直流电机位置PID控速
摘要
直流电机具有良好的起动性能和高速性能，过载能力和其他优点，广泛用于各种工业应用。直流电机的控制主要是关于马达，转矩和位置控制的速度。随着科学技术的进步，尤其是计算机技术，微电子技术，现代控制理论的发展，直流电机控制也由传统的模拟控制到数字控制的变化，并逐步实现智能电机控制的开始。研究的重点是数字的直流电机控制系统。在研究了控制系统中，利用相控晶闸管整流器，实现直流电机位置式控速。控制系统以ARM系列单片机stm32f103c8t6微处理器为主控制器，以直流电机编码器的输出量为闭环控制的反馈量，通过电机速度环，PID回路控制电流以实现所需的性能。同时为了扩大控制系统的范围，本文还进行了一点的研究电流回路PID参数的整定方法。其主要内容如下：
- 整体分析直流电机和直流驱动技术的发展趋势，比较当前几种常见的直流电机调速方案，并介绍了作为核心的为控制器电机控制系统stm32f103c8t基本特征。
- 按照直流电路创建电动机的数学模型；建立控制闭环系统框图；分析速度不稳定的解决的方案。
- 根据直流电机的控制特性的要求，以ARM系列单片机stm32f103c8t6微控制器内部的硬件资源为研究中心，相关的硬件系统和硬件驱动的触发设计研究。
- 直流电机控制系统的软件系统的研究。
- 电机控制策略的研究，电机的转速回路PID控制策略，以及速度回路PID参数自整定方法进行了研究。
- 空载转速直流电机控制实验。
另外，对相电流，位置信号，相电压检测，所述速度信号检测电路和故障逻辑电路进行设计。在本文中，控制系统软件还简要介绍，包括主程序，中断服务程序，速度环算法，并绘制基于模块化设计思想的流程图。
关键词：直流电机、PID控制、控制系统、位置信号
Abstract
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DC motor has good starting performance and high-speed performance, overload capacity and other advantages, widely used in various industrial applications. DC motor control is mainly on the motor, torque and position control speed. With the progress of science and technology, especially computer technology, microelectronic technology, the development of modern control theory, the DC motor control is also controlled by a conventional analog-to-digital change control, and gradually began to realize intelligent motor control. The study focuses on the digital DC motor control system. After studying the control system using a phased thyristor rectifier, DC motor speed control position type. The control system ARM MCU stm32f103c8t6 microprocessor-based controller to output DC motor encoder for closed loop feedback control of the motor speed through the loop, PID loop control current to achieve the desired performance. Meanwhile, in order to expand the scope of the control system, the paper also carried out a little research current loop PID parameter tuning method. Its main contents are as follows:
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First, the overall analysis of the development trend of DC motors and DC drive technology, comparing the current several common DC motor speed control program, and introduced as a core for the controller motor control system stm32f103c8t basic features.
Second, according to the DC circuit to create a mathematical model of the motor; the establishment of a closed-loop control system block diagram; analysis speed unstable solutions.
Third, according to the requirements of the control characteristics of DC motor to ARM MCU stm32f103c8t6 microcontroller internal hardware resources for research centers, design research related hardware trigger system and hardware drivers.
Fourth, the study of DC motor control system software system.
Fifth, the study of motor control strategy, speed loop PID motor control strategies, as well as the speed loop PID parameter self-tuning methods were studied.
Sixth, no-load speed DC motor control experiment.
Further, the phase of the current, the position signal, detecting a voltage phase, the speed signal detection circuit and the fault logic circuit design. In this paper, the control system software also outlined, including the main program, interrupt service routine, the speed loop algorithm, and draw a flow chart based on modular design.
Keywords: DC motor, PID control, control system, the position signal
目录：
第一章 绪论
第二章 控制理论
第三章 硬件设计与实现
第四章 软件设计与实现
