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硬件部分主要包括以下三部分：

（1）主控裝置：AB32VG1開(kāi)發(fā)板

（2）電流驅(qū)動(dòng)裝置：場(chǎng)效應(yīng)驅(qū)動(dòng)模塊

（3）執(zhí)行裝置：比例閥線圈

（4）供電裝置：24V 7A 直流電源

1.AB32VG1開(kāi)發(fā)板

（1）開(kāi)發(fā)平臺(tái)：RT-Thread Studio

（2）組態(tài)配置

       比例閥主要是采用PWM電流驅(qū)動(dòng)，采用閉環(huán)控制可以提高控制精度，所以組態(tài)配置中使能PWM信號(hào)和ADC0通道。此外，在PWM信號(hào)上疊加震顫能提高比例閥的動(dòng)態(tài)響應(yīng)，降低滯環(huán)，所以使能了硬件定時(shí)器timer。

（3）主要代碼

①PWM信號(hào)配置

??      int pwm_pv_sample(int argc, char *argv[])

{

    period = 500000;    /* 周期為0.5ms，單位為納秒ns */

    dir = 1;            /* PWM脈沖寬度值的增減方向 */

    pulse = 0;          /* PWM脈沖寬度值，單位為納秒ns */

    /* 查找設(shè)備 */

    pwm_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME);

    if (pwm_dev == RT_NULL)

    {

        rt_kprintf("pwm sample run failed! can't find %s device!\n", PWM_DEV_NAME);

        return RT_ERROR;

    }

    /* 設(shè)置PWM周期和脈沖寬度默認(rèn)值 */

    rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);

    /* 使能設(shè)備 */

rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL);

②震顫信號(hào)產(chǎn)生

//-----------pwm

/* 定時(shí)器超時(shí)回調(diào)函數(shù) */

RT_SECTION(".irq.timer")

 rt_err_t timeout_cb(rt_device_t dev, rt_size_t size)

{

 //   rt_kprintf("this is hwtimer timeout callback fucntion!\n");

 //   rt_kprintf("tick is :%d !\n", rt_tick_get());

    rt_pin_write(pin, !rt_pin_read(pin));

    if (dir)

           {

               pulse += 5000;     // 從0值開(kāi)始每次增加5000ns

           }

           else

           {

               pulse -= 5000;      // 從最大值開(kāi)始每次減少5000ns

           }

           if (pulse >= period)

           {

               dir = 0;

           }

           if (0 == pulse)

           {

               dir = 1;

           }

           // 設(shè)置PWM周期和脈沖寬度

           rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);

    return 0;

}

③電流大小反饋

int adc_vol_sample(int argc, char *argv[])

{

    rt_adc_device_t adc_dev;

    rt_uint32_t value_A5,value_A4,value_A3,value_A1,value_A0, vol_A5,vol_A4,vol_A3,vol_A1,vol_A0;

    rt_err_t ret = RT_EOK;

    /* 查找設(shè)備 */

    adc_dev = (rt_adc_device_t)rt_device_find(ADC_DEV_NAME);

    if (adc_dev == RT_NULL)

    {

        rt_kprintf("adc sample run failed! can't find %s device!\n", ADC_DEV_NAME);

        return RT_ERROR;

    }

    /* 使能設(shè)備 */

    ret = rt_adc_enable(adc_dev, ADC_DEV_CHANNEL_A5);

    ret = rt_adc_enable(adc_dev, ADC_DEV_CHANNEL_A4);

    ret = rt_adc_enable(adc_dev, ADC_DEV_CHANNEL_A3);

    ret = rt_adc_enable(adc_dev, ADC_DEV_CHANNEL_A1);

    ret = rt_adc_enable(adc_dev, ADC_DEV_CHANNEL_A0);

    /* 讀取采樣值 */

    value_A5 = rt_adc_read(adc_dev, ADC_DEV_CHANNEL_A5);

    value_A4 = rt_adc_read(adc_dev, ADC_DEV_CHANNEL_A4);

    value_A3= rt_adc_read(adc_dev, ADC_DEV_CHANNEL_A3);

    value_A1 = rt_adc_read(adc_dev, ADC_DEV_CHANNEL_A1);

    value_A0 = rt_adc_read(adc_dev, ADC_DEV_CHANNEL_A0);

    rt_kprintf("the value is :%d,%d,%d,%d,%d \n", value_A5,value_A4,value_A3,value_A1,value_A0);

    /* 轉(zhuǎn)換為對(duì)應(yīng)電壓值 */

    vol_A5 = value_A5 * REFER_VOLTAGE / CONVERT_BITS;

    vol_A4 = value_A4 * REFER_VOLTAGE / CONVERT_BITS;

    vol_A3 = value_A3 * REFER_VOLTAGE / CONVERT_BITS;

    vol_A1 = value_A1 * REFER_VOLTAGE / CONVERT_BITS;

    vol_A0 = value_A0 * REFER_VOLTAGE / CONVERT_BITS;

    rt_kprintf("the voltage is :%d.%02d ,%d.%02d,%d.%02d,%d.%02d,%d.%02d\n", vol_A5 / 100, vol_A5 % 100,vol_A4 / 100, vol_A4 % 100,vol_A3 / 100, vol_A3 % 100,vol_A1 / 100, vol_A1 % 100,vol_A0 / 100, vol_A0 % 100);

    /* 關(guān)閉通道 */

    ret = rt_adc_disable(adc_dev, ADC_DEV_CHANNEL_A5);

    ret = rt_adc_disable(adc_dev, ADC_DEV_CHANNEL_A4);

    ret = rt_adc_disable(adc_dev, ADC_DEV_CHANNEL_A3);

    ret = rt_adc_disable(adc_dev, ADC_DEV_CHANNEL_A1);

    ret = rt_adc_disable(adc_dev, ADC_DEV_CHANNEL_A0);

    return ret;

}