CN105911921A - Multipath steering engine control method based on 52-series single-chip microcomputer - Google Patents
Multipath steering engine control method based on 52-series single-chip microcomputer Download PDFInfo
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- CN105911921A CN105911921A CN201610428812.5A CN201610428812A CN105911921A CN 105911921 A CN105911921 A CN 105911921A CN 201610428812 A CN201610428812 A CN 201610428812A CN 105911921 A CN105911921 A CN 105911921A
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- Prior art keywords
- intervalometer
- initial value
- port
- value
- timing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25432—Multiplex
Abstract
The invention relates to a multipath steering engine control method based on a 52-series single-chip microcomputer. The method comprises the steps of: (1) establishing a control framework; (2) according to a standard steering engine with the period of 20 ms and the pulse width of 0.5-2.5 ms, carrying out timing time distribution, ensuring that the duration time of the high level of each path of steering engine is 0.5-2.5 ms, dividing ports to be controlled into a plurality of port groups, and ordering the plurality of port groups; (3) changing levels of ports of all port groups into low levels; (4) carrying out initialization configuration on a T0 timer and a T1 timer; (5) carrying out assignment on the T0 timer and the T1 timer; and (6) traversing all the port groups until interruptions of the T0 timer and the T1 timer are closed.
Description
Technical field
The invention belongs to robot application control field, be specifically related to a kind of single based on 52 series
The multichannel servos control method of sheet machine.
Background technology
Along with society development in science and technology is rapid, the function of processor is ceaselessly promoting, performance
The most optimised, and apply the single-chip microcomputer of 52 series in a lot of year in every profession and trade owing to not having
There is the port carrying pwm, so the application in a lot of fields is limited by very large, especially
It is the field of robot, does not has the pwm of multichannel that 52 series monolithics have been blocked in the most certainly
By degree robot outdoors；But 52 series monolithics are due at the aspect such as price and stability
Advantage reluctantly not by market；How 52 series monolithics are applied at multimachine rudder
On the panel of machine, and then reduction cost becomes a urgent problem.
Summary of the invention
Goal of the invention: the problem that the present invention is directed to the existence of above-mentioned prior art makes improvement, i.e. originally
A kind of multichannel servos control methods based on 52 series monolithics of disclosure of the invention, it can make
52 series monolithics not having pwm delivery outlet realize pinpoint accuracy multichannel adjustable pwm ripple, can
To utilize these pwm ripples that can regulate to control multichannel steering wheel, make the function of 52 series more
Add is perfect.
Technical scheme: a kind of multichannel servos control methods based on 52 series monolithics, including
Following steps:
(1) building control framework, this control framework includes:
T0 interrupt module: give successively in T0 intervalometer according to the break sequence set and need to control
Port compose initial value；
T1 interrupt module: give successively in T1 intervalometer according to the break sequence set and need to control
Port compose initial value；
Intervalometer timing initial value comparison module, is used for judging T0 intervalometer and T1 intervalometer initial value
Size, according to the timing initial value of intervalometer of result of the comparison change low priority；
Servos control module, is used for depositing and change T0 intervalometer and the required control of T1 intervalometer
The timing initial value of the port of system；
(2) being 20ms according to the cycle, pulse width is that 0.5ms～2.5ms standard steering wheel enters
Row timing distributes, and the high level lasting time of every road steering wheel is 0.5ms～2.5ms, so
After the port controlled will be needed to be divided into multiple port set, and the plurality of port set is arranged
Sequence, each port set includes two ports, and this port two is respectively by T0 intervalometer and T1
Timer Controlling；
(3) level of the port of all of the port group is become low level；
(4) T0 intervalometer and T1 intervalometer are carried out initial configuration, simultaneously T0 intervalometer
Just value difference initialized with T1 intervalometer is less than 0.5ms；
(5) T0 intervalometer and T1 intervalometer are carried out assignment；
(51) control TO intervalometer by T0 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T0 becomes high level, at the beginning of composing for T0 intervalometer simultaneously
Value, T0 intervalometer initial value is the timing initial value that in servos control module, this road port is corresponding；
(52) control T1 intervalometer by T1 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T1 becomes high level, at the beginning of composing for T1 intervalometer simultaneously
Value, T1 intervalometer initial value is the timing initial value that in servos control module, this road port is corresponding；
(53) obtained by the relatively middle step (51) of intervalometer timing initial value comparison module
T0 intervalometer initial value and the size of T1 intervalometer initial value that obtains of step (52), logical
Cross the initial value that result of the comparison changes the high level of low priority T1 intervalometer
(531) if T0 intervalometer initial value is more than T1 intervalometer initial value, then fixed to T1
Time device initial value re-start assignment, the T1 timing that its value obtains equal to step (52)
It is to start to tax initial value during the entrance interruption of T0 intervalometer that device initial value deducts the value of T1, T1
Time time；
(532) if T0 intervalometer initial value is equal to T1 intervalometer initial value, then fixed to T1
Time device initial value re-start assignment, the T1 timing that its value obtains equal to step (52)
It is to start to tax initial value during the entrance interruption of T0 intervalometer that device initial value deducts the value of T2, T2
Time time；
(532) if T0 intervalometer initial value is less than T1 intervalometer initial value, then T0 is exchanged
With the interrupt priority level of T1, T0 intervalometer initial value is re-started assignment, its value etc.
