直流電機(jī)PID設(shè)計(jì)

1、基于uC/COS的直流電機(jī)PID轉(zhuǎn)速閉環(huán)調(diào)速控制系統(tǒng)Proteus仿真實(shí)現(xiàn)在工業(yè)自動(dòng)控制系統(tǒng)和各種智能產(chǎn)品中常常會(huì)用用電動(dòng)機(jī)進(jìn)行驅(qū)動(dòng)、傳動(dòng)和控制，而現(xiàn)代智能控制系統(tǒng)中，對(duì)電機(jī)的控制要求越來越精確和迅速，對(duì)環(huán)境的適應(yīng)要求越來越高。隨著科技的發(fā)展，通過對(duì)電機(jī)的改造，出現(xiàn)了一些針對(duì)各種應(yīng)用要求的電機(jī)，如伺服電機(jī)、步進(jìn)電機(jī)、開關(guān)磁阻電機(jī)等非傳統(tǒng)電機(jī)。但是在一些對(duì)位置控制要求不高的電機(jī)控制系統(tǒng)如傳動(dòng)控制系統(tǒng)中，傳統(tǒng)電機(jī)如直流電機(jī)乃有很大的優(yōu)勢(shì)，而要對(duì)其進(jìn)行精確而又迅速的控制，就需要復(fù)雜的控制系統(tǒng)。隨著微電子和計(jì)算機(jī)的發(fā)展，數(shù)字控制系統(tǒng)應(yīng)用越來越廣泛，數(shù)字控制系統(tǒng)有控制精確，硬件實(shí)現(xiàn)簡(jiǎn)單，受環(huán)境影響小，功

2、能復(fù)雜，系統(tǒng)修改簡(jiǎn)單，有很好的人機(jī)交換界面等特點(diǎn)。在電機(jī)控制系統(tǒng)開發(fā)中，常常需要消耗各種硬件資源，系統(tǒng)構(gòu)建時(shí)間長(zhǎng)，而在調(diào)試時(shí)很難對(duì)硬件系統(tǒng)進(jìn)行修改，從而延長(zhǎng)開發(fā)周期。隨著計(jì)算機(jī)仿真技術(shù)的出現(xiàn)和發(fā)展，可用計(jì)算機(jī)對(duì)電機(jī)控制系統(tǒng)進(jìn)行仿真，從而減小系統(tǒng)開發(fā)開支和周期。計(jì)算機(jī)仿真可分為整體仿真和實(shí)時(shí)仿真。整體仿真是對(duì)系統(tǒng)各個(gè)時(shí)間段對(duì)各個(gè)對(duì)象進(jìn)行計(jì)算和分析，從而對(duì)各個(gè)對(duì)象的變化情況有直觀的整體的了解，即能對(duì)系統(tǒng)進(jìn)行精確的預(yù)測(cè)，如Matlab就是一個(gè)典型的實(shí)時(shí)仿真軟件。實(shí)時(shí)仿真是對(duì)時(shí)間點(diǎn)的動(dòng)態(tài)仿真，即隨著時(shí)間的推移它能動(dòng)態(tài)仿真出當(dāng)時(shí)系統(tǒng)的狀態(tài)。Proteus是一個(gè)實(shí)時(shí)仿真軟件，用來仿真各種嵌入式系統(tǒng)。它能對(duì)

3、各種微控制器進(jìn)行仿真，本系統(tǒng)即用Proteus對(duì)直流電機(jī)控制系統(tǒng)進(jìn)行仿真。 在系統(tǒng)軟件開發(fā)中開發(fā)中可用操作系統(tǒng)，也可不用操作系統(tǒng)。如用操作系統(tǒng)，程序可實(shí)現(xiàn)模塊化，并能對(duì)系統(tǒng)資源進(jìn)行統(tǒng)籌管理，最主要的是可實(shí)現(xiàn)多任務(wù)運(yùn)行。如果需要多任務(wù)并行運(yùn)行，并且需要一定的時(shí)間間隔，某些任務(wù)對(duì)時(shí)間的要求不高時(shí)，如不用操作系統(tǒng)則要占用定時(shí)器資源，并且對(duì)棧空間和硬件資源很難進(jìn)行管理，所以在這種情況下需要操作系統(tǒng)。本系統(tǒng)用操作系統(tǒng)uC/COS.uC/COS是一個(gè)完整的、可移植、可固化、可剪裁的占先式實(shí)時(shí)多任務(wù)內(nèi)核.uC/COS已經(jīng)有很多產(chǎn)品成功使用的案例且得到美國(guó)軍方的認(rèn)證，說明了該系統(tǒng)的可靠性。uC/COS源代碼公

