基于DSP定时器在伺服位置控制中的应用

Application of DSP Timer in Servo Position Controlling

对DSP定时器功能及相关寄存器进行一般性的介绍。鉴于相位检测器与定时器共享引脚,将相位检测器作为定时器的输入引脚,用编码器反馈值作为计数值,利用定时器的比较寄存器产生的中断,将位置反馈和实时控制结合起来,由电机不同的旋转速度来设定定时器计数比较值,从而实现对伺服的实时位置控制。通过实验数据表明,定时器能够应用于对实时性和精度要求较高的伺服实时位置控制。

This paper generally presents the function and the related register of DSP timer.Given the phase detector and the timer pin sharing, the phase detector serves as the timer input pin.With encoder feedback value as the total value, compared the use of timer generated interrupt register will combine position feedback and real-time control together.Using the different motor rotation speed to set the timer comparison register value, it realizes the real-time implementation of the servo position controlling.Through the experimental data shows that the timer can be used for servo real-time position controlling which needs high real-time and precision.