FANUC A06B-6111-H022

單片機(jī)選用89C51-24PC單片機(jī)，晶振頻率為24MHz，用一個(gè)定時(shí)器作計(jì)數(shù)器來(lái)測(cè)量光電編碼器的脈沖個(gè)數(shù)，另一個(gè)定時(shí)器定時(shí)，這樣可準(zhǔn)確測(cè)出電機(jī)每秒鐘轉(zhuǎn)動(dòng)的距離，同時(shí)根據(jù)設(shè)定值計(jì)算出電機(jī)每秒鐘應(yīng)轉(zhuǎn)動(dòng)的理論值并與測(cè)量值進(jìn)行比較，將誤差值轉(zhuǎn)換成數(shù)字量輸出到D/A芯片的輸入端，從而改變其電壓輸出，送給伺服系統(tǒng)控制電機(jī)的轉(zhuǎn)速，從而達(dá)到恒速的目的。

例如：要將電機(jī)控制在500轉(zhuǎn)/分，根據(jù)伺服系統(tǒng)的指標(biāo)，當(dāng)輸入為0～5V信號(hào)時(shí)，電機(jī)轉(zhuǎn)速為1500轉(zhuǎn)/分，故可求得當(dāng)ND=500轉(zhuǎn)/分時(shí)，光碼盤(pán)每秒鐘輸出的脈沖數(shù)為：

PD=500×600/60=5000個(gè)脈沖

對(duì)應(yīng)該轉(zhuǎn)速伺服系統(tǒng)的輸入電壓應(yīng)為：

VD=5.000×500/1500=1.6666V

當(dāng)測(cè)出的脈沖個(gè)數(shù)與計(jì)算出的標(biāo)準(zhǔn)值有偏差時(shí)，可根據(jù)電壓與

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Siemens ITE 5600 Breaker Size 4 14JTt32 MCC Bucket 250A

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Allen Bradley Size 1 30 Amp HFD 6in Breaker MCC Bucket

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脈沖個(gè)數(shù)的對(duì)應(yīng)關(guān)系計(jì)算出輸出給伺服系統(tǒng)的增量電壓△U：

20DC500A0ENNBNCNK

20DC500A0NNNBCANE

20DC500A3ENNBCAEE

20DC500A3ENNBCANE

20DC500A3ENNBEANE

20DC500A3ENNBNANE

20DC500ACENNBCANE

20DC500ACENNBNANE

20DC500N0ENNB1CEL

20DC500N0ENNB5CNL

20DC500N0ENNBNANE

20DC500N0ENNBNCEL

20DC500N3ENNBDCNK

20DC59020ENNBNANE

20DC590A0ENNBNANE

20DC590A0ENNBNANK

20DC590A0ENNBNASE

20DC590A3ENNBEANE

20DC590A3ENNBEASE

20DC590A3ENNBNANE

20DC590ACENNBNANE

20DC590N0ENNBNANE

20DC590N3ENNBCANE

20DC590N3ENNBDANE

20DC5P0A0EYNAEANE

20DC5P0A0EYNANABL

20DC5P0A0EYNANAEL

20DC5P0A0EYNANANE

20DC5P0A0EYNANANK

20DC5P0A0EYNANASE

20DC5P0A0EYNANBNE

20DC5P0A0EYNANCEL

20DC5P0A0EYNANCNK

20DC5P0A0EYNANGNE

20DC5P0A0EYNANHNE

20DC5P0A0EYYAEABE

20DC5P0A0EYYANANE

20DC5P0A0EYYANCNK

20DC5P0A0NYNAEGNE

20DC5P0A0NYNANANE

20DC5P0A3EYNACCNK

20DC5P0A3EYNAEABE

20DC5P0A3EYNANANE

20DC5P0A3EYNANCEL

20DC5P0A3EYYA6CEL

20DC5P0A3EYYACABE

20DC5P0A3EYYACASE

20DC5P0A3EYYAEASE

20DC5P0A3EYYAEAUE

20DC5P0A3NYNACASE

20DC5P0A3NYYANBCL

20DC65020ENNBNANE

20DC650A0ENNBNANE

20DC650A3ENNBNANE

20DC650ACENNBDANE

20DC650ACENNBNANE

20DC650BCENNBNANE

20DC650N0ENNBNANE

△U=△P×5.000/（1500×600/60）= △P/3000（V）

而輸出到D/A的數(shù)字量的增量應(yīng)為：

△D=△U×216/5.000

電機(jī)的整個(gè)工作調(diào)節(jié)過(guò)程如下：

工作前通過(guò)鍵盤(pán)設(shè)定控制轉(zhuǎn)速，計(jì)算出輸出電壓VD并將該電壓對(duì)應(yīng)的輸出到D/A的數(shù)字量V數(shù)=VD×216/5.000算出，直接送給D/A，電機(jī)開(kāi)始起動(dòng)運(yùn)轉(zhuǎn)。當(dāng)電機(jī)運(yùn)轉(zhuǎn)一段時(shí)間后電機(jī)轉(zhuǎn)速不斷上升從而導(dǎo)致測(cè)速機(jī)磁性下降，測(cè)速機(jī)輸出電勢(shì)下降，經(jīng)速度環(huán)調(diào)整后使電機(jī)轉(zhuǎn)速上升，運(yùn)行時(shí)間越長(zhǎng)，電機(jī)轉(zhuǎn)速上升越多。這時(shí)系統(tǒng)起動(dòng)位置環(huán)，通過(guò)不斷測(cè)量光電編碼器每秒鐘輸出的脈沖個(gè)數(shù)，并與標(biāo)準(zhǔn)值PD進(jìn)行比較，計(jì)算出增量△P并將之轉(zhuǎn)換成對(duì)應(yīng)的D/A輸出數(shù)字量，在原來(lái)輸出電壓的基礎(chǔ)上減去增量，迫使電機(jī)轉(zhuǎn)速降下來(lái)，當(dāng)測(cè)出的△P近似為零時(shí)停止調(diào)節(jié)，這樣可將電機(jī)轉(zhuǎn)速始終控制在允許的范圍內(nèi)。

FANUC A06B-6111-H022