4、開，代碼短，源代碼大部分是使用NSI C編寫的，移植性和裁減性好，功能強(qiáng)大，能可靠應(yīng)用于各種控制系統(tǒng)中。系統(tǒng)構(gòu)成轉(zhuǎn)速控制輸入（0832采樣）移植了uCCOS的LPC2106ARM微控制器波液晶顯示51單片機(jī)仿真的電機(jī)電機(jī)驅(qū)動(dòng)電路測(cè)速接口輸入轉(zhuǎn)矩硬件全圖各子系統(tǒng). 轉(zhuǎn)速控制輸入 如用按鍵輸入則需要復(fù)雜的軟件實(shí)現(xiàn)，并且需要足夠的引腳資源，本系統(tǒng)用ADC0832采樣電位器上的電壓信號(hào)來實(shí)現(xiàn)轉(zhuǎn)速信號(hào)輸入。2.LPC2106微控制器 LPC2106是Phlip公司推出的核心為ARM的控制器。LPC2106 包含一個(gè)支持仿真的ARM7TDMI-S CPU、與片內(nèi)存儲(chǔ)器控制器接口的ARM7 局部總線、與中斷

5、控制器接口的AMBA 高性能總線（AHB）和連接片內(nèi)外設(shè)功能的VLSI 外設(shè)總線（VPB，ARMAMBA 總線的兼容超集）。片內(nèi)有64K 字節(jié)靜態(tài)RAM和128K的FLASH存儲(chǔ)器。可尋址4GB。 在本仿真中LPC2106沒加晶振電路，頻率在芯片屬性中設(shè)置。3.液晶顯示 本系統(tǒng)采用Proteus仿真庫(kù)有的液晶顯示模塊AMPIRE128X64,為8192像素的單色LCD屏幕分為兩半控制，控制引腳為CS1和CS2。數(shù)據(jù)通過移位寄存器輸入。4電機(jī)驅(qū)動(dòng)電路 本系統(tǒng)仿真的是最大輸入電壓為12伏的微型電機(jī)，故用通用電機(jī)驅(qū)動(dòng)電路實(shí)現(xiàn)假設(shè)該電路輸入電阻為無窮大，輸出電阻為0。5仿真電機(jī)的51單片機(jī) 雖然Pro

6、teus有電機(jī)模塊，但其電機(jī)模塊沒有輸出轉(zhuǎn)速接口故用一單片機(jī)代替它，單片機(jī)用ADC0832采樣輸入的電壓，經(jīng)過處理即輸出和真實(shí)電機(jī)同步的轉(zhuǎn)速（需要大量的浮點(diǎn)運(yùn)算，可考慮用DSP）。通過兩個(gè)按鍵改變轉(zhuǎn)矩沒按一次增大或減小0.001，上面的是增大。6仿真結(jié)果仿真1.8秒鐘后得下圖，可看到轉(zhuǎn)速逐漸增大然后穩(wěn)定下來。 增大轉(zhuǎn)矩后，可看到轉(zhuǎn)速下降后又恢復(fù)7程序；1系統(tǒng)主程序：main.c/* 實(shí)時(shí)微型直流電機(jī)PID轉(zhuǎn)速閉環(huán)調(diào)速控制系統(tǒng)程序(基于移植于LPC2106上的uc/cos實(shí)時(shí)操作系統(tǒng))* 程序編寫者: 吳斌* 編寫日期: 2007年11月14日*/#include config.h#includ

7、e LCD.h#define TASK_STK_SIZE 512 /各任務(wù)棧大小#define IO_Init() PINSEL0= 2; IODIR|= 0x00007FB0; /P0.4P0.5P0.7-P1.4為輸出其他的為輸入#define Umax 1000 /最大調(diào)節(jié)轉(zhuǎn)速#define Kp 0.7 /比例放大系數(shù)#define Ts 0.03 /采樣周期#define t0 4 /積分時(shí)間常數(shù)#define td 0.0005 /微分時(shí)間常數(shù)#define q0 Kp*(1+Ts*t0+td/Ts)#define q1 -Kp*(1+2*td/Ts) #define q2 Kp*

