二维度运动控制系统_本科毕业论文.doc

******大学本科生毕业论文 二维度运动控制系统 院 （系）：学院 专 业： 学 号： 学 生 姓 名： 指 导 教 师： ****年6月 摘 要 500mm141mm的平面上运动，本设计采用一种基于常见的高速嵌入式单片机——AVR单片机作为主系统，应用滚珠丝杠作为直线运动的传动机构，开发设计一套系统来实现工业机器人机械臂的二维度运动。并系统地论述了应用单片机开发步进电动机与直流伺服电机二维运动控制器的方法。 首先，论文介绍了本文的选题背景、主要研究内容和研究意义。 其次，采用模块化的设计思想进行二维度运动控制系统的硬件电路设计。 以 ATmega16为核心，把控制系统分为控制器模块、电机驱动及电机运行、电源模块等，并对各模块进行了详细的介绍和分析。控制模块主要进行各种信息、数据的处理，协调系统中各功能模块完成预定的任务；驱动模块主要负责驱动步进电机和直流伺服电机，实现机械手的动作以及定位；电源模块负责整个二维度运动控制系统的电源供给。设计出电路原理图后根据原理图进行 PCB 的设计。 最后，进行软件程序设计。根据系统的功能要求设计了整个二维度运动控制系统的工作流程并向读者列举了部分程序代码。 关键词：ATmega16单片机步进电机直流伺服电机控制系统 ABSTRACT The two dimensions movement of the Industrial robot manipulator is always the combination of the degrees of freedom of the axial of movement axis and the radial rotation. To comply the movement on the 500mm141mm plane, adopting a common high-speed embedded SCM——the AVR SCM as the main system, using the ball screw as the transmission mechanism of the linear movement, this design develops and devises a set of system to achieve the two dimensions movement of the Industrial robot manipulator. It also systematically expounds the method of using the SCM to exploit a two dimensions movement controller based on the stepper motor and DC servo motor. Firstly, this paper introduces its background, main contents and significance. Secondly, this issue adopts the modular design concept to design the hardware circuit of the two-dimension motion control system. With the ATmega16 as core, this issue divides the control system into the controller module, the motor driving module, the motor running module, and the power supply module, and it makes detailed description and analysis of every module. The control module mainly deals with every kind of data and information, and coordinates each module of the system to achieve the scheduled tasks. The driving module mainly drive the step motor and the servo motor in order to achieve the location off the robot manipulator. The power supply module suppli