四川理工学院毕业设计（论文）
基于单片机的云台控制系统设计
学 生：李 建 学 号：06021040407 专 业：电气工程及其自动化 班 级：2006.4 指导教师：陈昌忠
四川理工学院自动化与电子信息学院
二零一零年六月
李建：基于单片机的云台控制系统设计
摘 要
本论文在分析了云台结构和控制要求的基础上，设计了以AT89C52单片机为控制器的云台控制系统，同时通过RS-485总线的串口通信实现与PC机之间的通信。该控制系统由单片机控制模块、键盘模块、电机驱动模块、远程控制模块组成，并进行相应的软件设计、调试和仿真。
关键字: AT89C52；云台控制；步进电机；串口通信；仿真
I
四川理工学院本科毕业（设计）论文
ABSTRACT
This paper design a Yuntai control system using AT89C52 MCU based on analysis of the Yuntai of the structure and it's control requirements. And the same time realize communication of computer through serial communication of RS-485 bus. MCU control module, keyboard module, motor driver module and remote control module comprise the control system. And complete the corresponding software design, testing and simulation.
Key word: AT89C52; Yuntai control; Stepper motor; Simulation ;Serial
communication
II
李建：基于单片机的云台控制系统设计
目 录
摘 要.............................................................................................................................. I ABSTRACT .................................................................................................................. II 第1章 引言................................................................................................................. 1
1.1 云台................................................................................................................. 1 1.2 单片机............................................................................................................. 1 1.3 本设计完成的任务......................................................................................... 2 第2章 云台................................................................................................................. 3
2.1 云台概述......................................................................................................... 3
2.1.1 云台内部结构....................................................................................... 3 2.1.2云台的性能指标.................................................................................... 3 2.1.3云台电机................................................................................................ 5 2.2 步进电机......................................................................................................... 6
2.2.1步进电机的工作原理............................................................................ 6 2.2.2 步进电机主要技术指标....................................................................... 8 第3章 总体方案....................................................................................................... 10
3.1云台控制系统简析........................................................................................ 10 3.2控制系统实现................................................................................................ 10 第4章 系统硬件设计............................................................................................... 12
4.1 AT89C52单片机简介 ................................................................................... 12
4.1.1 AT89C52 .............................................................................................. 12 4.1.2 AT89C52各引脚功能 ......................................................................... 13 4.1.3 AT89C52串口通信 ............................................................................. 15 4.1.4 AT89C52中断系统 ............................................................................. 16 4.2 单片机系统................................................................................................... 18
4.2.1 复位电路............................................................................................. 18 4.2.2 时钟电路............................................................................................. 18 4.2.3 电源电路............................................................................................. 19 4.3 ULN2003A驱动电路 ................................................................................... 19 4.4 RS485总线设计 ......................................................................................... 21
4.4.1 RS-232/RS-485电平转换电路 .......................................................... 21 4.4.2 RS-485终端单片机接口电路 ............................................................ 22 4.5 键盘............................................................................................................... 23 第5章 软件基础....................................................................................................... 25
5.1 C语言简介 .................................................................................................... 25 5.2 Keil 编译器 ................................................................................................... 25
5.2.1 Keil 8051 C编译器简介 ..................................................................... 25 5.2.2 如何使用Keil软件开发 .................................................................... 26 5.3 Proteus仿真软件........................................................................................... 31 5.4 MSComm控件 .............................................................................................. 37