It is that T1 is fixed that the T0 intervalometer initial value obtained in step (52) deducts the value of T3, T3
Time device enter interrupt time to tax initial value start time time；
(54) control T0 intervalometer by T0 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T0 is changed into low level by high level, simultaneously fixed for T0
Time device carry out secondary assignment, T0 intervalometer secondary assignment equal to 2.5ms deduct T0 timing
Device initial value；
(55) control T1 intervalometer by T1 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T1 is become low level from high level, and to T1 timing
Device carries out secondary assignment, and T1 intervalometer secondary assignment is equal to 2.5ms-T1 intervalometer initial value；
(6) travel through all of port set, repeat step (51)～(55), until T0 is fixed
Time device and T1 timer interruption close till.
Further, step (2) if in the quantity of port of required control be odd number, many
A remaining road port is randomly assigned to T0 intervalometer or T1 intervalometer.
Further, if the quantity of the port of required control is odd number, an extra road
Port need not compare initial value.
Beneficial effect: a kind of multichannel steering wheel controls based on 52 series monolithics disclosed by the invention
Method processed has the advantages that
1, cheap and good stability 52 series monolithics are applied to robot and control neck
Territory, cost-effective；
2, may apply to other fields needing pwm simultaneously；
3, the range of application of 52 single-chip microcomputers is expanded further.
Detailed description of the invention:
Below the detailed description of the invention of the present invention is described in detail.
Specific embodiment 1
A kind of multichannel servos control method based on 52 series monolithics, comprises the following steps:
(1) building control framework, this control framework includes:
T0 interrupt module: give successively in T0 intervalometer according to the break sequence set and need to control
Port compose initial value；
T1 interrupt module: give successively in T1 intervalometer according to the break sequence set and need to control
Port compose initial value；
Intervalometer timing initial value comparison module, is used for judging T0 intervalometer and T1 intervalometer initial value
Size, according to the timing initial value of intervalometer of result of the comparison change low priority；
Servos control module, is used for depositing and change T0 intervalometer and the required control of T1 intervalometer
The timing initial value of the port of system；
(2) being 20ms according to the cycle, pulse width is that 0.5ms standard steering wheel is when being timed
Between distribute, the high level lasting time of every road steering wheel is 0.5ms, then will need control end
Mouth is divided into multiple port set, and is ranked up the plurality of port set, each port set bag
Including two ports, this port two is respectively by T0 intervalometer and T1 Timer Controlling；
(3) level of the port of all of the port group is become low level；
(4) T0 intervalometer and T1 intervalometer are carried out initial configuration, simultaneously T0 intervalometer
Just value difference initialized with T1 intervalometer is less than 0.5ms；
(5) T0 intervalometer and T1 intervalometer are carried out assignment；
(51) control TO intervalometer by T0 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T0 becomes high level, at the beginning of composing for T0 intervalometer simultaneously
Value, T0 intervalometer initial value is the timing initial value that in servos control module, this road port is corresponding；
(52) control T1 intervalometer by T1 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T1 becomes high level, at the beginning of composing for T1 intervalometer simultaneously
Value, T1 intervalometer initial value is the timing initial value that in servos control module, this road port is corresponding；
(53) obtained by the relatively middle step (51) of intervalometer timing initial value comparison module
T0 intervalometer initial value and the size of T1 intervalometer initial value that obtains of step (52), logical
Cross the initial value that result of the comparison changes the high level of low priority T1 intervalometer
(531) if T0 intervalometer initial value is more than T1 intervalometer initial value, then fixed to T1
Time device initial value re-start assignment, the T1 timing that its value obtains equal to step (52)
It is to start to tax initial value during the entrance interruption of T0 intervalometer that device initial value deducts the value of T1, T1
Time time；
(532) if T0 intervalometer initial value is equal to T1 intervalometer initial value, then fixed to T1
Time device initial value re-start assignment, the T1 timing that its value obtains equal to step (52)
It is to start to tax initial value during the entrance interruption of T0 intervalometer that device initial value deducts the value of T2, T2
Time time；
(532) if T0 intervalometer initial value is less than T1 intervalometer initial value, then T0 is exchanged
With the interrupt priority level of T1, T0 intervalometer initial value is re-started assignment, its value etc.
