G17836G2499以增加了通信模块，G2499G6564供人机界G19766，多机联网G5049G1328G12573，G4466G10628G4466时监G6523和调制,G4466G10628了G1852G6980G4395G2282G6523制，G13007统G13479G7512G12628G2345，性能良G3921。G3永磁直流电机G6523制是AVRG2345G10267机应用的主要G20058G3507，随着社会的发展以及G4557电机G6523制的要G8726日益G6564高，AVRG2345G10267机将G3324电机G6523制G20058G3507G1025发挥越来越G18337要的G1328用。G312课题研究的主要内容G7424G16850G20076主要研究PG58M直流调速的原理，以稀土永磁直流电机为研究G4557象，通过ATMEGA8G2345G10267机G6523制PG58M来调速，主要介绍了该G13007统的硬件以及软件G1867G1319G16786G16757，硬件主要G7389G6523制G3132，电机G20549动，转速和电流检测，键盘和转速显示G12573，用键盘输入给G4462转速和G7389关G6523制信号及参G6980，G2499以G4466G10628电机的启制动、正反转、速度和电流调节,G3并用LG40DG6980G11733G12661G4466时显示动G5589转速，由软件G13546G12255G4466G10628转速电流G6980G4395PID调节G3132的G17828算并G1147G10995G6980G4395PG58MG8886，改变PG58M的占G12366比来调节电机的转速，以及G4557G6980G4395算法G9400G8886的研究。G1186而G7512成了一个比较完G6984G7389G6940的G2464G19393环直流电动机调速G6523制G13007统。G3G32直流电机PWM调速原理和总体方案确定21直流电机PWM调速原理改变电G2399的G7053法很多，最常G16277的一G4462是PG58MG14045宽调制，调节电机的输入占G12366比就G2499以G6523制电机的G5191G3355电G2399，G6523制转速。G3G3直流电机转速表G17810式为G726KIRUNG3式G1025G726G56G252电G7542G12483电G2399；IG252电G7542电流；RG252电G7542电路G5647G19471；G252G8611G7509磁通量；G46G252电机G13479G7512参G6980。G3G4557直流电机的转速G6523制G7053法G2499G2010为G4557G2181磁磁通进G15904G6523制的G2181磁G6523制法和G4557电G7542电G2399进G15904G6523制的电G7542G6523制G7053法。目前G13489大多G6980直流电机G18331用G5332关G20549动G7053式，它是使G2334G4560G1319G2163G10587G3132件G5049G1328G3324G5332关G10378G5589，通过G14045宽调制PG58M来G6523制电机电G7542电G2399，G4466G10628调速。PG58MG11PG88G79G86EG3G58G76G71G87G75G3MG82G71G88G79AG87G76G82G81G12G252G14045G1926宽度调制G6228G7427通过G4557一G13007G2027G6980G4395G14045G1926的宽度进G15904调制,G3324G14045G1926G1328用G991,当电机通电时速度加快,断电时速度G17892G9188变G5942,只要G6365一G4462规律改变通断电的时G19400,即G2499G4557电机的转速G6523制，G4466G10628直流电机调速G6980G4395G22821G17G3G4557G4579G2163G10587直流电机调速G13007统，使用G2345G10267机是G7509为G7053G1427的，其G7053法是通过改变电机电G7542电G2399G6521通时G19400与通电G2620G7411的比值（即占G12366比）来G6523制电机速度，G17837种G7053法称为G14045G1926宽度调制PG58M,通过G6523制G14045G1926占G12366比来改变电机的电G7542电G2399G17G3改变占G12366比的G7053法G7389G22种2G726G3（G20）G4462宽调频法，G17837种G7053法是G1457G6357G87G20不变，只改变G872，G17837G7691G1075使G2620G7411T（G6122频G10587）G1075随G1055改变；G3（2）调宽调频法，G1457G6357G872不变，而改变G87G20，G17837G7691G1075使G2620G7411T（G6122频G10587）改变；（G22）G4462频调宽法，G17837种G7053法是使G2620G7411T（G6122频G10587）不变，而G2528时改变G87G20和G872。G3由于前G1016种G7053法G18129改变了G2620G7411（G6122频G10587），当G6523制频G10587与G13007统的G3278G7389频G10587G6521G17829时，将会G5353G17227G6403G14645，用的比较G4581，G3252此G7424G13007统用的是G4462频调宽法，只要G6365一G4462规律，改变通断电时G19400，即G2499G4466G10628G4557电机的转速G6523制。电机PG58MG6523制示G5859G3282G3926G3282G32G16G20G3DVAMOTORSERVOQ1USLG3A19A20A21A22A23A24A25A26A27A28A29A19电动机G1016G12483G5483到的电G2399G8886G5430G3926G32822G162所示的电G2399G5191G3355值AVUG2499用G991式表示为G3AVUG32G87G82G81/TG104G56G86G32SUG3式G1025G3G87G82G81G5332关G8611G8437G6521通的时G19400G3TG5332关通断的时G19400G2620G7411G3G3G162占G12366比G3G162G32G87G82G81/T0G3PG58MG6523制G8886G5430G32822G162G3A19A20A21A20A23A24A25A26A27A30A31A1922PWM脉冲产生方式PG58MG14045G1926G8886的G1147G10995G7053法G7389G3247种3G726G3G20）G2010G12447电G4388元件G13464成的PG58M信号发G10995G3132G17837种G7053法是用G2010G12447的逻辑电G4388元件G13464成PG58M信号电路。