T1 612012802 Full text

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Sistem Kendali Servo Pada Sumbu Mesin CNC Aciera F5

Oleh:

Eko Purwanto Aribowo

NIM: 612012802

Tugas Akhir

Untuk melengkapi syarat-syarat memperoleh

Ijasah Sarjana Teknik Elektro

FAKULTAS TEKNIK ELEKTRONIKA DAN KOMPUTER

PROGRAM STUDI TEKNIK ELEKTRO

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/*****************************************************

This program was produced by the

CodeWizardAVR V2.05.0 Professional

Automatic Program Generator

http://www.hpinfotech.com

Project : Servo Driver

Version : 1.6

Date : 4/1/2015

Author : Eko Purwanto Aribowo

Company : Politeknik Atmi Surakarta

Comments:

Chip type : ATmega8L

Program type : Application

AVR Core Clock frequency: 12.000000 MHz

Memory model : Small

External RAM size : 0

Data Stack size : 256

*****************************************************/

#include <mega8.h>

#include <delay.h

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p=1000,

i=0.005,

d=100,

esp,esd,esi,

op,

oi,

od;

//External Interrupt 0 service routine

interrupt [EXT_INT0] void ext_int0_isr(void)

{

// External Interrupt 1 service routine

interrupt [EXT_INT1] void ext_int1_isr(void)

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DDRD.0=1;

// Declare your global variables here

void main(void)

{

// Declare your local variables here

// Input/Output Ports initialization

// Port B initialization

// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out

// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0

PORTB=0x00;

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// Port C initialization

// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In

// State6=T State5=T State4=T State3=T State2=T State1=T State0=T

PORTC=0x00;

DDRC=0x00;

// Port D initialization

// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In

// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T

PORTD=0b00000011;// Harus do Pull UP input pin D0 dan D1

DDRD=0x00;

// Timer/Counter 0 initialization

// Clock source: System Clock

// Clock value: Timer 0 Stopped

TCCR0=0x00;

TCNT0=0x00;

// Clock value: 1500.000 kHz

// Mode: Fast PWM top=0x03FF

// OC1A output: Non-Inv.

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// Noise Canceler: Off

// Input Capture on Falling Edge

// Timer1 Overflow Interrupt: Off

// Input Capture Interrupt: Off

// Compare A Match Interrupt: Off

// Compare B Match Interrupt: Off

TCCR1A=0xA3;

TCCR1B=0x0A;

TCNT1H=0x00;

TCNT1L=0x00;

ICR1H=0x00;

ICR1L=0x00;

OCR1AH=0x00;

OCR1AL=0x00;

OCR1BH=0x00;

OCR1BL=0x00;

// Clock value: Timer2 Stopped

// Mode: Normal top=0xFF

// OC2 output: Disconnected

ASSR=0x00;

TCCR2=0x00;

TCNT2=0x00;

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// External Interrupt(s) initialization

// INT0: On

// INT0 Mode: Rising Edge

// INT1: On

// INT1 Mode: Rising Edge

GICR|=0xC0;

MCUCR=0x0F;

GIFR=0xC0;

// Timer(s)/Counter(s) Interrupt(s) initialization

TIMSK=0x00;

// USART initialization

// USART disabled

UCSRB=0x00;

// Analog Comparator initialization

// Analog Comparator: Off

// Analog Comparator Input Capture by Timer/Counter 1: Off

ACSR=0x80;

SFIOR=0x00;

// ADC initialization

// ADC disabled

ADCSRA=0x00;

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// SPI disabled

SPCR=0x00;

// TWI initialization

// TWI disabled

TWCR=0x00;

// Global enable interrupts

#asm("sei")

e=511;//nilai awal sinyal eror

while (1)

{

OCR1A=op+oi+od+511;

OCR1B=440; //reference signal

DDRD.1=1;

//kendali proporsional

en=e-511;

op=p*en; //nilai p ditentukan melalui tuning

//kendali integral

eni=en+esi;

oi=i*eni; //nilai Ki ditentukan melalui tuning

esi=eni;

//kendali Deferensial

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od=d*end; //nilai Kd ditentukan melalui tuning

esd=end;

//pengaman jika terjadi over count

if (e>1000)

{

OCR1A=511;e=511;eni=0;end=0;en=0;esi=0;esd=0;op=0;oi=0;od=0;delay _ms(100);};

if (e<20)

{

OCR1A=511;e=511;eni=0;end=0;en=0;esi=0;esd=0;op=0;oi=0;od=0;delay _ms(100);};

}