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  本文選題：AVR單片機 + PWM控制��； 參考：《廣東工業(yè)大學》2012年碩士論文

【摘要】：本課題以廣東中能加速器有限公司的O-Max型直線加速器的治療床為控制對象,研究了加速器治療床的運動控制系統(tǒng)。論文具體分析了系統(tǒng)的設計要求,闡述了系統(tǒng)的功能,介紹了系統(tǒng)的硬件設計和軟件設計。 本操作系統(tǒng)系統(tǒng)的控制對象是直線加速器治療床,實現(xiàn)治療床縱向和垂直方向運動的自動控制及檢測功能,這兩個方向運動均采用直流伺服電機驅(qū)動。治療床同時具有現(xiàn)場手動操作和上位機遠程操作。本控制系統(tǒng)主要由控制模塊、驅(qū)動模塊和上位機三部分構(gòu)成。本系統(tǒng)選用AVR系列單片機作為控制核心,采用PWM方式控制直流伺服電機。在閉環(huán)速度控制中選用PID控制算法進行閉環(huán)控制,使控制系統(tǒng)具有良好的動態(tài)和靜態(tài)性能。檢測功能使用A/D轉(zhuǎn)換器對電壓值進行采集,從而檢測治療床的電機轉(zhuǎn)速和位置。 為了降低功率模塊電壓對控制核心的干擾,本系統(tǒng)將控制部分與功率部分放置于不同的電路板上。系統(tǒng)的硬件電路板主要包括運動控制模塊和電機驅(qū)動模塊。主控制板是系統(tǒng)的核心部分,包括以單片機為主控元件的控制核心,電壓信號檢測電路,電源電路,串口通信電路和一些外圍輔助電路。電機驅(qū)動板是系統(tǒng)直接連接兩臺被控電機的執(zhí)行部分,主要包括小功率驅(qū)動電路、過流保護電路以及大功率H橋驅(qū)動電路。 本系統(tǒng)的軟件由兩個部分組成,即上位機遠程操作程序和AVR單片機控制程序。上位機是系統(tǒng)實現(xiàn)人機對話的部分,操作人員通過上位機上的操作軟件可以實現(xiàn)對治療床進行遠程操作并且實時監(jiān)視治療床的狀態(tài)。AVR單片機控制程序采用C語言進行編寫,使用ICCAVR編譯器進行編譯。設計方式是采用模塊化設計,提高了程序的可讀性和可移植性。主要的程序模塊有：主程序、PID算法模塊,串口通信模塊、電壓值采集模塊、PWM波控制模塊和運動控制模塊等。
[Abstract]:In this paper, the motion control system of the O-Max type linear accelerator of Guangdong Zhongeng Accelerator Co., Ltd is studied.This paper analyzes the design requirements of the system, expounds the functions of the system, and introduces the hardware and software design of the system.The control object of the operating system is the linear accelerator therapy bed, which can automatically control and detect the longitudinal and vertical motion of the treatment bed, both of which are driven by DC servo motor.The treatment bed has both manual operation and remote operation.The control system consists of three parts: control module, driving module and upper computer.This system selects AVR series single-chip computer as the control core, uses the PWM way to control the DC servo motor.In the closed-loop speed control, PID control algorithm is used to control the closed loop, which makes the control system have good dynamic and static performance.The detection function uses the A / D converter to collect the voltage values, thus detecting the speed and position of the motor in the treatment bed.In order to reduce the interference of the power module voltage to the control core, the control part and the power part are placed on different circuit boards.The hardware circuit board of the system mainly includes motion control module and motor driving module.The main control board is the core part of the system, including the control core based on single chip microcomputer, voltage signal detection circuit, power supply circuit, serial communication circuit and some peripheral auxiliary circuits.The motor drive board is the executive part of the system connected directly to two controlled motors, which mainly includes the small power drive circuit, the over-current protection circuit and the high-power H-bridge drive circuit.The software of the system consists of two parts, that is, the host computer remote operation program and the AVR single chip microcomputer control program.The upper computer is the part of the system to realize the man-machine dialogue. The operator can realize the remote operation of the treatment bed and the real-time monitoring of the state of the treatment bed by the operating software on the upper computer. The control program of the single chip microcomputer is written in C language.Compile using the ICCAVR compiler.Modular design is used to improve the readability and portability of the program.The main program modules are: main program pid algorithm module, serial communication module, voltage value acquisition module PWM wave control module and motion control module.
【學位授予單位】：廣東工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH789

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本文編號：1747738