它是最早G7411的G7053式，G10628G3324G5062G13475被G9132G8772了。G32）软件模拟法G3G2045用G2345G10267机的一个I/G50G5353G14062，通过软件G4557该G5353G14062不断G3332输出高G1314电G5191来G4466G10628PG3G58G3MG8886输出。G17837种G7053法要占用G38PG56大量时G19400，使G2345G10267机无法进G15904其它的G5049G1328，G3252此G1075G17892G9188被G9132G8772。G3G22）G999用PG58MG19610成电路G3G1186PG58MG6523制G6228G7427出G10628G1055日G17227，就G7389G14467G10267制造G2842G10995G1147G999用的PG58MG19610成电路G14467G10267。G10628G3324G5078G3342上G5062G13475G7389很多种型号，G3926TIG1856G2508的TLG23G28G23G14467G10267。G1008G14449G1856G2508的2G54G46G22G20G22G20G14467G10267G12573。G17837G1135G14467G10267G19512了G7389PG58M信号发G10995G2163能外，G17836G7389G256G8527G2318G257调节G2163能、过流过G2399G1457G6264G2163能G12573，G17837种G999用PG58MG19610成电路G2499以G1955G17743G2345G10267机的G17139G6297，G5049G1328更G2499G19764。G3G23）G2345G10267机的PG58MG2487G3G7044一代的G2345G10267机增加了G16780多G2163能，其G1025G2265G6336PG58MG2163能。G3926ADG1856G2508的G202位G2345G10267机ADG173G388G22G20，IG81G87EG85G1856G2508的G206位G2345G10267机8G59G38G20G286以及G38G92GG81AG79G1856G2508的8位G2345G10267机G3880G24G20G41G50G59G59G13007G2027G12573。G3324G7044一代的G2345G10267机G1025，通过G2033G3999G2282G16786置，使其PG58M输出G2487能够G14270动发出PG58MG14045G1926G8886，只G7389G3324改变占G12366比时，G38PG56G6177进G15904G5190G20056。G3G3G7424G13007统G18331用ATMEGA8的内部G4462时/G16757G6980G3132G1147G10995PG58MG8886，ATMEGA8G2345G10267机G7389G22个PG58M输出通G17959，G7424G13007统G18331用G4462时G3132/G16757G6980G3132G20的相位频G10587G2499调PG58M模式，G3G50G38G20A/G50G38G20G37输出的PG58MG8886G5430的频G10587输出由G991式G11842G4462，式G1025G49的G2474值为G20、8、6G23、2G246G6122G2002G23。TOPNFFOICLKAPFCPWMOC2/_1通过G16786置G50G38RG20A/G50G38RG20G37的值，G2499以G14731G5483不G2528占G12366比的G14045G1926G8886G5430，G7424G13007统PID输出的G6523制电G2399UKG4557应G3G50G38RG20A/G50G38RG20G37的值，来G4466G10628G6980G4395调速。G323双闭环直流调速系统的介绍直流电机G2464G19393环（电流环、转速环）调速G13007统是一种当前应用广G8879，G13475G8994，适用的电力G1268动G13007统。G18331用转速G17139反G20316和PI调节G3132的G2345G19393环调速G13007统G2499以G3324G1457证G13007统G12295G4462的条件G991G4466G10628转速无静差。但G3926果G4557G13007统的动G5589性能要G8726较高，例G3926要G8726G17227制动、突加G17139载动G5589速降G4579G12573G12573，G2345G19393环G13007统就难以满足要G8726。G3324G2345G19393环G13007统G1025，只G7389电流截至G17139反G20316环节是G999门用来G6523制电流的。但它只是G3324超过临界电流值以后，G5390烈的G17139反G20316G1328用限制电流G5483G1926击，并不能很理想的G6523制电流的动G5589G8886G5430。G3324G4466际G5049G1328G1025,我们希望G3324电机最大电流受限的条件G991，充G2010G2045用电机的允G16780过载能力，最G3921是G3324过度过G12255G1025G3999终G1457G6357电流（转矩）为允G16780最大值，使电力拖动G13007统尽G2499能用最大的加速度G17227动，到G17810G12295G4462转速后，又让电流G12447即降G991来，使转矩马上与G17139载相G5191衡，G1186而转入G12295G5589G17828G15904。G4466际上，由于主电路电感的G1328用，电流不能突跳，为了G4466G10628G3324允G16780条件G991最快启动，关键是要G14731G5483一段使电流G1457G6357为最大值G5483恒流过G12255，G6365照反G20316G6523制规律，电流G17139反G20316就能G5483到G17829似的恒流过G12255。G3252此我们G18331用G2464G19393环调速G13007统。