[优秀毕业设计精品]直流电动机闭环调速系统设计

直流电机闭环调速设计内容提要A1通过对单闭环调速系统的组成部分可控电源、由运算放大器组成的调节器、晶闸管触发整流装置、电机模型和测速电机等模块的理论分析，比较原始系统和校正后系统的差别，得出直流电机调速系统的最优模型。文章设计了以单片机AT89C51和三极管组成的H桥，利用脉宽调制PWM技术来控制直流电机。主要介绍了用单片机软件实现PWM调整电机转速的基本方法，再利用51单片机和其外围电路设计出关于单闭环调速的实际电路，通过PROTUS软件和KEIL软件编程，实现实际的调速系统的模拟仿真G20576G16789。G3关键词A1调节器最优模型闭环负反馈静差KEILTHEDESIGNANDSIMULATIONOFSINGLELOOPDCSPEEDCONTROLSYSTEMABSTRACTTHROUGHCLOSEDLOOPSPEEDREGULATIONSYSTEMOFSINGLEPARTOFTHEPOWERSUPPLY,THEOPERATIONALAMPLIFIERWITHCONTROLLABLECOILS,COMPOSEDOFTHYRISTORTRIGGERRECTIFIEREQUIPMENT,MOTORMODELANDTACHOGENERATORSMODULE,THETHEORETICALANALYSISANDCORRECTIONOFPRIMITIVESYSTEM,ITISCONCLUDEDTHATTHEDIFFERENCEAFTERSYSTEMOFDCMOTORDRIVESYSTEMOPTIMALMODELTHISARTICLEDESIGNSTHEMCUAT89C51ANDTRIODE,COMPOSEDOFHBRIDGEUSINGPULSEWIDTHMODULATIONPWMTECHNOLOGYTOCONTROLDCMOTORMAINLYINTRODUCESTHEMCUSOFTWAREREALIZATIONPWMMOTORSPEEDADJUSTMENTOFTHEBASICMETHODANDPROGRAMFLOWCHART,REUSE51SCMANDITSPERIPHERYCIRCUITDESIGNOFASINGLECLOSEDLOOPSPEEDABOUTREALCIRCUITPROTUSSOFTWAREANDKEIL,THROUGHSOFTWAREPROGRAMMING,REALIZETHEACTUALSPEEDREGULATIONSYSTEMSIMULATIONVALIDATIONKEYWORDSREGULATOROPTIMALMODELKEILCLOSEDLOOPNEGATIVEFEEDBACKSTATICDIFFERENC目录1绪论111直流调速系统概述12单闭环控制的直流调速系统简介221VM系统简介222转速控制闭环调速系统的调速指标223闭环调速系统的组成及静特性324反馈控制规律425主要部件5251比例放大器5252比例积分放大器5253额定励磁下直流电动机726稳定条件827稳态抗扰误差分析83单闭环直流调速系统的设计及仿真1131参数设计及计算11311参数给出11312参数计算1132有静差调速系统12321有静差调速系统的仿真模型12322主要元件的参数设置13323仿真结果及分析13324动态稳定的判断，校正和仿真1433无静差调速系统16331PI串联校正的设计16332无静差调速系统的仿真模型18333主要元件的参数设置19334仿真结果及分析1934有静差调速系统和无静差调速系统的动态分析设计19341有静差调速系统的仿真模型19342参数设置20343仿真结果及分析204单元电路设计2441数码管显示电路2442按键输入电路2443电机驱动电路2544主控芯片介绍2545硬件总电路图265软件设计2751主程序流程图2752中断程序流程图2753程序清单276调试2861硬件调试2862软件调试2863烧录程序的步骤2864调试结果287软件仿真结果29结论30G1560录31G3823G1284G3480G187831参G2217G3635G37483711绪论1G171直流调速系统G8022G17860G3G1186G10995G1147机G7812要G8726控制的G10301理G18339来G11487，电G2159G6314G2172G14270G2172控制系统G7389调速系统、G1313置G19555G2172系统、G5364G2159控制系统等G3822G12193G12879型，G13792G2520G12193系统G5460G5460G18129G7171通过控制转速来实现的，G3252G8504调速系统G7171最基本的G6314G2172控制系统。G11468比于G1144流调速系统，直流调速系统G3324理论G990和实G17353G990G18129比较成G10099。G3直流调速G7171现G1207电G2159G6314G2172G14270G2172控制系统G1025发G4649较G7101的技术。