基于單片機(jī)的步進(jìn)電動(dòng)機(jī)控制系統(tǒng)設(shè)計(jì)(編輯修改稿)
2024-07-21 15:56 本頁(yè)面
【文章內(nèi)容簡(jiǎn)介】 BH ；定時(shí)器0中斷入口 LJMP TIME0_INT ；調(diào)用定時(shí)器0中斷子程序 ORG 0040HMAIN:MOV R0,00H DJNZ R0,$ ；等待系統(tǒng)電源穩(wěn)定 MOV SP,40H ；指定堆棧指針 CLR FINISH ；清除完成標(biāo)記 MOV DANGQIANSUDU,0H ；標(biāo)示當(dāng)前轉(zhuǎn)速；初始化定時(shí)器 MOV TMOD,01H ；定時(shí)器0設(shè)定在工作方式1，最大定時(shí)周期65536uS MOV TH0,3CH MOV TL0,0B0H ；設(shè)定定時(shí)器0最大工作周期50mS MOV IE,82H ；開(kāi)定時(shí)器0中斷INIT_WEIZHI: ；手動(dòng)設(shè)定當(dāng)前位置和預(yù)定位置，模擬實(shí)際工作情況 CLR FINISH MOV DANGQIANWEIZHI_L,80H MOV DANGQIANWEIZHI_M,60H MOV DANGQIANWEIZHI_H,98H MOV SHEDINGWEIZHI_L,80H MOV SHEDINGWEIZHI_M,96H MOV SHEDINGWEIZHI_H,98H LCALL INIT_JUEDUIMAICHONG ；計(jì)算絕對(duì)偏差脈沖數(shù) LCALL INIT_JIAJIANSU ；計(jì)算加，恒，減速脈沖數(shù) SETB TR0 JNB FINISH,$ JMP INIT_WEIZHI ；返回初始化絕對(duì)位置脈沖數(shù)； ORGINIT_JUEDUIMAICHONG: ；計(jì)算絕對(duì)偏差脈沖數(shù) CLR C MOV A,SHEDINGWEIZHI_L SUBB A,DANGQIANWEIZHI_L MOV JUEDUIMAICHONG_L,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) MOV A,SHEDINGWEIZHI_M SUBB A,DANGQIANWEIZHI_M MOV JUEDUIMAICHONG_M,A ；計(jì)算絕對(duì)偏差脈沖數(shù)中間字節(jié) MOV A,SHEDINGWEIZHI_H SUBB A,DANGQIANWEIZHI_H MOV JUEDUIMAICHONG_H,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最高字節(jié) JC QUFAN SETB FANGXIANG RETQUFAN: CLR C MOV A,JUEDUIMAICHONG_L CPL A ；取反 MOV JUEDUIMAICHONG_L,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) MOV A,JUEDUIMAICHONG_M CPL A ；取反 MOV JUEDUIMAICHONG_M,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) MOV A,JUEDUIMAICHONG_H CPL A ；取反 MOV JUEDUIMAICHONG_H,A ；計(jì)算絕對(duì)偏差脈沖數(shù)最低字節(jié) CLR FANGXIANG RET； ORGINIT_JIAJIANSU: ；加減速脈沖數(shù)計(jì)算 CLR C CJNE JUEDUIMAICHONG_H,01H,H_BUDENG ；判斷絕對(duì)位置脈沖數(shù)最高字節(jié) CJNE JUEDUIMAICHONG_M,86H,M_BUDENG ；判斷絕對(duì)位置脈沖數(shù)中間字節(jié) CJNE JUEDUIMAICHONG_L,0A0H,L_BUDENG ；判斷絕對(duì)位置脈沖數(shù)最低字節(jié) MOV JIASU_STEP_H,0C3H MOV JIASU_STEP_L,50H ；設(shè)定加速脈沖數(shù)50000 MOV HENGSU_STEP_H,0 MOV HENGSU_STEP_M,0 MOV HENGSU_STEP_L,0 ；設(shè)定恒速脈沖數(shù)0 MOV JIANSU_STEP_H,0C3H MOV JIANSU_STEP_L,50H ；設(shè)定減速脈沖數(shù)50000H_BUDENG: JNC DAYU AJMP XIAOYU CLR CM_BUDENG: JNC DAYU AJMP XIAOYUL_BUDENG: JNC DAYU AJMP XIAOYUXIAOYU: MOV A,JUEDUIMAICHONG_M RRC A MOV JIASU_STEP_H,A ；設(shè)定加速脈沖數(shù)為絕對(duì)脈沖數(shù)的一半 MOV JIANSU_STEP_H,A ；設(shè)定減速脈沖數(shù)為絕對(duì)脈沖數(shù)的一半 MOV A,JUEDUIMAICHONG_L RRC A MOV JIASU_STEP_L,A MOV JIANSU_STEP_L,A MOV A,0 ADDC A,0 MOV HENGSU_STEP_H,0 