摘 要在机电传动控制系统中，电机控制算法和手段有很多，最早开发的模拟 PID 控制早已形成了典型的结构。但是它的参数一旦设定，系统在运行过程当中无法改变 ，但实际上，一般系统由于参数、温度等的变化，难以获得理想的控制效果。伴随电子计算机的崛起，出现了许多智能控制，数字 PID 技术也迅速发展起来，其不仅满足了模拟 PID 的控制任务，还具有灵活的控制算法和高可靠性的优点。本系统的各功能单元独立模块化，主要以数字 PID 为核心控制算法、51 单片机作为系统控制器，产生受数字 PID 控制的占空比的 PWM 脉冲，从而实现对直流电机转速或者位移的控制，组成一个位移随动系统。同时，利用霍尔器件将电机的当前速度转换成脉冲频率反馈到单片机中，实现闭环控制并达到转速检测目的。系统中还采用了 LCD1602 作为显示器件，通过独立按键来实现电机正反转和加减速控制，以及P、I、D 参数的设置，系统在启动后可以通过显示部件了解电机当前的状态。关键词：模块化；PID；控制；机电传动Abstract In the electromechanical drive control system, there are many motor control algorithms and means, the earliest developed simulation PID control has already formed a typical structure. However, once its parameters are set, the system cannot be changed in the process of operation. However, in fact, it is difficult to obtain the ideal control effect for the general system due to the changes of parameters and temperature. With the rise of electronic computers, there are many intelligent control, digital PID technology has also developed rapidly, which not only meets the simulation PID control task, but also has the advantages of flexible control algorithm and high reliability.Each functional unit of the system is independent and modularized. The digital PID as the core control algorithm and 51 singlechip microcomputer as the system controller generate the PWM pulse of duty cycle controlled by digital PID, so as to realize the control of dc motor speed or displacement,and constitut...
