[鎽� 瑕乚锛氭湰鏂囦互DSP鐐轰俊鎭檿鐞嗗柈鍏冿紝灏囬浕瀛愬ぉ骞宠垏绱呭骞茬嚗绠辫瀺鐐轰竴楂�锛岃ō(sh猫)瑷堜簡涓€绋按鍒嗘脯瀹氶浕瀛愬ぉ骞炽€傞€欑ó鍎€鍣ㄥ叿鏈夋按鍒嗘脯瀹氳垏璩�(zh矛)閲忕ū閲忓叐绋▓閲忓姛鑳�銆傞噰鐢ㄦ檪闁撴渶鍎�(y艒u)鎺у埗鑸嘝ID鎺у埗鐩哥祼(ji茅)鍚堢殑鎺у埗绛栫暐渚嗗皪鐑樼鐨勬韩搴﹂€茶瀵︽檪鎺у埗锛屾棦鍙互鐧�(f膩)鎻檪闁撴渶鍎�(y艒u)鎺у埗蹇€熸秷闄ゅぇ鍋忓樊鐨勫劒(y艒u)榛�锛屽張鑳界櫦(f膩)鎻甈ID鎺у埗绮惧害楂樸€佽秴瑾�(di脿o)灏忕殑鍎�(y艒u)榛�锛屽緸鑰屼娇闈滄厠(t脿i)銆佸嫊鎱�(t脿i)鎬ц兘鎸囨(bi膩o)杓冪偤鐞嗘兂锛屽悓鏅傚張閬斿埌浜嗘簴(zh菙n)纰�銆佸揩閫熸脯瀹氱殑鐩殑銆�
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鏈枃浠SP鐐轰俊鎭檿鐞嗗柈鍏�锛屽皣闆诲瓙澶╁钩鑸囩磪澶栧共鐕ョ铻嶇偤涓€楂�锛屽苟灏囨檪闁撴渶鍎�(y艒u)鎺у埗鍜孭ID鎺у埗鐩哥祼(ji茅)鍚�锛岃ō(sh猫)瑷堜簡涓€绋熀浜嶥SP鐨勬柊鍨嬫按鍒嗘脯瀹氶浕瀛愬ぉ骞�锛岄噰鐢ㄦ檪闁撴渶鍎�(y艒u)鎺у埗鍜孭ID鎺у埗鐩哥祼(ji茅)鍚堢殑鎺у埗绛栫暐灏嶇儤绠辨韩搴﹂€茶瀵︽檪鎺у埗锛岄€欐ǎ鏃㈠彲鐧�(f膩)鎻檪闁撴渶鍎�(y艒u)鎺у埗蹇€熸秷闄ゅぇ鍋忓樊鐨勫劒(y艒u)榛�锛屽張鑳界櫦(f膩)鎻甈ID鎺у埗绮惧害楂樸€佽秴瑾�(di脿o)灏忕殑鍎�(y艒u)榛�銆�
1 娓│姗熺悊鑸囩祼(ji茅)妲�(g貌u)瑷�(sh猫)瑷�
鏈枃閲囩敤TMS320LF2407A鐨凞SP浣滅偤淇℃伅铏曠悊鍠厓锛岃ō(sh猫)瑷堜簡涓€绋熀浜嶥SP鐨勬柊鍨嬫按鍒嗘脯瀹氶浕瀛愬ぉ骞筹紝濡傚湒1鎵€绀�銆�

闆荤鍔涘钩琛″偝鎰熷櫒灏囪娓唱(zh矛)閲忚綁(zhu菐n)鎻涙垚闆讳俊铏熻几鍑鸿嚦鏀惧ぇ闆昏矾锛岃畩鎴�0锝�5V鐩存祦闆诲淇¤櫉锛岀稉(j墨ng)A/D杞�(zhu菐n)鎻涢€丏SP铏曠悊锛岄’绀�銆佹墦鍗版垨瑾為煶杓稿嚭娓噺绲�(ji茅)鏋溿€�
绱呭骞茬嚗绠卞収(n猫i)鐨勭啽鏁忓厓浠堕€氶亷娓韩闆昏矾鍜孉/D杞�(zhu菐n)鎻涢毃鏅傚悜DSP鎻愪緵婧害娓噺淇℃伅銆侱SP鏍规摎(j霉)閸电洡瑷�(sh猫)瀹氭韩搴﹀拰鐑樼鍏�(n猫i)瀵︽脯婧害閫茶PWM鎺у埗锛岄€氶亷鍙帶纭呰(di脿o)鍔熼浕璺鐝�(xi脿n)銆�
1.1绱呭杓诲皠骞茬嚗姗熺悊
绱呭杓诲皠鐑樺共娉曠殑骞茬嚗姗熺悊浠嶅熀浜庣稉(j墨ng)鍏告硶锛岀敤闆婚樆寮忕儤绠�锛岃│妯d腑姘村垎鐨勮捀鐧�(f膩)涓昏闈犵啽鍌冲皫(d菐o)锛屽け姘撮€熷害鎱�锛屾脯閲忔晥鐜囦綆銆傝€岀磪澶栨硶銆佸井娉㈡硶鐨勫姞鐔辨柟寮忓彲鐩存帴寰炵墿璩�(zh矛)鍏�(n猫i)閮ㄥ姞鐔�锛屽ぇ澶х府鐭簡鐑樺共鏅傞枔锛岃€屼笖閭勫叿鏈夋竻娼�銆佺劇闄勪欢銆佸畨瑁濇柟渚跨瓑鍎�(y艒u)榛�锛屽洜姝ゅ湪鐑樺共鍔犵啽闋�(l菒ng)鍩熷緱鍒颁簡寤f硾鐨勬噳(y墨ng)鐢ㄣ€�
鐢变簬寰尝鍔犵啽鏂瑰紡涓€鑸姛鐜囪純澶�锛岄洠浠ユ帶鍒讹紝鑰屼笖鍙兘灏�(d菐o)鑷磋蓟灏勬硠婕�锛屽洜姝ゆ湰鏂囪ō(sh猫)瑷堢殑鏂板瀷姘村垎蹇€熸脯瀹氶浕瀛愬ぉ骞抽噰鐢ㄤ簡绱呭杓诲皠鍔犵啽鏂瑰紡鍔犻€熸ǎ鍝佺儤骞层€�
1.2璩�(zh矛)閲忕ū閲忓師鐞�
姘村垎娓畾闆诲瓙澶╁钩璩�(zh矛)閲忕ū閲忚寖鍦嶇偤0锝�300g锛屾劅閲忕偤0.001g銆傜ū閲嶅墠锛屾潬妗垮钩琛★紝閬厜鏉胯檿浜庨浂浣�锛屽姞寰呯ū閲嶇墿鍚庯紝鏉犳】澶卞幓骞宠 锛屽付鍕曢伄鍏夋澘鍋忛洟闆朵綅锛岄浂浣嶆娓樊鍒嗗厜闆讳簩妤电杓稿嚭鐨勫樊鍒嗛浕澹撲俊铏熶笉鐐洪浂锛涜┎淇¤櫉缍�(j墨ng)鏀惧ぇ閫佸叆PID瑾�(di脿o)绡€(ji茅)闆昏矾锛汸ID瑾�(di脿o)绡€(ji茅)淇¤櫉閫佸叆鍕曞湀鐨勯﹨(q奴)鍕曢浕璺紝鏀硅畩鍕曞湀涓殑闆绘祦锛屼娇寰楁潬妗垮悜骞宠 鏂瑰悜閬嬪嫊锛涘悓鏅�锛屽樊鍒嗗厜闆讳簩妤电鐨勮几鍑轰俊铏熸笡灏忥紝浣嗙敱浜嶱ID瑾�(di脿o)绡€(ji茅)鐠�(hu谩n)绡€(ji茅)鐨勫瓨鍦紝瑾�(di脿o)绡€(ji茅)淇¤櫉绻肩簩(x霉)澧炲ぇ锛岀洿鍒版潬妗垮洖鍒板钩琛′綅缃�锛岄伄鍏夋澘鍥炲埌闆朵綅銆傝唱(zh矛)閲忕ū閲忎俊铏熺稉(j墨ng)鏀惧ぇ銆佹烤娉�銆丄/D杞�(zhu菐n)鎻涘悗閫佷汉DSP淇℃伅铏曠悊鍠厓閫茶鍚庣簩(x霉)铏曠悊銆�
2绱呭骞茬嚗绠辩殑婧害妾㈡脯鑸囨帶鍒�
