摘要通过对直流电机性能特点及调速方法的比较，本文提出了一种以PIC16F877A单片机作为微处理器的直流电机控制方案。通过改变PWM占空比实现对直流电机转速的控制，同时将电机速度的脉冲频率反馈到单片机中实现转速测量。在系统中使用4×4键盘输入数值并进行电机正反转控制，启动电机后可以通过显示部件了解电机当前的转速。在此基础上，本文还研究了PID算法三个参数对于系统的性能影响。64896

关键词：PIC  PWM  直流电机  PID

Abstract

Through the analysis of performing characteristics and the speed governing methods of the DC motor, this paper puts forward a rotational control system design of DC motor based on PIC16F877A，By controlling the duty ratio of PWM pulse , the rotate speed of the DC motor can be adjusted . Meanwhile, the design feeds back the pulse frequence of the electromotor speed to single-chip microcomputer . In this system, the 4×4 keyboard sets parameters and makes the DC motor rotate reversely or round rightly , after starting up , the display unit shows the electromotor’s current rotate speed . On this basis, this paper also studies the effect of three parameters of the PID algorithm on the performing characteristics of the system.

Keywords ：PIC  PWM  DC-MOTOR  PID

目   次

摘要

ABSTRACT

1  绪论…………………………………………………………………………………1

1.1  直流电机控制的历史与发展…………………………………………………1

1.1.1  直流电机和运动控制系统………………………………………………1

1.1.2  直流电机基本原理和调速的三大方法…………………………………1

1.1.3  直流电机调速的最新发展………………………………………………2

1.2  本文的主要工作………………………………………………………………3

2  直流电机模型与PID算法简介……………………………………………………3

2.1  直流电机数学模型……………………………………………………………3

2.2  PID算法………………………………………………………………………5

2.2.1  PID算法的引入…………………………………………………………5

2.2.2  PID算法…………………………………………………………………5

3  直流电机控制设计方案论证………………………………………………………6