📄 直流电动机单极性可逆双闭环pwm控制程序 ti dsp源码交流区 61ic工程师社区 - powered by phpwind_net.htm
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</SPAN> <BR><SPAN style="DISPLAY: none"> "9@56
</SPAN> <BR> MPY
I_KI
;Q12格式<SPAN style="DISPLAY: none"> @P vs </SPAN> <BR><SPAN
style="DISPLAY: none"><4)UU&? </SPAN> <BR>
APAC <SPAN
style="DISPLAY: none">.>; v>O </SPAN> <BR><SPAN
style="DISPLAY: none">uvV{P`Lao </SPAN> <BR>
ADD I_RK,12<SPAN
style="DISPLAY: none"> i'7O )&5Jy </SPAN> <BR><SPAN
style="DISPLAY: none">V+ , ~[" </SPAN> <BR>
SACH I_RK,4
;更新<SPAN style="DISPLAY: none"> @9 Rn }
</SPAN> <BR><SPAN style="DISPLAY: none">LT jSFY
</SPAN> <BR>;-----------------------读编码器脉冲数,计算转角增量和转速-----------------------------------------<SPAN
style="DISPLAY: none"> BO/U(,h , </SPAN> <BR><SPAN
style="DISPLAY: none">W Z0')3L </SPAN> <BR>
LDP #0E8H<SPAN
style="DISPLAY: none"> KeeZ6v\; </SPAN> <BR><SPAN
style="DISPLAY: none">xD?l 0yg6F </SPAN> <BR>
LACC T2CNT
;读编码脉冲<SPAN
style="DISPLAY: none"> }%i%`Z$}$4 </SPAN> <BR><SPAN
style="DISPLAY: none">lZlsFKXr </SPAN> <BR>
LDP #0<SPAN
style="DISPLAY: none"> FGtf\ms.e% </SPAN> <BR><SPAN
style="DISPLAY: none">*X M+X9 </SPAN> <BR>
SACL TMP<SPAN
style="DISPLAY: none"> ?@)<9d </SPAN> <BR><SPAN
style="DISPLAY: none">Onw1w B!C* </SPAN> <BR>
SUB ENCODEROLD
;减去前一个周期测的脉冲数<SPAN style="DISPLAY: none"> FqUYQP)b
</SPAN> <BR><SPAN style="DISPLAY: none">n% "5
</SPAN> <BR> SACL
ENCINCR
;得到编码增量<SPAN style="DISPLAY: none"> oJ@{J/W()
</SPAN> <BR><SPAN style="DISPLAY: none">8s:$ez0!
</SPAN> <BR> ADD
SPEEDTMP <SPAN style="DISPLAY: none">;lLwAI)
</SPAN> <BR><SPAN style="DISPLAY: none">:2..$J E$
</SPAN> <BR> SACL
SPEEDTMP
;编码脉冲累计<SPAN style="DISPLAY: none"> ~ CN|$ </SPAN> <BR><SPAN
style="DISPLAY: none">d9Jm`<*n_ </SPAN> <BR>
LACC TMP
<SPAN
style="DISPLAY: none"> |1XPk </SPAN> <BR><SPAN
style="DISPLAY: none"> ~EjhC- </SPAN> <BR>
SACL ENCODEROLD
;更新ENCODEROLD<SPAN style="DISPLAY: none"> AJ'`p>8;
</SPAN> <BR><SPAN style="DISPLAY: none">TB4;-%^7
</SPAN> <BR> LACC
SPEEDSTEP
;检测是否该速度调节<SPAN style="DISPLAY: none"> crxY!v w`
</SPAN> <BR><SPAN style="DISPLAY: none">t7s'nA*
</SPAN> <BR> SUB
#1 <SPAN style="DISPLAY: none">HtM`& pxs </SPAN> <BR><SPAN
style="DISPLAY: none">DSBh8Q%o </SPAN> <BR>
SACL SPEEDSTEP<SPAN
style="DISPLAY: none"> t@\ yz4? </SPAN> <BR><SPAN
style="DISPLAY: none">! &v1 |1 </SPAN> <BR>
BCND GO,GT
;没到,退出<SPAN
style="DISPLAY: none"> z XR":mG </SPAN> <BR><SPAN
style="DISPLAY: none">:8B?+ EjzK </SPAN> <BR>
LT SPEEDTMP
;否则计算转速<SPAN
style="DISPLAY: none"> -v (,Yy </SPAN> <BR><SPAN
style="DISPLAY: none">x2IK'xM~S </SPAN> <BR>
MPY KSPEED
;Q22格式<SPAN
style="DISPLAY: none"> k~870U\ </SPAN> <BR><SPAN
style="DISPLAY: none">024*|]Gk~> </SPAN> <BR>
PAC<SPAN style="DISPLAY: none"> `U6w=:
</SPAN> <BR><SPAN style="DISPLAY: none">(5A6l^^V
</SPAN> <BR> SACH
N,6
;相当于右移10位,Q12格式<SPAN style="DISPLAY: none"> lZzMQO"d$b
</SPAN> <BR><SPAN style="DISPLAY: none">e41"&nvp
</SPAN> <BR> LT
N<SPAN style="DISPLAY: none"> 6 OC= zI
</SPAN> <BR><SPAN style="DISPLAY: none">-Y03;WS>
</SPAN> <BR> MPY
#3000<SPAN style="DISPLAY: none"> e8D p>)VR
</SPAN> <BR><SPAN style="DISPLAY: none">3&UJM87A j
</SPAN> <BR> PAC<SPAN
style="DISPLAY: none"> wBL9y),1( </SPAN> <BR><SPAN
style="DISPLAY: none">.db)#t-p </SPAN> <BR>
SACH N,4
;速度反馈值,Q0格式<SPAN
style="DISPLAY: none"> nc9jM; @N </SPAN> <BR><SPAN
style="DISPLAY: none">rm't AS </SPAN> <BR>
LACC #0 <SPAN
style="DISPLAY: none">ugXbSJ2 </SPAN> <BR><SPAN
style="DISPLAY: none">)VojXX:W< </SPAN> <BR>
SACL SPEEDTMP
;SPEEDTMP清零<SPAN style="DISPLAY: none"> :KlqqKE
</SPAN> <BR><SPAN style="DISPLAY: none">qV ?O-W.