G3324G21G19G1002G13438G25G19G5192G1207发G4649G17227来的电G2159电G4388技术，G1363电G14033可以G2476G6454和控制，G1147G10995了现G1207G2520G12193G20652G6940、节G14033的G7044型电源和G1144直流调速装置，G1038G5049G1006G10995G1147，G1144通运G17767，G8016G4443、G2162G1856、G4490G5249G14270G2172G2282G6564G1391了现G1207G2282的G20652G7044技术，G6564G20652了G10995G1147G6940G10587和G1166G1216的G10995G8975G17148G18339，G1363G1166G12879G12050G1262G10995G1147、G10995G8975发G10995了G5052大的G2476G2282。G19555G11540G7044型电G2159电G4388器件的G11752G12362和G5332发以G2462G1820G17839控制技术的发G4649，电G2159电G4388和电G2159G6314G2172控制装置的G5627G14033G1075G993G7041优G2282和G6564G20652，G17837G12193G2476G2282的G5445G2721G4570G17246来G17246大。G322单闭环控制的直流调速系统简介G21G171G3G57G252M系统G12628介G3晶闸管G252电G2172机调速系统G708G12628G12228G57G252M系统G709，其G12628单原理G3282G3926G32821。G3282G1025G57TG7171晶闸管的可控整流器，G4439可以G7171单G11468、三G11468G6122G7368G3822G11468G6980，G2334G8886、G1852G8886、G2334控、G1852控等G12879型。G3优G9869G726G3通过调节触发装置G42T的控制电G2399来G12239G2172触发脉G1926的G11468G1313，G2375可G6925G2476整流电G2399G1186G13792实现G5191G9381调速。G3G13582G9869G726G31G714由于晶闸管的单G2533G4560电G5627，G4439G993G1813G16780电流G2465G2533，G13485系统的可逆运行造成困难。G3G21G714元件对过电G2399、过电流以G2462过G20652的DU/DT和DI/DTG18129十分敏感，其G1025任一指标超过G1813G16780值G18129可G14033G3324很短时间内损坏元件。G3G3252G8504必须G7389可靠的保护装置和符合要G8726的散热条件，G13792且G3324选择元件时还应G7389足够的余G18339。G3G3G32821G3G3G57G252M系统G3G3G21G17G21转速控制闭环调速系统的调速指标G31G714调速范围G3G3G3G3G10995G1147机G7812要G8726电G2172机G6564G1391的最G20652转速MAXN和MINN最低转速之比叫做调速范围，用字母D表示，G2375G3MINMAXNNDG3其G1025MAXN和MINN一般G18129指电机额定负载时的转速。G3G21G714静差G10587G3G3G3G3G3当系统G3324某一转速下运行时，负载由理想空载增加到额定值所对应的转速降落NOMN，与理想空载转速0N之比，G12228作静差G10587S，G2375G30NNSNOMG33静差G10587用来衡G18339调速系统G3324负载G2476G2282下转速的稳定度。G4439和机G7812特G5627的硬度G7389关，特G5627G17246硬，静差G10587G17246小，转速的稳定度G17246G20652。G3G3G3G3G3调速范围和静差G10587两项指标并G993G7171彼G8504孤立的必须同时G6564才G7389意义。脱离了对静差G10587的要G8726，任何调速系统G18129可以得到极G20652的调速范围；G2465过来，脱离了调速范围，要满足G13485定的静差G10587G1075就容易得G3822了。G33G714调速范围、静差G10587和额定速降的关系G3以电G2172机的额定转速NOMNG1038最G20652转速，若带额定负载时的转速降落G1038NOMN，则该系统的静差G10587应该G7171最低速时的静差，G2375G3MIN0NNSNOMG3于G7171SNSNSNNNNNOMNOMNOMNOMO1MINMIN，G13792调速范围G1038G3MINMINMAXNNNNDNOMG3G4570G990面的式G1207入MINN，得G31SNSNDNOMNOMG3G990式G2375G1038调速范围、静差和额定速降之间所应满足的关系。对于一个调速系统，G4439的特G5627硬度G6122NOMN值G7171一定的，G3926果对静差G10587的要G8726G17246严，G1075就G7171SG17246小，系统G14033够G1813G16780的调速范围G1075G17246小。