It is that T1 is fixed that the T0 intervalometer initial value obtained in step (52) deducts the value of T3, T3
Time device enter interrupt time to tax initial value start time time；
(54) control T0 intervalometer by T0 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T0 is changed into low level by high level, simultaneously fixed for T0
Time device carry out secondary assignment, T0 intervalometer secondary assignment deducts step (53) equal to 2.5ms
The T0 intervalometer initial value obtained；
(55) control T1 intervalometer by T1 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T1 is become low level from high level, and to T1 timing
Device carries out secondary assignment, and T1 intervalometer secondary assignment obtains equal to 2.5ms-step (53)
T1 intervalometer initial value；
(6) travel through all of port set, repeat step (51)～(55), until T0 is fixed
Time device and T1 timer interruption close till.
Further, step (2) if in the quantity of port of required control be odd number, many
A remaining road port is randomly assigned to T0 intervalometer or T1 intervalometer.
Further, if the quantity of the port of required control is odd number, an extra road
Port need not compare initial value.
Specific embodiment 2
Roughly the same with specific embodiment 1, differ only in:
Being 20ms according to the cycle in step (2), pulse width is that 2.5ms standard steering wheel is carried out
Timing distributes, and the high level lasting time of every road steering wheel is 2.5ms.
Specific embodiment 3
Roughly the same with specific embodiment 1, differ only in:
Being 20ms according to the cycle in step (2), it is fixed that pulse width is that 1ms standard steering wheel is carried out
Time the time distribution, the high level lasting time of every road steering wheel is 1ms.
Above embodiments of the present invention are elaborated.On but the present invention is not limited to
State embodiment, in the ken that art those of ordinary skill is possessed, also
Can make a variety of changes on the premise of without departing from present inventive concept.
