MOTOROLA MVME165-03 68040 CPU, 33MHZ, 4MB MEMORY, VSB, 2 SERIAL PORTS, A32/D32
過，點作系列單位矩形力，直線段和說多有兩個交點右端點實現(xiàn)速度曲線，5，的佳實現(xiàn)曲線指的是它的每個曲邊梯形說的面積等尸
.它們分，用乃乙2，據(jù)證明，只要理想速度曲線⑴在所考慮的時間間隔內平滑單調。那么它的佳實現(xiàn)及左端心實現(xiàn)曲線定存在，而且分
別僅有條，它們是互不重合的3條假設的佳實觀的定時時刻序列是，在每個進給脈沖時刻，步進電機的平均速度就要發(fā)次跳變。實際上步
進電機是按照分方式進行調速的。若其速度實現(xiàn)曲線2的速度序列為其中7廣即脈沖周，則7；也稱為個速役數(shù)位等于爐所持續(xù)的，間。
2定時時間的計算方法2它必須足理想曲線某時刻的速度。實現(xiàn)度的指標是曲線梯形和單位矩形面積之差的值。左端點實現(xiàn)定時時刻
的算式是簡便的，并且能獲得很滿意的實現(xiàn)度，因此，本文采用了這實現(xiàn)方法。
3步進電機控制脈沖的定時山上述討論，步遜屯機的速度特性山。脈沖序列定，脈沖周期的人小決定步進電機的轉違低。步進屯機高
速運脈沖周期的數(shù)值般都在3，因此，必須設計的定時方法。筆者發(fā)揮，機定時器的資源，實現(xiàn)了控制脈沖的定時。
控制脈沖的輸出采用620接板。利用，青定時的基礎4可編程定時器芯片或集成在其他集成電路中，它包含3個獨立的6位計數(shù)器，其
中每個計數(shù)器都可以獨編杓，以完成各自指定的功能。系列微機2.佳實現(xiàn)根據(jù)佳實現(xiàn)的定義有把參變量廣換為，利用牛頓迭代法解式0，
得經(jīng)過+次迭代可得〃=辦+，這里於+於為給定的計算度6.
2.2右端點實現(xiàn)右端點實現(xiàn)曲線的定時時刻遞推式為難從式3求出乃的解析解，仍需用牛頓迭代法解方程3求出乃的近似數(shù)值解。
3左端點實現(xiàn)提出日時鐘中斷請求，從而引發(fā)中斷08氏以支持系統(tǒng)時鐘。日，鐘定時中斷4發(fā)的頻率為2出，其主要為，0機完成3項任
務控制軟驅電機的關閉時間；調用定時報時中斷0系統(tǒng)82538254的計數(shù)器0在寫入6位的計數(shù)值后，在，3以振蕩器2分頻信號的作用下，其
計數(shù)怙依次減叫數(shù)值變?yōu)椋景l(fā)次定時中斷。微機系統(tǒng)本身在初始化時己將計數(shù)器，設置為模式3，且其計數(shù)初值為0，所以它的計數(shù)周
期約為54.925493，可82538254基本的計因此，通過向82538254的計數(shù)器0寫入不同的計數(shù)初值，就可以在不同的定時時刻計時，引發(fā)相
應中斷，而且定時度可達5.
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