机电系统角位移和转速的检测技术及应用研究

论文总字数：31993字

摘 要

量和控制电机转速，并研究相关精确性问题，课题内容主要分为硬件和测量两个部分。硬件方面，根据实验需要，使用solidworks软件建模，最后绘制出电机带动编码器的测试机工程图。实际制作则根据简单易行为原则，自行搭建了微型机电系统。实际机电模型包括结构设计制作外，变频器控制一台交流异步电机，经皮带传动，连接编码器轴，在后续测量控制探索中（该编码器位置可为另一个电机取代，作双电机变频控制的研究）。正交编码器数字脉冲信号传递给单片机，通过编程可以实现转角和转速的检测。

本课题使用的是STM32F103RCT6教学板，在keil开发环境下实现软件编程，实现的测速软件将速度数值显示到数码管上，方便直观地查看测量值。另外，在设置采样周期50ms、电机频率20HZ的情况下，观察编程中数组储存的脉冲数，此时的数值接近编码器的线数。将数组中的数值通过USART串口输出到PC串口助手中，研究长时间内数值的稳定性。在算法方面，根据非原子操作可能带来的问题，本文进行了研究，找到有效的算法，克服计数到16位寄存器最大计数65535后数据回绕可能带来的转速跳变的问题。

关键词：单片机 机电系统 正交编码 位置和速度信号

angular displacement and speed detection technologyof Mechanical and electrical system and application research

02012314zhengfei

Supervised by maoyuliang

Abstract：The topic of this graduation design is angle displacement and the rotational speed of the detection technology in electromechanical systems and its application research, the aim is to establish a set of experimental system, which measures and controls the motor speed.In addition, research related to accurate issues should be taken.The subject content is divided into two parts: hardware and measurement. In terms of hardware, according to the experimental needs, use the software SolidWorks to build models, and finally draw the engineering pictures which describes that motor drives encoder . The actual production to build a micro electromechanical system is based on the principle of conducting simply and easily.The basis of actual electromechanical model is according to the structure design, in addition,the system controls the motor through the inverter. By the use of belt, motor speed will be passed to the encoder.In the subsequent exploration of the control and measurement, the position of encoder can be replaced by another motor.Then, two-motor-frequency-control-research is available. Debug the hardware system and improve the efficiency of the transmission. In terms of measurement, the quadrature encoder passes the digital pulse signal to the microcontroller, then use the software keil to program and simulate the speed of the motor.

This topic uses the STM32F103RCT6 teaching board, after the measurement of speed, display the value of speed through the digital tube in the teaching board,for the convenient and intuitive view of the measured value. Also,after the setting of 50mssampling cycle,20Hz motor frequency, observe the number of pulses in the array which stores the values,these values at this time is approaching the line number of the encoder. Use the USART serial port output to pass the values in the array to PC serial port assistant, study the stability of the numerical value for a long period of time. In the aspect of algorithm, according to the non atomic operation, which may bring problems, this paper has taken several studies.This topic will find effective algorithms to overcome the speed jump problem of counting to the maximum count data-65535 of 16 bit registers.

Keywords:STM32；Mechanical and electrical system；Orthogonal coding；displacement and speed signals

目录

1. 绪论……………………………………………………………………………………………1

1.1研究背景及意义………………………………………………………………………………………………………………………1

1.1.1研究背景……………………………………………………………………………………………………………………………1

1.1.2传统测速方法……………………………………………………………………………………………………………………………1

1.1.3编码器测速背景与应用………………………………………………………………………………………………………………2

1.2本文的研究目的和主要研究内容………………………………………………………………………………………………3

1.2.1研究目的………………………………………………………………………………………………………………………………3

1.2.2研究内容………………………………………………………………………………………………………………………………4

1. 基础理论………………………………………………………………………………..………5

2.1编码器工作原理……………………………………………………………………………………………………………5

2.1.1编码器分类及其特点………………………………………………………………………………………………………………………………5

2.1.2正交编码器结构原理............……………………………………………………………………………………………………………………………6

2.1.3编码器测速方法.......................…………………………………………………………………………………………………………………………6

2.1.4编码器线路原理.......................…………………………………………………………………………………………………………………………8

2.2教学板工作原理………………………………………………………………………………………………………………………9

2.2.1主芯片STM32F103RCT6概况………………………………………………………………………………………………………………………9

2.2.2硬件及模块连接原理……………………………………………………………………………………………………………………………………10

1. 实物搭建………………………………………………………………………………………14

3.1 solidworks建模与实际机电模型搭建………………………………………………………………………………………………………14

3.2变频器驱动原理与应用…………………………………………………………………………………………………………………………18

1. 单片机编程……………………………………………………………………………………20

4.1建立工程………………………………………………………………………………………………………………20

4.2编程与算法……………………………………………………………………………………………………………………23

4.2.1外设初始配置…………………………………………………………………………………………………………………23

4.2.2中断响应函数文件stm32f10x_it.c…………………………………………………………………………………27

4.2.3主函数文件main.c……………………………………………………………………………………………………………29

4.2.4仿真调试……………………………………………………………………………………………………………………………31

4.2.5电机启动特性………………………………………………………………………………………………………………………32

4.3原子操作问题……………………………………………………………………………………………………………………32

1. 总结与展望……………………………………………………………………………………34

致谢……………………………………………………………………………………………………35

参考文献………………………………………………………………………………………………36

第一章 绪 论

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