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1苏州大学电子信息学院自动控制原理项目设计报告项目名称：直流电机控制的角位移控制系统班级：姓名：指导老师：学号：日期：联系方式：2目录一、设计题目...........................................................................................................................51.1设计要求.........................................................................................................51.2项目分析.........................................................................................................5二、系统方案...........................................................................................................................62.1方案选择..........................................................................................................6三、系统硬件选择........................................................................................................73.1直流电机.........................................................................................................73.2主控制芯片方案的选择..................................................................................83.3显示模块的选择..............................................................................................83.4电机的驱动模块的选择..................................................................................93.5稳压模块的选择..............................................................................................93.6光栅................................................................................................................103.7光电传感器....................................................................................................10四、算法设计........................................................................................................................104.1PID与PWM算法............................................................................................104.2数字PID参数的确定...................................................................................13五、硬件电路设计与实现.................................................................................................145.1单片机最小系统............................................................................................145.2系统显示模块................................................................................................155.3直流电机驱动模块和稳压模块...................................................................155.4直流电机测速模块.......................................................................................165.5总体电路设计................................................................................................16六、系统软件设计...............................................................................................................166.1软件流程图...................................................................................................166.2软件(见附录)...............................................................................................18七、性能指标........................................................................................................................187.1误差分析........................................................................................................18八、心得体会........................................................................................................................19九、附录.................................................................................................................................193摘要自动控制技术是20世纪发展最快、影响最大的技术之一，也是21世纪最重要的高技术之一。今天，技术、生产、军事、管理、生活等各个领域，都离不开自动控制技术。就定义而言，自动控制技术是控制论的技术实现应用，是通过具有一定控制功能的自动控制系统，来完成某种控制任务，保证某个过程按照预想进行，或者实现某个预设的目标。随着计算机技术的发展，控制技术走向了自动化的方向。随着计算机技术的日渐成熟，自动化控制技术与计算机的结合已经成为必然。本次实验是基于STC89C52单片机的直流减速电机角度控制系统，运用PWM（脉冲宽度调制）方法控制电机，采用增量式光电编码器将转动角度转化为脉冲数进行角度测量，并反馈到单片机，单片机根据反馈信息利用PID算法发出控制命令。关键词：STC89C52、直流减速电机、光电编码器、PID算法、角位移AbstractAutomaticcontroltechnologyisthefastestdevelopmentintwentiethCentury,oneofthelargesttechnologies,isthemostimportantoneofthehightechnologyintwenty-firstCentury.Today,allfieldsoftechnology,production,management,militaryandlife,allcannotdowithouttheautomaticcontrol4technology.Intermsofdefinition,theautomaticcontroltechnologyistheapplicationoftechnologytorealizethecontroltheory,throughacertaincontrolfunctionsofautomaticcontrolsystemtocompleteacontroltasktoensureaprocessiscarriedoutinaccordancewiththedesired,orachieveapresettarget.Withthedevelopmentofcomputertechnology,controltechnologytowardsthedirectionofautomation.Withthedevelopmentofcomputertechnologyisbecomingmature,combinedwithautomaticcontroltechnologyandcomputerhasbecomeinevitable.TheexperimentisbasedonSTC89C52MCUDCdecelerationmotoranglecontrolsystem.TheuseofPWM(pulsewidthmodulation)methodisproposedtocontrolmotor.TheincrementalphotoelectricencoderusedtherotationangleistransformedintopulsenumberbytheanglemeasurementandfeedbacktotheMCU.MCUaccordingtothefeedbackinformationusingthePIDalgorithmtosendcontrolcommand.Keywords:STC89C52,dcgearmotor,photoelectricencoder,PIDalgorithm,angulardisplacement5一、设计题目1.1直流电机控制的角位移控制系统（Anglepositioncontrolsystemwithdcmotor）设计一个角度控制系统，它能接受所期望的角度的输入指令，产生一个与输出要求完全一致的输出角度。1.2项目分析根据设计要求可知，设计主要分为以下四部分：（1）输入角位移指令；（2）测量角位移；（3