📄 2007-4-6-四象限+nop.txt
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ELSE DO;/*DIRECT=0*/
TURNON=02H;
TURNOFF=02H;
DO CASE ORDER;
T10:DO;
HSO_COMMAND=22H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
HSO_COMMAND=00H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
END;
T11:DO;
HSO_COMMAND=23H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
HSO_COMMAND=01H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
END;
T12:DO;
HSO_COMMAND=20H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
HSO_COMMAND=02H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
END;
T13:DO;
HSO_COMMAND=21H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=03H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
END;
END;
END;
ELSE DO;
IF DIRECT=1 THEN DO;
TURNON=T_SPAN/2;
TURNOFF=T_SPAN/2;
DO CASE ORDER;
T00:DO;/*P=1，Q=0*/
HSO_COMMAND=03H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=21H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
TO1:DO;/*P=1,Q=1*/
HSO_COMMAND=00H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=22H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
TO2:DO;/*P=0,Q=1*/
HSO_COMMAND=01H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=23H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
TO3:DO;/*P=0,Q=0*/
HSO_COMMAND=02H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=20H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
END;
END;
ELSE DO;/*顺时针*/
TURNON=T_SPAN/2;
TURNOFF=T_SPAN/2;
DO CASE ORDER;
T10:DO;/*P=1,Q=1*/
HSO_COMMAND=03H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=21H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
T11:DO;/*P=0,Q=1*/
HSO_COMMAND=00H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=22H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
T12:DO;/*P=0,Q=0*/
HSO_COMMAND=01H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=23H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
T13:DO;/*P=1,Q=0*/
HSO_COMMAND=02H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=20H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
END;
END;
END;
ENABLE;
END HSO_PROCESS;
T1_INT:PROCEDURE INTERRUPT 0;
T1OVER=T1OVER+1;
IF T1OVER>50000 THEN T1OVER=0;
END T1_INT;
STOP:PROCEDURE;
DISABLE;
/*当转速较高时，采用pwm占空比固定，负转矩减速*/
/*******当转速较低时，器件全关断，自然停车*******/
IF RUN_SPD<200 THEN DO;/*转速低于200，全关断*/
IOC2=80H; /**cam清零**/
IOC2=80H;
R0=0;
R0=0;
/*hso_command=05H;控制pwm通道为低 */
HSO_COMMAND=25H;
HSO_TIME=TIMER1+03H;
R0=0;
R0=0;
HSO_COMMAND=06H; /*关ab*/
HSO_TIME=TIMER1+03H;
R0=0;
R0=0;
HSO_COMMAND=07H; /*关cd*/
HSO_TIME=TIMER1+03H;
R0=0;
R0=0;
END;
ELSE DO; /*run_spd>100*/
pwm_width=4;
IF DIRECT=1 THEN DO;/*逆时针*/
TURNON=T_SPAN/2;
TURNOFF=T_SPAN/2;
DO CASE ORDER;/*制动*/
T00:DO;/*P=1，Q=0*/
HSO_COMMAND=23H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
HSO_COMMAND=01H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
END;
TO1:DO;/*P=1,Q=1*/
HSO_COMMAND=02H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=20H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
TO2:DO;/*P=0,Q=1*/
HSO_COMMAND=03H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=21H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
TO3:DO;/*P=0,Q=0*/
HSO_COMMAND=00H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=22H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