</SPAN> <BR> SPLK #100,
SPEEDSTEP ; SPEEDSTEP重新赋初值<SPAN
style="DISPLAY: none"> &X(F|x/X </SPAN> <BR><SPAN
style="DISPLAY: none">^ n/qE\aHB
</SPAN> <BR>;--------------------------------------速度PI调节-----------------------------------------------------------<SPAN
style="DISPLAY: none"> /]hc\<L </SPAN> <BR><SPAN
style="DISPLAY: none">,s2-2.h[F </SPAN> <BR>
LACC N_REF
;速度给定值,由外部输入<SPAN style="DISPLAY: none">
<`}aIZ7<? </SPAN> <BR><SPAN
style="DISPLAY: none">*0'du{ </SPAN> <BR>
SUB N
;减反馈值<SPAN
style="DISPLAY: none"> ~C6!n*X </SPAN> <BR><SPAN
style="DISPLAY: none">.B!0S2 </SPAN> <BR>
SACL N_EK
;保存偏差<SPAN style="DISPLAY: none">
! , &Fdws </SPAN> <BR><SPAN
style="DISPLAY: none">%(lKD`ob </SPAN> <BR>
LACC N_RK,12
;左移12位<SPAN style="DISPLAY: none"> X'FOG::pb
</SPAN> <BR><SPAN style="DISPLAY: none">H&cx{R+
</SPAN> <BR> LT
N_EK <SPAN style="DISPLAY: none">179v\x
</SPAN> <BR><SPAN style="DISPLAY: none">bw3TyM
</SPAN> <BR> MPY
N_KP
;比例系数,Q12格式<SPAN style="DISPLAY: none"> rJi]xb
</SPAN> <BR><SPAN style="DISPLAY: none"> OgEd m
</SPAN> <BR> APAC <SPAN
style="DISPLAY: none">2(E 25(I </SPAN> <BR><SPAN
style="DISPLAY: none">5tUM@&bd </SPAN> <BR>
SACH N_U,4
;相当于右移12位<SPAN style="DISPLAY: none">
Rs6E7EwpP </SPAN> <BR><SPAN style="DISPLAY: none">>hv*MeE%t
</SPAN> <BR> LACC
N_U
;检测调节器输出是否超限<SPAN style="DISPLAY: none"> 7U\{ 1o?j
</SPAN> <BR><SPAN style="DISPLAY: none">/L97>cL
</SPAN> <BR> SUB
I_MIN ;与下限比较<SPAN
style="DISPLAY: none"> xID ^1kkvY </SPAN> <BR><SPAN
style="DISPLAY: none">(+=4KCT5X </SPAN> <BR>
BCND POS1,GT
;如果大于则跳转<SPAN style="DISPLAY: none"> klnV-9`
</SPAN> <BR><SPAN style="DISPLAY: none">PzJZheI
</SPAN> <BR> LACC
I_MIN ;否则超过下限
<SPAN style="DISPLAY: none">P! LD}2 </SPAN> <BR><SPAN
style="DISPLAY: none">0w>+8b|a7 </SPAN> <BR>
B LIM
;ACC =下限值<SPAN
style="DISPLAY: none"> 34[:@.- </SPAN> <BR><SPAN
style="DISPLAY: none">z W}/lvj$ </SPAN> <BR>POS1<SPAN
style="DISPLAY: none"> n$0 $ 43f </SPAN> <BR><SPAN
style="DISPLAY: none">~\7DL,9 </SPAN> <BR>
LACC N_U<SPAN style="DISPLAY: none">
,,.P^ ft </SPAN> <BR><SPAN style="DISPLAY: none">\ef7.
</SPAN> <BR> SUB
I_MAX ;与上限比较<SPAN
style="DISPLAY: none"> : Vtk~y2 </SPAN> <BR><SPAN
style="DISPLAY: none">Gi GDhK </SPAN> <BR>
BCND POS2,GT
;超过上限则跳转<SPAN style="DISPLAY: none"> @y)I.M!Y
</SPAN> <BR><SPAN style="DISPLAY: none">u'j `R"0.
</SPAN> <BR> LACC
N_U
;否则正常调整<SPAN style="DISPLAY: none"> ) Xlt 4g
</SPAN> <BR><SPAN style="DISPLAY: none">g$3bG-t
</SPAN> <BR> B
LIM<SPAN style="DISPLAY: none"> ;d6yN<g
</SPAN> <BR><SPAN style="DISPLAY: none">&JIcBd :;E
</SPAN> <BR>POS2<SPAN style="DISPLAY: none"> oG<Gi{@d
</SPAN> <BR><SPAN style="DISPLAY: none">kF mX_c
</SPAN> <BR> LACC
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