Claims (3)
1. a multichannel servos control method based on 52 series monolithics, it is characterised in that
Comprise the following steps:
(1) building control framework, this control framework includes:
T0 interrupt module: give successively in T0 intervalometer according to the break sequence set and need to control
Port compose initial value；
T1 interrupt module: give successively in T1 intervalometer according to the break sequence set and need to control
Port compose initial value；
Intervalometer timing initial value comparison module, is used for judging T0 intervalometer and T1 intervalometer initial value
Size, according to the timing initial value of intervalometer of result of the comparison change low priority；
Servos control module, is used for depositing and change T0 intervalometer and the required control of T1 intervalometer
The timing initial value of the port of system；
(2) being 20ms according to the cycle, pulse width is that 0.5ms～2.5ms standard steering wheel enters
Row timing distributes, and the high level lasting time of every road steering wheel is 0.5ms～2.5ms, so
After the port controlled will be needed to be divided into multiple port set, and the plurality of port set is arranged
Sequence, each port set includes two ports, and this port two is respectively by T0 intervalometer and T1
Timer Controlling；
(3) level of the port of all of the port group is become low level；
(4) T0 intervalometer and T1 intervalometer are carried out initial configuration, simultaneously T0 intervalometer
Just value difference initialized with T1 intervalometer is less than 0.5ms；
(5) T0 intervalometer and T1 intervalometer are carried out assignment；
(51) control TO intervalometer by T0 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T0 becomes high level, at the beginning of composing for T0 intervalometer simultaneously
Value, T0 intervalometer initial value is the timing initial value that in servos control module, this road port is corresponding；
(52) control T1 intervalometer by T1 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T1 becomes high level, at the beginning of composing for T1 intervalometer simultaneously
Value, T1 intervalometer initial value is the timing initial value that in servos control module, this road port is corresponding；
(53) obtained by the relatively middle step (51) of intervalometer timing initial value comparison module
T0 intervalometer initial value and the size of T1 intervalometer initial value that obtains of step (52), logical
Cross the initial value that result of the comparison changes the high level of low priority T1 intervalometer
(531) if T0 intervalometer initial value is more than T1 intervalometer initial value, then fixed to T1
Time device initial value re-start assignment, the T1 timing that its value obtains equal to step (52)
It is to start to tax initial value during the entrance interruption of T0 intervalometer that device initial value deducts the value of T1, T1
Time time；
(532) if T0 intervalometer initial value is equal to T1 intervalometer initial value, then fixed to T1
Time device initial value re-start assignment, the T1 timing that its value obtains equal to step (52)
It is to start to tax initial value during the entrance interruption of T0 intervalometer that device initial value deducts the value of T2, T2
Time time；
(532) if T0 intervalometer initial value is less than T1 intervalometer initial value, then T0 is exchanged
With the interrupt priority level of T1, T0 intervalometer initial value is re-started assignment, its value etc.
It is that T1 is fixed that the T0 intervalometer initial value obtained in step (52) deducts the value of T3, T3
Time device enter interrupt time to tax initial value start time time；
(54) control T0 intervalometer by T0 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T0 is changed into low level by high level, simultaneously fixed for T0
Time device carry out secondary assignment, T0 intervalometer secondary assignment equal to 2.5ms deduct T0 timing
Device initial value；
(55) control T1 intervalometer by T1 interrupt module and enter interruption, by the first end
In mouth group, the timer-operated port of T1 is become low level from high level, and to T1 timing
Device carries out secondary assignment, and T1 intervalometer secondary assignment is equal to 2.5ms-T1 intervalometer initial value；
(6) travel through all of port set, repeat step (51)～(55), until T0 is fixed
Time device and T1 timer interruption close till.
A kind of multichannel steering wheel controls based on 52 series monolithics the most according to claim 1
Method processed, it is characterised in that step (2) if in the quantity of port of required control be strange
Number, a unnecessary road port is randomly assigned to T0 intervalometer or T1 intervalometer.
A kind of multichannel steering wheel controls based on 52 series monolithics the most according to claim 2
Method processed, it is characterised in that if the quantity of the port of required control is odd number, extra
One road port need not compare initial value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428812.5A CN105911921B (en) | 2016-06-16 | 2016-06-16 | A kind of multichannel steering engine control method based on 52 series monolithics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428812.5A CN105911921B (en) | 2016-06-16 | 2016-06-16 | A kind of multichannel steering engine control method based on 52 series monolithics |
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| CN105911921A true CN105911921A (en) | 2016-08-31 |
| CN105911921B CN105911921B (en) | 2019-03-05 |
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| CN103869728A (en) * | 2012-12-18 | 2014-06-18 | 苏州工业园区新宏博通讯科技有限公司 | Steering engine control device |
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2016
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| CN103869728A (en) * | 2012-12-18 | 2014-06-18 | 苏州工业园区新宏博通讯科技有限公司 | Steering engine control device |
| CN203209832U (en) * | 2013-04-15 | 2013-09-25 | 南通富力机电设备有限责任公司 | Reference and pulse control circuit based on PWM waves of single chip microcomputer |
| CN104898474A (en) * | 2015-04-01 | 2015-09-09 | 华南理工大学 | MCU-based multichannel uniform servo pulse generation method |
| CN105302168A (en) * | 2015-11-19 | 2016-02-03 | 江西洪都航空工业集团有限责任公司 | Low-cost electric steering engine control method based on single-chip microcomputer |
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