【作者】 王大志；

【导师】 黄劼；

【作者基本信息】 四川大学 ， 机械制造及其自动化， 2005， 硕士

【摘要】 自20世纪中叶以来,科学技术以从未有过的速度飞速发展。伴随着计算机技术、电子技术和自动控制理论的进展,对电机的运动控制已由过去简单的起停控制发展到对其速度、位移和转矩等物理量进行精确控制的阶段,原先的“电机控制系统”、“电气控制系统”已逐渐发展到具有更高精度、更高速度和更大柔性的“运动控制系统”。 本文针对球面孔位非接触测量系统对球体转位的定位精度和转位速度的技术要求,开展了步进电机闭环运动控制系统的研究,主要包括运动控制系统总体方案论证、嵌入式运动控制器的设计、步进电机运动控制算法研究、转位位置数据采集方案的确定以及对步进电机位置反馈控制算法优化等内容,主要可概括为以下几点: 1.在系统总体控制方案上,为满足转位机构定位精度的要求,确定采用闭环控制方案。在步进电机的计算机控制方式上,针对在Windows操作系统下用PC机直接控制步进电机实时性不强的问题,确定采用PC机与单片机主从式协同控制方式。 2.阐述了基于PC机ISA总线运动控制器的设计方法,对嵌入式运动控制器与PC机ISA总线的接口电路、控制引脚分配进行了较为全面的分析,并根据本系统运动控制特点制定了相应的通讯协议。 3.利用单片机最小系统实现了对3台步进电机的控制,根据单片机编程特点,对步进电机的调速方法、加减速控制以及点位控制进行了较为深入的分析并通过程序予以实现。 4.在对定付位詈数据采集方面,较为深入地分析了轴角编码器与PC机更多还原

【Abstract】 Since middle 20th centuries, scientific technology develops with the higher speed than ever before.Accompany with the computer technology, the electronic technology and automatic controlling theoretic, the forepassed control of electromotor was simply starting or stopping, now it was already concerned with accurate physical data such as speed, displacement, torsion and so on. Primary "electromotor controlling system", "electric controlling system" has developped to "the movement controlling system", which of higher precision and speed, and more flexible.This thesis is dead against the technical demand on orientation precision and revolving speed, when sphere revolved in the measurement system of positions for hole series, studied on stepper motor closed loop motive control system, mostly involved demonstration of the total project of the movement controlling system, design of the embedded movement controller, study on the movement control algorithm of stepper motor, establishment of the image capturing project of locomotion displacement and optimization algorithm of the displacement feedback control of stepper motor etc., it could be recapitulated as follows:Firstly, in the systemic total control project, in order to satisfy the demand on orientation precision of the locomotion machine, make sure the closed loop controlling project is the best.Based on computer control mode of stepper motor, aimed at the deficiency ofreal time when stepper motor was controlled directly by PC computer under the Windows operating system, adopted the master-slave control mode, which made up of a PC computer and a singlechip.Secondly, expounded the design of motive controller based on ISA bus in PC computer, generally analysed the interface electrocircuit between embeded movement controller and ISA bus in PC computer, distribution of controlling pins, and according to the movement controlling characteristics of this system, established relevant communication protocol.Thirdly, realized the control of three stepper motors by the minimal singlechip system, according to the characteristic of singlechip programme, home analyzed timing of stepper motor, accelerating or decelerating control and spot location control, carried it out by programme.Fourthly.at orientation displacement data capturing, home analyzed the theory about angle encoders and serial communication of PC computer, programmed communication software of stronger correction for single non-response communication mode, then, the security of data transmission could be insured.Finally, in order to shorten the transition of position regulation, applied proportional modulation controlling algorithm, and realized it on software.Based on the closed loop controlling system of stepper motor, and full use of mature technology, this thesis resolved various of technical problems, which play as key points in closed loop controlling system, and integrated the parts of movement controlling system and displacement feedback module, both are self-designed, matched scheduling and function of each parts.It’s practiced that, this controlling system achieves the technical demands on precision and velocity of movement controlling of locomotion machine, satisfies the measurement requests of the item.更多还原