PAGEIPAGEI摘要本次课题设计制作了一个单片机控制的悬挂系统，通过相关参数计算及程序的设计，使系统的各项性能指标满足课题要求。其核心部分是控制芯片单片机，由于其具有高集成度、高性价比、最简单外围电路、高效率等优点，所以能在实际生活中得到广泛的应用。悬挂轨迹控制系统是一套电机控制系统，控制物体在80cm×100cm的范围内作直线、圆、寻迹等运动，并且在运动时能显示运动物体的坐标。本设计采用MSP430F1611单片机对步进电机进行控制，通过多圈电位器实现对悬挂物位置的精确测量，并引入局部闭环反馈控制环节对误差进行修正,以达到对物体的控制和对坐标点的准确定位。控制信号经过L298驱动电路来驱动步进电机，完成相应的规定动作；同时用键盘来控制任意坐标点的参数，并用液晶显示器显示悬挂物体中画笔所在位置的坐标；软件功能模块主要完成对步进电机运动的位置、速度、方向以及运动时间的控制。关键词：单片机步进电机算法AbstractThistopicdesignedasuspensionsystemwhichcontrolledbymicroprocessor,throughthecalculationofrelevantparametersandprocedureswhichdesignedtomaketheperformanceofthesystemtomeetthesubjectrequirements.Itscorepartisthecontrolchipmicrocontroller,sinceithashighlevelofintegration,cost-effective,andthemostsimplebuffercircuit，highefficiencyetc,sothatbewidelyappliedinreallife.Suspensiontrackcontrolsystemisasetofmotorcontrolsystem,itcontrolstheobjectinstraightline,round,tracing,sportswithinthescopeof80cm×100cm,andcanshowthecoordinatesofmovingobjectsinsportsbythetime.ThisdesignusestheMSP430F1611microcontrollertocontrolthesteppermotor,achievingaccuratemeasurementofthepedantspositionthroughmulti-turnpotentiometer,andintroducelocalclose-loopfeedbackcontrollinkstoerrorcorrection,sothattoachievecontroltheobjectandwithaaccuratelocationtocoordinate.ControlsignaldrivesteppingmotorbyL298drivecircuit,completingthecorrespondingregulationsaction;Atthesametime,usingthekeyboardtocontrolanypointsofparameters,anddisplaythecoordinatesofthebrushinhangingobjectswithliquidcrystaldisplay.Thesoftwarefunctionmodulemainlycompletedcontrolofthesteppermotorinposition,speed,directionandmovementtime.Keywords：SinglechipcomputerSteppingmotorArithmetic目录TOC\o"1-3"\h\z\uHYPERLINK\l"_Toc326622118"摘要PAGEREF_Toc326622118\hIHYPERLINK\l"_Toc326622119"AbstractPAGEREF_Toc326622119\hIIHYPERLINK\l"_Toc326622120"绪论PAGEREF_Toc326622120\h1HYPERLINK\l"_Toc326622121"1方案的比较与论证PAGEREF_Toc326622121\h2HYPERLINK\l"_Toc326622122"1.1设计任务PAGEREF_Toc326622122\h2