采用模块化设计方法,设计了一个基于C8051F040的控制系统;操作器、上位机与控制器之问均通过CAN总线通信,具有很强的移植性和实时性.控制器主要实现5组电动推杆的控制,其中2组电动推杆能实现调速功能,其余3组电动推杆通过继电器控制;实现了起背、小腿弯曲、大腿弯曲、坐姿、整体倾斜和整体升降等功能,具有硬件和软件互锁功能.为了控制床体的整体升降能够在极限位置锁定,分别在床的两侧加了限位传感器.经过实际运行表明,各动作正向运动时间在7.7～32.2s之间,反向运动时间在7.4～24.1s之间;床体在运动过程中具有很好的稳定性和平滑性,满足了控制要求.%By use of modular design method, designed a control system based on C8051F040. Among the manipulator, the controller and the host computer with the CAN bus communication, has strong portability and Real-time. Controller is to achieve five electric putters control, two of them to achieve speed control function, the remaining three groups of them are controlled by relays. Realized date back, calf bending, thigh bending, sitting, the overall tilt, the overall movements and etc, with hardware and software interlock function. In order to control the overall lift of the bed and be locked at the limit positions, respectively, on both sides of the bed plus a position sensor. After the actual operation, forward movement time of each action is between 7.7s and 32.2s, and Reverse movement time is from 7.4s to 24. 1s. The processing of the bed had good stability and smoothness in motion, and satisfied the control requirements.
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