毕业论文 - - 基于Proteus的步进电机闭环控制仿真

ABSTRACT

ABSTRACT

Stepper motor is a pulse signal is converted into the corresponding angular displacement (or linear displacement) of electromagnetic devices, because step motor does not need A/D conversion, digital pulse signal can be directly transformed into angular displacement, so It is considered to be an ideal actuator of CNC machine tools. Because of its good performance and accuracy in practice has been widely applied. This paper introduces to 51 series microcontroller AT89S51 as control core design of stepping motor control system, From the hardware circuit simulation and software design and implementation of stepper motor control. And use the acquisition speed data sensor FC-SPX302 to make up a closed-loop of speed control system. Through the circuit simulation prove,, dynamic performance with the simulation of the control system, strong anti-interference ability, good stability.

KEY WORDS: Stepper motor，Closed loop，Control

III

西安交通大学城市学院本科生毕业设计（论文）

IV

目 录

目 录

1 绪论 .............................................................. 1 1.1 步进电机国内外研究现状 ........................................ 1 1.2 研究主要内容及其意义 .......................................... 2 1.3 步进电机的单片机控制优点 ...................................... 3 2 步进电动机的介绍 .................................................. 5 2.1 步进电动机的基本原理 .......................................... 5 2.2 步进电动机分类 ................................................ 5 2.3 步进电机的一些基本参数 ........................................ 5 2.3.1 电机的拍数 ................................................ 5 2.3.2 电机固有步进角 ............................................ 6 2.3.3 步进电机的相数 ............................................ 6 2.4 步进电机结构 .................................................. 6 2.4.1 步进电机的旋转 ............................................ 7 2.5 步进电动机的控制原理 .......................................... 7 2.5.1 换相顺序的控制 ............................................ 8 2.5.2 步进电动机的转向控制 ...................................... 8 2.5.3 步进电动机的速度控制 ...................................... 8 2.5.4 步进电动机的位置控制 ...................................... 8 2.6 步进电动机的特点 .............................................. 9 3 主要芯片介绍 ..................................................... 11 3.1 89S5L单片机简介 .............................................. 11 3.1.1 单片机的引脚功能 ......................................... 11 3.1.2 单片机的主要特性 ......................................... 11 3.2 L298简介 .................................................... 12 3.2.1 L298的原理 ............................................... 12 3.2.2 L298概述 ................................................. 12 3.3 光电开关 ..................................................... 14 4 硬件设计 ......................................................... 15 4.1 总体设计方框图 ............................................... 15 4.2 系统仿真图 ................................................... 15 4.3 步进电动机的控制方式选择 ..................................... 16 4.4 步进电动机的驱动方式选择 ..................................... 17

V

西安交通大学城市学院本科毕业生（论文）

4.5 键盘电路设计 ................................................. 17 4.5.1 键盘原理图 ............................................... 17 4.5.2 键盘功能 ................................................. 18 4.6 显示电路 ..................................................... 18 4.7 测速电路 ..................................................... 19 5 软件设计 ......................................................... 21 5.1 PID控制算法 ................................................. 21 5.1.1 位置式PID的控制算法 ..................................... 21 5.1.2 增量式PID的控制算法 ..................................... 22 5.2 主程序 ....................................................... 23 6 实验结果及分析 ................................................... 25 6.1 测量转速与实际转速比较 ....................................... 25 6.2 结论 ......................................................... 25 总结 ............................................................... 27 致谢 ............................................................... 29 参考文献 ........................................................... 31 附录A 电路原理图（PROTEL） ........................................ 33 附录B 电路仿真图（PROTEUS） ....................................... 34 附录C 程序 ........................................................ 35

VI