MSP430实现：步进电机PID控制卡的C程序设计

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"这篇报告是关于使用MSP430微控制器实现步进电机PID控制的项目，由密歇根州立大学工程学院ECE480课程的设计团队完成。团队成员包括Roy Dong、Micajah Worden、Mark Barnhill、Andrew Kleeves和Dave Seaton，指导老师为Elias Strangas教授，赞助商为Texas Instruments的Tim Adcock。该项目的目标是将原有的基于C2000微控制器的电机控制卡设计改用MSP430家族的微控制器，尤其是MSP430F5435型号。在硬件部分，项目要求重新设计现有的电机控制卡，保持与C2000卡的规格和功能尽可能一致。MSP430F5435是一款低功耗、高性能的微控制器，适合用于精密的电机控制任务。它提供了足够的处理能力来运行复杂的控制算法，如PID（比例积分微分）控制。软件部分，团队需要实现一个专为新的MSP430电机控制卡设计的电机控制算法。PID控制是一种广泛应用于自动控制系统的反馈控制方法，它通过结合比例、积分和微分三个元素来调整系统输出，以减小误差并实现精确的控制。在步进电机应用中，PID控制能够有效地提高定位精度和动态响应，使得电机能够在各种条件下的运动更加可预测。在实际操作中，PID控制器会不断监测电机的实际位置与目标位置之间的偏差，并根据偏差的大小和变化趋势来调整步进电机的脉冲频率和方向，以达到期望的速度和位置。MSP430的内置硬件加速器可以协助快速计算PID算法所需的数值，从而在实时系统中提供高效控制。项目的成功之处在于，通过MSP430F5435的集成硬件和定制的软件算法，团队成功地实现了对步进电机的精确控制，满足了Texas Instruments提出的性能和兼容性要求。这种移植和优化的解决方案为基于MSP430的步进电机控制系统提供了可靠的基础，适用于多种工业和科研场合。"

Our design specifications required us to redesign and fabricate the PCB board design we were

given. We performed our redesign in PADS Layout, which was the format which TI originally

designed the C2000 motor control card. This required access to PADS Layout, and

familiarization with the PADS technology. Fortunately, there is a PADS Evaluation Version,

which is a 30-day fully-functional trial. For our design project, the PADS Evaluation Version

was sufficient.

Also, we integrated PCB fabrication and assembly. Unfortunately, we could not use the same

company that TI used in the production of the C2000 motor control card. TI‟s PCB fabrication

company, Gorilla Circuits, has a minimum lot size of 30 PCBs. Not only does this quantity

exceed our needs, but the cost was $1200, not including assembly and non-recurring engineering

(NRE) costs. We also compared several other companies, including ExpressPCB, Advanced

Circuits, Mini Micro Stencil, and Hughes Circuits. Eventually, we resolved to use Sunstone

Circuits and Screaming Circuits. Sunstone Circuits is able to both fabricate PCBs as well as

surface mount chips through an associated company, Screaming Circuits. The deliverables

required for the PCB process include the necessary Gerber files, a MSP430 Motor Control Card

Schematic, MSP430 Motor Control Card Assembly Files, a Bill of Materials, and a footprint data

sheet for every chip on the PCB. These were produced as quickly as possible, to account for the

delay in fabrication, assembly, and shipping time.

Once the hardware aspect of our project was completed, we also designed software for both

simple motor spinning as well as advanced motor load/torque compensation. The latter will be

accomplished with a PID regulator and current feedback. There was functionally similar code

provided with the C2000; however, the MSP430 architecture is significantly different, and code

from one microcontroller family cannot easily be translated into another. For example, the

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