MC68000微处理机在直流伺服系统中的应用

The Application of a MC68000 Microcomputer in D. C. Servo System

摘要: 介绍一种采用MC68000微处理机作控制器,14位光电编码器作位置检测元件,直流测速机作速度检测元件的直流伺服系统。在控制器的设计中,速度环按照模型参考自适应控制理论进行设计,以克服干摩擦和转动惯量变化对系统性能的不良影响。位置环设计中,将整个系统的模型变换成一个线性模型,由此设计出线性最优控制器。实际系统的运行结果是令人满意的。
- 微处理机 /
- 伺服系统 /
- P. W. M.放大器 /
- 最优控制 /
- 模型参考自适应控制
Abstract: Propose a kind of d. c. servo systems in which a MC68000 microcomputer is used as the controller, a tachometer generator as an element of the speed feedback and a 14-bit light-electricity coder as an element of measuring angular position, Basing on the model-reference adaptive control theory, we design the speed loop in order-to compensate the effect of the dry friction and the change of the iriertia on the dynamic performances of the system, In designing the position loop, furthermore, we transform the model of the system into a linear one so that we obtained a linear optimal controller. The results of the operation of this system are satisfactory.