微控器之伺服马达定位控制PositionControlofServomotor.PDF

微控器之伺服馬達定位控制 Position Control of Servomotor Using Microcontroller 吳敏光 Min-Kuang Wu 南台科技大學機械工程技術系 摘要 現今工業上的各種自動化機械 ，常使用伺服馬達作為元件的驅動與定位 ， 其轉軸之控制系統 ，往往整合於機器中。而較具設計彈性之運動控制卡 ，也因價 格較貴 ，無法大量應用於教學上。近年來微控器的發展迅速且價格低廉 ，已大量 應用於較簡單的控制系統上。本文以技職體系的教學為主要考量，介紹微控器應 用於小型直流伺服馬達定位的方法，並實際以少數的零件與極低廉的成本製作出 直流伺服馬達的定位系統 。在處理譯碼器的回授訊號上 ，捨棄計數IC 而直接利 用微控器的外部中斷腳位，經實驗顯示對低解析度的譯碼器可精確的計數。定位 控制上使用PID 控制器，以微控器的運算速度而言，對性能要求不高的定位系統 也可達到其要求。本系統可應用於自動控制課程的教學與實驗，微電腦應用課程 的程式寫作練習 ，以及學生的專題製作成品上 。 關鍵詞 ：微控器、伺服馬達、譯碼器 、PID 控制器 、定位系統 Abstract Automatic machines in modern industry commonly use servomotors for driving and position control. The control system is usually integrated into the machine. Some motion control cards are more flexible to use but expensive for education. In recent years, microcontroller has been widely used in control system due to its low cost and increasing power. This paper introduces a method for position control of dc servomotors by applying microcontroller in the control system. A prototype has been made with few electronic parts and extremely low cost. In handling the feedback signal of encoder, this system discards integrate circuit counters and directly utilizes the interrupt pins of microcontroller. Experiments show that it can accurately counts the number of signals from the encoder. The PID controller is applied in position control of motor shaft. If performance is not the key issue, the microcontroller can serve as the controller even with low speed compared to personal computer. This system can be applied in the course of automatic control systems for both teaching and experiments. It can help students in the training of programming technique on microcontroller. In addition, it can b