C. Hernández-Rosales1, R. Femat1, E. Ruiz-Velázquez2, G. Solis-Perales3.
1 División de Matemáticas Aplicadas y Sistemas Computacionales, IPICYT, Apdo. Postal 3-74, 78231, San Luis Potosí, S.L.P., México. heros@ipicyt.edu.mx - rfemat@ipicyt.edu.mx
2 Facultad de Ingeniería, Universidad Autónoma del Carmen, Campeche, México.
3 Facultad de Ingeniería, Universidad Autónoma de Yucatán, Yucatán, México.
Received: November 14th, 2003. ]]> Accepted: February 17th, 2005.
Abstract
This paper shows how the INTEL© D8751 H microcontroller can be used to control the motion of a DC-Gearmotor. One advantage of this design is that does not require external memory RAM/EPROM to perform the control of the motor. A precision potentiometer and an analog-to-digital converter (ADC) are used to measure the motor angular position. The ADC is driven by the ALE signal from the microcontroller; therefore an external signal clock is not required. In order to implement a discrete-time PI controller and a discrete-time filter, specific libraries were designed. Moreover, other libraries based on micro C® compiler, has been modified. Finally, experimental results show a good performance of the embedded system.
Keywords: Embedded Systems, Microcontrollers, Discrete-Time PI controllers, Digital Filters.
Resumen
Este articulo muestra como el microcontrolador D8751 H de INTEL©, puede ser utilizado para controlar el movimiento de un Moto-reductor de corriente directa. Una ventaja de este diseño es que no necesita memoria externa RAM/EPROM para controlar el motor. Para medir la posición angular del motor un potenciómetro de precisión y un convertidor analógico a digital son usados. Este ADC utiliza la señal ALE generada por el microcontrolador como señal de reloj y por lo tanto una señal externa de reloj no es necesaria. Además para poder implementar el controlador PI y el filtro digital se tuvieron que desarrollar rutinas especiales y modificar otras basadas en el compilador C®. Finalmente los resultados experimentales muestran un buen desempeño del sistema completo.
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