论文总字数：20240字

摘 要

伺服电机在最近几年国内发展飞速，研究伺服电机对我们的工业发展，对于我们生活改善有很大的助力作用。在研究过程中应该先熟悉V90的驱动要求，比如V90可以接受的输入电压范围，它反馈给控制机的信号类型等等此类。然后按照需求来设计控制板，设计放大电路，设计相应的电源模块等等。除此之外还要考虑功率匹配，信号滤波等问题。打印出PCB板还要测试各个模块的功能是否与设想的功能一致，在硬件设计中并不是原理正确你的PCB板子就可以正常运行，在元件布局上很有讲究，比如芯片去耦电容摆放的位置要越靠近芯片效果越好，下载口也要离芯片相应的IO口越近越好，此外还有一些实际工程经验的应用，要准确地使用去耦电容，滤波电容和旁路电容。然后按照设计思路配置相应的IO口，编写会调用的函数，编写PID算法一步步地调试。经过三个月的努力，我实现了对伺服电机的转速闭环控制，位置闭环控制。满足了我对毕设初期的设想。此次毕业设计最大的成果是我对控制器的更改，之前市面上对V90的控制多是利用PLC，而PLC的价格一般都比较高，而STM32价格更为低廉，更为常见而且控制简单。

关键词：V90，STM32，PID ，伺服电机

Abstract

Servo motor has been developing rapidly in recent years. Research on servo motor has great help to our industrial development and improvement of our life. During the research process, you should familiarize yourself with the driving requirements of the V90, such as the input voltage range that the V90 can accept, the type of signal it feeds back to the controller, and so on. Then design the control board according to the demand, design the amplifying circuit, design the corresponding power module and so on. In addition to considering power matching, signal filtering and other issues. Print out the PCB board and test whether the function of each module is consistent with the envisaged function. In the hardware design, it is not the correct principle. Your PCB board can run normally. The layout of components is very particular, such as chip decoupling capacitor placement. The closer the chip is to the chip, the better the effect is. The download port must be as close as possible to the corresponding IO port of the chip. In addition, there are some practical engineering applications that require the accurate use of decoupling capacitors, filter capacitors, and bypass capacitors. Then according to the design ideas to configure the corresponding IO port, write the function will be called, write PID algorithm to debug step by step. After three months of hard work, I realized closed loop control of servo motor speed and position closed loop control. Satisfy my vision for the initial stage of completion. The biggest achievement of this graduation project was my change to the controller. Before the market, most of the control of the V90 was the use of a PLC, and the price of the PLC was generally higher, while the STM32 was cheaper, more common and simple to control.

KEY WORDS: V90,STM32,PID,servo motor

目 录

摘 要 I

Abstract II

第一章 绪论 1

1.1 研究背景 1

1.2 伺服电机发展 1

1.3 本文研究内容 2

1.4 全系列设备 3

第二章 硬件电路设计 6

2.1 核心板设计 6

2.1.1 系统框架搭建 6

2.1.2 STM32F103ZET6原理图 6

2.1.3 电源与地接口 8

2.1.4 WIFI模块 8

2.1.5 BOOT 9

2.1.6 SWD下载口 10

2.1.7 复位键 10

2.1.8 OLED模块 10

2.1.9 指示灯 11

2.1.10 PCB布线图 12

2.1.11 PCB实物图 12

2.2 电源板设计 13

2.2.1 24V转 -12V及24V转 5V电路 14

2.2.2 5V电压转3.3V电压 14

2.2.3 电源模块PCB 15

2.2.4 电源板实物图 16

2.3 控制板设计 17

2.3.1 TLP521芯片应用 17

2.3.2 LM324芯片应用 17

2.3.3 LM339芯片应用 19

2.3.4 V90的接口 21

2.3.5 控制板PCB设计 21

2.3.6 控制板实物图 22

第三章 伺服电机控制算法 24

3.1 传统PID算法 24

3.2 模糊PID算法 24

3.3 双闭环控制 27

第四章 V90上位机的参数值设置 28

4.1 SINAMICS V90上位机配置 28

第五章 实验结果分析 31

5.1 转速闭环控制 31

5.2 位置闭环控制 32

第六章 总结与展望 37

致 谢 38

参考文献 39

绪论

研究背景

图1- V90与伺服电机一套设备

剩余内容已隐藏，请支付后下载全文，论文总字数：20240字