[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：a71a68a70a115a102a105a107a115a47a49a50a115a11a12a4a3a23a24AVR-baseddual-loopDCmotorspeedregulationsystemAbstract:Invariousmechanicalandelectricalsystems,duetoDCmotorhasagoodstart,brakingandspeedcontrolperformanceofDCdrivetechnologyhasbeenwidelyusedinindustry,allaspectsofthefieldofaerospace.Themostcommonlyusedtechniqueispulse-widthmodulatedDCspeed(PWM)DCconvertertechnology,whichhasspeed,highprecision,fastresponse,widespeedrangeandlowandthewearandtear.ThispaperpresentsaPWMgeneratedbytheAVRmicrocontrollerATmega16signal,L298-driven,thedeterminantofthekeyboardcontrolandLCDdisplay,andtotakespeed,thecurrentdual-loopPIDalgorithmtoDCmotorspeedcontrolofDCmotorPWMspeedcontrolsystem.Keywords:AVRa113Double-loopa113PWMa113DCMotorSpeedControl目录1绪论.11.1绪论.11.2直流电动机简介.11.3直流电机工作原理.21.4直流电机的励磁.21.4.1他励电机励磁.21.4.2自励电机励磁.31.5直流电机的优越性.31.6直流电动机应用.42选题背景.42.1问题的提出.42.2解决方案.43系统总设计方案.53.1设计思路.53.2方案论证与设计.53.2.1系统控制设计方案论证与选择.53.2.2电机控制电路的设计.63.2.3键盘电路的设计.63.2.4显示电路的设计.63.2.5速度测量电路的设计.63.2.6电流检测电路设计.63.3系统组成：.63.4ATMEGA控制电路.73.5电源及ISP.83.6主要电路单元的设计.83.6.1L298驱动接口.83.6.1.1.控制逻辑.93.6.1.2.L298原理图.103.6.2显示电路设计.103.6.2.1.液晶模块接线图.103.6.2.2.1062接口说明.113.6.2.3.基本操作时序.113.6.3键盘电路设计.113.6.3.1.行列式键盘电路.113.6.3.2.按键抖动.123.6.3.3.去抖方法.123.6.4电机测速电路设计.123.6.5光电编码器的工作原理：.133.6.5.1.绝对式编码器.133.6.5.2.增量式编码器.143.6.5.3.转速转向信号处理.143.6.6电枢电流测量.153.6.6.1.测量方法.153.6.6.2.AVR数模转换特点.154系统软件设计与实现.164.1PWM软件设计.184.1.1产生PWM信号4种方法.184.1.2AVR单片机输出PWM的程序.194.2转向与速度检测.194.2.1测速原理.194.2.2脉冲数g4395g708P/Dg709转换方法.204.2.3M/T法测速软件设计.204.2.4M/T法数g4395测速软件图.214.2.5转向的g2040g7041.234.3电流检测原理.234.3.1AD转换程序.234.4g16855g14422器的设计.244.4.1电流g16855g14422器的设计.244.4.2转速g16855g14422器的设计.274.5PID程序流程图：.295系统g16855g16809g13479g7536.306总g13479.31g14280g16886.32g2454g13783g7003g10498.33a114a116-基于AVR的直流电动机双闭环调速系统g999g1006g10689g13435：06自动g2282g4007g2529：g5364g7118g4465g6363g4560g6957g5084：g4437g4443g2115g6957g64921绪论1.1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g4521.2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g452a117a118-1.3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g452a1191.1a120a121a122a123a124a125直流电动机的电磁转矩常用下式表示T=KTIa式g1025KT电动机g13479构系数；每g1022磁极下的磁通(wb)；Ia电枢电流(A)g4521.4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g4521.4.1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g14033g4521.4.2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g452a1281.2a129a130a131a132a133a134a135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g13485)g712g2490g980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g4521.5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g452g3a136a137-1.6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2.1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1+Kg1505g452g17837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g1427g4522.2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a1402.1a141a142a143a144a145a146a147a148a149a150a151a152a153a144a154a1553系统总设计方案3.1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g4523.2方案论证与设计3.2.1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g452IdlnIdmnIda156a157-3.2.2电机控制电路的设计方案g980：采用晶g19404管电动机控制系统g708V-Mg709g17839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g12573g4523.2.3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g4523.2.4显示电路的设计显示电路采用LCM1602显示g13479g7536g4523.2.5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g4523.2.6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g11220.5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g70034.3.6g18108g2010g4523.3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3.1：a158a159-a1603.1a161a162a163a164a165a166a167a168a169a1703.4ATMEGA控制电路a1603.2avra171a172a173a174a175a176a160a158a177-3.5电源及ISPa1603.3a173a178a179ISPa175a176a1603.6主要电路单元的设计3.6.1L298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4.2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g14033g2159g2499g1209g17810g20523Ag452a180a181-a1823.4L298a183a184a185a186a187a188a1823.6.1.1.控制逻辑a1823.5a185a189a190a191a192a193a182g5415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g452a194a195a196-3.6.1.2.L298原理图a1973.6L298a198a199a1973.6.2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g4523.6.2.1.液晶模块接线图a1973.71602a200a201a197a194a195a195-3.6.2.2.1062接口说明a2023.81602a203a204a205a206a207a2083.6.2.3.基本操作时序3.6.3键盘电路设计3.6.3.1.行列式键盘电路a209a210a211-a2023.9a212a213a214a215a216a217a2183.6.3.2.按键抖动按键g3324g19393合g2656g7041开时g712触点会存g3324抖动现象g452a219a220a221a222a223a224a225a226a2273.6.3.3.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g4523.6.4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g3a228a229a230-g3a231a232a233a234a234a235a236a237a2383.6.5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