8、td/Ts#define ADC_DO 0x00000040 /P0.6#define ADC_CS 0x00000080 /P0.7#define ADC_CLK 0x00000100 /P0.8#define ADC_DI 0x00000200 /P0.9OS_STK Main_TaskStkTASK_STK_SIZE;OS_STK Task1_TaskStkTASK_STK_SIZE;OS_STK Task2_TaskStkTASK_STK_SIZE;OS_STK Task3_TaskStkTASK_STK_SIZE;OS_STK Task4_TaskStkTASK_STK_SIZE;/

9、各任務(wù)棧OS_EVENT *Conbox; /控制信號(hào)郵箱float n=0; / 輸入轉(zhuǎn)速float nb=0; / 反饋轉(zhuǎn)速void Main_Task(void *data);void Task1(void *p_arg);void Task2(void *p_arg);void Task3(void *p_arg);void Task4(void *p_arg); /函數(shù)聲明void PWMInit(void) PWMPR = 0x00; / 不分頻，計(jì)數(shù)頻率為Fpclk PWMMCR = 0x02; / 設(shè)置PWMMR0匹配時(shí)復(fù)位PWMTCPWMMR0 = 2765; / 設(shè)置PWM

10、周期 PWMMR1 = 0; / 設(shè)置PWM占空比 PWMLER = 0x03; / PWMMR0、PWMMR1鎖存 PWMPCR = 0x0200;/ 允許PWM1輸出，單邊PWM PWMTCR = 0x09; / 啟動(dòng)定時(shí)器，PWM使能PWMMR0 = 2765; / 設(shè)置PWM周期 PWMMR1 = 0; / 設(shè)置PWM占空比 PWMLER = 0x03; / PWMMR0、PWMMR1鎖存/* 函數(shù)名稱: main* 功能描述: c語(yǔ)言的主函數(shù)，由它啟動(dòng)多任務(wù)環(huán)境*/int main (void) OSInit(); OSTaskCreate(Main_Task, (void*)0,

11、&Main_TaskStkTASK_STK_SIZE - 1, 0); OSStart();return 0; /* 函數(shù)名稱: Main_Task* 功能描述: 初始化系統(tǒng)及建立任務(wù)*/ void Main_Task(void *p_arg) p_arg = p_arg; / 避免編譯警告 TargetInit(); IO_Init(); Conbox = OSMboxCreate(void*)0); LCD_Main(); OSTaskCreate(Task1, (void *)0, &Task1_TaskStkTASK_STK_SIZE - 1, 2); OSTaskCreate(Tas

12、k2, (void *)0, &Task2_TaskStkTASK_STK_SIZE - 1, 3); OSTaskCreate(Task3, (void *)0, &Task3_TaskStkTASK_STK_SIZE - 1, 1); OSTaskCreate(Task4, (void *)0, &Task4_TaskStkTASK_STK_SIZE - 1, 5); OSTaskSuspend(0);/* 函數(shù)名稱: Task1_Task* 功能描述: 實(shí)時(shí)任務(wù),負(fù)責(zé)采樣和處理數(shù)據(jù)*/ void Task1(void *p_arg) float us;/上次輸出控制信號(hào) float es

13、;/上次采樣誤差信號(hào) float es2 = 0;/上次的上次的采樣誤差信號(hào) uint32 nj;/采樣轉(zhuǎn)速信號(hào) float u;/此次輸出控制信號(hào) float e;/此次采樣誤差信號(hào) p_arg = p_arg; PWMInit();/PWM初始化 while(1) nj=IOPIN16; nb=(float)nj/10;/采樣反饋轉(zhuǎn)速 e=n-nb;u=us+q0*e+q1*es+q2*es2;/PID處理if(u=Umax)u=Umax;es2=es;es=e;us=u; OSMboxPost(Conbox,(void*)&u); /發(fā)送處理后的信號(hào)OSTimeDlyHMSM(0,0,0

