直流伺服电机调速系统(三闭环)

1摘要本设计以微型计算机8097为主控器，采用PID算法设计三环全数字式控制器。在本次设计中选择霍尔元件做为电流检测传感器，将检测到的弱电信号通过运算放大器LF356组成的两级放大电路放大滤波后，输入8097内部的A/D转换电路转换进而得到电流反馈量；光电脉冲发生器作为速度检测传感器以及位置传感器，通过光电隔离器PC900和GAL16V8的分频鉴相得到速反馈量，同时与8097内部的计数器和计数器8254结合以可逆计数方式得到位置反馈量；通过软件设置电流环、速度环和位置环的工作方式。此外，采用串口通信使伺服系统与上位微型计算机实现通信联系以发送各种运行指令，最终实现微型计算机对电流环、速度环和位置环的控制。关键词：微型计算机，8097，HIS，8254，PIDABSTRACTThisdesignadoptsthemicro-computer8097asthemaincomponent,andchoosesthePIDalgorithmtodesign.Hallelementasacurrentdetectionsensorwillgetweaksignalsinthedesign.ThentheweaksignalswillbeamplifiedandfilteredthroughtheamplifiercircuitwhichconstructedbyLF356,andimports8097-internalA/Dconvertercircuittoswitchsothatgetthefeedbacksignalofcurrent.Asspeeddetectionsensorsandpositionsensors,theopticalpulsegeneratorthroughtheopticalisolatorPC900andGAL16V8todivisionfrequencyandphaseinordertogetthefeedbacksignalofspeed.Combinedwiththe8097internalcounterandthecounter8254wecangetfeedbacksignalofpositionrelyingonreversiblecounting.Inthisdesign,weadoptsoftwaretosettheoperationmodeofcurrentloop,velocityloopandpositionloopwork.Inaddition,weusedtheserialcommunicationtosetupthecommunicationsbetweensystemanduppermonitorinordertosendavarietyofoperatinginstructions,andultimatelysystemachievedcontrolofthecurrentloop,velocityloopandpositionloop.KEYWORDS：Microcomputer，8097，HIS，8254，PID2目录摘要......................................................................................................................................1ABSTRACT...........................................................................................................................1第1章绪论..........................................................................................................................1第2章系统方案设计..........................................................................................................12.1设计要求..................................................................................................................12.2方案论证..................................................................................................................12.3方案选择..................................................................................................................3第3章系统硬件电路设计..................................................................................................33.1微型计算机8097.....................................................................................................33.1.18097的概述.................................................................................................33.1.2变T法速度检测.........................................................................................43.2输入输出通道设计..................................................................................................63.2.1电流反馈通道................................................................................................63.2.2转速反馈通道................................................................................................73.2.3位置反馈通道................................................................................................73.2.4伺服系统给定输入通道................................................................................83.3电源电路设计..........................................................................................................9第4章控制算法PID的设计...............................................................................................94.1电流环控制器设计..................................................................................................94.2速度环控制器设计................................................................................................104.3位置环控制器设计.................................................................................................114.4采样周期选择........................................................................................................124.5控制算式和运算流程图........................................................................................12第5章系统软件设计........................................................................................................13第6章总结........................................................................................................................15参考文献..............................................................................................................................16附录1:器件元件明细表.....................................................................................................17附录2:电路原理图.............................................................................................................171第1章绪论直流伺服电动机是近几十年来随着电力电子技术的迅速发展而发展起来的一种新型电动机。近些年来，直流伺服控制系统被广泛应用于工业生产，这已经成为自动化领域的一项重要课题。伺服系统在机械制造行业中占据着重要位置，是用得最多最广泛的控制系统[1]。直流伺服系统的主要优点是控制特性优良，能在很宽的范围内平滑调速，调速比大，起制动性能好，定位精度高。直流伺服电动机既有交流电动机的结构简单、运行可靠、维护方便等一系列优点，又具有直流电动机的运行效率高、调速性能好的特点，故在当今国民经济中直流伺服系统广泛应用于轧钢机及其辅助机械、造纸机、金属切割机床等众多自动控制中的各个领域[2]。伺服系统尤其在机械制造行业中占据着主导位置，同时也是应用的最为普遍的控制系统，到目前为止直流伺服仍占据着主要地位[3]。第2章系统方案设计2.1设计要求本次设计的主要对象是一个直流伺服系统，目的是为某生产机械设计一个调速性能好、起制动性能好、定位准确且定位过程无超调的直流伺服系统，且拟定该伺服系统由大功率晶体管脉宽调制放大器给电动机供电，控制