角度自动控制系统的设计-《计算机技术与发展》

文章信息/Info

Author(s):: XIE Guo-kun; School of Electrical Engineering,Xi’an Traffic Engineering Institute,Xi’an 710300,China

摘要:: 为了实现对帆板角度快速准确的调节,以单片机为核心控制器设计了一款角度自动控制系统。利用 MPU6050 三维角度传感器实时采集角度信息,并采用 LCD1602 液晶显示器将角度信息实时显示。为了能够精确地控制电机的转速,选取 PID 控制算法的反馈调节机制控制电机,使角度误差最快减为零的 PWM 占空比,单片机采用定时器中断产生的PWM 波实现对电机转速的控制,使得电机快速响应。如果调节的角度大于已设定的阈值,那么将会触发声光报警。利用simulink 软件搭建 PID 模型,根据电机转速的变化曲线选定 PID 控制器参数,结合 Proteus 和 keil 软件仿真电路原理图,并对系统实物制作。实物测试与仿真结果表明,系统采用 PID 算法可以实现对角度的快速调节,系统响应时间小于 3s,角度调节的最大相对误差小于 5% ,该系统实时调节性能较快,具有良好的稳定性。

Abstract:: In order to realize the quick and accurate adjustment of windsurfing Angle,an automatic Angle control system is designed with the single-chip microcomputer as the core controller. The MPU6050 3d Angle sensor is used to collect the Angle information in real time,and the LCD-1602 LCD is used to display the Angle information in real time. In order to accurately control the motor speed,the feedback adjustment mechanism of PID control algorithm is selected to control the motor,so that the Angle error can be reduced to zero as soon as possible, PWM duty cycle. Single-chip microcomputer uses the PWM wave generated by timer interrupt to control the motor speed,so that the motor can respond quickly. If the adjustment Angle is greater than the set threshold value,the sound and light alarm will be triggered. Using simulink software to build the PID model,PID controller parameters are selected according to the variation of motor speed curve,combined with electrical schematic diagram and Proteus keil software simulation,and the system physical production. Physical test and the simulation result show that this system with PID algorithm can realize the rapid adjustment of Angle,whose response time is less than 3 s and maximum relative error of Angle adjustment is less than 5% . The system has fast real-time regulation performance and strong stability.