14、,30); /* 函數(shù)名稱: Task2_Task* 功能描述: 根據(jù)控制信號(hào)輸出PWM波*/ void Task2(void *p_arg) uint8 err; float *nh; p_arg = p_arg; while(1) nh=(float*)OSMboxPend(Conbox,0,&err); if(*nh=Umax-0.5) PWMMR0 = 2765; PWMMR1= 2764;PWMLER = 0x03;else PWMMR0 = 2765; PWMMR1=(uint32)(*nh/Umax*2765);PWMLER = 0x03; void Delay(uint8 n)

15、 /延時(shí)函數(shù) uint8 i; for(i=1;i=n;i+); /* 函數(shù)名稱: Task3_Task* 功能描述: 定時(shí)采樣輸入的轉(zhuǎn)速要求(0832采樣)*/ void Task3(void *p_arg) uint8 ch,i,flag=0; p_arg=p_arg; ch=0; IOCLR=ADC_CS; IOCLR=ADC_DI;/片選，DO為高阻態(tài) for(i=0;i10;i+) ;IOCLR=ADC_CLK; Delay(4); IOSET=ADC_DI; IOSET=ADC_CLK; Delay(4); /第一個(gè)脈沖，起始位 IOCLR=ADC_CLK; Delay(4); I

16、OSET=ADC_DI; IOSET=ADC_CLK; Delay(4); /第二個(gè)脈沖，DI=1表示雙通道單極性輸入 IOCLR=ADC_CLK; Delay(4); IOSET=ADC_DI; IOSET=ADC_CLK; Delay(4); /第三個(gè)脈沖，DI=1表示選擇通道1（CH2） IOCLR=ADC_DI; /DI轉(zhuǎn)為高阻態(tài)，DO脫離高阻態(tài)為輸出數(shù)據(jù)作準(zhǔn)備 IOSET=ADC_CLK; Delay(4); IOCLR=ADC_CLK; Delay(4); /經(jīng)實(shí)驗(yàn)，這里加一個(gè)脈沖AD便能正確讀出數(shù)據(jù) for (i=0; i8; i+) IOSET=ADC_CLK; Delay(4

17、); IOCLR=ADC_CLK; Delay(4); if(IOPIN & ADC_DO)!=0) ch=(ch1)|1;/在每個(gè)脈沖的下降沿DO輸出一位數(shù)據(jù)，最終ch為8位二進(jìn)制數(shù) else ch=(ch1)|0; IOSET=ADC_CS; n=(float)ch*1000/256; if(flag=0) flag=1; OSTaskChangePrio(1,4); OSTimeDlyHMSM(0,0,0,300);/* 函數(shù)名稱: Task4_Task* 功能描述: 液晶顯示任務(wù)*/ void Task4(void *p_arg) #if OSCRITICAL_METHOD =3 OS

18、_CPU_SR cpu_sr; #endif uint16 w,q,k; uint8 i; uint8 shu16,shu26; p_arg=p_arg; for(;) shu14=10; w=(uint16)(n*10); k=10000; for(i=0;i4;i+) shu1i=(uint8)(w/k); w=w%k;k=k/10; shu15=(uint8)w; OS_ENTER_CRITICAL(); LCD_num(80,2,shu1,6); shu24=10; q=(uint16)(nb*10); k=10000; for(i=0;i4;i+) shu2i=(uint8)(q/k

19、); q=q%k;k=k/10; shu25=(uint8)q; LCD_num(80,4,shu2,6); OS_EXIT_CRITICAL(); OSTimeDlyHMSM(0,0,0,100); /* End Of File*/2.自編的LCD驅(qū)動(dòng)程序 (1)頭文件LCD.h/* LCD驅(qū)動(dòng)頭文件LCD.h(基于LPC21*)* 程序編寫者: 吳斌* 編寫日期: 2007年11月12日*/#ifndef _LCD_H_#define _LCD_H_#include config.h#define SPI_CLK0x00000010 /P0.4 #define SPI_DATA0x0000

20、0020 /P0.5 #define RW 0x00000800 /RW#define RS 0x00000400 /RS#define CS1 0x00001000 /CS1#define CS2 0x00002000 /CS2#define E 0x00004000 /E#define Kai 0x3F#define Guang 0x3E#define Hang 0xC0#define Ye 0xB8#define Lie 0x40 #define Setlie(a) IOCLR = RW; IOCLR = RS; send(Lie+a); #define Setye(a) IOCLR =

