【作者】 朱佳娜；

【导师】 徐晓秋；

【作者基本信息】 四川大学 ， 测试计量技术及仪器， 2004， 硕士

【摘要】 电机及其控制在国民经济中起着重要的作用。随着现代科学技术的进步，特别是电力电子技术，微机应用和自动控制理论的进展，电机在其实际应用中已由过去简单的起停控制，提供动力为目的应用上升到对其速度、位移和转矩等进行精确控制阶段，使被驱动的机械运动符合预想的要求。特别是在工业自动化，办公室自动化和家庭住宅自动化方面使用的大量控制电机，几乎都采用电力电子器件进行控制。在这种情况下，原先的“电机控制”，“电气传动”已发展到“运动控制”新阶段。 本文在分析了国内外多种类型的运动控制器的基础上，设计并制作了一种以Intel89C52为核心器件的步进电机多轴运动控制系统。提出了一种主从式控制模式，即用基于windows操作系统的台式机作为上位机，完成数据存储和复杂计算，用单片机最小系统实现多轴联动的实时控制。论文以球面孔系坐标非接触测量系统作为该运动控制器的应用实例，着重分析了步进电机单片机控制系统的软硬件设计原理和方法；实现了上位计算机与单片机的正确通讯；用VC++语言编制了可以实现图像采集、控制步进电机转动方向、角度等功能的可视化界面；并在论文最后通过误差分析给出了用“基于PC机的多轴步进电机运动控制卡实现转位系统精确控制”的改进方案，同时提出了一种新的步进电机的高速控制算法。 该运动控制器可以实现3轴单独运动或联动控制，有位置和速度两种控制方式，用户通过编程实现自动加减速控制。该控制器除了具有步进控制功能以外，还具有限位、复位，对多路意外故障信号的中断处理等功能。 该控制系统在设计方面具有如下特点：1.采用内部时钟方式产生步进电机的驱动脉冲，而没有采用高速脉冲发生器等外部方式，用软件来实现，从而降低硬件成本。 2‘硬件设计方面，首先进行了硬件的总体方案设计，尽可能地选择了标准化、模块化的电路，从而提高了设计的成功率和结构的灵活性，避免出现大返工。 3.尽可能选用了功能强、集成度高、通用性好、市场货源充足的电路或芯片。 4.尽量简化了硬件设计，软件能实现的功能尽可能由软件来完成。 球面孔系坐标测量系统已完成制作。通过实际调试验证了运动控制器硬件和软件设计的正确性。该控制器可广泛应用于各类需要精确定位的低成本的机电一体化设备中。 关键词:运动控制、步进电机、单片机、控制算法。更多还原

【Abstract】 Motor and its control play important role in nationality economy. With the progress of modern science and technology, especially with the development of electric and electronic and the progress of application and the theory of automatic control, the application of motor in practice has come into the stage of accurate control velocity, displacement and torque so that the driven mechanical motion can meet the anticipate requirement from the past stage of simple start-stop control that the only purpose was to provide power. Especially the large number of control motors used in industry automation, office automation and home automation are nearly all controlled by electric and electronic devices. Under this situation the last motion control and electrical gearing have developed into the new stage of motion control.In this thesis, based on the sufficient analysis of many kinds of motion controllers, a stand-alone three-axis stepper motion control system is designed. It is mainly composed of Intel 89C52 single-chip computer. A model of master and slave control, which using PC based on Windows to storage data and compute and using the least system of single-chip to realize linkage and real time control of three-coordinate, is put forward . This thesis illustrates that the motion is used in the noncontact measurement system of spherical circular hole series. The designing principle and method of software and hardware for the single-chip control system are mainly introduced in this thesis. The communication of PC and single-chip computeris achieved. The visual interface which includes image collection, direction and angle is programmed by VC++. At end of thesis the improved scheme "the precise control of rotation system based on multi-axis stepper motion control card"is put forward through error analysis. And a kind of new high speed control algorithm for stepper movement is also put forward.The motion control system can work in both position and velocity mode, and deceleration functions can be obtained under user’s control. The controller not only has the stepper motion control functions but also has opto-isolate limit, reset switches and interruption inputs of accident signals. This motion controller uses industry standard RS-232 communication.The motion controller has the following characters:1. Without using the high-speed impulse generator, the motion controller adopts the inner clock to produce the drive impulse. The function is achieved by software so that reduces the cost;2. In the hardware designing, the whole scheme is firstly designed. A lot of standard and module circuits are used in the design. Thereby the success rate and flexibility are greatly improved;3. The circuits and chips which are powerful, integrated, general and bought conveniently;4. The hardware design is simplified. The functions which can be achieved by software aren’t achieved by hardware.The fast development of spaceflight and aviation technology leads to rigorous precision requirement of the machining position of circular hole on the spherical work-piece. Accordingly, it requires much higher detecting precision on the position of spherical circular hole, and adopting noncontact measuring methods when detecting.The measurement system of spherical circular hole series has been finished, and its feasibility of the hardware and software has been tested through practical debug. The motion controller can be widely used in many kinds of integrative equipments which need precise orientation and low cost.更多还原