【正文】 I 摘 要 半個(gè)世紀(jì)來，直流伺服控制系統(tǒng)己經(jīng)在精密數(shù)控機(jī)床、加工中心、機(jī)器人等領(lǐng)域得到了廣泛的應(yīng)用。隨著伺服電動(dòng)機(jī)技術(shù)、電力電子技術(shù)、計(jì)算機(jī)控制技術(shù)的發(fā)展，使得伺服控制系統(tǒng)朝著控制電路數(shù)字化和功率器件的模塊化的方向發(fā)展。 本文介紹了微機(jī)直流伺服系統(tǒng)的硬件、軟件設(shè)計(jì)方案。硬件設(shè)計(jì)主要包括 :總體方 案設(shè)計(jì)、單片機(jī)應(yīng)用系統(tǒng)設(shè)計(jì)、驅(qū)動(dòng)電路設(shè)計(jì)和測(cè)量電路設(shè)計(jì)。單片機(jī) 用系統(tǒng)采用了基于總線的模塊式單片機(jī)通用開發(fā)設(shè)計(jì)方案，配置靈活，可根據(jù)需要組合成各種應(yīng)用系統(tǒng)。功率驅(qū)動(dòng)采用 PWM 伺服生成 模塊，使系統(tǒng)具有結(jié)構(gòu)簡潔、性能可靠的特點(diǎn) ，可以滿足不同結(jié)構(gòu)的直流伺服控制系統(tǒng)的設(shè)計(jì)要求。軟件 編制采用模塊化的設(shè)計(jì)方式，主要包括主程序設(shè)計(jì) 、 T0 中斷服務(wù) (采樣定時(shí)控制 )程序及數(shù)字控制算法程序的設(shè)計(jì)。 通過系統(tǒng)的整體設(shè)計(jì)，完成了系統(tǒng)的基本要求，系統(tǒng)可以穩(wěn)定的運(yùn)行。 關(guān)鍵詞 ： 位置 伺服系統(tǒng)；直流電機(jī)； 單片機(jī) II High Precision Position Servo Microputer Control System Design Abstract For a half of century， the DC servo control system has been widely used in the NC machine tool， machining center， and robot… ， etc. With the technical development of servo motor， electronies Power and puter control， the servo control system is making towards digitized and modular design. This paper introduces the hardware， software design plan of DC servo control system on microputer. The hardware designed includes mainly: the total project design， singlechip puter application system design， drive circuit design and measure circuit design. The singlechip puter system is a versatile module singlechip puter developing system， It can make up various kinds of application systems according to your need. The power drives adopts the PWM produce modular， and also meets the designing requirement of the DC servo control system in different structure. The sotfware a dots modular design， includes primarily the main procedure design, the service procedure of T0 break off and increases the design of the deal type arithmetic figure PID calculation way procedure. Through the integral design of the system, the pletion of the basic requirements of the system, the system can stable operation Keywords: Position servo system； Dc motor。 microcontroller III 目 錄 第一章緒論 ........................................................................................................................... 1 課題研究的目的和意義 ............................................................................................. 1 國內(nèi)外研究現(xiàn)狀以及發(fā)展趨勢(shì) ................................................................................. 2 設(shè)計(jì)要求及參數(shù) ......................................................................................................... 4 第二章 系統(tǒng)總體方案設(shè)計(jì) ................................................................................................. 6 系統(tǒng)控制方案的選擇 ................................................................................................. 6 直流伺服電機(jī)的數(shù)學(xué)模型 ......................................................................................... 6 控制器的設(shè)計(jì) ............................................................................................................. 8 電流調(diào)節(jié)器的設(shè)計(jì) ........................................................................................... 8 轉(zhuǎn)速調(diào)節(jié)器的設(shè)計(jì) ........................................................................................... 9 位置控制器設(shè)計(jì) ......................................................................................................... 9 第三章 系統(tǒng)硬件設(shè)計(jì) ....................................................................................................... 11 3． 1 控制單元電路設(shè)計(jì) ................................................................................................ 11 引腳特性 ......................................................................................................... 12 時(shí)鐘電路設(shè)計(jì) ................................................................................................ 13 復(fù)位電路設(shè)計(jì) ................................................................................................ 14 信號(hào)檢測(cè)電路設(shè)計(jì) ................................................................................................... 14 位置轉(zhuǎn)速檢測(cè)電路 ........................................................................................ 14 電流檢測(cè)電路的設(shè)計(jì) ..................................................................................... 15 控制電路設(shè)計(jì) ........................................................................................................... 16 運(yùn)動(dòng)控制 電路設(shè)計(jì) ......................................................................................... 16 電機(jī)驅(qū)動(dòng)電路的設(shè)計(jì) ..................................................................................... 17 顯示電路的設(shè)計(jì) ....................................................................................................... 18 按鍵電路的設(shè)計(jì) ....................................................................................................... 20 電源電路的設(shè)計(jì) ....................................................................................................... 21 第四章 系統(tǒng)軟件設(shè)計(jì) ....................................................................................................... 22 總體設(shè)計(jì)思想 ........................................................................................................... 22 系統(tǒng)的工作過程 ............................................................................................. 22 程序設(shè)計(jì)方法選擇 ........................................................................................ 22 程序設(shè)計(jì)語言的選擇 .................................................................................. 22 IV 主程序設(shè)計(jì) ............................................................................................................... 24 數(shù)據(jù)采集（轉(zhuǎn)速檢測(cè)）子程序的設(shè)計(jì) ................................................................... 25 外部中斷 0 服務(wù)程序 .................................................................................... 25 定時(shí)器 0 中斷服務(wù)程序 ................................................................................. 25 外部中斷 1 服務(wù)程序 ..................................................................................... 26 PI 算法子程序設(shè)計(jì) ................................................................................................... 26 總 結(jié) ................................................................................