21、 RW; IOCLR = RS; send(Ye+a); #define Setweizi(a,b) IOCLR = RW; IOCLR = RS; send(Lie+a); send(Ye+b);#define Write(a) IOCLR = RW; IOSET = RS; send(a);void send(uint8 dat);void LCD_disp(uint8 a,uint8 b,uint8 c,uint8 d,uint8 m,uint8 *shuju);void SetCS(uint8 a);void LCD(uint8 a,uint8 b,uint8 c,uint8 d, u

22、int8 *shuju);void LCD_num(uint8 a,uint8 b,uint8 *shuju,uint8 n);void LCD_str(uint8 a,uint8 b,uint8 *strtab,uint8 n);void LCD_hanzi(uint8 a,uint8 b,uint8 *hanzitab,uint8 n);void LCD_xian(uint8 a,uint8 b,uint8 *strtab,uint8 n);void LCD_Main(void);#endif/* End Of File*/ (2)LCD驅(qū)動(dòng)程序LCD.c/* LCD驅(qū)動(dòng)程序(基于LPC2

23、1*)* 程序編寫者: 吳斌* 編寫日期: 2007年11月12日*/#includeLCD.hvoid send(uint8 dat) /用移位寄存器輸出一字節(jié)數(shù)據(jù) uint8 i; IOSET = E; / E = 1 for(i=0; i8; i+)/ 發(fā)送8位數(shù)據(jù) IOCLR = SPI_CLK;/ SPI_CLK = 0 if( (dat&0x80)!=0 ) IOSET = SPI_DATA; else IOCLR = SPI_DATA; dat = 1; IOSET = SPI_CLK;/ SPI_CLK = 1 IOCLR = E; / E = 0void LCD_disp(u

24、int8 a,uint8 b,uint8 c,uint8 d,uint8 m,uint8 *shuju)/*LCD顯示函數(shù),在第a列b頁(yè)輸出大小為c*d的圖像(只能選擇在左或右屏幕顯示) */uint8 i,j,f; SetCS(m); for(j=0;jd;j+) Setweizi(a,j+b); for(i=0;ic;i+) Write(*(shuju+i); for(f=0;f0xFF;f+); void SetCS(uint8 a) if(a=0) IOSET =CS2; IOCLR =CS1; else IOSET =CS1; IOCLR =CS2; void LCD(uint8 a

25、,uint8 b,uint8 c,uint8 d, uint8 *shuju) /*LCD主顯示函數(shù),在第a列b頁(yè)輸出大小為c*d的圖像*/uint8 i,j,m,f,n; uint8 *p=shuju; if(a+c=64) SetCS(0); for(j=0;jd;j+) Setweizi(a,j+b); for(i=0;ic;i+) Write(*p); p+; for(f=0;f0xFF;f+); else if(a64) m=64-a; n=c-m; for(j=0;jd;j+) SetCS(0); Setweizi(a,j+b); for(i=0;im;i+) Write(*p);

26、 p+; for(f=0;f0xFF;f+); SetCS(1);Setweizi(0,j+b); for(i=0;in;i+) Write(*p); p+; for(f=0;f0xFF;f+); else SetCS(1); for(j=0;jd;j+) Setweizi(a-64,j+b); for(i=0;ic;i+) Write(*p); p+; for(f=0;f0xFF;f+); void LCD_num(uint8 a,uint8 b,uint8 *shuju,uint8 n)/*在第a列b頁(yè)顯示shuju數(shù)組的數(shù)字或小數(shù)點(diǎn)和空格*/uint8 numzimo192=0xFF,0

27、x1F,0xEF,0xF7,0xF7,0xEF,0x1F,0xFF,0xFF,0xF0,0xEF,0xDF,0xDF,0xEF,0xF0,0xFF, /*0,0*/0xFF,0xEF,0xEF,0x07,0xFF,0xFF,0xFF,0xFF,0xFF,0xDF,0xDF,0xC0,0xDF,0xDF,0xFF,0xFF,/*1,1*/0xFF,0x8F,0xF7,0xF7,0xF7,0x77,0x8F,0xFF,0xFF,0xCF,0xD7,0xDB,0xDD,0xDE,0xCF,0xFF,/*2,2*/0xFF,0xCF,0xF7,0x77,0x77,0xB7,0xCF,0xFF,0xFF

