单片机【经典外文翻译】--基于msp430f149单片机实现的步进电机通用控制器—-毕业论文设计.doc

Step of electric machine universal controller realizes which based on the MSP430F149 Single Chip Microcomputer.
Abstract：With the infiltration in the social field of the computer in recent years, the application of the one-chip computer is moving towards deepening constantly, drive tradition is it measure crescent benefit to upgrade day to control at the same time. In measuring in real time and automatically controlled one-chip computer application system, the one-chip computer often uses as a key part, only one-chip computer respect knowledge is not enough, should also follow the structure of the concrete hardware , and direct against and use the software of target's characteristic to combine concretely, in order to do perfectly.
This article mainly introduced realizes a step of machine universal controller based on the MSP430F149 monolithic integrated circuit. This controller may simultaneously control the multi-tablecloths machine according to the curve way movement, including adds and subtracts fast, the localization and the commutation function and so on. In the article discussed with emphasis step machine has risen to low the speed and the curve design proposal and its the realization method.
1. a preface：
based on the step of machine control system, except step machine generally also needs the special actuation power source, actuates the power source merely to complete the power actuation part, the user certainly cannot cause the entire control system according to prearrange, the expectation active status movement, must control to its actuation power source, the user needs to develop once more.
In view of this, has designed a step of machine universal controller which realizes based on the MSP430F149 monolithic integrated circuit, may satisfy the majority controlling
外文资料原文
field originally request. The controller main function is:
(1) May control the multi- wraps step of machine actuation system; At present may simultaneously control 3 sets of systems.
(2) work way is flexible, may according to the hypothesis curve movement, the curve most reach 8 sections; May according to the control signal movement which exterior examines; May according to the simulation adjustment test function movement;
2. Systems designs
2.1 systems structure
This controller has mainly realized thematic- tablecloths machine in the multistage curve operating control.
2.2 microprocessors choice
This design has selected MSP which Incorporation produces series monolithic integrated circuit MSP430F149.The goal is applies its rich connection resources and the formidable timer function, the MSP430F149 performance characteristic as follows:
(1) 6 eight bit parallel connections; Definitely may realize this system all signals input, the output, does not need the hardware to expand, P1, the P2 eight bit parallel ports each mouth line all has the severance function, softly causes the keyboard, the hardware design to change is extremely simple.
(2) 12 A/D switch ADC; Completes the simulation hypothesis function.
(3) Formidable timer function; TIMER-A3, TIMER-B7 respectively be have3 and 7 captures/compares the register 16 timers, may satisfy the system speed the hypothesis and the curve fixed time request.
(4)Liquid crystal actuation module;
(5) In sets at 2KB RAM, 60KB FLASH;
MSP430F149 provides the rich resources, the periphery hardware expands only must do the very few work, not only designs changes extremely imply, and moreover this controller volume small, the reliability is high.
2.3 steps of machine starting and add/decelerate the control plan
The step of motive highest starting frequency (step frequency) generally is 0.1KHz arrives 3-4KHz, but the highest movement frequency may achieve N*102 KHz. Surpasses the highest starting frequency the frequency direct-on starting, will appear\" Falls out of step \" Phenomenon, even is unable to start.
The more ideal starting curve should be according to the index rule starting. But the practical application to starts the section processing to be possible to use according to the fitting a straight
Line method, namely \" Steps and ladders law \”. May according to two kind of situations processing, (1) known frequency press the frequency partition to start, the partition counts n=f/f q.
(2) Unknown frequency, then to assigns according to the section. Uses \" Steps and ladders law \" Continuously raises the speed the speed which needs, then locking, according to pre-placed curve movement. Fitting the starting frequency, after each section of frequencies hand over the increase (to call steps and ladders frequency) △ f=f/8, namely uses 8 sections of fitting. In the operating control process, (frequency) divides into the outset speed n minute achievement steps and ladders frequency, When 2.4 steps of machine commutation questions step of machine commutation, certainly must stop in the electrical machinery or fall commutates again to the frequency range in, in order to avoid has a bigger impact to damage the electrical machinery. The commutation signal certainly must last the CP pulse finish after the preceding direction as well as in front of the next direction first CP pulse sends out.
2.4 steps of machine commutation questions
Step of machine commutation, certainly must stop in the electrical machinery or fall commutates again to the frequency range in, in order to avoid has a bigger impact to damage the electrical machinery. The commutation signal certainly must last the CP pulse finish after the preceding direction as well as in front of the next direction first CP pulse sent out in some high speed under, the reverse cut essence has contained -> the commutation -> three processes
2.5 speeds and the timer starting value transformation
This system speed control is the dependence fixed time produces; the hypothesis speed which the CP pulse completes with has the CP pulse timer starting value to have the certain relations. The MSP430F149 timer work way has many kinds of, this design timer work under continual way. In the continual pattern, the timer starts from its current value to count, after counts to 0FFFFH from \" 0\" Starts redo count. Under this way, compares the timer current value and comparison register CCRX, if equal has the severance, and May the time which has the next event add to in this interrupt service is on comparison register CCRX.
Fixed time the starting value = must fixed time the value/count the cycle; Often assigns regarding the step of machine its speed value by the frequency form, such as movement under 20KHZ, therefore the previous type may transform is: Fixed time the starting value = counts the frequency/speed value. (Counts frequency for system clock frequency)
3. Concluding
Remark this controller may realize step machine under the multistage hypothesis curve operating control, has the hardware simply, the reliable high characteristic, has used in on the electric wire production line platoon line control section it, has obtained the satisfying effect. This topic funds the project for the north industry big school scientific research foundation.

