四象限.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.

正向反向电动ok
正向反向制动换向为电动推后30度，控制策略为开始制动时pwm占空比固定3%到速度减小到一定转速时，自然停车。
/**制动hso输出口**/
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 T1OVER>5 THEN DO;
         HSO_COMMAND=06H;
         HSO_TIME=TIMER1+02H;
         R0=0;
         R0=0;
         HSO_COMMAND=07H;
         HSO_TIME=TIMER1+02H;
         R0=0;
         R0=0;
     END;
     ELSE DO;
         IF T_SPAN>18000  THEN DO;
             HSO_COMMAND=07H;
             HSO_TIME=TIMER1+02H;
             R0=0;
             R0=0;
             HSO_COMMAND=06H;
             HSO_TIME=TIMER1+02H;
             R0=0;
             R0=0;
    END;

    IF DIRECT=1 THEN DO;/*逆时针*/
TURNON=T_SPAN/2;
TURNOFF=T_SPAN/2;
DO CASE ORDER;/*制动时hso口输出*/
T00:DO;/*P=1，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;
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;