END;
END;
ELSE DO;/*顺时针*/
TURNON=T_SPAN/2;
TURNOFF=T_SPAN/2;
DO CASE ORDER;/*制动*/
T10:DO;/*P=1,Q=1*/
HSO_COMMAND=01H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=23H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
T11:DO;/*P=0,Q=1*/
HSO_COMMAND=02H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=20H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
T12:DO;/*P=0,Q=0*/
HSO_COMMAND=03H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=21H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
T13:DO;/*P=1,Q=0*/
HSO_COMMAND=00H;
HSO_TIME=TIMER1+TURNOFF;
R0=0;
R0=0;
HSO_COMMAND=22H;
HSO_TIME=TIMER1+TURNON;
R0=0;
R0=0;
END;
END;
END;
END;
ENABLE;
END STOP;
PWMTIME:PROCEDURE;
IOC2=0C0H;
HSO_COMMAND=0CEH;
HSO_TIME=150;
R0=0;
R0=0;
HSO_COMMAND=0C5H; /*hso_command=0E5H;*/
HSO_TIME=150;
R0=0;
R0=0;
CALL PWM_OUT;
END PWMTIME;
HSO_INT:PROCEDURE INTERRUPT 3;
KK=KK+1;
IF RUN_SPD<300 THEN DO;
IF KK>1500 THEN DO;/*每隔0.3s变换一次pwm占空比*/
KK=1;
CALL PWM;
END;
ELSE CALL PWM_OUT;
END;
ELSE IF AIM_SPD>2000 THEN DO;
IF RUN_SPD<(AIM_SPD-300) THEN DO;
IF KK>250 THEN DO;/*每隔0.05s变换一次pwm占空比*/
KK=1;
CALL PWM;
END;
ELSE CALL PWM_OUT;
END;
ELSE DO;/*run_spd>1700*/
IF KK>500 THEN DO;/*每隔0.1s变换一次pwm占空比*/
KK=1;
CALL PWM;
END;
ELSE CALL PWM_OUT;
END;
END;
ELSE DO;
IF KK>1000 THEN DO;/*每隔0.2s变换一次pwm占空比*/
KK=1;
CALL PWM;
END;
ELSE CALL PWM_OUT;
END;
END HSO_INT;
PWM:PROCEDURE;/**/
DISABLE;
IF START_SIGN=0 THEN DO;
PWM_WIDTH=3;
END;
ELSE DO;/*START_SIGN=1*/
IF RUN_SPD<300 THEN PWM_WIDTH=PWM_WIDTH+1;
ELSE CALL FUZZYCONTROL;
END;
IF PWM_WIDTH>70 THEN PWM_WIDTH=70;
IF PWM_WIDTH<2 THEN PWM_WIDTH=2;
CALL PWM_OUT;
ENABLE;
END PWM;
FUZZYCONTROL:PROCEDURE;
DECLARE(GE,GEC) BYTE;
DECLARE EE1 INTEGER;
DISABLE;
/*E0 前次误差 E1 本次误差 EC 本次误差的变化率*/
E1=SIGNED(AIM_SPD-RUN_SPD);
EE1=E1;
IF IABS(EE1)>42 THEN DO;
IF AIM_SPD>RUN_SPD THEN EE1=42;
ELSE EE1=-42;
END;
GE=UNSIGN(EE1/6+7);
EC=E1-E0;
IF IABS(EC)>7 THEN DO;
IF E1>E0 THEN EC=7;
ELSE EC=-7;
END;
GEC=UNSIGN(EC+7);
PWM_WIDTH=PWM_WIDTH+FUZZY(GE*15+GEC);
PWM_WIDTH=PWM_WIDTH-7;
IF PWM_WIDTH>100 THEN PWM_WIDTH=100;
IF PWM_WIDTH<2 THEN PWM_WIDTH=2;
E0=E1;
ENABLE;
END FUZZYCONTROL;
PWM_OUT:PROCEDURE;
DISABLE;
HSO_COMMAND=75H; /*hso_command=55H;*/
HSO_TIME=PWM_WIDTH;
R0=0;
R0=0;
ENABLE;
R0=0; /*MORE*/
R0=0; /*MORE*/
END PWM_OUT;
/***主过程***/
MAINPROC:DO;
CALL TIME(500);
DISABLE;
IOC0=05H;
IOC1=66H;
IOC2=80H;
SP=0C0H;
INT_MASK=2DH;
INT_MASK1=23H;
INT_PENDING=00H;
INT_PEND1=00H;
HSI_MODE=0FH;
IOPORT1=0FFH;
IOPORT2=0;
COMM_8279=2FH;
R0=0;
R0=0;
COMM_8279=01H;
R0=0;
R0=0;
COMM_8279=0D3H;
R0=0;
R0=0;
HSO_COMMAND=25H; /*HSO5=1*/
HSO_TIME=TIMER1+02H;
R0=0;
R0=0;
START_SIGN=0;
AIM_SPD=0;
DIRECT=0;
FAULT=1FH;
PWM_WIDTH=0;
E0=0;
E1=0;
EC=0;
DISP_STATUS=0;
SPD_STEP=100;
RUN_SPD=0;
CONV_SPD=0;
KK=0;
DO II=0 TO 7;
TM1=HSI_TIME;
R0=0;
R0=0;
END;
ENABLE;
MAINLOOP:
DO;
CALL BITCPL(.IOPORT2,5);
IF START_SIGN=0 THEN DO;
IF T_SPAN>100000 THEN DO;/*18.75*/
PWM_WIDTH=3;
RUN_SPD=0;
END;
ELSE IF T1OVER>5 THEN DO;/*5.7*/
PWM_WIDTH=3;
RUN_SPD=0;
END;
END;
/*反向*/
IF BID=1 THEN DO;
IF RUN_SPD=0 THEN DO;
IF DIRECT=1 THEN DIRECT=0;
ELSE DIRECT=1;
BID=0; /*反向标志位清0*/
AIM_SPD=DEFAULT_SPD;
CALL START;
END;
END;
CALL DISPLAY;
END;
GOTO MAINLOOP;
END MAINPROC;
END MAIN;
EOF;
/*modified by kaka*/
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