题 目：基于
Freescale HCS12系列单
片机的结晶器振动控制系统
——PID算法实现
内蒙古科技大学毕业设计说明书（毕业论文）
基于Freescale HCS12系列单片机的结晶器振动控制系统
——PID算法实现
摘 要
结晶器是连续铸钢中的铸坯成型设备，是连铸机心脏设备之一。它的功能是将不断注入其内腔的高温钢水强制冷却，导出热量，使之逐渐凝固成为具有所要求的断面形状和坯壳厚度的铸坯。结晶器振动装置的主要功能是使结晶器按照给定的振幅、频率和波形振动，其目的是防止铸坯在凝固过程中与结晶器壁粘结而出现粘结漏钢事故。
经典控制理论PID控制是较常采用的控制策略，在控制系统中仍有广泛应用。PID控制器，具有结构简单、易于实现等特点。由于工业技术的发展，传统的模拟PID控制不能解决快速性和稳态特性之间的矛盾，不能适应工业发展的要求。
本设计基于Freescale HCS12系统单片机，通过D/A5660产生振动波形，传感器与A/D7367采集结晶器振动信号并反馈给单片机，并在单片机内进行PID运算，输出控制信号。此外，PID参数可通过键盘调整。希望通过研究结晶器振动系统的特性，采用改进型数字PID控制策略对结晶器的振动波形进行控制，以使其能够适应工业应用要求。
关键词：结晶器；飞思卡尔；HCS12；单片机；PID控制；增量型式PID；
I
内蒙古科技大学毕业设计说明书（毕业论文）
Series Vibration Control System Mold Based on the Freescale Hcs12
MCU— PID Algorithm
Abstract
Crystallizer is a continuous casting mold in the shape of the casting equipment, also the one core equipment of the continuous casting machine. Its function is to force cooling the high-temperature molten steel which is continuously injected into its cavity, and derive heat. Gradually the high-temperature molten steel would be solidified into the cross-section with required shape and billet shell thickness. The main function of the vibration device of crystallizer is to force the Crystallizer moving according as the giving amplitude, frequency and wave. Its purpose is to avoid the casting adhesive bonding to the crystallizer wall during the solidification process.
As the PID control of classical control theory is a control strategy in common use, it’s also widely used in the control system now. PID controller has the features as simple structure, easy to implement and so on. In view of the development of industrial technology, the traditional PID control is unable to resolve the contradiction between speediness and steady-state characteristics. It can not meet the requirements of industrial development.
This design is based on the Freescale HCS12 systematical microcontroller, which can control the crystallizer's vibration by the waveform generated through D/A5660, sensors and A/D7367 collect the vibration signal, and then feedback it to the microcontroller, finally it runs the PID operation in the single-chip, output the controlling signals, in addition, PID parameters can be adjusted through the keyboard. By studding the characteristics of the vibration system, using the improved digital PID control strategy control the crystallizer's vibration waveform, which is to enable them to meet the requirements of industrial application.
keywords：Crystallize; Freescale; HCS12; PID control;
II
内蒙古科技大学毕业设计说明书（毕业论文）
目 录
摘 要 ..................................................................................................................................... I Abstract ...................................................................................................................................... II 第一章 引 言 .......................................................................................................................... 1
1.1连铸结晶器简介 ......................................................................................................... 1
1.1.1 结晶器的功能与发展 .................................................................................... 1 1.1.2 连铸结晶器的振动规律 ................................................................................ 2 1.2 HCS12单片机 .......................................................................................................... 4
1.2.1 微处理器与嵌入式系统的发展 ...................................................................... 4 1.2.2 MC9S12外部接口与最小系统 ........................................................................ 6 1.3 PID控制的运算规律和构成 ..................................................................................... 13
1.3.1 PID控制的原理和特点 ............................................................................... 13 1.3.2 PID算法的数字化 ....................................................................................... 17
第二章 硬件设计 .................................................................................................................. 20
2.1 设计思路 ................................................................................................................. 20 2.2 方案选择 ................................................................................................................. 20
2.2.1 PID调节器方案比较与选择 ....................................................................... 20 2.2.2 键盘方案的比较与选择 ................................................................................ 21
第三章 软件设计 .................................................................................................................. 23
3.1 软件设计思想 .......................................................................................................... 23 3.2 各模块功能 .............................................................................................................. 23
3.2.1 PID算法模块 ............................................................................................... 24 3.2.2 键盘功能模块 ................................................................................................ 26 3.2.3 串口发送模块 ................................................................................................ 28 3.2.4 定时器中断处理模块 .................................................................................... 30
第四章 程序调试 .................................................................................................................. 31
4.1 调试PID参数的一般原则和方法 ......................................................................... 31 4.2 程序运行结果 ......................................................................................................... 32 第五章 总结 .......................................................................................................................... 34
III
内蒙古科技大学毕业设计说明书（毕业论文）
参考文献 .................................................................................................................................. 35 附录A源程序 ......................................................................................................................... 36 附录B硬件电路图 ................................................................................................................. 53 致 谢 ...................................................................................................................................... 54
IV