毕业设计基于自由摆的平板控制系统详解.doc

摘　　要 本设计要求一个自由摆的平板控制系统，控制电机使平板可以随着摆杆的摆动而旋转(3-5周)，摆杆摆一个周期，平板旋转一周。在平板上摆放一枚和八枚硬币，一枚硬币时用手堆动摆杆至一个角度30度到45)，八枚硬币时，用手堆动摆杆至一个角度(45到60)，启动系统后，让自由摆动，在五个周期内，不让平板上的硬币掉下来。 本是基于AT89C52单片机为主控芯片，将与自由摆顶端相连，利用角度和电阻值的关系，单片机进行AD两端电压的变化，在LCD液晶屏上显示，单片机电机驱动芯片控制驱动电机，实现电机随着摆杆的摆动而正反转和停转的功能，单片机对采集到的电压进行PID控制算法再通过改变PWM的占空比达到精确控制电机转速的目的，从而使平板随着摆杆的摆动一直与水平面保持平行。基于自由摆的平板控制系统能够使放在平板上的小物件在摆动的过程中不会掉下来。 Abstract The design requirements and design a tablet based on free pendulum control system can control the motor plate can swing with the pendulum rotates (3-5 weeks), the pendulum swing a cycle, tablet revolution. Placed on the plate and an eight coins, a coin pile hand when moving to a pendulum angle (30 degrees to 45 degrees), eight coins, hand heap to a moving pendulum angle (45 degrees to 60 degrees), start the system, let freedom pendulum swinging freely in the five periods, not to fall flat on the coin. This design is based on AT89C52 microcontroller as the master chip, the angle sensor is connected to the top of the free pendulum, the use of angle and the linear relationship between the resistance value, the use of single-chip AD converter converts the voltage across the sensor angle changes, and on the LCD screen displayed angle value after conversion by the motor driver chip microcontroller controls the drive motor, the motor with the swing of the pendulum and stopped reversing function, application microcontroller collected voltage PID control algorithm, and then by changing the PWM duty cycle to achieve the purpose of precise control of motor speed, so that the plate with the pendulum has been swinging parallel to the horizontal plane. Tablet based on free pendulum control system enables small objects on the plate in the swing process will not fall off. Key Words: AT89C52, ADStepper motor, LCD screen 目 录 摘　　要 I Abstract II 1 绪论 1 1.1 课题背景与意义 1 1.2 课题的内容与要求 1 2 系统方案设计 3 2.1 结构框图 3 2.2 系统模块选择设计 3 2.2.1 控制器模块 3 2.2.2 角度转换模块 4 2.2.3 电机模块 4 2.2.4 驱动电机模块 4 2.2.5 显示模块 4 3 理论分析与计算 5 3.1 自由