2007-3-12-ad改.txt

运用模糊算法和PID调节控制开关磁阻电机的调速。采用的单片机是Intel的80c196KB,编程语言为PL/M.

    ENABLE;
END START;

/*高速输入中断程序*/
HSI_INT:PROCEDURE INTERRUPT 2 ;
  DECLARE STATUS BYTE;
  DECLARE IOS BYTE;
  DECLARE T1 BYTE;
  declare (SUM,temp) word;
  DISABLE;
  IOS=IOS1;
  IF BITTST(.IOS,7) THEN DO;
    STATUS=HSI_STATUS;
    TM2=HSI_TIME;
    T1=T1OVER;
    T1OVER=0;
    IF BITTST(.STATUS,0) THEN DO;
      IF BITTST(.STATUS,1) THEN ORDER=0;
      ELSE ORDER=2;
    END;
    ELSE IF BITTST(.STATUS,2) THEN DO;
      IF BITTST(.STATUS,3) THEN ORDER=1;
      ELSE ORDER=3;
    END;
    IF T1<15 THEN DO;
      T_SPAN=(T1*65536+TM2)-TM1;
      temp=1875000/T_SPAN;
    END;
    ELSE TEMP=0;
    TM1=TM2;
  END;
  sum=run_spd*23+temp;
  run_spd=sum/24;
  ENABLE;
  IF START_SIGN=1 THEN  CALL HSO_PROCESS;
  ELSE  CALL STOP;
END HSI_INT;

/*高速输出处理程序*/
HSO_PROCESS:PROCEDURE ;
   DISABLE;
IF DIRECT=1 THEN DO;/*逆时针*/
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;
  ENABLE;
END HSO_PROCESS;

T1_INT:PROCEDURE INTERRUPT 0;
  T1OVER=T1OVER+1;
  IF AD_FLAG=1 THEN DO;

AD_COMMAND=0FH;/*立即进行ad转换，选择ACH7*/
r0=0;
r0=0;

END;
  IF T1OVER>50000 THEN T1OVER=0;
END T1_INT;

STOP:PROCEDURE;
DISABLE;
     IOC2=80H;
     AD_FLAG=0;
     CONTROL_SPD=0;
     HSO_COMMAND=25H;                /*hso_command=05H; */
     HSO_TIME=TIMER1+04H;
     R0=0;
     R0=0;
     HSO_COMMAND=06H;
     HSO_TIME=TIMER1+04H;
     R0=0;
     R0=0;
     HSO_COMMAND=07H;
     HSO_TIME=TIMER1+04H;
     R0=0;
     R0=0;
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 START_SIGN=0 THEN DO;
      IF KK>20 THEN DO;
        KK=1;
        CALL PWM;
      END;
      ELSE CALL PWM_OUT;
    END;
    ELSE DO;     /*start_sign=1*/
      IF RUN_SPD<60 THEN DO;
        IF KK>300 THEN DO;
          KK=1;
          CALL PWM;
        END;
        ELSE CALL PWM_OUT;
      END;
      ELSE IF AIM_SPD>300 THEN DO;
        IF RUN_SPD<(AIM_SPD-300) THEN DO;
          IF KK>32 THEN DO;
            KK=1;
            CALL PWM;
          END;
          ELSE CALL PWM_OUT;
        END;
        ELSE DO;
          IF KK>400 THEN DO;
            KK=1;
            CALL PWM;
          END;
          ELSE CALL PWM_OUT;
        END;
      END;
      ELSE DO;
        IF KK>600 THEN DO;
            KK=1;
            CALL PWM;
        END;
        ELSE CALL PWM_OUT;
      END;
    END;
END HSO_INT;

PWM:PROCEDURE;
DECLARE(GE,GEC) BYTE;
DECLARE EE1 INTEGER;
DISABLE;
IF START_SIGN=0 THEN DO;
   PWM_WIDTH=PWM_WIDTH-1;
   IF T_SPAN>10000 THEN PWM_WIDTH=2;
   ELSE IF T1OVER>15 THEN PWM_WIDTH=2;
   IF PWM_WIDTH<2 THEN PWM_WIDTH=2;
END;
ELSE DO;/*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>145 THEN PWM_WIDTH=145;
    IF PWM_WIDTH<2 THEN PWM_WIDTH=2;
    E0=E1;
END;
CALL PWM_OUT;
ENABLE;
END PWM;

PWM_OUT:PROCEDURE;
DISABLE;
    HSO_COMMAND=75H;       /*hso_command=55H;*/
    HSO_TIME=PWM_WIDTH;
    R0=0;
    R0=0;
ENABLE;
END PWM_OUT;

/*ad中断处理程序：*/
ad_int:procedure interrupt 1 ;
DISABLE;
 AD_RESULT_COPY=SHR(AD_RESULT,6);
 t=AD_RESULT_COPY*5;
 if iabs(signed(t-control_spd))>80 then control_spd=t;
aim_spd=control_spd;
enable;
end ad_int;

/***主过程***/
MAINPROC:DO;
CALL TIME(500);     /*给系统的复位时间（cpu和外设）*/
DISABLE;
  IOC0=05H;
  IOC1=66H;
  IOC2=80H;
  SP=0C0H;
  INT_MASK=2FH;    /*改*/
  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;
/*系统参数*/
  START_SIGN=0;
  AIM_SPD=0;
  AD_FLAG=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;
  control_spd=0;
  KK=0;
  AD_COMMAND=0FH;/*立即进行ad转换，选择ACH7*/
  ZERO=0;
  ZERO=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;
       PWM_WIDTH=2;
       RUN_SPD=0;
    END;
    ELSE IF T1OVER>5 THEN DO;
       PWM_WIDTH=2;
       RUN_SPD=0;
    END;
  END;
  IF BID=1 THEN DO;
   IF RUN_SPD=0 THEN DO;
     IF DIRECT=1 THEN DIRECT=0;
     ELSE DIRECT=1;
     BID=0;
     AIM_SPD=control_SPD;
     CALL START;
   END;
  END;
  CALL DISPLAY;
END;
GOTO MAINLOOP;
END MAINPROC;
END MAIN;
EOF;



/*存在的问题，启动后不能调节转速，估计AD在启动后就不起作用了，但是电机未动作时可以调节转速，改显示程序*/
/***ad问题已经想通，当电机转动时，t1over根本达不到10，所以一直启动不起来ad转换需用另外的一个参数来延迟时间***/
/*去掉延时程序，ad转换时间为65ms*/