研製以DSPchip為基礎的CMAC控制器

Abstract

本論文之主要目的是以DSP chip來研製CMAC控制系統，本論文中選用TI的 TMS320C50晶片，因為其價格便宜且速度快，一個執行週期為50ns，甚至 更快，非常適合來做控制上的應用。首先我們使用個人電腦來模擬CMAC控 制的結果，藉由一些參數的設定來討論CMAC的特性，經由這些討論將更了 解CMAC在控制系統中所扮演的角色以及一些不穩定的現象，接著我們使用 TI生產的TMS320C50晶片當作控制中心，並藉由我們自己設計的電路整合 成一塊馬達控制板。我們使用C50的內部計時器來設定取樣時間，使用C50 硬體插斷來插斷個人電腦，由C50內部來設定wait state以滿足記憶體讀 取的時序，設計解碼電路來控制C50的周邊元件，使用HCTL2016來接收馬 達傳回的位置，使用AD7541晶片來送出控制力，使用8255來和PC互相通 訊...等，來完成整個硬體架構，我們將其應用在A-type機器臂的控制上 來實際的映證CMAC控制系統的特性，並根據其特性上的缺點，提出解決的 辦法。 The object of this paper is to build a stand-alone CMAC controller based on DSP chip. In this paper, I use TMS320C50 chip made by TI ( TEXAS INSTRUMENTS ) because this chip is very cheap and its speed is very fast. Its execution period is about 50ns, even faster. It is very suitable for the application of control.First, We use PC to simulate CMAC control. We discuss the characteristic of CMAC by setting some parameters. By these discussions, we can understand clearly what CMAC can play in the traditional control system and some unstable phenomena. Then we use TMS320C50 chip made by TI as a control center. And we combine both the C50 chip and the circuits which we design by ourself into a motor control sheet. We use the internal timer of C50 to set sampling time, use the external interrupt of C50 to interrupt PC, set the software wait state of C50 to satisfy memory timing, design circuit decoding to control the peripheral devices of C50, receive the position of the motor by HCTL2016, send the output of the controller by AD7541, communicate with PC by 8255 chip*.and so on. At last, after the software and hardware of this CMAC controller is successfully implemented, it is applied to control the A-type machine arm. To deal with the flaws of the CMAC control system, we introduce some methods to improve the performance.