G17837G7691就能做到G7094存G3324转速和电流G1016种G17139反G20316G1328用又能使它们G1328用不G2528的阶段。G3G3231双闭环直流调速系统的工作原理G3324转速、电流G2464G19393环调速G13007统G1025，G7094要G6523制转速，G4466G10628转速无静差调节，又要G6523制电流使G13007统G3324充G2010G2045用电动机过载能力的条件G991G14731G5483最佳过渡过G12255，其关键是处理G3921转速G6523制与电流G6523制G1055G19400的关G13007，就是将二者G2010G5332，用转速调节G3132AG54R调节转速，用电流调节G3132AG38R调节电流。AG54R与AG38RG1055G19400G4466G10628串级联G6521，即以AG54R的输出电G2399UIG1328为电流调节G3132的电流给G4462信号，再用AG38R的输出电G2399UCG1328为晶闸G12661触发电路的移相G6523制电G2399。G1186G2464G19393环反G20316的G13479G7512看，转速环G3324外G19766为外环，电流环G3324里G19766为内环4。其G13007统原理G3282G3926G3282G20所示。G3A32A33A34A35A36A37A38A39A40A41A42A43A44A40A45A37A46A47A48A49A50A34A34A34A36A37A45A51A52A48A53A50A34A34A34A39A40A45A51A52A54A55A34A34A34A56A37A57A39A58A54A48A34A34A34A39A40A59A60A52A61A62A63A34A34A34A39A64A39A65A66A67A52A61A68A69A34A34A34A36A37A70A71A39A72A61A68A34A34A34A36A37A73A74A39A72IUA69A34A34A34A39A40A70A71A39A72IUA34A34A34A39A40A73A74A39A72先说明G2464G19393环调速G13007统启动过G12255的速度和电流的变G2282。G3G3324启动瞬G19400，速度和电流为0，合电后，速度调节G3132和电流调节G3132的比例项G12447即G1328用，输出电流很快上升，电动机G5332G3999启动，但速度变G2282比较缓G5942。速度调节G3132的输入为速度G16786G4462值和速度G4466际值的差，G13475过调节G3132积G2010项的G1328用，速度调节G3132的输出很快进入饱和，其饱和值由速度调节G3132的输出限幅值G11842G4462。由于速度调节G3132的输出为电流G16786G4462值，G3252而速度调节G3132的输出限幅决G4462了启动过G12255G1025的电流最大值。当电流上升到最大值后，由于速度调节G3132的输出受限幅环节的影响，电流G16786G4462值不再变G2282，相当于电流G2345G19393环G6523制，电动机以恒G4462电流加速，速度增加，直到电动机速度G17810到G16786G4462转速，速度调节G3132的输入将变G17139，速度调节G3132G5332G3999退饱和，它的输出变G4579，即电流G16786G4462值变G4579。但是，只要电动机电G7542电流比G17139载G12573值电流大，电动机仍将继续加速，直至电动机的电G7542电流和G17139载G12573值电流相G12573，加速G6177停止。G1055后电动机的电流和速度再G13475历一段调节过G12255，G13007统G12295G4462G3324速度G16786G12295G4462值G17828G15904，电流则和G17139载电流G5191衡，启动过G12255G13479束4。G3G12295G4462G10378G5589G991电流转速环的调节过G12255G3926G991G726G3G20G3以电流调节G3132AG38R为核心的电流环G3电流环是电流调节G3132AG38R和电流反G20316环节G13464成的G19393合回路，由于AG38R是PI调节G3132，G12295G5589时其输入偏差电G23990DIIIIIUUUUG3，即G3/IDUIG3。其G1025G3为电流反G20316G13007G6980。G3当IU一G4462时，由于电流反G20316的调节G1328用，使G6984流装置的输出电流G1457G6357G3324G3/IUG3G6980值上。当G3/IDUI时，G14270动调节过G12255为G3DDDIIIUUIUUIDG3最终G1457G6357电流G12295G4462。当电流G991降时，G1075G7389G12879似的调节过G12255。G32以转速调节G3132AG54R为核心的转速环G3G3G3转速环是由转速调节G3132AG54R和转速反G20316环节G13464成的G19393合回路，由于AG54R是PI调节G3132，所及G3324G13007统G17810到G12295G5589时应满足0NUUNN，即/NUNG3当NU一G4462时，转速G81将G12295G4462G3324G3/NUG6980值上。当/NUN0A207A198A199PIDA208A195A209A210A211PIDA208A195A212A213A214,A215A216A207AA217A218A219A220A221A222A223A0AA224A225AA207UKA218A226A227A228A212A213A214A218A226A227A228A224A225A223A207AA224A225A223A207A0A207ANYNYYYNNA229A198A199A230A231A223A176A177A178A179A232A193A233A234A235A190A191A192A193A191A176A176A177A178A236A237A238A233A234A235A190A191A192A193A191A176G3G3A176A177A178A177A181A239A240A241A242A193A191A1767总结与展望G3324完成G7424G8437毕G1006G16786G16757的过G12255G1025，通过G4557G6523制电路、G20549动电路、G1457G6264电路G12573G16786G16757，我了G16311了PG58MG2464G19393环直流调速的G1852过G12255，通过查阅