【摘要】 介绍一种自动化学发光免疫分析系统中,应用ARM快速中断同步控制多部步进电机方案。高分辨率脉冲前沿是多轴联动数控系统最重要环节,充分发挥脉宽调制技术(Pulse Width Modulation,PWM)单边沿匹配输出特性,经整形电路得到完整的步进电机驱动脉冲波形,最多可实现六轴联动。基于50μs中断周期,PWM技术自动匹配达到主时钟72 MHz级脉冲前沿时间分辨率,32位系统的强大插补计算能力有助于提高系统运动平稳性。给出了PWM驱动数据结构及计算方法。介绍了匀速运动、梯形运动控制周期的计算。例举了快速中断调用C中断处理函数的方法。对柱塞泵控制测试,初步验证了方案的可行性。此方案是实现各分立轴自适应前瞻插补控制的良好基础。更多还原

【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.更多还原