DC motor control Keil c51 source code

//-----------------------Function declaration, variable definition------------------------
#include
#include
#include  
//-----------------------Define pins----------------------------------
sbit PWM=P1^0; //PWM waveform output 
sbit DR=P1^1; //Direction control
#define timer_data (256-100) //Timer preset value, 12M clock, timing 0.1ms
#define PWM_T 100 //Define PWM period T as 10ms
unsigned char PWM_t; //PWM_t is pulse width (0~100) time is 0~10ms
unsigned char PWM_count; //Output PWM period count
unsigned char time_count; //Timing count
bit direction; //Direction flag bit
//-----------------------------------------------------------------
// Function name: timer_init
// Function function: Initialize facility timer
//-----------------------------------------------------------------
void timer_init()
{
      } //----------------------------------------------------------------- // Function name: setting_PWM // Function function: set PWM pulse width and direction //----------------------------------------------------------------- void setting_PWM() { if(PWM_count==0) //Initial       setting {
      PWM_t
      =        20; direction=1;       }       }          //
      -----------------------------------------------------------------      // Function name : IntTimer0 // Function function: timer interrupt handler // ----------------------------------------------------------------- void IntTimer0( ) interrupt 1 { time_count      ++;      DR=direction;      if(time_count>=PWM_T      )          { time_count      =          0      ;          PWM_count++;          setting_PWM(); //Called once for each PWM wave output      }      if(time_count

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DC motor closed loop control Keil c51 source code

//-----------------------Function declaration, variable definition------------------------
#include
sbit INT_0 =P3^2; // Set p3.2 as external interrupt 0
sbit pulse_A=P1^2; // P1.2 is pulse A input
sbit PWM=P1^0; //PWM waveform output 
sbit DR=P1^1; //Direction control
//-----------------------Predefined values----------------------------------
#define PWM_T 1800 //Define PWM period T as 18ms
#define Ts 1000 //Define photoelectric encoder sampling time as 10ms
#define timer_data (256-10) //Timer preset value, 12M clock is, timing 0.01ms
//-----------------------Preset value----------------------------------
bit direction; //Direction flag bit User setting
unsigned char R; //DC motor speed to be obtained User setting
//-----------------------Actual running status------------------------------
bit real_direction; //Actual running direction of the motor   
unsigned char Rr; //Actual speed of the DC motor
//-----------------------Calculated compensation status--------------------------
bit compensate_polarity; //Compensation polarity
unsigned char dR; //Speed ​​compensation
//-----------------------Pulse width obtained after compensation------------------------
unsigned char PWM_t; //PWM_t is the pulse width (320~400) and the time is 3.2~4.0ms
unsigned char PWM_count; //Output PWM cycle count
//-----------------------Each intermediate count value------------------------------
unsigned char pulseB_count; //Pulse count
unsigned char time0_count; //Timer count
unsigned char time1_count; //Timer count
//-----------------------------------------------------------------
// Function name: timer_init
// Function function: Initialize and set the timer
//-----------------------------------------------------------------
void timer_init()
{
      TMOD=0x22; /*Timer 1 is working mode 2 (8-bit automatic reload), 0 is mode 2 (8-bit automatic reload) */
      PCON=0x00;
      TF0=0; 
      TH0=timer_data ; //Ensure the timing duration is 0.01ms
      TL0=TH0;
      TH1=timer_data ; //Ensure the timing duration is 0.01ms
      TL1=TH0;
      ET0=1; //Timer 0 interrupt is enabled
      TR0=1; //Timer 0 starts counting
      ET1=1; //Timer 1 interrupt is enabled
      TR1=1; //Timer 1 starts counting
      EA=1; //Interrupt is enabled
}
//-----------------------------------------------------------------
// Function name: INT0_init()
// Function function: Initialization settings
// Set the working mode of INT0
//-----------------------------------------------------------------
void INT0_init(void )  
{
      pulseB_count=0; //Pulse counter clears
      IT0=1; //Select INT0 as edge trigger mode
      EX0=1; //External interrupt enable
      EA=1; //System interrupt enable
}
//-----------------------------------------------------------------
// Function name: setting_PWM
// Function function: Set PWM pulse width and set direction
//-----------------------------------------------------------------
void setting_PWM()
{
 // direction=1; //Set rotation direction
 // R=540; //Set speed
 // dR=0; //Speed ​​compensation is zero
 // calculate_PWM_t(); //Recalculate pulse width
}
//-----------------------------------------------------------------
// Function name: calculate_PWM_t
// Input parameters: R is the DC motor speed to be obtained, dR is speed compensation
// Export parameters: PWM_t is the pulse width (320~400) and the time is 3.2~4.0ms
// Function function: Calculate pulse width, PWM_t=R/150;
//-----------------------------------------------------------------
void calculate_PWM_t()
{
      if(compensate_polarity==1) //Positive compensation
          PWM_t=(R+dR)/150;
      else
          PWM_t=(R-dR)/150; //Negative correction
}
//-----------------------------------------------------------------
// Function name: calculate_Rr
// Input parameter: pulseB_count pulse count
// Output parameter: Rr actual speed of DC motor
// Function function: Calculate the actual speed
//-----------------------------------------------------------------
void calculate_Rr()
{
      Rr=pulseB_count/6;
}
//-----------------------------------------------------------------
// Function name: compensate_dR
// Input parameter: Rr actual speed of DC motor
// R required DC motor speed
// Output parameter: dR speed compensation
// Function function: Calculate the actual compensation value and compensation polarity, and redesign according to different compensation algorithms
//-----------------------------------------------------------------
void compensate_Rr()
{
      Rr=1;
      if(Rr>R)
          compensate_polarity=0; //Compensation polarityelse
      compensate_polarity 
          =1;
}
//-----------------------------------------------------------------
// Function name: INT0_intrupt
// Function: External interrupt 0 handler
//-----------------------------------------------------------------
void INT0_intrupt() interrupt 0 using 1
{
     pulseB_count++;
     if(pulse_A==0)
     {   
          real_direction=1; //If P1.2 is low, the motor is forward, and the value of counter N is increased by 1
     }
     else //If it is high, the motor is reverse, and the value of counter N is reduced by 1.
     {
          real_direction=1;
     }
}
//-----------------------------------------------------------------
// Function name: IntTimer0
// Function function: timer interrupt handler
//-----------------------------------------------------------------
void IntTimer0() interrupt 1
{
     time0_count++;
     DR=direction;
     if(time0_count>=PWM_T)
     {
         time0_count=0;
         PWM_count++;
         setting_PWM(); //Called once for each PWM wave output
     }
     if(time0_count          PWM=1;
     else 
         PWM=0;
}
//-----------------------------------------------------------------
// Function name: IntTimer1
// Function function: timer interrupt handler
//-----------------------------------------------------------------
void IntTimer1() interrupt 3
{
     time1_count++;
     if(time1_count==1)
     {
         INT0_init(); //Initialize external interrupt settings
     }
     if(time1_count>=Ts)
     {
         time1_count=0; //A compensation cycle ends, the counter is cleared
         calculate_Rr(); //Calculate the actual speed
         compensate_Rr(); //Calculate the actual compensation value and compensation polarity
         calculate_PWM_t(); //Recalculate the pulse width
     }
}
//-----------------------------------------------------------------
// Function name: main
// User main function
// Function function: main function
//-----------------------------------------------------------------
void main()
{
     direction=1; //Set the rotation direction
     R=540; //Set the speed
     dR=0; //Speed ​​compensation is zero
     calculate_PWM_t(); //Recalculate the pulse width
     timer_init();
}