MOV HENGSU_STEP_M,0 MOV HENGSU_STEP_L,A ；設(shè)定恒速脈沖數(shù) RETDAYU: MOV JIASU_STEP_H,0C3H MOV JIASU_STEP_L,50H ；設(shè)定加速脈沖數(shù)50000 MOV JIANSU_STEP_H,0C3H MOV JIANSU_STEP_L,50H ；設(shè)定減速脈沖數(shù)50000 CLR C MOV A,JUEDUIMAICHONG_L SUBB A,0A0H MOV HENGSU_STEP_L,A MOV A,JUEDUIMAICHONG_M SUBB A,086H MOV HENGSU_STEP_M,A MOV A,JUEDUIMAICHONG_H SUBB A,01H MOV HENGSU_STEP_H,A ；設(shè)定恒速脈沖數(shù) RETTIME0_INT: ；定時(shí)器0中斷子程序 CLR TR0 CPL MAICHONG ；脈沖電平取反 JB MAICHONG,HALF ；判斷是否為上升沿，以實(shí)現(xiàn)一個(gè)周期一個(gè)上升沿 LCALL REINIT_TIME0 ；下降沿則直接裝入原時(shí)間常數(shù)完成一個(gè)周期 RETIHALF: MOV A,JIASU_STEP_L ；判斷加速低脈沖數(shù)是否為0 CJNE A,0,JIASU1 ；為0則轉(zhuǎn)向加速高脈沖數(shù)判斷 MOV A,JIASU_STEP_H ；判斷加速低脈沖數(shù)是否為0 CJNE A,0,JIASU2 ；為0則加速結(jié)束轉(zhuǎn)向恒速脈沖數(shù)判斷 MOV A,HENGSU_STEP_L ；判斷恒速低脈沖數(shù)是否為0 CJNE A,0,HENGSU1 ；為0則轉(zhuǎn)向恒速中間脈沖數(shù)判斷 MOV A,HENGSU_STEP_M ；判斷恒速中間脈沖數(shù)是否為0 CJNE A,0,HENGSU2 ；為0則轉(zhuǎn)向恒速高脈沖數(shù)判斷 MOV A,HENGSU_STEP_H ；判斷恒速高字節(jié)脈沖數(shù)是否為0 CJNE A,0,HENGSU3 ；為0則恒速區(qū)結(jié)束轉(zhuǎn)向減速高脈沖數(shù)判斷 MOV A,JIANSU_STEP_L ；判斷減速低脈沖數(shù)是否為0 CJNE A,0,JIANSU1 ；為0則轉(zhuǎn)向減速高脈沖數(shù)判斷 MOV A,JIANSU_STEP_H ；判斷減速高脈沖數(shù)是否為0 CJNE A,0,JIANSU2 ；為0則電機(jī)停止轉(zhuǎn)動(dòng) SETB FINISH ； RETIJIASU1: ；判斷加速低脈沖數(shù)不為0則減1 DEC JIASU_STEP_L ACALL REINIT_TIME0 ；重新裝入定時(shí)常數(shù) RETIJIASU2: DEC JIASU_STEP_H ；判斷加速高脈沖數(shù)不為0則減1 DEC JIASU_STEP_L ；判斷加速低脈沖數(shù)減1 INC DANGQIANSUDU ；改變當(dāng)前速度指針 ACALL REINIT_TIME0 ；重新裝入定時(shí)常數(shù) RETIHENGSU1: DEC HENGSU_STEP_L ；判斷恒速低脈沖數(shù)不為0則減1 ACALL REINIT_TIME0 ；重新裝入定時(shí)常數(shù) RETIHENGSU2: DEC HENGSU_STEP_M ；判斷恒速低脈沖數(shù)不為0則減1 DEC HENGSU_STEP_L ；判斷恒速低脈沖數(shù)減1 ACALL REINIT_TIME0 ；重新裝入定時(shí)常數(shù) RETIHENGSU3: DEC HENGSU_STEP_H ；判斷恒速低脈沖數(shù)不為0則減1 DEC HENGSU_STEP_M ；判斷恒速低脈沖數(shù)減1 DEC HENGSU_STEP_L ；判斷恒速低脈沖數(shù)減1 ACALL REINIT_TIME0 ；重新裝入定時(shí)常數(shù) RETIJIANSU1: DEC JIANSU_STEP_L ；判斷減速低脈沖數(shù)不為0則減1 ACALL REINIT_TIME0 ；重新裝入定時(shí)常數(shù) RETI JIANSU2: DEC JIANSU_STEP_L ；判斷減速低脈沖數(shù)不為0則減1 DEC JIANSU_STEP_H ；判斷減速低脈沖數(shù)減1 DEC DANGQIANSUDU ；改變當(dāng)前速度指針 ACALL REINIT_TIME0 ；重新裝入定時(shí)常數(shù) RETIREINIT_TIME0: ；定時(shí)器0時(shí)間常數(shù)重裝子程序 MOV A,DANGQIANSUDU ；取得當(dāng)前速度指針位置 MOV DPL,A MOV DPH,02H CLR A MOVC A,@A+DPTR ；查表取出指針?biāo)鶎?duì)應(yīng)的周期時(shí)間常數(shù)低字節(jié) MOV TL0,A MOV DPH,03H CLR A MOVC A,@A+DPTR ；查表取出指針?biāo)鶎?duì)應(yīng)的周期時(shí)間常數(shù)低字節(jié) MOV TH0,A SETB TR0 ；
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