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Research on speed control system of AC servo motor based on single chip microcomputer
The servo motor is a control motor, which is divided into two kinds of DC servo motor and AC servo motor. Due to the AC servo motor has the advantages of small volume, light weight, large output torque, low inertia and good control performance and other advantages, has been widely used in automatic control system and automatic detection system as the implementation of components, control signals into mechanical shaft rotation. Because the positioning accuracy of the servo motor is quite high, the modern position control system has been used more and more in the position control system of AC servo motor as the main component. The design here is through control relay closure, broken, and to control the width of pulse, through the closed-loop control non standard AC servo motor sliding magnetic block displacement by changes in the magnetic field to control the motor speed. ''
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AC servo motor control system design scheme of the system using the AC servo motor is a three-phase AC motor; drive control u / V / W three-phase electrical and electromagnetic field is formed; under the action of this magnetic field of rotor rotation and motor by the proximity sensor speed feedback signal to drive; drive according to the feedback value is compared to a target value, adjust the rotor rotation angle. The servo motor, also known as the executive motor, is used as an actuator in the automatic control system to convert the electrical signals received into the angular displacement or angular velocity output of the motor shaft.
2 system hardware design the project essentially the stc89c52rc MCU to construct a minimal system, the realization of pulse width can be regulated output control two relays, reversing the motor intelligent control is realized, so as to realize the accurate displacement of the servo motor control. The control system is composed of 1
Show.
Through the key input to the motor speed value and speed sensor feedback back motor speed with PID algorithm, after monolithic integrated circuit processing into corresponding pulse signal, again by a photoelectric coupler regulating relay opening, through regulating relay of pulse width, pulse width modulation to control servo motor magnetic block positive and negative displacement, the motor to achieve a given speed value, at the same time, MCU accept speed sensor that fixed on the shaft of the servo motor to rotate along with the motor feedback pulse signal, and the LED real time display the motor actual speed.
2.1 microcontroller controller hardware design in this development of a set of motion controller software system. The hardware structure of the system is developed based on MCU, which is used for external interrupt, timer interrupt, sensor pulse signal, and input / output. P0.0 STC89C52RC, P0.1, P0.2 port, respectively, as the button SET, button MOVE, button UP input port, through the STC89C52 timer T0 timer interrupt control pulse transmission frequency, and then control the speed of the motor. The schematic diagram of the system is shown in figure 2.
2.2 drive parts of the circuit of the hardware design of the MCU is TTL circuits (logic 1 and 0 level, respectively, 2.4 V and 0.4 V), the I / O port output switching control signal level can not be directly driven motor, so at the mouth of the p2.6 control rise speed signal output end should be added to the drive circuit; similarly the driving circuit is applied to p2.7 reduced speed output end. System uses the opto coupler and transistor drive, by photoelectric coupler output channel afferent control of the motor, so it has a strong ability to suppress noise interference, isolated from the role, can prevent strong electromagnetic interference; transistor is mainly power amplification. The motor drive circuit is shown in figure 3.
3 system software design of the controller software mainly completes LED display, keyboard input, realize the servo motor speed and relay control functions, including the main program, key interrupt service program, the timer T0 interrupt service program and LED display subroutine. In the AC servo motor control system, the main function of SCM is to produce pulse sequence, which is transmitted through the P3.2 port of STC89C52RC. The system software is used to produce the periodic pulse sequence, without the use of software delay, and does not occupy CPU. CPU can deal with other events in the non interrupt time, only to the interrupt time, to drive the servo motor rotation step. The flow chart of the system is shown in figure 4.
3.1 key preset subroutine panel has three key and the subroutine related, they are set, and move up, its function respectively is: set is used to determine the design positioning, a total of four, including bits, ten, one hundred and thousand; move to choose the one; up controlled the increase and increases each time, between 0 ~ 9 cycle. When the user can determine the input can be a key SET, the program will determine the value of the servo motor according to the value of the given speed, and finally, the set value stored in the corresponding variables, the key subroutine flow chart as shown in figure 5.
3.2 timer interrupt service routines for every 1 turns of the motor, the microcontroller is interrupted 1 times. By testing the time interval of the two break, that is, through the timer count, you can calculate the speed of the motor. In order to achieve the speed detection need to break the speed of the configuration for the highest priority interrupt priority INTO. The block diagram of the interrupt count is shown in figure 6.
3.3 speed PID control algorithm, as a product of the combination of fuzzy control and PID control, fuzzy adaptive PID control in addition to a wide range of speed regulation, speed regulation and does not require to master the accurate mathematical model of the controlled object and other advantages, but also has characteristics of simple structure and is easy to implement. According to the position motion law of linear motor, the fuzzy adaptive PID contro

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