译文

译文
基于MSP430F149单片机实现的步进电机通用控制器。
摘要：
近年来随着计算机在社会领域的渗透, 单片机的应用正在不断地走向深入，同时带动传统控制检测日新月益更新。在实时检测和自动控制的单片机应用系统中，单片机往往是作为一个核心部件来使用，仅单片机方面知识是不够的，还应根据具体硬件结构，以及针对具体应用对象特点的软件结合，以作完善。
本文主要介绍了基于MSP430F149单片机实现的步进电机通用控制器。该控制器可同时控制多台步进电机按曲线方式运行，包括加减速、定位及换向功能等。文中重点探讨了步进电机升降速曲线的设计方案及其实现方法。
关键词：MSP430F149，单片机，步进电机，通用控制器
1.前言
基于步进电机的控制系统，除了步进电机一般还需要专门的驱动电源，驱动
源仅仅完成功率驱动部分，用户并不能使整个控制系统按预定的、期望的工作状
态运行，必须对它的驱动电源予以控制，用户需要再次开发。
鉴于此，设计了基于MSP430F149单片机实现的步进电机通用控制器，可以满足大多数控制场合下的要求。控制器的主要功能为：
① 可控制多套步进电机驱动系统；目前可同时控制3套系统。
② 工作方式灵活，可按设定的曲线运行，曲线最多达8段；可按外部检测到的控制信号运行；可按模拟调节测试功能运行；

2．系统的设计
2.1系统的结构
2.2微处理器的选择
本设计选用了TI公司所生产的MSP系列单片机MSP430F149。目的是应用其丰富的接口资源和强大的定时器功能，MSP430F149的性能特点如下：
（1）6个八位并行接口；完全可以实现该系统所有信号的输入、输出，无须硬件扩展，其中P1、P2八位并行端口的每根口线都具有中断功能，使键盘的软、硬件设计变的非常简单。
（2）12位A/D转换器ADC；完成模拟设定功能。
（3）强大的定时器功能；TIMER-A3、TIMER-B7分别为带有3个和7个捕捉/比较寄存器的16位定时器，可以满足系统速度的设定及曲线定时的要求。
（4）液晶驱动模块；
（5）内置2KB RAM、60KB的FLASH；
MSP430F149所提供的丰富资源，外围硬件扩展只需做很少的工作，不仅设计变得非常简单，而且该控制器体积小、可靠性高。
2.3步进电机起动及加/减速控制方案
步进电动机的最高起动频率（突跳频率）一般为0.1KHz到3-4KHz，而最高运行频率则可以达到N*102 KHz。以超过最高起动频率的频率直接起动，将出现"失步"现象，甚至无法起动。较为理想的起动曲线，应是按指数规律起动。但实际应用对起动段的处理可采用按直线拟合的方法，即"阶梯升速法"。可按两种情况处理，①已知突跳频率则按突跳频率分段起动，分段数n=f/fq。②未知突跳频率，则按段拟合至给定的起动频率，每段频率的递增量（后称阶梯频率）△f=f/8,即采用8段拟合。在运行控制过程中，将起始的速度（频率）分为n分作为阶梯频率，采用"阶梯升速法"将速度连续升到所需要的速度，然后锁定，按预置的曲线运行。
2.4步进电机的换向问题
步进电机换向时，一定要在电机降速停止或降到突跳频率范围之内再换向，以免产生较大的冲击而损坏电机。换向信号一定要在前一个方向的最后一个CP脉冲结束后以及下一个方向的第一个CP脉冲前发出
在某一高速下的正、反向切换实质包含了降速→换向→升速三个过程。
2.5速度与定时器初值的转换
本系统的速度控制是依靠定时产生CP脉冲来完成的，设定的速度与产生CP脉冲的定时器初值间存在一定关系。MSP430F149定时器的工作方式有多种，本设计定时器工作在连续方式下。在连续模式，定时器从它的当前值开始计数，当计到0FFFFH后又从"0"开始重新计数。在该方式下，将定时器的当前值和比较寄存器CCRX相比较，如相等则产生中断，并在该中断服务程序中可以将下一个事件发生的时间加到比较寄存器CCRX上。
定时初值=所需定时值/计数周期；对于步进电机其速度值常以频率形式给定，诸如运行在20KHZ下，因此上式可转换为：定时初值=计数频率/速度值。（其中计数频率为系统时钟频率）
3．结束语
该控制器可以实现步进电机在多段设定曲线下的运行控制，具有硬件简单、体积小、可靠性高的特点，已将其用于电线生产线上的排线控制部分,取得了令人满意的效果。该课题为北方工业大学校科研基金资助项目。