中国医疗设备2018，Vol.33Issue(3)：36-39,69,5.DOI:10.3969/j.issn.1674-1633.2018.03.009
基于ARM快速中断的多轴联动控制
Multi-Axis Coordinate Motor Control Based on Fast Interrupt of ARM
张智河 1黄菊英1
作者信息
- 1. 首都医科大学 生物医学工程学院,北京 100069
- 折叠
摘要
Abstract
In this paper, a new scheme of ARM fast interrupt synchronous control for multiple stepper motors was introduced in the automated chemiluminescent immunoassay system. The high resolution pulse front was the most important part of multi axis CNC system. A complete pulse waveform for stepper motor driver was obtained by pulse width modulation (PWM) single side along the matching output and the shaping circuit. Up to six axis linkage could be realized. Based on the interrupt period of 50 μs, the PWM automatically matched the forward time resolution of the 72 MHz main clock, and the powerful interpolation computing power of the 32-bit system could help to improve the stability of the system movement. This paper introduced the calculation of the period of uniform motion and trapezoidal motion control. Examples were given to illustrate the method of fast interrupt and calling C interrupt processing function, the feasibility of the scheme was verified. This scheme is a good foundation for the realization of adaptive interpolation control of discrete axes.关键词
快速中断/ARM/步进电机/数控系统Key words
fast interrupt/ARM/stepping motor/numerical control system分类
医药卫生引用本文复制引用
张智河,黄菊英..基于ARM快速中断的多轴联动控制[J].中国医疗设备,2018,33(3):36-39,69,5.
