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PWM伺服生成模块，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、T0中断服务(采样定时控制)程序及数字控制算法程序的设计。通过系统的整体设计，完成了系统的基本要求，系统可以稳定的运行。关键词：位置伺服系统；直流电机；单片机IHighPrecisionPositionServoMicrocomputerControlSystemDesignAbstractForahalfofcentury，theDCservocontrolsystemhasbeenwidelyusedintheNCmachinetool，machiningcenter，androbot…，etc.Withthetechnicaldevelopmentofservomotor，electroniesPowerandcomputercontrol，theservocontrolsystemismakingtowardsdigitizedandmodulardesign.Thispaperintroducesthehardware，softwaredesignplanofDCservocontrolsystemonmicrocomputer.Thehardwaredesignedincludesmainly:thetotalprojectdesign，single-chipcomputerapplicationsystemdesign，drivecircuitdesignandmeasurecircuitdesign.Thesingle-chipcomputersystemisaversatilemodulesingle-chipcomputerdevelopingsystem，Itcanmakeupvariouskindsofapplicationsystemsaccordingtoyourneed.ThepowerdrivesadoptsthePWMproducemodular，andalsomeetsthedesigningrequirementoftheDCservocontrolsystemindifferentstructure.Thesotfwareadotsmodulardesign，includesprimarilythemainproceduredesign,theserviceprocedureofT0breakoffandincreasesthedesignofthedealtypearithmeticfigurePIDcalculationwayprocedure.Throughtheintegraldesignofthesystem,thecompletionofthebasicrequirementsofthesystem,thesystemcanstableoperationKeywords:Positionservosystem；Dcmotor;microcontrollerII目录第一章绪论............................................................................................................................11.1课题研究的目的和意义..............................................................................................11.2国内外研究现状以及发展趋势..................................................................................21.3设计要求及参数..........................................................................................................4第二章系统总体方案设计...................................................................................................62.1系统控制方案的选择..................................................................................................62.2直流伺服电机的数学模型..........................................................................................62.3控制器的设计..............................................................................................................82.3.1电流调节器的设计............................................................................................82.3.2转速调节器的设计............................................................................................92.4位置控制器设计..........................................................................................................9第三章系统硬件设计........................................................................