G3G3G21G173闭环调速系统的组成G2462静特G5627G3转速G2465馈控制的闭环调速系统，其原理G3926G3282。G3G3G3282G21G3采用转速负G2465馈的闭环调速系统G31G714忽略G2520G12193非线G5627G3252素，假定G2520环节G17767入G17767出G18129G7171线G5627的；G3G21G714假定只G5049作G3324G57G252G252M系统G5332环机G7812特G5627的连续段；G343G714忽略直流电源和电G1313器的内阻。G3电G2399比较环节G726NNNUUUG3放大器G726NPCKUUG3晶闸管整流与触发装置G726CSDUKU0G3G57G252M系统G5332环机G7812特G5627G726EDDCRIUN0G3测速发电机G726NUTGG3PKG252G252放大器的电G2399放大系G6980；G3SKG252G252晶闸管整流器与触发装置的电G2399放大系G6980；G3G252G252测速G2465馈系G6980，单G1313G1038G57MIN/RG30G3G3252G8504转速负G2465馈闭环调速系统的静特G5627方程式G311KK/1KCRIKCUCKKCRIUKKNEDENSPESPEDNSP）G3式G1025ESPCKKK/G1038闭环系统的G5332环放大系G6980，G17837G18336G7171以UNE/C1作G1038电G3G2172机环节的放大系G6980的。G3静特G5627G726闭环调速系统的电G2172机转速与负载电流G708G6122转G11709G709的稳G5589关系。G3G7693G6466G2520环节的稳G5589关系G11023出闭环系统的稳G5589G13479G7512G3282，G3926G32823所示G726G3G3G3G3G3G3G32823G3G3转速负G2465馈闭环调速系统稳G5589G13479G7512G3282G3G3G21G17G23G2465馈控制G16280G5471G3G1186G990面分析可以G11487出，闭环系统的G5332环放大系G6980K值对系统的稳定G5627G5445G2721很大，KG17246大，静特G5627就G17246硬，稳G5589速降G17246小，G3324一定静差G10587要G8726下的调速范围G17246G5203。G5647之KG17246大，稳G5589G5627G14033就G17246G3921。G9994G13792，只要所设置的放大器G1177G1177G7171一个比G1375G3放大器，稳G5589速差只G14033G1955小，G1306G993G14033G9052G19512，G3252G1038闭环系统的稳G5589速降G1038G31KCRINEDCLG35只G7389KG32G286才G14033G13630CLN，G13792G17837G7171G993可G14033的。G3G3G21G175主要部件G3G21G175G171G3比G1375放大器G3运算放大器用作比G1375放大器G708G1075G12228比G1375调节器、P调节器G709，G3926G3282G23，EXUUIN和G1038放大器的G17767入和G17767出电G2399，BALRG1038同G11468G17767入G12483的G5191衡电阻，用以降低放大器G3845调电流的G5445G2721。G3G3G3G3G3G3放大系G6980G1038G301RRUUKINEXPG3G3282G23G3P调节器原理G3282G3G3G3G3G3G3G3G3G3G3G3G32825G3G3P调节器G17767出特G5627G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G21G175G17G21G3比G1375G12227分放大器G3G3324定G5627分析控制系统的G5627G14033时，通G5132G4570G1283G5515G3282分成G20652、G1025、低三个G20069段，G20069段的G11040G19492G7171大G14280的。G3282G25G1038一G12193G1868型G1283G5515G3282的对G6980G5145G20069特G5627。G3一般的调速系统要G8726以稳和G1946G1038主，对G5567速G5627要G8726G993G20652，所以G5132用PI调节器。采用运算放大器的PI调节器G3926G3282G26。G3G36G3G3G3G3G3G3G3G3G3282G25G3G1868型控制系统的G1283G5515G3282G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3282G26G3G3比G1375G12227分G708PIG709调节器G3PI调节器的G1268G17894G2001G6980G1038G3SSKSKSUSUSWPIPIINCXPI11G301RRKPIG252G252PI调节器比G1375放大部分的放大系统；G3CR0G252G252PI调节器的G12227分时间G5132G6980。