基于TA8435H驅(qū)動的步進(jìn)電機(jī)的單片機(jī)控制

1、2009機(jī)電工程技術(shù)年第38卷第07期基于TA8435H 驅(qū)動的步進(jìn)電機(jī)的單片機(jī)控制王瑋,陳畢雙,楊捷順(深圳技師學(xué)院光機(jī)電技術(shù)系,廣東深圳518040 收稿日期:2009-03-11,廣泛應(yīng)用于各種機(jī)電控制設(shè)備中?；趯Ｓ抿?qū)動芯片TA8435H ,、不同速度的轉(zhuǎn)動,。單片機(jī);TA8435H ;細(xì)分驅(qū)動文獻(xiàn)標(biāo)識碼:A文章編號:1009-9492(200907-0034-021引言步進(jìn)電機(jī)是一種將電脈沖轉(zhuǎn)化為角位移的執(zhí)行機(jī)構(gòu)。當(dāng)步進(jìn)驅(qū)動器接收到一個脈沖信號,它就驅(qū)動步進(jìn)電機(jī)按設(shè)定的方向轉(zhuǎn)動一個固定的角度(即步進(jìn)角,它的旋轉(zhuǎn)是以固定的角度一步一步運(yùn)行的?？梢酝ㄟ^控制脈沖個數(shù)來控制角位移量,從而達(dá)到

2、準(zhǔn)確定位的目的;同時可以通過控制脈沖頻率來控制電機(jī)轉(zhuǎn)動的速度和加速度,從而達(dá)到調(diào)速的目的1。步進(jìn)電機(jī)可以作為一種控制用的特種電機(jī),利用其沒有積累誤差(精度100%的特點(diǎn),廣泛應(yīng)用于各種機(jī)電控制設(shè)備中。為較好地理解步進(jìn)電機(jī)的工作原理與控制方式,特開發(fā)與研制了單片機(jī)控制下的二相步進(jìn)電機(jī)運(yùn)動控制系統(tǒng),驅(qū)動芯片選用TA8435H 。2TA8435H 芯片特點(diǎn)TA8435H 是東芝公司生產(chǎn)的單片正弦細(xì)分二相步進(jìn)電機(jī)驅(qū)動專用芯片,圖1所示為TA8435H 芯片內(nèi)部電路圖,從中可以看出,TA8435H 主要由1個解碼器、2個橋式驅(qū)動電路、2個輸出電流控制電路、2個最大電流限制電路、1個斬波器等功能模塊組成2

3、。該芯片具有整步、半步、1/4細(xì)分、1/8細(xì)分運(yùn)行方式可供選擇及正/反轉(zhuǎn)控制等功能。本文研制的步進(jìn)電機(jī)控制電路利用了驅(qū)動芯片TA8435H 的這些功能,簡化了電路的設(shè)計(jì),且工作可靠。3控制電路組成3.1硬件電路設(shè)計(jì)圖2是單片機(jī)與TA8435H 相連控制步進(jìn)電機(jī)的原理圖。單片機(jī)主控芯片為AT892051。電路中RST 為復(fù)位按鈕,用于實(shí)現(xiàn)電路的起始及復(fù)位3;按鈕正/反轉(zhuǎn)、加速及減速,分別用于控制步進(jìn)電機(jī)正反兩個方向的轉(zhuǎn)動及電機(jī)的加速與減速轉(zhuǎn)動。電路中TA8435H 驅(qū)動芯片的M1和M2引腳決定電機(jī)的轉(zhuǎn)動方式:M1=0、M2=0,電機(jī)按整步方式運(yùn)轉(zhuǎn);M1=1、M2=0,電機(jī)按半步方式運(yùn)轉(zhuǎn);M1=0

4、、M2=1,電機(jī)按1/4工業(yè)控制2009機(jī)電工程技術(shù)年第38卷第07 期細(xì)分方式運(yùn)轉(zhuǎn);M1=1、M2=1,電機(jī)按1/8細(xì)分方式運(yùn)轉(zhuǎn)。電路中電機(jī)工作在何種運(yùn)轉(zhuǎn)方式可由撥動開關(guān)進(jìn)行設(shè)置。CW/CWW管腳控制電機(jī)轉(zhuǎn)動方向;CK1、CK2為時鐘輸入端,本電路采用單時鐘輸入,控制時鐘的頻率,即可控制電機(jī)轉(zhuǎn)動速率。REFIN腳為NFA、NFB輸出電壓控制端, REFIN為高電平,NFA、NFB的輸出電壓為0.8V,REFIN 為低電平,NFA、NFB的輸出電壓為0.5V,而NFA、NFB 這兩個引腳控制步進(jìn)電機(jī)輸入電流;選用不同的二相步進(jìn)電機(jī)時,應(yīng)根據(jù)其額定電流大小選擇合適的R8和R9阻值。電路中R6、C

