摘要在机电传动控制系统中，电机控制算法和手段有很多，最早开发的模拟ID控制早已形成了典型的结构。但是它的参数一旦设定，系统在运行过程当中无法改变，但实际上，一般系统由于参数、温度等的变化，难以获得理想的控制效果。伴随电子计算机的崛起，出现了许多智能控制，数字PID技术也迅速发展起来，其不仅满足了模拟PID的控制任务，还具有灵活的控制算法和高可靠性的优点。本系统的各功能单元独立模块化，主要以数字ID为核心控制算法、51单片机作为系统控制器，产生受数字PD控制的占空比的PWM脉冲，从而实现对直流电机转速或者位移的控制，组成一个位移随动系统。同时，利用霍尔器件将电机的当前速度转换成脉冲频率反馈到单片机中，实现闭环控制并达到转速检测目的。系统中还采用了LCD1602作为显示器件，通过独立按键来实现电机正反转和加减速控制，以及P、I、D参数的设置，系统在启动后可以通过显示部件了解电机当前的状态。关键词：模块化；PID;控制；机电传动AbstractIn the electromechanical drive control system,there are many motor control algorithms and means,the earliest developed simulation PID control has already formed a typical structure.However,once its parameters are set,the system cannot be changed in the process of operation.However,in fact,it is difficult to obtain the ideal control effect for the general system due to the changes of parameters and temperature.With the rise of electronic computers,there are many intelligent control,digital PID technology has also developed rapidly,which not only meets the simulation PID control task,but also has the advantages of flexible control algorithm and high reliability.Each functional unit of the system is independent and modularized.The digital PID as the core control algorithm and 51 singlechip microcomputer as the system controller generate the PWM pulse of duty cycle controlled by digital PID,so as to realize the control of dc motorspeed or displacement,and constitute a displacement followup system.At the same time,halldevice is used to convert the current speed of the motor into pulse frequency and feed back to the singlechip microcomputer to realize the closedloop control and achieve the purpose of speed detection.LCD1602 is also used as the display device in the system.The positive and negative rotation and acceleration and deceleration control of the motor are realized through independent keys,and the parameters of P,I and D are set.The current state of the motor can beunderstood through the display components after the system is started.Key Words:modularity;PID;control;electromechanical drive目录摘要ABSTRACT…1.1研究背景…212研究价值…1.3研究内容31.4小结第二章PID算法及PWM控制简介2.1.3数字P1D参数整定方法2.2PWM脉冲控制技术…2.2.1PWM控制的基本原理，92.2.2直流电机的PWM控制技术，2.3小结第三章系统模块设计方案，11-3.1系统总体设计方案…11-3.2控制器模块设计方案…113.3电机驱动模块设计方案…3.4速度采集模块设计方案…3.5显示模块设计方案…3.6键盘模块设计方案…13-3.7电源模块设计方案…133.8小结…第四章棋块化电路设计，4.1硬件资源分配.…4.2电源模块电路设计…14-4.3电机驱动模块电路设计4.4速度采集模块电路设计4.5显示模块电路设计16-4.6键盘模块电路设计…18-第五章软件模块设计-19-5.1算法实现…5.1.1数字P1D算法-0-