G3G8504G1268G17894G2001G6980G1075可以G1901成G3926下的G5430式G3SSKSSSWPIPI11111G3式G1025111CRKPIG252PI调节器的超G2081时间G5132G6980。G3G2465G7156系统G5627G14033的G1283G5515G3282特G5461G7389以下G3247个方面G7261G17G1025G20069段以G3G16G21G19DG37/DG72G70的G7024G10587G12371G17246G19658分G17137线，G13792且G17837一G7024G10587G2356G7389足够的G20069带宽度，则系统的稳定G5627G3921；G21G17G6142G8502G20069G10587G17246G20652，则系统的G5567速G5627G17246G3921；3G17G20069段的G7024G10587G19509、增G11422G20652，表示系统的稳G5589G12946度G3921G708G2375静差G10587小，调速范围宽G709；G23G17G20069段G15940G1955得G17246G5567，G2375G20652G20069特G5627负分G17137值G17246低，G16840G7138系统G6251G20652G20069G3134G3780的G14033G2159G17246G5390。G3用来衡G18339最小G11468G1313系统稳定程度的指标G7171G11468G16294G16041度G164和以分G17137表示的G5145值G16041度LG74。稳定G16041度G14033间G6521的G2465G7156系统G2172G5589过程的G5191稳G5627，稳定G16041度大意G2631G11540G6403G14645G5381、超调小。G3G3324G19658G2033始G10378G5589和G19466G17303G17767入下，PI调节器G17767出电G2399的时间特G5627G3926G32828G726G3G3G37G3G3G3G3G3G3G3G3G3G3G32828G3G19466G17303G17767入时PI调节器的G17767出特G5627G3G3G3G3G3G3G3G3G3G3G3G3G3G3G32829G3G3PI校正装置G3324原始系统G990G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G9167加部分的对G6980G5145G20069G5627G3G3G4570P调节器G6454成PI调节器，G3324原始系统G990G7044G9167加部分的G1268G17894G2001G6980G1038G3SKSKSWPPIPIP1K1G3其对G6980G5145G20069特G5627G3926G32829所示。G3G3G3G3G3由G32828可以G11487出比G1375G12227分的G10301理意义。G3324G12373加G17767入电G2399时，G17767出电G2399G12373G17351到，以保G16789一定的G5567速控制作用。G1306G7171小于稳G5589G5627G14033指标所要G8726的比G1375放大系G6980的，G3252G1038G5567速G5627G15999G2399低了，G6454来稳定G5627的保G16789。G3作G1038控制器，比G1375G12227分调节器G1872G20050了G5567速G2721应和G9052G19512静差两方面的要G8726；作G1038校正装置，G4439G2460G14033G6564G20652系统的稳定G5627。G3G3G21G175G173额定G2181G11925下直流电G2172机G3EDTDILRIDDD0UG708主电路，假定电流连续G709G3NCEEG708额定G2181G11925下的感应电G2172G2195G709G3DTDNGDTTLE3752G708G10287G20051G2172G2159G4410定G5471，忽略G12908G5627G6717G6842G709G3DMEICTG708额定G2181G11925下的电G11925转G11709G709G3式G1025G3G3LTG252G2265G6336电机空载转G11709G3324内的负载转G11709，单G1313G1038G49M；G32GDG252电G2159G6314G2172系统运G2172部分G6252算到电机G17736G990的G20146G17730G2159G11709，单G1313G10382NM；G3EMCCPI30G252G252电G2172机额定G2181G11925下的转G11709电流比，单G1313G1038G49M/A；G3定义下G2027时间G5132G6980G726G38RLTLG252G252电G7542G3250路电G11925时间G5132G6980，单G1313G1038S；G3MEMCCGDT3752G252G252电