5、5組成復(fù)位電路,D1D4為快恢復(fù)二極管,用來泄放電機(jī)繞組電流。3.2電源電路電路中需要+12V和+5V兩組電源。+12V電源接在TA8435H驅(qū)動芯片VMA及VMB管腳上,主要給步進(jìn)電機(jī)供電。+5V電源為單片機(jī)、驅(qū)動芯片及外圍電路供電。圖2也給出了電源電路圖。3.3軟件設(shè)計(jì)以下是利用TA8435H控制步進(jìn)電機(jī)的程序,用以控制步進(jìn)電機(jī)的起動,實(shí)現(xiàn)和控制步進(jìn)電機(jī)的轉(zhuǎn)向和轉(zhuǎn)速,電機(jī)細(xì)分控制通過電路撥動開關(guān)的設(shè)置實(shí)現(xiàn)。ORG0000HAJMP MAINORG0030HMAIN:CLR P1.5;軟件使能MOV R5,#0FH;預(yù)設(shè)速度MOV R2,#10H;延時參數(shù)LOOP:CALL D1MS;調(diào)用延

6、時CPL P1.6;給步進(jìn)發(fā)脈沖SETB P1.1;查詢按鍵之前要先對按鍵置1SETB P1.2;查詢按鍵之前先要對按鍵置1JNB P1.1,ADDSP;判斷加速按鍵是否被按下JNB P1.0,DECSP;判斷減速按鍵是否被按下JNB P1.2,DCCW;判決正反轉(zhuǎn)按鍵是否被按下SJMP LOOPDCCW:MOV R3,#0FFHLOOP2:DJNZ R3,LOOP2DJNZ R2,DCCWMOV R2,#10HCPL P1.7;正反轉(zhuǎn)控制SJMP LOOPADDSP:CJNE R5,#09H,SP1;速度加LOOP11:MOV R3,#0FFH;延時LOOP21:DJNZ R3,LOOP21

7、DJNZ R2,LOOP11MOV R2,#04HSJMP LOOPSP1:DEC R5;通過調(diào)整延時來控制發(fā)脈沖的速度SJMP LOOPDECSP:CJNE R5,#0FFH,SP2;速度減(下轉(zhuǎn)第68頁工業(yè)控制2009機(jī)電工程技術(shù)年第38卷第07 期LOOP12:MOV R3,#0FFH;延時LOOP22:DJNZ R3,LOOP22DJNZ R2,LOOP12MOV R2,#04HSJMP LOOPSP2:INC R5SJMP LOOPD1MS:MOV A,R5;延時MOV R7,ALOOP5:MOV R6,#64HLOOP6:DJNZ R6,LOOP6DJNZ R7,LOOP5RETE

8、ND4結(jié)束語本文介紹了基于TA8435H芯片的二相步進(jìn)電機(jī)的控制,用以實(shí)現(xiàn)步進(jìn)電機(jī)的正反向運(yùn)轉(zhuǎn),實(shí)現(xiàn)不同速度的轉(zhuǎn)動。使用細(xì)分方式可提高步進(jìn)電機(jī)的控制精度,降低步進(jìn)電極的振動和噪聲4。因電路使用專用驅(qū)動芯片,控制系統(tǒng)硬件電路設(shè)計(jì)簡單,結(jié)構(gòu)緊湊,運(yùn)行可靠;并且軟件編制也較簡單、清楚。借助該控制電路,可掌握步進(jìn)電機(jī)的運(yùn)行與控制,進(jìn)而對理解機(jī)電控制設(shè)備及數(shù)控設(shè)備的運(yùn)行有一定的幫助。參考文獻(xiàn):1劉寶延.步進(jìn)電機(jī)及其驅(qū)動控制系統(tǒng)M.哈爾濱:哈爾濱工業(yè)大學(xué)出版社,1997.2劉升.二相步進(jìn)電機(jī)驅(qū)動芯片TA8435H及其應(yīng)用J.國外電子元器件,2005,3(3:37-40.3何立民.單片機(jī)應(yīng)用系統(tǒng)設(shè)計(jì)M.北京

