本科毕设论文-—基于arm的伺服电机控制器设计.doc

PAGEIII毕业论文题目:基于ARM的伺服电机控制器设计摘要运动控制技术能够快速发展得益于计算机、高速数字处理器、自动控制、网络技术的发展。基于ARM的控制器逐步成为自动化控制领域的主导产品之一。高速、高精度以及具有良好可靠性始终是运动控制技术追求的目标。本文介绍了基于ARM伺服电机控制器的设计。该控制系统采用PHILIPSLPC2114芯片作为控制核心，经D/A转换控制伺服电机驱动器，从而控制伺服电机的转速。该系统通过硬件实现智能控制算法，同时完成任务的合理调度及实时控制。在该系统中设计一种实时性强的自适应在线插值模糊控制器，具有良好的稳定性、较好自适应性、高可靠性、快速性、高的跟踪精度。本文实现运动控制技术对高速、高精度的追求目标，设计并实现以微处理器为核心的控制器，改变了传统单片机运算能力和控制功能不足的现状和弱点。可以对电机的转速位移进行智能化，精确化控制。关键词：ARM；伺服电机；D/A数据采集；控制器TitleDesigningofservo-motorControllerBasedonARMAbstractMotioncontroltechnologycanbenefitfromtherapiddevelopmentofcomputers,high-speeddigitalprocessors,automaticcontrol,thedevelopmentofnetworktechnology.ARM-basedcontrollerhasgraduallybecomethedominantareaofautomationandcontrolproducts.Thegoalisalwayshigh-speed,highprecisionandreliabilitywithgoodmotioncontroltechnology.ThisArticleintroducesdesigningofservo-motorControllerBasedonARM.ThecontrolsystemadoptsPHILIPSLPC2114chipcontrolservomotordrivestotheD/Aconverter.Hardwareimplementationofthesystemthroughtheintelligentcontrolalgorithm,andareasonablescheduletocompletetheirtasksandreal-timecontrol.Inthissystemdesignareal-timeonlineadaptivefuzzycontrollerinterpolation,ithasagoodstability,goodself-adaptive,highreliability,rapid,highprecisiontracking.InthisArticle,motioncontroltechnologytoachievehigh-speed,high-precisionofthepursuitofobjectives,designandrealizationofthemicroprocessorasthecoreofthecontrollertochangethetraditionalsingle-chipcomputingpowerandinsufficientcontrolsandweaknesses.Motorspeedcanbecarriedoutonintelligentofaccuratecontrol.Keywords：ARM；Servo-motor；D/Adataacquisition；Controller目次HYPERLINK\l"_Toc327575944"1绪论PAGEREF_Toc327575944\h1HYPERLINK\l"_Toc327575945"1.1引言PAGEREF_Toc327575945\h1HYPERLINK\l"_Toc327575946"1.2国内外发展现状PAGEREF_Toc327575946\h1HYPERLINK\l"_Toc327575947"2相关技术简介PAGEREF_Toc327575947\h13HYPERLINK\l"_Toc327575948"2.1ARM原理简介PAGEREF_Toc327575948\h13HYPERLINK\l"_Toc327575949"2.2伺服电机的控制原理简介PAGEREF_Toc327575949\h20HYPERLINK\l"_Toc327575950"3系统设计PAGER