28、,0xE7,0xDF,0xDF,0xDF,0xEE,0xF1,0xFF,/*3,3*/0xFF,0xFF,0x3F,0xDF,0xEF,0x07,0xFF,0xFF,0xFF,0xF8,0xFB,0xDB,0xDB,0xC0,0xDB,0xFF,/*4,4*/0xFF,0x07,0xF7,0x77,0x77,0xF7,0xF7,0xFF,0xFF,0xE6,0xDE,0xDF,0xDF,0xEE,0xF1,0xFF,/*5,5*/0xFF,0x1F,0xEF,0x77,0x77,0xE7,0xFF,0xFF,0xFF,0xF0,0xEE,0xDF,0xDF,0xEE,0xF1,0xFF,/*6

29、,6*/0xFF,0xC7,0xF7,0xF7,0x37,0xC7,0xF7,0xFF,0xFF,0xFF,0xFF,0xC0,0xFF,0xFF,0xFF,0xFF,/*7,7*/0xFF,0x8F,0x77,0xF7,0xF7,0x77,0x8F,0xFF,0xFF,0xE3,0xDD,0xDE,0xDE,0xDD,0xE3,0xFF,/*8,8*/0xFF,0x1F,0xEF,0xF7,0xF7,0xEF,0x1F,0xFF,0xFF,0xFF,0xCE,0xDD,0xDD,0xEE,0xF0,0xFF,/*9,9*/0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,

30、0xFF,0xFF,0xCF,0xCF,0xFF,0xFF,0xFF,0xFF,0xFF,/*.,10*/0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF;/* ,11*/ uint8 i,f; uint8 *p; for(i=0;in;i+) f=*(shuju+); p=numzimo+f*16; LCD(a,b,8,2,p); a=a+8; void LCD_str(uint8 a,uint8 b,uint8 *strtab,uint8 n) /*在第a列b頁(yè)顯示ASCII字符串

31、(要點(diǎn)陣數(shù)據(jù))*/uint8 i; for(i=0;in;i+) LCD(a,b,8,2,strtab); a=a+8; strtab=strtab+16; void LCD_hanzi(uint8 a,uint8 b,uint8 *hanzitab,uint8 n) /*在第a列b頁(yè)顯示漢字串(要點(diǎn)陣數(shù)據(jù))*/uint8 i; for(i=0;in;i+) LCD(a,b,16,2,hanzitab); a=a+16; hanzitab=hanzitab+32; void LCD_xian(uint8 a,uint8 b,uint8 *strtab,uint8 n) /顯示ASCII字符串到

32、頂時(shí)換行uint8 m; if(a+(n-1)*80) m=a/8+1+n-16; else m=a/8+n-16; LCD_str(a,b,strtab,n-m); LCD_str(0,b+2,strtab+16*(n-m),m); void LCD_Main(void) /本系統(tǒng)顯示主界面uint8 i;uint8 zifu80=0xF7,0x07,0xF7,0xFF,0xFF,0xF7,0x07,0xF7,0xFF,0xE0,0xDF,0xDF,0xDF,0xDF,0xE0,0xFF,/*U,0*/0xFF,0xFF,0xFF,0xFF,0x7F,0x9F,0xE7,0xFB,0xFF,

33、0x9F,0xE7,0xF9,0xFE,0xFF,0xFF,0xFF,/*/,1*/0xFF,0xFF,0xFF,0x7F,0x7F,0x7F,0xFF,0xFF,0xFF,0xF1,0xEE,0xDF,0xDF,0xDF,0xEE,0xFF,/*c,2*/0xFF,0xFF,0x7F,0x7F,0x7F,0x7F,0xFF,0xFF,0xFF,0xE0,0xDF,0xDF,0xDF,0xDF,0xE0,0xFF,/*o,3*/0xFF,0xFF,0x7F,0x7F,0x7F,0x7F,0x7F,0xFF,0xFF,0xCC,0xDB,0xDB,0xDB,0xDB,0xE6,0xFF;/*s,

