直流电机控制Keil c51源代码

直流电机的开环控制Keil c51源代码//-----------------------函数声明，变量定义--------------------------------------------------------#include <reg51.h>#include <intrins.h>#include<ABSACC.H>//-----------------------定义管脚--------------------------------------------------------sbit PWM=P1^0; //PWM波形输出sbit DR=P1^1; //方向控制#define timer_data (256-100) //定时器预置值,12M时钟是，定时0.1ms#define PWM_T 100 //定义PWM的周期T为10msunsigned char PWM_t; //PWM_t为脉冲宽度(0~100)时间为0~10msunsigned char PWM_count; //输出PWM周期计数unsigned char time_count; //定时计数bit direction; //方向标志为//--------------------------------------------------------------------------------------------------// 函数名称：timer_init// 函数功能：初始化设施定时器//--------------------------------------------------------------------------------------------------void timer_init(){TMOD=0x22; /*定时器1为工作模式2(8位自动重装)，0为模式2(8位自动重装) */ PCON=0x00;TF0=0;TH0=timer_data; //保证定时时长为0.1msTL0=TH0;ET0=1;TR0=1; //开始计数EA=1; //中断允许}//--------------------------------------------------------------------------------------------------// 函数名称：setting_PWM// 函数功能：设置PWM的脉冲宽度和设定方向//--------------------------------------------------------------------------------------------------void setting_PWM(){if(PWM_count==0) //初始设置{PWM_t=20;direction=1;}}//--------------------------------------------------------------------------------------------------// 函数名称：IntTimer0// 函数功能：定时器中断处理程序//--------------------------------------------------------------------------------------------------void IntTimer0() interrupt 1{time_count++;DR=direction;if(time_count>=PWM_T){time_count=0;PWM_count++;setting_PWM(); //每输出一个PWM波调用一次}if(time_count<PWM_t)PWM=1;elsePWM=0;}//--------------------------------------------------------------------------------------------------// 函数名称：main// 用户主函数// 函数功能：主函数//--------------------------------------------------------------------------------------------------void main(){timer_init();setting_PWM();}直流电机闭环控制Keil c51源代码//-----------------------函数声明，变量定义-------------------------------------------------------- #include <reg51.h>sbit INT_0 =P3^2; // 将p3.2外部中断0sbit pulse_A=P1^2; // P1.2为脉冲A输入sbit PWM=P1^0; //PWM波形输出sbit DR=P1^1; //方向控制//-----------------------预定义值--------------------------------------------------------#define PWM_T 1800 //定义PWM的周期T为18ms#define Ts 1000 //定义光电编码器采样时间为10ms#define timer_data (256-10) //定时器预置值,12M时钟是，定时0.01ms//-----------------------预设定值--------------------------------------------------------bit direction; //方向标志位用户设定unsigned char R; //需要得到的直流电机转速用户设定//-----------------------实际运行状态--------------------------------------------------------bit real_direction; //电机实际运行方向unsigned char Rr; //直流电机实际转速//-----------------------计算所得补偿状态------------------------------------------bit compensate_polarity; //补偿极性unsigned char dR; //转速补偿//-----------------------经补偿后得到的脉宽------------------------------------------unsigned char PWM_t; //PWM_t为脉冲宽度(320~400)时间为3.2~4.0ms unsigned char PWM_count; //输出PWM周期计数//-----------------------各中间计数值------------------------------------------unsigned char pulseB_count; //脉冲计数unsigned char time0_count; //定时计数unsigned char time1_count; //定时计数//--------------------------------------------------------------------------------------------------// 函数名称：timer_init// 函数功能：初始化设置定时器//--------------------------------------------------------------------------------------------------void timer_init(){TMOD=0x22; /*定时器1为工作模式2(8位自动重装)，0为模式2(8位自动重装) */ PCON=0x00;TF0=0;TH0=timer_data; //保证定时时长为0.01msTL0=TH0;TH1=timer_data; //保证定时时长为0.01msTL1=TH0;ET0=1; //定时器0中断允许TR0=1; //定时器0开始计数ET1=1; //定时器1中断允许TR1=1; //定时器1开始计数EA=1; //中断允许}//-------------------------------------------------------------------------------------------------- // 函数名称：INT0_init()// 函数功能：初始化设置// 设定INT0的工作方式//-------------------------------------------------------------------------------------------------- void INT0_init(void ){pulseB_count=0; //脉冲计数器清零IT0=1; //选择INT0为沿触发方式EX0=1; //外部中断允许EA=1; //系统中断允许}//-------------------------------------------------------------------------------------------------- // 函数名称：setting_PWM// 函数功能：设置PWM的脉冲宽度和设定方向//-------------------------------------------------------------------------------------------------- void setting_PWM(){// direction=1; //设定转动方向// R=540; //设定转速// dR=0; //转速补偿为零// calculate_PWM_t(); //重新计算脉宽}//-------------------------------------------------------------------------------------------------- // 函数名称：calculate_PWM_t// 入口参数：R需要得到的直流电机转速，dR转速补偿// 出口参数：PWM_t为脉冲宽度(320~400)时间为3.2~4.0ms// 函数功能：计算脉冲宽度,PWM_t=R/150;//-------------------------------------------------------------------------------------------------- void calculate_PWM_t(){if(compensate_polarity==1) //正补偿PWM_t=(R+dR)/150;elsePWM_t=(R-dR)/150; //负修正}//-------------------------------------------------------------------------------------------------- // 函数名称：calculate_Rr// 入口参数：pulseB_count脉冲计数// 出口参数：Rr直流电机实际转速// 函数功能：计算实际转速//-------------------------------------------------------------------------------------------------- void calculate_Rr(){Rr=pulseB_count/6;}//--------------------------------------------------------------------------------------------------// 函数名称：compensate_dR// 入口参数：Rr直流电机实际转速// R需要得到的直流电机转速// 出口参数：dR转速补偿// 函数功能：计算实际补偿值和补偿极性，根据不同的补偿算法重新设计//-------------------------------------------------------------------------------------------------- void compensate_Rr(){Rr=1;if(Rr>R)compensate_polarity=0; //补偿极性elsecompensate_polarity=1;}//--------------------------------------------------------------------------------------------------// 函数名称：INT0_intrupt// 函数功能：外部中断0处理程序//-------------------------------------------------------------------------------------------------- void INT0_intrupt() interrupt 0 using 1{pulseB_count++;if(pulse_A==0){real_direction=1; //若P1.2为低电平，则电机为正转，计数器N的值加1 }else //若为高电平，则电机为反转，计数器N值减l。