毕业设计(论文)-数字电动伺服控制器的设计

XXXXXXX学院毕业设计说明书

数字电动伺服控制器的设计

Digital electric servo controller design

学生学号： 学生姓名： 专业班级： 指导教师： 职 称： 起止日期：

xxxxxxxxxxx 学 院

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数字电动伺服控制器的设计

摘 要

本设计课题来源于吉林大学工程机器人研究室，主旨是采用C8051F410单片机控制器实现对伺服电机系统的控制。根据控制器的要求，提出总体方案。控制器包括C8051F410单片机最小系统、AD620模拟量输出转换、RS-485接口、开关量输出信号处理、开关量输入信号处理、光电码盘四倍频鉴相及供电电路。

控制器采用C8051F410单片机最小系统作为主控单元，AD620模拟量输出转换电路将C8051F410单片机输出的电流转换成-10V~+10V的电压信号来控制伺服电机速度，RS-485接口电路是控制器与上位机进行双向数据通讯，开关量输出信号处理电路将来自C8051F410单片机最小系统I/O口输出的高低电平转换成光敏晶体管的导通或截止来控制伺服系统，开关量输入信号处理电路是将采集到的信号转换成C8051F410单片机最小系统I/O可以认知的信号，光电码盘四倍频鉴相电路将采集到的光电码盘信号进行转换进而送给C8051F410单片机最小系统I/O，供电电路为整个控制器供电。

控制器系统利用C语言编写了C8051F410单片机程序和PID控制算法，从而使控制器具有无超调，实时性和响应性好，定位精确，可靠性高，尺寸小，质量轻，成本低等特点。

关键词：伺服控制器；PID控制；C8051F410单片机：RS-485通讯

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Abstract

The design issues from Jilin University Engineering Robotics Laboratory, the subject realizes control servomotor control system from using C8051F410 MCU controller. According to the requirements ,controller puts forward the overall program. The controller includes a minimum system C8051F410 micro controller, AD620 analog output converter, RS-485 interface, the switch output signal processing, digital input signal processing, fourth harmonic phase optical encoder and power supply circuit.

C8051F410 MCU controller uses minimum system as the main control unit, By AD620 Analog output converter circuit , micro controller C8051F410 output current is converted to-10V ~ +10 V voltage signal to control the servo motor speed, RS485 interface circuit is the controller and PC bi-directional data communication, signal processing circuit switch output from minimum system C8051F410 MCU I / O port into high and low output phototransistor is turned on or off to control the servo system, Switch input signal processing circuit is the collected signals into C8051F410 micro controller minimum system I / O signals can be cognitive, Optical encoder four octave phase circuit will be collected Optical encoder signal is converted and then sent C8051F410 SCM minimum system I / O, power supply circuit for the entire controller.

The controller system uses C language 8051F410 MCU programs and PID control algorithm, so that the controller has no overshoot, timeliness and responsiveness is good, accurate positioning, high reliability, small size, light weight, and low cost. Key Words：servo controller; proportional integral differential(PID)control； C8051F410Single-chip microcomputer；RS-485Communications

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数字电动伺服控制器的设计

目 录

摘 要 ........................................................................................................................................... II Abstract ............................................................................................................................................. III 第1章 绪 论 .................................................................................................................................... 1

1.1课题在国内外的现状......................................................................................................... 1 1.2课题的目的和意义 ............................................................................................................. 2 1.3伺服系统的介绍 ................................................................................................................. 2

1.3.1伺服系统的基本要求 ............................................................................................. 2 1.3.2伺服系统的主要特点 ............................................................................................. 2 1.3.3伺服系统的分类 ..................................................................................................... 3

第2章 整体方案设计 ..................................................................................................................... 5

2.1课题的要求 ......................................................................................................................... 5 2.2课题设计的主要内容......................................................................................................... 5 2.3整体方案设计框图 ............................................................................................................. 5 第3章 硬件设计 ............................................................................................................................. 7

3.1总述 ...................................................................................................................................... 7 3.2 C8051F410单片机最小系统 ............................................................................................ 7

3.2.1 C8051F410单片机 ................................................................................................ 7 3.2.2 C8051F410单片机最小系统电路图 .................................................................... 8 3.3 RS-485通讯接口 ................................................................................................................ 9

3.3.1 MAX485的介绍 ..................................................................................................... 9 3.3.2 RS-485通讯接口电路 ......................................................................................... 10 3.4 AD620模拟量输出 ......................................................................................................... 11

3.4.1 AD620的介绍 ...................................................................................................... 11 3.4.2 AD620模拟量输出电路 ..................................................................................... 12 3.5开关量输入信号处理...................................................................................................... 13 3.5.1开关量输入接口 ········································································· 13 3.5.2光电隔离的器件光电耦合器简介 ···················································· 14 3.5.3开关量输入信号处理电路 ····························································· 15

3.6开关量输出信号处理...................................................................................................... 16

3.6.1开关量输出接口 .................................................................................................. 16 3.6.2开关量输出信号处理电路 .................................................................................. 16

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3.7光电码盘鉴相电路 .......................................................................................................... 16

3.7.1光电码盘的简介 .................................................................................................. 16 3.7.2光电码盘鉴相电路的设计原理及其电路图 ..................................................... 18 3.8供电电路的设计 .............................................................................................................. 20

3.8.1三端稳压集成电路的介绍 .................................................................................. 20 3.8.2供电电路 ............................................................................................................... 21

第四章 软件设计 .......................................................................................................................... 23

4.1软件设计要求 .................................................................................................................. 23 4.2主程序实现框图 .............................................................................................................. 23

4.2.1增量式PID控制算法 .......................................................................................... 23

第五章 开发环境 .......................................................................................................................... 27

5.1 KEIL软件 ........................................................................................................................ 27

5.1.1 KEIL软件简介 .................................................................................................... 27 5.1.2 KEIL软件使用步骤 ............................................................................................ 27 5.2 Altium Designer Summer 09软件 .................................................................................. 33 总 结 ......................................................................................................................................... 35 致 谢 ......................................................................................................................................... 36 参考文献 ......................................................................................................................................... 37 附 录 ......................................................................................................................................... 38

1附录表 .................................................................................................................................. 38

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