📄 直流电动机双极性可逆双闭环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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#0E8H<SPAN style="DISPLAY: none"> #?;wq}Yf </SPAN> <BR><SPAN
style="DISPLAY: none">pUG@-D?p+{ </SPAN> <BR>
SACL CMPR2
;输出,更新占空比<SPAN style="DISPLAY: none">
Q$OF3RrI </SPAN> <BR><SPAN style="DISPLAY: none">0>pO_ '
</SPAN> <BR> SACL
CMPR1 ;更新占空比<SPAN
style="DISPLAY: none"> Ew_cEA - , </SPAN> <BR><SPAN
style="DISPLAY: none">L) Z S . </SPAN> <BR>
LDP #0<SPAN style="DISPLAY: none">
MFzCsF </SPAN> <BR><SPAN
style="DISPLAY: none">&~8w*pvz </SPAN> <BR>
SUB I_U<SPAN
style="DISPLAY: none"> T% !kx_BB` </SPAN> <BR><SPAN
style="DISPLAY: none">TqqmB%} </SPAN> <BR>
SACL I_ELPI
;求极限偏差<SPAN style="DISPLAY: none">
e T&_8 F </SPAN> <BR><SPAN style="DISPLAY: none">? Drv\k
vz </SPAN> <BR> LT
I_ELPI<SPAN style="DISPLAY: none"> :`.S|t
</SPAN> <BR><SPAN style="DISPLAY: none">p' @ 'Kt
</SPAN> <BR> MPY
I_KC
;Q12格式<SPAN style="DISPLAY: none"> D'O f m </SPAN> <BR><SPAN
style="DISPLAY: none">s,yLA9 ` </SPAN> <BR>
PAC <SPAN style="DISPLAY: none">677Q4XFb
</SPAN> <BR><SPAN style="DISPLAY: none">=RdTgW+
</SPAN> <BR> LT
I_EK<SPAN style="DISPLAY: none"> kVE cfU
</SPAN> <BR><SPAN style="DISPLAY: none">GY {FN
</SPAN> <BR> MPY
I_KI
;Q12格式<SPAN style="DISPLAY: none"> P5'7[ { R </SPAN> <BR><SPAN
style="DISPLAY: none">"/]j& < </SPAN> <BR>
APAC <SPAN style="DISPLAY: none">g
e)R*o} </SPAN> <BR><SPAN style="DISPLAY: none">(>Gs7}<E
</SPAN> <BR> ADD
I_RK,12<SPAN style="DISPLAY: none"> 1}nZHyD'6 </SPAN> <BR><SPAN
style="DISPLAY: none">oFl Lo'7 </SPAN> <BR>
SACH I_RK,4
;更新<SPAN style="DISPLAY: none"> ; 6Y n+h,
</SPAN> <BR><SPAN style="DISPLAY: none">lS/im:d`
</SPAN> <BR>;-----------------------读编码器脉冲数,计算转角增量和转速-----------------------------------------<SPAN
style="DISPLAY: none"> +o SN33r </SPAN> <BR><SPAN
style="DISPLAY: none">r2Coni7Y </SPAN> <BR>
LDP #0E8H<SPAN
style="DISPLAY: none"> T>G]G 3.', </SPAN> <BR><SPAN
style="DISPLAY: none">n Mm1ae/ </SPAN> <BR>
LACC T2CNT
;读编码脉冲<SPAN
style="DISPLAY: none"> b>{j+ r </SPAN> <BR><SPAN
style="DISPLAY: none">)_o%+GKe </SPAN> <BR>
LDP #0<SPAN
style="DISPLAY: none"> S'`9h{O </SPAN> <BR><SPAN
style="DISPLAY: none">Pu !K o$8 </SPAN> <BR>
SACL TMP<SPAN
style="DISPLAY: none"> y$!4k6h </SPAN> <BR><SPAN
style="DISPLAY: none">8Hv(,74^" </SPAN> <BR>
SUB ENCODEROLD
;减去前一个周期测的脉冲数<SPAN style="DISPLAY: none"> \ # <_zs
</SPAN> <BR><SPAN style="DISPLAY: none">Oc>}$04%
</SPAN> <BR> SACL
ENCINCR
;得到编码增量<SPAN style="DISPLAY: none"> $ /r1la5 </SPAN> <BR><SPAN
style="DISPLAY: none">9#CX '!y </SPAN> <BR>
ADD SPEEDTMP <SPAN
style="DISPLAY: none">qS L?BQ </SPAN> <BR><SPAN
style="DISPLAY: none">^~\ R/K# </SPAN> <BR>
SACL SPEEDTMP
;编码脉冲累计<SPAN style="DISPLAY: none"> J+a\hKb?Q
</SPAN> <BR><SPAN style="DISPLAY: none">jqBD <
</SPAN> <BR> LACC
TMP
<SPAN style="DISPLAY: none">dFKsQEF3"_
</SPAN> <BR><SPAN style="DISPLAY: none">`/K]hGS
</SPAN> <BR> SACL
ENCODEROLD ;更新ENCODEROLD<SPAN
style="DISPLAY: none"> 0@T[(-^ </SPAN> <BR><SPAN
style="DISPLAY: none">sa j~1J > </SPAN> <BR>
LACC SPEEDSTEP
;检测是否该速度调节<SPAN style="DISPLAY: none"> +
G^kuGOm </SPAN> <BR><SPAN style="DISPLAY: none">[,&`ZF+Kp
</SPAN> <BR> SUB
