摘要力矩电机因力矩系数大、特性线性度好、力矩波动小、空载转速低、不需要减速装置即可直接驱动负载、过载能力强，适合作为各种伺服跟踪系统的执行装置，在高精度伺服转台上取得广泛应用。因为直接驱动消除了中间传动机构所带来的弹性形变、间隙、摩擦等因素对系统精度的影响，也使得各种干扰不经过任何中间环节的衰减而直接传到电机轴上，所以速度伺服控制实验的研究对于驱动高精度转台、提高其精确度有着重要意义。87387

PID控制器就是对误差进行比例、积分、微分进控制。积分项的作用就是使系统稳定后没有静差，即减小稳态误差直至为0。比例项的大小能够体现出反应误差的快慢；而微分项控制能预测偏差信号的变化趋势，克服系统的惯性，可以超前控制，减少超调量，加快动态响应速度，从而提高系统的稳定性

 本次设计所用硬件包括计算机（带 PCI 插槽），数据采集卡及相应的DIN导轨安装的接线端子，直流电机驱动器，直流力矩电机。其中，在计算机上使用C++编程为核心进行运算，控制以及检测结果显示；利用采集卡的模拟输出功能输出电压信号到电机驱动电路，电机驱动电路会将检测到的电机转速信号以脉冲的方式反馈给采集卡；PCI数据采集卡用来将采集到的电机转速信号传送至计算机，并进行PID调节，力矩电机作为最终执行机构。而其反馈部件则由测速发电机构成。用户控制界面所实现的功能有电机的启动、停止、正传、反转、速度给定、实时曲线给定等。

最后利用MATLAB中的simulink搭建模块对基于PID算法的电机控制进行验证

毕业论文关键词：力矩电机；速度伺服控制；PCI1711数据采集卡；PID算法。

Abstract Torque motor for high torque coefficient, good linearity, small torque ripple, low no-load speed, do not need to deceleration device can directly drive a load, strong overload capacity, suitable for as a variety of servo tracking system of actuating device, in the high precision servo turntable made widely used Because of the direct drive to eliminate the intermediate transmission mechanism caused by elastic deformation, clearance and friction factors on the accuracy of the system, but also makes all kinds of interference not through any intermediate link attenuation of transmitted directly to the motor shaft, so speed servo control experimental research for driving high precision turntable, played a key role in improving the accuracy。

PID controller is the proportion of the error, integral, differential control。 The function of the integral term is to make the system stable, that is, there is no static error, that is, to reduce the steady-state error to 0。 Proportional size can reflect the speed of response error; differential control can predict the change tendency of the error signal and system to overcome the inertia, controls in advance, reduce the overshoot, quicken the dynamic response speed, so as to improve the stability of the system

The hardware used in this design includes the computer (with PCI slot), data acquisition card and the corresponding DIN guide rail installation of the terminal, DC motor drives, DC torque motor。 Among them, on a computer using C + + programming as the core operation, control and detection results show; the acquisition card analog output output voltage signal to the motor drive circuit, motor drive circuit will be detected motor speed pulse signal of the feedback to the acquisition card, PCI data acquisition card used to will be collected to the motor speed signals to the computer, and PID regulation, torque motor as the final implementation of the organization。 And the feedback component is composed of the speed measuring generator。 The user control interface realizes the function of motor start, stop, Gump, reverse, speed setting, real-time curve is given。