G2159G6314G2172系统机电时间G5132G6980，单G1313G1038；G3得电G2399与电流间的G1268G17894G2001G6980G31/1IS0STRSESUSDDG3电流与电G2172G2195间的G1268G17894G2001G6980G1038G3STRSISISEMDLDG3额定G2181G11925下直流电G2172机的G2172G5589G13479G7512G3282G3926下G726G3G3G32821G19G3额定G2181G11925下直流电G2172机的G2172G5589G13479G7512G3282G3G3G21G17G25稳定条件G3G2465馈控制闭环调速系统的特G5461方程G1038G3011113SKTTKTTTSKTTTSMSLMSLMG3稳定条件G1038G30111TKTTTKTTKTTSLMSMSLMG3整理后得G3SLSSLMTTTTTT2KG25G19G171，稳G5589G12946度和G2172G5589稳定G5627G3324G17837G18336G993矛盾。G3下面G1186原始系统的G5332环对G6980G20069G10587特G5627来分析G11752G12362闭环G1268G17894G2001G6980G3112STSTTSTKSWMLMSG3G3324一般G5785G1929下，LMT4T，G3252G850412STSTTMLM项G7389两个负实G7693，令其G10381/1T和2/1T。G1075就G7171G16840，可G4570该项分解G1038两个G3252式G3111212STSTSTSTTMLMG3于G7171G5332环G1268G17894G2001G6980G2476成G3111W21STSTSTKSSG3STL0150，STM190，STS001670，G3324G17837G18336，LMT4TG7171成立的。G1207入G990式并分解G3252式，得G310160117401190002850122SSSSSTSTTMLMG3G7693G6466稳G5589参G6980计算的G13479果，闭环系统的G5332环放大系G6980已取G1038G35362132900122201740EPSCKKKG3于G7171闭环系统的G5332环G1268G17894G2001G6980G1038G3100167010160117405362SSSSWG3G11468应的G5332环对G6980G5145G20069G2462G11468G20069特G5627G3926G3282，其G1025三个转G6252G20069G10587分别G1038G31111755174011SSTG31122562016011SSTG3113360000167011SSTG316利用MARG74IN命令G2001G6980G3N1G32G19G3G25G21G1753G30D1G32G19G171G26G23G31G30S1G32TFN1,D1G30G3NG21G32G19G31G30DG21G32G19G17G191G25G31G30SG21G32TFNG21,DG21G30G3N3G32G19G31G30D3G32G19G17G19G191G25G26G31G30S3G32TFN3,D3G30G3SYSG32S1SG21S3G30G3MARG74INSYSG3得出原始闭环调速系统的G20069G10587特G5627G3926G328218G726G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G328218G3G3原始系统的G1283G5515G3282G3由G3282可G16277，G11468G16294G16041度G164G321G21G179DG72G74，G5145值增G11422G16041度G42MG32G25G171G23DG37，G18129G7171正值，所以闭环系统稳定。G3G33G173G7092静差调速系统G33G173G171G3G3PI串联校正的设计G3本系统的PI调节器设计G3926下。G7693G6466原始系统对G6980G5145G20069和G11468G20069特G5627G3282可G11705G726G32121221122112LOG20LOG20LOG40LOG20LOG20CCCKG3G3252G8504G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3211KCG3G1207入G6980G6466，得G311191495627555362SSCG3按G990G17860方法，取STKPI17401，并G1363122562/1G3G6ING70LUDG72G3G6DG72FING72G3UINTG3UNSIG74NG72DG3INTG3G6DG72FING72G3UG70HARG3UNSIG74NG72DG3G70HARG3SBITG3G901G32P1G65G26G30G3SBITG3G90G21G32P1G65G25G30G3G3G3G3G3G3G3G3/G6980码管G1313G11