Microprocessor를 利用한 回轉軸制御에 關한 硏究

Research on Control of Rotating Shafts and Digital Encoders Using the Microprocessors

本論文에서는 motor의 制御 및 回轉軸制御를 80 80A를 CPU로한 microcomputer system 을 構成하여 硏究하였다. 따라서 microcomputer system 을 構成하는 hardware部分을 製作 分析하고 hardware에 依한 處理速度를 改選하 도록 하였으며 回轉軸制御는 프로그램에 의해서 이루어졌으므로 software에 對한 硏究가 이루어졌다. 따라서 제어프로그램은 8080 in struction에 依해 作成되고 RAM을 通하여 實驗된 다음 EPROM에 수록되는 過程을 밟았다.

Closed loop control of a stepping motor with a digital shaft encoder is investigated. A microcomputer system is implemented with an 8080A CPU, and a P. M. type stepping motor with a 4-bit Gray encoder on its shagt is controlled by the microcomputer. The microcomputer system consists of 8080A, 1KB RAM, 4KB ROM, a status latch, 8251 communication interface and 8255 parallel I/O interface. The P. M. type stepping motor is rotated 15$^{\circ}$ per step at the maximum speed of 400 rpm. Rotation of the shaft is completly controlled by the computer and the control programs are written by the 8080 instructions. The speed and direction of the shaft are entirely controlled by the programs and also by using the interrupt feature necessary instructions can be inserted during the rotation. A minimum control pulse width is found to be 60 us but actual control pulse width is about 6 ms under the undamped conditions. The damping is compensated by the program and the pulse width is improved to be 5ms. The control mechanism of the system is found to be a good agreement with the cotrol programs.