【作者】 张靖瑶；

【导师】 孙晓明；

【作者基本信息】 武汉理工大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 由于直流电动机具有良好的线性调速特性，简单的控制性能，因而在工业场合应用广泛。而随着对电机控制技术要求的不断提高，普通单片机越来越不能满足控制要求，DSP技术的发展正好为先进控制理论以及复杂控制算法的实现提供了有力的支持。本文对基于DSP的直流电动机的速度控制系统进行了研究，提出了将九点控制器算法应用于DSP中的控制方案。文中首先综述了目前国内外直流电动机控制的发展概况及趋势，简要介绍了直流电动机的控制策略，以及DSP芯片的选型。本文采用TI公司的TMS320LF2407作为控制器，完成了系统的硬件设计，采用基于电流环和速度环的双闭环直流电机系统控制方案。电机的控制系统是由检测装置、主控制器、功率驱动器以及上位机组成，其中DSP控制器是电机控制系统的关键部分，负责对电机的电流和转速反馈信号进行处理并输出控制信号来控制电机的运动。系统的硬件设计了功率驱动电路，电流和速度信号的采集等电路。整个硬件系统结构紧凑，工作可靠。本文以九点控制器算法的原理为控制策略，在此基础上确定了控制参数的整定方法，最后以九点控制器理论为基础设计了直流电机的控制算法。要使电机精确地实现预定的运动，控制软件是关键。系统软件基于CCS2000的编译环境，采用C语言与汇编语言的混合编程方式。软件设计了主程序模块，初始化子程序模块以及中断服务程序模块。其中主程序模块主要包括键盘控制模块和显示模块。中断服务程序模块包括A／D采样模块、捕获中断模块、控制算法模块、PWM信号输出模块以及与上位机的串行通信模块。其中电流和转速控制采用九点控制器算法。本文最后介绍了九点控制器的设计方法，并应用于直流电机的双闭环调速系统中，仿真结果表明，该系统能够较好的实现对电机转速的控制，达到了较好的控制效果，进一步验证了九点控制器在直流电机调速系统中有着广阔的应用和发展前景。更多还原

【Abstract】 DC motor has extensive applications in industrial environments due to its excellent performances. While the growing needs for motor control performance, ordinary MCU doesn’t meet the request more and more. It’s the development of DSP technology that provides strong assistance to the implement of advanced control theory and complex control algorithm. This paper discusses the control the speed control system for DC motor, and suggested a control scheme that the controller algorithm applies Nine-Point to DSP.In the paper, the development of DC motor control in our country and abroad is summarized first, and the control methods of DC motor as well as the selections of the DSP types in brief.The solution of digital control system of DC Motor using TI’s TMS320LF2407 is presented in this paper. This control system includes two closed loops, which are current loop and velocity loop. Usually, a control system consists of displacement measure device, control device, insulation circuit, drive model and PC. As one key part of the control system, the function of control device is to deal with the displacement signal from the motor and the output of control voltage. In the area of hardware design, the signal-sampling circuits of the current, speed are also designed. The whole system’s hardware has a very compact structure and can operate with high reliability.In this thesis, the Nine-Point controller theory and the control method are detailed, and analyzed the controlled variable installation method in this foundation, finally based on this theory it design a control algorithm of the DC motor.As a very important role for the accurate motion of DC moto, the control software adopting simultaneously the C and assemble language, the software development is based on the CCS2000 integrated development. The system software involves main program module, Initialization subprogram module, interrupt service routine module. Hereinto, main program module mostly include keyboard scan module and display module. ISR module includes A/D sampling module, QEP, control arithmetic module, PWM output and SPI module. In the scheme, it’s adopted that nine-Point controller algorithm in velocity loop and current loop.The system introduced the design procedures of the Nine-Point controller finally, and having applied to the double-loop controller. Simulations prove that the double-loop controller can successfully adjust the velocity of the DC Motor to a good value. This result indicates that the Nine-Point controller has a great applied prosperity in the control of the DC motor.更多还原