#1 <SPAN style="DISPLAY: none">Jd Ydaw </SPAN> <BR><SPAN
style="DISPLAY: none">!70 (,#7 </SPAN> <BR>
SACL SPEEDSTEP<SPAN
style="DISPLAY: none"> Ehp'N[+Pc </SPAN> <BR><SPAN
style="DISPLAY: none">1\[x&\soFr </SPAN> <BR>
BCND GO,GT
;没到,退出<SPAN
style="DISPLAY: none"> C iO\^[R </SPAN> <BR><SPAN
style="DISPLAY: none">8}sjhj8]! </SPAN> <BR>
LT SPEEDTMP
;否则计算转速<SPAN
style="DISPLAY: none"> aP+IUS 'HX </SPAN> <BR><SPAN
style="DISPLAY: none">O KG 4M~H </SPAN> <BR>
MPY KSPEED
;Q22格式<SPAN style="DISPLAY: none">
T.x{2,iZ </SPAN> <BR><SPAN style="DISPLAY: none">qW%]a s
</SPAN> <BR> PAC<SPAN
style="DISPLAY: none"> C4]3eg}=" </SPAN> <BR><SPAN
style="DISPLAY: none">Q,qoRE0L </SPAN> <BR>
SACH N,6
;相当于右移10位,Q12格式<SPAN
style="DISPLAY: none"> NH,K|Xk W </SPAN> <BR><SPAN
style="DISPLAY: none">[<, P[8 </SPAN> <BR>
LT N<SPAN
style="DISPLAY: none"> :V@Jvl~<Z </SPAN> <BR><SPAN
style="DISPLAY: none">iQfUK7"< </SPAN> <BR>
MPY #3000<SPAN
style="DISPLAY: none"> CDQc1[l_ </SPAN> <BR><SPAN
style="DISPLAY: none">JJ)EtY+ < </SPAN> <BR>
PAC<SPAN style="DISPLAY: none"> wT&^ 9
</SPAN> <BR><SPAN style="DISPLAY: none">1X] C[L}t
</SPAN> <BR> SACH
N,4
;速度反馈值,Q0格式<SPAN style="DISPLAY: none"> }^<k87O H
</SPAN> <BR><SPAN style="DISPLAY: none">!46S Ch
</SPAN> <BR> LACC #0
<SPAN style="DISPLAY: none">.Fd304\ig </SPAN> <BR><SPAN
style="DISPLAY: none">?)9Z|,&%V% </SPAN> <BR>
SACL SPEEDTMP
;SPEEDTMP清零<SPAN style="DISPLAY: none"> c0V^"jT)a
</SPAN> <BR><SPAN style="DISPLAY: none">?p'C( kn
</SPAN> <BR> SPLK #100,
SPEEDSTEP ; SPEEDSTEP重新赋初值<SPAN
style="DISPLAY: none"> F0%pf/y </SPAN> <BR><SPAN
style="DISPLAY: none">\} 3dwZ
</SPAN> <BR>;--------------------------------------速度PI调节-----------------------------------------------------------<SPAN
style="DISPLAY: none"> ~KOKIK)z{ </SPAN> <BR><SPAN
style="DISPLAY: none">!]9z^Aq9u: </SPAN> <BR>
LACC N_REF
;速度给定值,由外部输入<SPAN style="DISPLAY: none">
y9l>!~xx </SPAN> <BR><SPAN style="DISPLAY: none">=$*
dwnT8 </SPAN> <BR> SUB
N
;减反馈值<SPAN style="DISPLAY: none"> -v.6y`.T
</SPAN> <BR><SPAN style="DISPLAY: none">{ 3_@8 W
</SPAN> <BR> SACL
N_EK
;保存偏差<SPAN style="DISPLAY: none"> {(&i %qM
</SPAN> <BR><SPAN style="DISPLAY: none"> dQ`X,W/n,
</SPAN> <BR> LACC
N_RK,12 ;左移12位<SPAN
style="DISPLAY: none"> zPhdz(:e </SPAN> <BR><SPAN
style="DISPLAY: none">7z1WMgo; </SPAN> <BR>
LT N_EK <SPAN
style="DISPLAY: none">r@w0l3 >r </SPAN> <BR><SPAN
style="DISPLAY: none">@y>HR_t2 </SPAN> <BR>
MPY N_KP
;比例系数,Q12格式<SPAN
style="DISPLAY: none"> 1AHlj}\7k </SPAN> <BR><SPAN
style="DISPLAY: none">0T8>#L% </SPAN> <BR>
APAC <SPAN style="DISPLAY: none">Vb~M5e
</SPAN> <BR><SPAN style="DISPLAY: none">4!% i>(W
</SPAN> <BR> SACH
N_U,4
;相当于右移12位<SPAN style="DISPLAY: none"> Yyl_#9!W
</SPAN> <BR><SPAN style="DISPLAY: none">HXX WZSy
</SPAN> <BR> LACC
N_U
;检测调节器输出是否超限<SPAN style="DISPLAY: none"> is L5Cd1
</SPAN> <BR><SPAN style="DISPLAY: none">q* #z(y
</SPAN> <BR> SUB
I_MIN ;与下限比较<SPAN
style="DISPLAY: none"> z^kg;%xM#2 </SPAN> <BR><SPAN
style="DISPLAY: none">7/_M{:Cl </SPAN> <BR>
BCND POS1,GT
;如果大于则跳转<SPAN style="DISPLAY: none"> WB}/3Hcy-
</SPAN> <BR><SPAN style="DISPLAY: none">meG}p:GD
</SPAN> <BR> LACC
I_MIN ;否则超过下限
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