9、:北京航空航天大學(xué)出版社,1993.4王志超,林巖,李大慶.兩相混合式步進(jìn)電機(jī)細(xì)分驅(qū)動J.信息與電子工程,2008,6(6:457-460.第一作者簡介:王瑋,男,1965年生,甘肅天水人,碩士,工程師。研究領(lǐng)域:光機(jī)電一體化技術(shù)及設(shè)備。已發(fā)表論文8篇。(編輯:吳智恒令:A=polyfit(x,y,n5,其中x為拉桿拉力,y為起重量,A為所求多項(xiàng)式系數(shù)。經(jīng)計(jì)算得:A=4.59-110.411383.20.43,所求擬合多項(xiàng)式為(7式。G=0.43+1383.2Q-110.41Q2+4.59Q3(7根據(jù)所求擬合多項(xiàng)式估算起重量值見表1,樣本散點(diǎn)圖和擬合曲線如圖3所示。GB514494規(guī)定:起重機(jī)

10、應(yīng)安裝起重量限制器,對最大起重量大于6t的起重機(jī)如設(shè)有顯示裝置,則其數(shù)值誤差不得大于指示值的5%。擬合曲線誤差能夠滿足國標(biāo)要求。6結(jié)論本文針對塔機(jī)起重量監(jiān)測中存在的非線性問題,采用數(shù)據(jù)擬合理論,建立了起重量G和拉桿拉力Q之間的函數(shù)關(guān)系式,使塔機(jī)起重量監(jiān)測在PLC中得以實(shí)現(xiàn)。從實(shí)例可見,該方法具有如下優(yōu)點(diǎn):(1計(jì)算結(jié)果惟一,計(jì)算量小,便于在PLC、單片機(jī)等硬件設(shè)備上實(shí)現(xiàn);(2可精確、方便地實(shí)現(xiàn)起重量的實(shí)時監(jiān)測;(3當(dāng)鋼絲繩倍率改變時,只需調(diào)整對應(yīng)多項(xiàng)式的系數(shù),不必改動其它硬件設(shè)施;(4保留了原有起重量限制器中的超重預(yù)警開關(guān)和超重報(bào)警開關(guān),能夠?qū)崿F(xiàn)起重量預(yù)警和報(bào)警的雙重保護(hù)。參考文獻(xiàn):1岳維峻.起

11、重機(jī)械安全防護(hù)裝置的安全性控制J.起重運(yùn)輸機(jī)械,2007(3:81-84.2陳敏,馬麗.傳感器特性曲線的一種擬合方法J.傳感器技術(shù),2003(1:38-40.3魏毅強(qiáng),張建國,張洪斌.數(shù)值計(jì)算方法M.北京:科學(xué)出版社,2004.4賈永峰.塔式起重機(jī)多源信息監(jiān)控系統(tǒng)研究D.西安:西安建筑科技大學(xué),2005.5張志涌,等.精通MATLAB6.5版M.北京:北京航空航天大學(xué)出版社,2003.第一作者簡介:賈永峰,男,1972年生,陜西西安人,博士研究生,工程師/講師。研究領(lǐng)域:機(jī)電液一體化。已發(fā)表論文8篇。(編輯:梁玉!(上接第35頁研究與開發(fā)Abstracts09-07-13 Research P

12、rogress of Polishing Hard Brittle Material by Laser09-07-28 Decision-making Based on the Constant Tension of the Dual Variables Control Research09-07-16 Study and Application of Position Servo Control in Shearing Machine Based on PLC09-07-20 The Design of the Steel Tube Automatic Ultrasonic Detect T

13、est Control System Based on PLC09-07-30 The Design of Hydraulic Control System of 160 Injecting Molding Machine Based on PLC09-07-23 The Tobacco Cut-System Based on PLC and AC Servo System09-07-32 Design of TMS320LF2407 Servo System09-07-24 Design of Control System for Leather 09-07-34 The Control o

14、f Stepping Motor Using a Vacuum Dryer Based on PLC and PTSingle Chip Microcomputer Based on TA8435H Driver09-07-26 Study on Remote System of Day and Night Monitoringurban and rural areas is developed. The system is imitation tested and through field verification survey. The results show that the sys