015G7138G3G3G3G3G3G3G3G3SBITG3KG72YG32P1G653G30G3G3G3G3G3G3G3G3/按键G11015G7138G3SBITG3KG72Y1G32P1G65G23G30G3SBITG3PWMG66EG491G32PG21G65G19G30G3SBITG3PWMG66EG49G32PG21G651G30G3SBITG3STOPG32P1G655G30G3UG70HARG3TG72MP,M,N,KG72YNUM,KG72Y1NUM,R,TG30G3UINTG3IG30G3UG70HARG3G70ODG72G3TABLG72G32G94G3G3G3G3G3G3G19G913F,G19G91G19G25,G19G915B,G19G91G23F,G3G3G3G3G3G3G19G91G25G25,G19G91G25D,G19G91G26D,G19G91G19G26,G3G3G3G3G3G3G19G91G26F,G19G91G25F,G19G91G26G26,G19G91G26G70,G3G3G3G3G3G3G19G9139,G19G915G72,G19G91G269,G19G91G261G3G96G30G3/G3G6980码管G19475拉G1283字母所对的编码G3G3VOIDG3DG72LAYUINTG3G93G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3/G5322时G4388G2001G6980G3G94G333G3UINTG3G91,YG30G3G3G3FORG91G32G93G30G91G19G30G91G16G16G3G3G3FORYG3211G19G30YG19G30YG16G16G30G3G96G3LG72DDISPLAYUINTG3NG3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3/G6980码管G7186示G4388G2001G6980G3G94G3G3P3G32G19G91FFG30G3G3P3G32G97TABLG72N/1G19G30G3G3G901G321G30G3G3G90G21G32G19G30G3G3DG72LAY1G30G3G3P3G32G19G91FFG30G3G3P3G32G97TABLG72N1G19G30G3G3G901G32G19G30G3G3G90G21G321G30G3G3DG72LAY1G30G3G96G3KG72YSG70ANG3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3/按键扫描G4388G2001G6980G3G94G3G3IFKG72YG32G32G19G3G3G94G3G3G3DG72LAY1G30G3G3G3IFKG72YG32G32G19G3G3G3G94G3G3G3G3KG72YNUMG14G14G30G3G3G3G3G90HILG72G4KG72YG30G3G3G3G96G3G3G96G3G3IFKG72Y1G32G32G19G3G3G94G3G3G3DG72LAY1G30G3G3G3IFKG72Y1G32G32G19G3G3G3G94G3G3G3G3KG72YNUMG16G16G30G3G3G3G3G90HILG72G4KG72Y1G30G3G3G3G96G3G3G96G3G3IFSTOPG32G32G19G3G3G94G3G3G3DG72LAY1G30G3G3G3IFSTOPG32G32G19G3G3G3G94G3G3G3G3KG72YNUMG32G19G30G334G3G3G3G90HILG72G4STOPG30G3G3G3G96G3G3G96G3G3IFKG72YNUMG32G321G19G19G3G3KG72YNUMG3299G30G3G3IFKG72YNUMG32G32G161G3G3KG72YNUMG32G19G30G3G3G3G96G3PG90MG66G74OG3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3/电机正转G4388G2001G6980G3G94G3G3PWMG66EG491G32G19G30G3G3PWMG66EG49G321G30G3G96G3PG90MG66STOPG3G3G3G3G3G3G3G3G3G3G3G3G3G3/电机停G8502G4388G2001G6980G3G94G3G3PWMG66EG491G32G19G30G3G3PWMG66EG49G32G19G30G3G3G96G3VOIDG3MAING3G94G3G3G3G3G3THG19G32G25553G25G16G21G19G19/G215G25G30/定时器G20652G1855G1313装G2033值G3G3TLG19G32G25553G25G16G21G19G19G215G25G30/定时器低G1855G1313装G2033值G3G3TMODG32G19G91G191G30G3G3G3G3G3G3G3G3G3/模式选择G3G3EAG321G30G3G3G3G3G3G3/G5332G5647G1025G7041G3G3ETG19G321G30G