34、4*/uint8 inputn160=0xBB,0x0B,0xB0,0x1B,0xBB,0x9B,0x6F,0x67,0x6B,0x6C,0xEB,0x67,0xF7,0x2F,0xEF,0xFF,0xFB,0xFB,0xFB,0x00,0xFD,0xFD,0x00,0xB5,0x75,0x80,0xFF,0xC0,0x7F,0x00,0xFF,0xFF,/*輸,0*/0xFF,0xFF,0xFF,0xFF,0xFE,0x7C,0x89,0xE7,0x9F,0x7F,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xBF,0xDF,0xEF,0xF7,0xF9,0xFE,0xFF

35、,0xFF,0xFF,0xFF,0xFC,0xFB,0xE7,0xCF,0xEF,0xFF,/*入,1*/0x37,0x57,0x63,0x14,0x77,0x77,0x77,0xBF,0xB7,0x07,0xB0,0xB7,0xB7,0xB7,0xBF,0xFF,0xF7,0xF7,0xFB,0x00,0xFB,0xFB,0xFF,0xFD,0xF4,0xED,0xDD,0x2D,0xF1,0xFD,0xFF,0xFF,/*轉(zhuǎn),2*/0xBF,0xBD,0x33,0xFF,0xFB,0x1B,0xDB,0xDB,0x0,0xDB,0xDB,0xDB,0x1B,0xFB,0xFF,0xFF,0

36、xBF,0xDF,0xE0,0xDF,0xB7,0xB6,0xBA,0xBC,0x80,0xBE,0xBC,0xBA,0xB2,0xBF,0xBF,0xFF,/*速,3*/0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xC9,0xC9,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF;/*：,4*/uint8 outputn160=0xBB,0x0B,0xB0,0x1B,0xBB,0x9B,

37、0x6F,0x67,0x6B,0x6C,0xEB,0x67,0xF7,0x2F,0xEF,0xFF,0xFB,0xFB,0xFB,0x00,0xFD,0xFD,0x00,0xB5,0x75,0x80,0xFF,0xC0,0x7F,0x00,0xFF,0xFF,/*輸,0*/0xFF,0xFF,0x03,0xBF,0xBF,0xBF,0xBF,0x00,0xBF,0xBF,0xBF,0xBF,0xBF,0x03,0xFF,0xFF,0xFF,0xFF,0x81,0xDF,0xDF,0xDF,0xDF,0xC0,0xDF,0xDF,0xDF,0xDF,0xDF,0x81,0xFF,0xFF,/*出

38、,1*/0x37,0x57,0x63,0x14,0x77,0x77,0x77,0xBF,0xB7,0x07,0xB0,0xB7,0xB7,0xB7,0xBF,0xFF,0xF7,0xF7,0xFB,0x00,0xFB,0xFB,0xFF,0xFD,0xF4,0xED,0xDD,0x2D,0xF1,0xFD,0xFF,0xFF,/*轉(zhuǎn),2*/0xBF,0xBD,0x33,0xFF,0xFB,0x1B,0xDB,0xDB,0x0,0xDB,0xDB,0xDB,0x1B,0xFB,0xFF,0xFF,0xBF,0xDF,0xE0,0xDF,0xB7,0xB6,0xBA,0xBC,0x80,0xBE,

39、0xBC,0xBA,0xB2,0xBF,0xBF,0xFF,/*速,3*/0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xC9,0xC9,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF;/*：,4*/ uint8 xinhao16=0xBF,0xBF,0x7F,0x0F,0x7F,0xBF,0xBF,0xFF,0xFD,0xFD,0xFE,0xF0,0xFE,0xFD,0xFD,0xFF;

40、/*,0*/ LCD_str(44,0,zifu,5); LCD_hanzi(0,2,inputn,5); LCD_hanzi(0,4,outputn,5); for(i=0;i16;i+) LCD_str(i*8,6,xinhao,1); /* End Of File*/3. 用AT89S52單片機(jī)仿真直流電動(dòng)機(jī)程序/* 用AT89S52單片機(jī)仿真直流電動(dòng)機(jī)程序* 程序編寫者: 吳斌* 編寫日期: 2007年11月11日*/ #include #include #include #define La 0.1/電樞電感 #define CeQ 0.005 #define CmQ 0.2/ #define Ja 0.0000018/轉(zhuǎn)動(dòng)慣量 #define Ra 10 #define Ra-La 11.9 sbit ADC_CS =P34; sbit ADC_CLK=P35; s