基于单摆平衡控制系统设计毕业论文.docVIP

浙江海洋学院本科生毕业论文 PAGE 1 基于单摆平衡控制系统设计 摘要：本设计使用飞思卡尔最小系统MC9S12XS128为核心。采用精密线性角度传感器对每一时刻的单摆的摆角进行实时监测，然后将获取的信息反馈给最小系统MC9S12XS128。MC9S12XS128将读取到的信息进行分析处理，发出相应的指令对步进电机进行相应的控制。为了提高步进电机的角度细分精确度，所以采用步进电机细分驱动芯片TB6560AHQ，对最小系统输出的信号细分并且对其电流衰减，使得步进电机每进一步转过的角度细化到0.1°。经过测试平台的调节震动大大降低。 关键词： MC9S12XS128单片机 ；角度传感器；步进电机 ；信号细分器 ABSTRACT This design using minimum system as the core MC9S12XS128 freescale. The Angle sensor precision linear to every moment of the pendulum swinging Angle for real-time monitoring, and then will get information feedback to the minimum MC9S12XS128 system. MC9S12XS128 will read to analyzing the information processing, sends out the corresponding instruction for step motor for the corresponding control. Because the original the step motor stepping Angle is bigger, so the stepping motor subdivision driver TB6560AHQ chip, the minimum system output signal and the current subdivision attenuation, and makes the stepping motor further refinement of every turn Angle to 0.1 °. Through the design, the adjustment of the vibration platform is reduced greatly. 目录 TOC \o 1-2 \h \z \u HYPERLINK \l _Toc324617521 第1章 绪论 PAGEREF _Toc324617521 \h 5 HYPERLINK \l _Toc324617522 1.1系统框架设计总方案 PAGEREF _Toc324617522 \h 5 HYPERLINK \l _Toc324617523 1.2系统组成模块方案 PAGEREF _Toc324617523 \h 6 HYPERLINK \l _Toc324617524 1.2.1电机模块 PAGEREF _Toc324617524 \h 6 HYPERLINK \l _Toc324617525 1.2.2控制器模块 PAGEREF _Toc324617525 \h 6 HYPERLINK \l _Toc324617526 1.2.3电机驱动方案 PAGEREF _Toc324617526 \h 7 HYPERLINK \l _Toc324617527 1.2.4电源模块 PAGEREF _Toc324617527 \h 7 HYPERLINK \l _Toc324617528 1.2.5角度传感器模块 PAGEREF _Toc324617528 \h 7 HYPERLINK \l _Toc324617529 第2章 系统硬件单元的电路设计 PAGEREF _Toc324617529 \h 9 HYPERLINK \l _Toc324617530 2.1 控制器单元电路设计 PAGEREF _Toc324617530 \h 9 HYPERLINK \l _Toc324617531 2.2 电源单元电路设计 PAGEREF _Toc324617531 \h 10 HYPERLINK \l _Toc324617532 2.3 电机驱动电路设计 PAGEREF _Toc324617532 \h 11 HYPERLINK \l _Toc324617533 2.4角度传感器模块 PAGEREF _Toc324617533 \h 14 HYPERLINK \l _Toc32461