【作者】 李晓秀；

【导师】 章兢； 江清波；

【作者基本信息】 湖南大学 ， 控制工程， 2005， 硕士

【摘要】 半个世纪来，直流伺服控制系统己经在精密数控机床、加工中心、机器人等领域得到了广泛的应用。随着伺服电动机技术、电力电子技术、计算机控制技术的发展，使得伺服控制系统朝着控制电路数字化和功率器件的模块化的方向发展。本文介绍了微机直流伺服系统的硬件、软件设计方案。硬件设计主要包括：总体方案设计、单片机应用系统设计、驱动电路设计和测量电路设计。单片机应用系统采用了基于总线的模块式单片机通用开发设计方案，配置灵活，可根据需要组合成各种应用系统。功率驱动采用KAX PWM伺服放大器模块，使系统具有结构简洁、性能可靠的特点，可以满足不同结构的直流伺服控制系统的设计要求。软件编制采用模块化的设计方式，主要包括主程序设计、键盘显示器管理程序、TO中断服务(采样定时控制)程序及数字控制算法程序的设计。在出现了许多新型控制规律的今天，PID控制仍是应用最广泛的一种。本文首先讨论了基本PID控制算法、参数整定及PID控制直流伺服系统的实现方法。实验表明，基本PID控制在控制系统中已经能够取得基本满意的效果。为了建立开放式实验系统，能试验多种新型控制算法，本文还专门研究了滑模变结构控制，它可以克服系统参数变化、非线性等不利因素，鲁棒性强。本文叙述了滑模变结构控制的基本方法，并设计了直流伺服系统滑模变结构控制器，用MATLAB仿真结果表明，滑模变结构控制在系统参数改变的情况下仍有满意的控制效果。更多还原

【Abstract】 For a half of century, the DC servo control system has been widely used in the NC machine tool , machining center, and robot...,etc. With the technical development of servo motor, electronics power and computer control, the servo control system is making towards digitized and modular design.This paper introduces the hardware, software design plan of DC servo control system on microcomputer. The hardware designed includes mainly: the total project design, single-chip computer application system design, drive circuit design and measure circuit design. The single-chip computer system is a versatile module single-chip computer developing system. It can make up various kinds of application systems according to your need. The power drives adopts the PWM servo amplifier KXA modular, and also meets the designing requirement of the DC servo control system in different structure. The software adopts modular design, includes primarily the main procedure design, keyboard and display procedure, the service procedure of TO break off and increases the design of the deal type arithmetic figure PID calculating way procedure.Even if there were a lot of the new control-law today, PID control is also the most extensive one in used. This paper has discussed basic PID control algorithm, parameter tuning, and the design of PID controlling of the DC servo system. The experiment shows that basic PID control can gat the satisfactory result. For establishing the open experiment system, the sliding modes variable structure control is studied. The sliding modes variable structure control can overcome the unfavourable factor of the change of system parameters and nonlinearity etc. and its robustness is strong. This paper also discusses the methods of sliding mode variable structure control and the design of controlling of DC servo systems. Simulation with MATLAB results shows that the methods still obtain the satisfied control result as the system parameter changes.更多还原