2.1婧帶鍣ㄥ師鐞�
鏈郴绲�(t菕ng)閬哥敤MAXIM鍏徃鐢熺敘(ch菐n)鐨勮嚜甯舵韩搴﹁鍎�?sh霉)鑵掑瀷鐔遍浕鍋朵覆琛屾ā/鏁�(sh霉)杞�(zhu菐n)鎻涘櫒MAX6675鐐烘脯閲忛浕璺�锛岄伕鐢ㄩ洐鍚戝彲鎺х鐐烘帶鍒跺厓浠讹紝浠SP鑺墖TMS320LF2407鐐轰腑蹇�锛岃ō(sh猫)瑷堜簡涓€濂楁韩鎺у櫒闆昏矾銆�
涓婚浕璺敱闆欏悜鍙帶纭匓CR50GM鎺у埗锛屽叾闁嬮棞(gu膩n)闆绘祦鐐�50A锛岄€氶亷瀵﹂殯瑾�(di脿o)瑭︼紝纰哄畾浜嗘帶鍒堕浕璺弮鏁�(sh霉)锛屽鍦�2鎵€绀�銆�
MAX6675灏囩啽闆诲伓杓稿嚭鐨刴V淇¤櫉鐩存帴杞�(zhu菐n)鎻涙垚鏁�(sh霉)瀛椾俊铏熼€佺郸DSP锛� MAX6675鍙皪鍐风婧害閫茶瑁滃劅銆�
DSP閫佸嚭PWM鎺у埗淇¤櫉椹�(q奴)鍕曞厜闆昏€﹀悎鍣∕OC3061锛屼互鎺у埗鍙帶纭匓CR50GM鐨勫皫(d菐o)閫氳垏鎴锛屼娇闆婚樆鐖愮殑婧害鑳藉绌�(w臎n)瀹氬湪绲﹀畾榛為檮杩�銆�
閫氶亷娓噺婧害鑸囪ō(sh猫)瀹氭韩搴︽瘮杓冧締瑾�(di脿o)绡€(ji茅)DSP杓稿嚭鑴堟矕淇¤櫉鐨勫崰绌烘瘮锛岄€蹭竴姝ユ帶鍒堕沟绱犵磪澶栫噲骞冲潎灏�(d菐o)閫氬姛鐜囷紝寰炶€岄仈鍒拌(di脿o)绡€(ji茅)婧害鐨勭洰鐨�銆�
2.2婧害鎺у埗鏂规硶

PID鎺у埗鏄竴绋妧琛�(sh霉)鎴愮啛銆佹噳(y墨ng)鐢ㄥ唬娉涚殑鎺у埗鏂规硶锛屽叾绲�(ji茅)妲�(g貌u)绨″柈锛屽弮鏁�(sh霉)鏁村畾鏂逛究锛岃€屼笖灏嶅ぇ澶氭暩(sh霉)閬庣▼鍧囨湁杓冨ソ鐨勬帶鍒舵晥鏋滐紝鍥犺€屾湰绯荤当(t菕ng)閲囩敤浜哖ID绠楁硶鎺у埗鍔犵啽鑹欐韩搴�銆�
灏嶄簬閲囩敤瑾�(di脿o)澹撹(di脿o)鍔熸柟寮忕殑婧害鎺у埗锛孭ID绠楀紡鎳�(y墨ng)鐣�(d膩ng)閲囩敤浣嶇疆绠楀紡锛屽嵆锛�
u锛坘锛�=u锛坘-1锛�+鈻硊锛坘锛� 锛�2锛�
寮忎腑锛�

u锛坘锛夌偤k鏅傚埢鐨勮几鍏ラ噺锛�
u锛坘-1锛夌偤k-1鏅傚埢鐨勮几鍏ラ噺锛�
鈻硊锛坘锛夌偤杓稿叆瑾�(di脿o)绡€(ji茅)閲�锛�
Kp锛孠1锛孠D鍒嗗垾鐐烘瘮渚嬬郴鏁�(sh霉)銆佺⿳鍒嗙郴鏁�(sh霉)銆佸井鍒嗙郴鏁�(sh霉)锛�
e锛坘锛夌偤鐣�(d膩ng)鍓嶆檪鍒荤殑婧害鑸囨韩搴﹁ō(sh猫)瀹氬€煎樊锛�
e锛坘-1锛夌偤涓婃閲囨ǎ鏅傚埢鐨勬韩搴﹁垏婧害瑷�(sh猫)瀹氬€煎樊锛�
e锛坘-2锛夌偤鍐嶄笂娆′箣宸�銆�
婧害璁婂寲鏄竴鍊嬬珐鎱㈢殑閬庣▼锛岃嫢鍠磾閲囩敤PID鎺у埗锛屾韩搴﹁秴瑾�(di脿o)閲忓ぇ锛岃(di脿o)绡€(ji茅)鏅傞枔闀�锛屽緸閫氶浕鍔犵啽鍒版韩搴︽亽瀹氳嚦灏戦渶瑕�20min锛屾帶鍒舵晥鐜囦綆锛岃兘婧愭氮璨诲ぇ锛岃ō(sh猫)鍌欐悕澹炵巼楂�銆�
鏅傞枔鏈€鍎�(y艒u)鎺у埗浣跨郴绲�(t菕ng)寰炰竴鍊嬪垵濮嬬媭鎱�(t脿i)杞�(zhu菐n)鍒板彟涓€鍊嬬媭鎱�(t脿i)鎵€缍�(j墨ng)姝风殑閬庢浮鏅傞枔鏈€鐭�銆傞€欑ó椤炲瀷鐨勬渶鍎�(y艒u)鍒囨彌绯荤当(t菕ng)锛屼篃绋辩偤闁嬮棞(gu膩n)鎺у埗锛圔ang-Bang锛夌郴绲�(t菕ng)銆傚嵆锛�

鍙互瑕�(gu墨)瀹氫竴闁惧€嘉�锛岀暥(d膩ng)鍋忓樊澶т簬蔚鏅�锛屽琛屾檪闁撴渶鍎�(y艒u)鎺у埗锛岃€屽湪闁惧€间互鍏�(n猫i)锛屽琛孭ID鎺у埗銆傞€欐ǎ锛屾棦鍙互鐧�(f膩)鎻瓸ang-Bang鎺у埗蹇€熸秷闄ゅぇ鍋忓樊鐨勫劒(y艒u)榛�锛屽張鑳界櫦(f膩)鎻甈ID鎺у埗绮惧害楂�锛岃秴瑾�(di脿o)灏忕殑鍎�(y艒u)榛�锛屽緸鑰屼娇婧害鎺у埗閬庣▼鐨勯潨鎱�(t脿i)銆佸嫊鎱�(t脿i)鎬ц兘鎸囨(bi膩o)杓冪偤鐞嗘兂銆�
2.3鍙冩暩(sh霉)鏁村畾
鐢变簬婧害璁婂寲閫熷害杓冩參锛屾湰绯荤当(t菕ng)閬告搰閲囨ǎ鏅傞枔TS鐐�5ms锛屽叾浣欒(di脿o)绡€(ji茅)鍙冩暩(sh霉)鍧囧湪PID浠跨湡鍩虹(ch菙)涓婂弮鑰僙EGLER-NICHLE鏁村畾鏂规硶缍�(j墨ng)瀵﹂纰哄畾銆�

鐢变簬鎺у埗闆昏矾杓稿嚭鑴堟矕淇¤櫉鐨勮嚚鐣岄浕澹撶偤1.66V锛屽皪鎳�(y墨ng)鏁�(sh霉)瀛楅噺鐐篈AH锛堝崄閫插埗鏁�(sh霉)鐐�170锛夛紝鎵€浠ュ皣瑭查浕澹撳€间綔鐐虹郴绲�(t菕ng)棣栨閫插叆鎺у埗閬庣▼鏅倁锛坘-1锛夊€�銆�
3 鎬ц兘娓│
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