基于arm9直流电机调速

基于ARM9平台的直流电机控制系统设计

院 系 专 业 班 级 学 号 姓 名 指导教师 负责教师

自动化学院 自动化 5407202 200504072044

金虹达 张庆新 张庆新

沈阳航空工业学院

2009年6月

沈阳航空工业学院毕业设计(论文)

摘 要

本文的主要工作是基于ARM9平台的直流电机调速系统的设计。首先，介绍了PID算法和PWM驱动直流电机的技术原理，对L298N型直流电机驱动模块进行分析，做出了ARM920T开发板与L298N的接线图。然后，针对此开发板的片内外设PWM端口、相应引脚编写出了驱动程序，并开发了与上位机通信的串口驱动模块烧写程序到ARM9开发板中。最后，采用CodeWarrior for ARM Developer Suite作为开发工具，编写上位机主控程序，比较精确的实现了普通直流电机的转速测量和转速调节功能。实践证明，该系统具有结构简单、操作方便、测量精度高、稳定性好等特点。

关键词：ARM9平台；直流电机；脉冲宽度调制；测速；调速

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沈阳航空工业学院毕业设计(论文)

Abstract

This paper studies a kind of controlling system of DC motor analyzing and concentrates on the research of direct current motor controlled by ARM processor. Firstly, PID arithmetic、PWM technology are introduced and the L298N motor driver module is analyzed. The circuit disgram is described which explains how ARM920T connects with L298N. Secondly, the drivers are completed for the board’s PWM inside ports, the serial communications modules used by ARM9 are completed. Lastly, use the Code Warrior for ARM Developer Suite as develop tool to write the upper-machine’s master programs, more the precision carried out turning of common direct current electrical engineering soon diagraph and turn to soon regulate function. Practice has proved that the system is simple in structure ,easy operation ,high accuracy ,stability and so on.

Keywords: ARM9 Board; DC motor; PWM; Measures fast; Velocity modulation

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沈阳航空工业学院毕业设计(论文)

目 录

第1章 绪 论 ..................................................................................................................... 1 1.1 课题背景..................................................................................................................... 1 1.1.1 直流电机发展过程 .............................................................................................. 3 1.1.2 直流电机发展方向与展望 .................................................................................. 4 1.2 课题目标及意义......................................................................................................... 5 1.3 课题任务及要求......................................................................................................... 5 1.4 课题内容分析与实现 ................................................................................................ 6 1.5 课题论文安排介绍..................................................................................................... 6 第2章 直流电机控制系统的总体方案论证..................................................................... 8 2.1 总体方案..................................................................................................................... 8 2.2 直流电机控制系统硬件方案 .................................................................................... 8 2.3 直流电机控制系统软件方案 .................................................................................... 9 第3章 系统的硬件设计 ................................................................................................... 10 3.1 芯片S3C2440A简介............................................................................................... 10 3.2 直流电机驱动模块................................................................................................... 12 3.2.1 PWM技术简介................................................................................................... 12 3.2.2 直流电机电枢PWM调压调速原理 ................................................................ 12 3.2.3直流电机调速系统的整体结构 ......................................................................... 14 3.2.4 基于H型驱动电路的PWM调速 ................................................................... 14 3.2.5 ARM的脉宽调制PWM描述 ........................................................................... 17 3.3 速测量模块............................................................................................................... 18 3.3.1 测速原理 ............................................................................................................ 18 3.3.2 测速传感器 ........................................................................................................ 19 3.3.3 波形整定 ............................................................................................................ 20 3.4 通信模块................................................................................................................... 22 3.4.1 串行通信涉及的几个问题 ................................................................................ 22 3.4.3 串行口电气特性 ................................................................................................ 23

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沈阳航空工业学院毕业设计(论文)

第4章 控制系统软件设计电路方案设计分析............................................................... 25 4.1 控制系统软件设计步骤 .......................................................................................... 25 4.2 ARM ADS软件开发平台 ......................................................................................... 26 4.3 ARM9开发板设置及连接........................................................................................ 27 4.3.1设置超级终端 ..................................................................................................... 27 4.3.1 BIOS模式 ........................................................................................................... 28 4.3.2 H-Jtag和H-FLASHER ...................................................................................... 29 4.4系统变量与函数的定义 ........................................................................................... 31 4.5主程序设计................................................................................................................ 31 4.6各模块程序设计........................................................................................................ 33 4.6.1系统初始化 ......................................................................................................... 33 4.6.2中断子程序设计 ................................................................................................. 33 4.6.3PWM调速程序设计 ........................................................................................... 35 4.6.4串口通信程序设计 ............................................................................................. 38 第5章 直流电机控制系统综合调试与分析................................................................... 42 5.1 硬件电路调试........................................................................................................... 42 5.2 软件电路调试........................................................................................................... 43 5.2.1 使用H-JTAG 在ADS1.2 环境下进行仿真调试 ........................................... 43 5.3 系统联调结果与分析 .............................................................................................. 43 结论 ..................................................................................................................................... 45 社会经济效益分析 ............................................................................................................. 46 社会经济效益分析 ............................................................................................................. 47 参考文献 ............................................................................................................................. 48 致 谢 ................................................................................................................................. 49 附录ⅠS3C2440A系统原理图 .......................................................................................... 50 附录Ⅱ 整体电路图 ........................................................................................................... 51 附录III程序清单 ............................................................................................................... 52 附录IV 元器件清单 .......................................................................................................... 53

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