摘要随着自动控制理论的发展，到20世纪中期，伺服控制系统的理论与实践均趋于成熟，并广泛应用于工业生产及日常生活中。近几十年来，在计算机技术、数字信号处理器等的促进下，伺服控制系统朝着高精度、高速度和数字化方向发展。本文就是在这个背景下，研究、设计了基于DSP的双路伺服控制系统。61720

首先，本文阐述了基于DSP的双路伺服控制系统的总体设计方案，为之后的硬件和软件设计工作提供了整体的指导思想。

接着，选用了本文需要的核心控制芯片TMS320LF2407A DSP，并根据系统的设计要求和该芯片的特点，综合设计出了具有最小控制系统、数据采集处理、串口通信、D/A输出等功能模块的伺服控制系统。其中，系统的通信部分是基于RS485通信协议完成的。在硬件系统完成后，介绍了PCB制作的基本流程。

   然后，在CCS开发环境下，完成了系统控制软件的整体设计，包括主程序、中断服务程序和一些子程序。中断服务程序包括了定时器周期中断服务程序和接收中断服务程序，它们是实现伺服系统各项功能的主体。

最后，本文研究了所采用的控制算法。经过对常规PID控制、前馈控制和Bang-Bang控制这三种控制方法的综合考虑，最终决定将三者有机结合形成复合控制算法对伺服系统进行很好地控制。

毕业论文关键词:双路伺服控制系统、DSP、PID控制

毕业设计说明书（论文）外文摘要

Title    Circuit design of the dual servo control system based on DSP 

Abstract With the development of automatic control theory, the theory and practice of servo control system are mature and widely used in industrial production and daily life by the middle of the twentieth century. In recent decades, under the facilitation of computer technology, digital signal processors and other technologies, the development of servo control system towards high-precision, high-speed and digital direction. This paper studies and designs the dual servo control system based on DSP in this context.

Firstly, the paper elaborates the general design scheme for the DSP-based dual servo control system, which provides the overall guidance of the idea for the following design of hardware and software.

Secondly, the paper chooses TMS320LF2407A DSP as the core control chip. And then, according to the system design requirements and the characteristics of this chip, the paper designs a servo control system which has the smallest control system, a data acquisition and processing module, a serial communication module, D/A output module and other functional modules. Wherein, the communication portion of the system is completed based on the RS-485 communication protocol. After the completion of the hardware system, the paper introduces the basic process of PCB production.

   Thirdly, the paper completes the overall design of the system software in the CCS development environment, including the main program, the interrupt service programs and some   subroutines. The interrupt service programs include a timer periodic interrupt service program and a receive interrupt service program, which are the subjects to achieve the various functions of the servo system.

    Finally, this paper studies the control algorithms. After considering three control methods which are the conventional PID control, feed-forward control and Bang-Bang control, we decide to combine these three methods to form a complex control algorithm, which can control the servo system well.

Keywords：Dual servo control system, DSP, PID control

 目录

1 绪论 1

1.1 课题背景与意义 1

1.2 伺服系统的基本概念