15、tem at the circumstances of no zooming and no focusing can GUO Xiao-yan, LIU Xiao-fei carry out a full range of monitoring in long distance, regardless of day and night, and with clear picture, thus achieve real-time Abstract: The research background of polishing hard brittle monitoring.material by

16、laser and basic theoretical model are introduced in Key words: remote monitoring; charge-coupled device (CCD; this paper. Then its mechanism is discussed and the influence lightning protection systemfactors on the polishing effect are summed up. Finally some predictions of its future development are

17、 presented.Key words: hard brittle material; laser polishing; mechanismXIANG Bi-yun Abstract: The textile fiber spurts the color equipments positioning processing device by feeding, positioning and rolling SHI Jian-ping, GUO Jun, ZHANG Jian-sheng mechanism. If the control lack of coordination, feedi

18、ng-rolling Abstract: This paper introduces the method of accurate position speed and positioning the main drive speed is not balanced, servo control in the back of shearing machine based on PLC, causing the displacement control is not accurate, cannot improve servo generator and HMI, etc, enforce au

19、to detection of position processing quality. To solve this problem, setting up the constant and number of the plate. The actual usage shows that rebuilding tension of dual speed digital control system, through the main system has high precision and reliability, invests less, shortens encoder positio

20、n measurement, as well as analysis of tension-rebuilding period and raises working efficiency.sensing data processing and control algorithm, controlling test Key words: shearing machine; servo control; PLCdata decision-making accurately.Key words: detected; data processing; the constant tension; reg

21、ulation controlDING Xu-sheng, LIN Bin-quan, YANG Qing-lan 1,22Abstract: At present, the automatic steel pipe detect equipment CHEN Xiao-jun , XU Bin made in china couldnt implement monitoring real-timely. To solve this issue, the control system of automatic steel pipe detect equipment was manufactur

22、ed. The control system of the slave Abstract: According to the tendency of modern plastic injection unit was prepared by adopting C+ Builder, and through RS-232 machine with high productivity, the controller for the machine serial communication, the master unit was carried out real-time must have go

23、od automatic control performance. Aiming at the surveillance. The actual production proved that this control actuality in the field of the plastic injection machine controller, system was stable, the movement was reliable, and the control of the relay control system is replaced. The control system b

24、ased on automatic steel pipe ultrasonic nondestructive test was realized.PLC is used to control the hydraulic system of 160 model Key words: PLC; automatic; serial communication; slave/master injection molding machine. After this, several automatic control unitstrategies for hydraulic system are stu

25、died. The actual performance of the system shows the control is satisfactory. Key words: PLC; injection molding machine; hydraulic systemZ H A N G S o n g -j u n ZHONG Geng-jin Abstract: This article generally describes the need to improve on Tobacco Cut-System, expounds the basics structure and Abs

26、tract: In order to increase the control precision and velocity working principium of Tobacco Cut-System which based on PLC of servo systems, the vector control theory and infirm magnetism and AC Servo System , the control precision reaches the purpose were used, and the software and hardware of TMS3

27、20LF2407 of the Cigarette Making and Plug Assembling Combination were established. The electric motor had nicer movement and running stably.function static state answering, and the control precision and Key words:Tobacco Cut-System;PLC;AC Servo System; velocity were increased.Encoder of the motorKey

28、 words: TMS320LF2407; control; precision; velocity12ZHOU Jian-zhong , XIANG Yu-jian , WANG Long-2tai WANG Wei, CHEN Bi-shuang, YANG Jie-shun Abstract: Summarizing the structure and process of Leather Abstract: As a special controlled motor, the stepper motor is Vacuum Dryer Machine, and Developing t

29、he total structural applied in various electromechanical machines. Based on design and software modules based on PLC and PT. After online TA8435H driver chip, the circuit of controlling two-phase adjuster, the control systems reliability and convenience have stepper motor using the chip-microcompute

30、r is designed and been improved.given. In this circuit ,the step motor is controlled to rotate with Key words: Leather Vacuum Dryer Machine; control system; clockwise and counterclockwise directions, and rotate with PLC; PTdifferent rate. The micro-stepping driving method of two-phase stepping motor is realized. This paper gives schematic circuit diagram and assembler instructions. It is helpful to understand the rotation and control of stepping motor with the presented LIU Xue-fang, REN Hao, BI Jun circuit.Key words: stepping motor; AT892051 chip-microcom