步進電機及單片機英文文獻及翻譯

1、精選優(yōu)質(zhì)文檔-傾情為你奉上精選優(yōu)質(zhì)文檔-傾情為你奉上專心-專注-專業(yè)專心-專注-專業(yè)精選優(yōu)質(zhì)文檔-傾情為你奉上專心-專注-專業(yè)外文文獻： Knowledge of the stepper motorWhat is a stepper motor： Stepper motor is a kind of electrical pulses into angular displacement of the implementing agency. Popular little lesson: When the driver receives a step pulse signal, it will

2、drive a stepper motor to set the direction of rotation at a fixed angle (and the step angle). You can control the number of pulses to control the angular displacement, so as to achieve accurate positioning purposes; the same time you can control the pulse frequency to control the motor rotation spee

3、d and acceleration, to achieve speed control purposes.What kinds of stepper motor sub-： In three stepper motors: permanent magnet (PM), reactive (VR) and hybrid (HB) permanent magnet stepper usually two-phase, torque, and smaller, step angle of 7.5 degrees or the general 15 degrees; reaction step is

4、 generally three-phase, can achieve high torque output, step angle of 1.5 degrees is generally, but the noise and vibration are large. 80 countries in Europe and America have been eliminated; hybrid stepper is a mix of permanent magnet and reactive advantages. It consists of two phases and the five-

5、phase: two-phase step angle of 1.8 degrees while the general five-phase step angle of 0.72 degrees generally. The most widely used Stepper Motor.What is to keep the torque (HOLDING TORQUE)How much precision stepper motor? Whether the cumulative： The general accuracy of the stepper motor step angle o

6、f 3-5%, and not cumulative.Stepper motor to allow the minimum amount of surface temperatureStepper motor to allow the minimum amount of surface temperature：Stepper motor causes the motor temperature is too high the first magnetic demagnetization, resulting in loss of torque down even further, so the

7、 motor surface temperature should be the maximum allowed depending on the motor demagnetization of magnetic material points; Generally speaking, the magnetic demagnetization points are above 130 degrees Celsius, and some even as high as 200 degrees Celsius, so the stepper motor surface temperature o

8、f 80-90 degrees Celsius is normal.How to determine the stepper motor driver DC power supply： A. Determination of the voltageHybrid stepping motor driver power supply voltage is generally a wide range (such as the IM483 supply voltage of 12 48VDC), the supply voltage is usually based on the work of t

9、he motor speed and response to the request to choose. If the motor operating speed higher or faster response to the request, then the voltage value is high, but note that the ripple voltage can not exceed the maximum input voltage of the drive, or it may damage the drive. B. Determination of Current

10、Power supply current is generally based on the output phase current drive I to determine. If a linear power supply, power supply current is generally preferable 1.1 to 1.3 times the I; if we adopt the switching power supply, power supply current is generally preferable to I, 1.5 to 2.0 times.The mai

11、n characteristics of stepping motor： A stepper motor drive can be added operate pulse drive signal must be no pulse when the stepper motor at rest, such asIf adding the appropriate pulse signal, it will to a certain angle (called the step angle) rotation. Rotation speed and pulse frequency is propor

12、tional to. 2 Dragon step angle stepper motor version is 7.5 degrees, 360 degrees around, takes 48 pulses to complete. 3 stepper motor has instant start and rapid cessation of superior characteristics.Change the pulse of the order of 4, you can easily change the direction of rotation.Therefore, the c

13、urrent printers, plotters, robotics, and so devices are the core of the stepper motor as the driving force.Stepper motor control exampleWe use four-phase unipolar stepper motor as an example. The structure shown in Figure 1: Four four-phase winding leads (as opposed to phase A1 A2 B1 phase phase B2)

14、 and two public lines (to the power of positive). The windings of one phase to the power of the ground. So that the windings will be inspired. We use four-phase eight-beat control, ie, 1 phase 2 phase alternating turn, would enhance resolution. 0.9 per step can be transferred to control the motor ex

15、citation is transferred in order as follows: If the requirements of motor reversal, the transmission excitation signal can be reversed. 2 control schemeControl system block diagram is as follows The program uses AT89S51 as the main control device. It is compatible with the AT89C51, but also increase

16、d the SPI interface and the watchdog module, which not only makes the debugging process becomes easy and also more stable. The microcontroller in the program mainly for field signal acquisition and operation of the stepper motor to calculate the direction and speed information. Then sent to the CPLD

17、.CPLD with EPM7128SLC84-15, EPM7128 programmable logic device of large-scale, for the ALTERA companys MAX7000 family. High impedance, electrically erasable and other characteristics, can be used for the 2500 unit, the working voltage of +5 V. CPLD receives information sent from the microcontroller a

18、fter converted to the corresponding control signal output to the stepper motor drive. Put the control signal drives the motor windings after the input, to achieve effective control of the motor. 2.1 The hardware structure of the motor driveMotor drive using the following circuit: R1-R8 in which the

19、resistance value of 320. R9-R12 resistance value 2.2K. Q1-Q4 as Darlington D401A, Q5-Q8 for the S8550. J1, J2 and the stepper motor connected to the six-lead。Advantages and disadvantages of stepper motorAdvantages 1. The motor rotation angle is proportional to the number of pulses; 2. When the motor

20、 stopped with a maximum torque (when the winding excitation time); 3. Since the accuracy of each step in the three per cent to five per cent, and the error will not accumulate to the next step and thus has better positional accuracy and repeatability of movement; 4. Excellent response from the stop

21、and reverse; 5. In the absence of brush, high reliability, it just depends on the life of the motor bearing life; 6. Motor response only determined by the number of input pulses, which can be used open loop control, which makes the motor and control structure can be relatively simpleSystem cost 7. J

22、ust load directly connected to the motor shaft can also be extremely slow synchronous rotation. 8. Speed is proportional to the pulse frequency, and thus a relatively wide speed range.Shortcomings1. If not properly controlled prone to resonance;2. Difficult operation to a higher speed.3. Difficult t

23、o obtain high torque4. There is no advantage in terms of volume weight, low energy efficiency.5. Over load will destroy the synchronization, the work will be issued when high-speed vibration and noise.Stepper motor drive requirements(1) to provide fast rise and fall of current speed, the current wav

24、eform as close as possible rectangle.For the period ended with the release of the loop current flow, to reduce the winding ends of the back electromotive force, to accelerate the current decay.(2) rhyme with higher power and efficiency.Stepper motor driver, which is the control pulse signal emitted

25、into the angular displacement of the stepper motor, or: the control system sends a pulse signal each through the stepper motor drive to rotate a step angle. That is the stepper motor speed is proportional to the frequency and pulse signals. Therefore, the frequency control pulse signal, to be precis

26、e motor speed control; control the number of step pulses to connect the motor accurately. Stepper motor drive there are many, we should take a reasonable choice of power requirements of the drive, the following were introduced various types of typical drive.The latest technological developmentsDomes

27、tic and international research on the sub-drive technology is very active, high-performance sub-driver circuit can be broken down into thousands or even any subdivision. Now able to do complicated calculations to make after the breakdown of uniform step angle, which greatly improves the resolution o

28、f stepper motor pulses, reduce or eliminate the vibration, noise and torque ripple, the stepper motor is more class server feature.The actual role of step angle: in the absence of sub-drive, the user select a different number of phases depends mainly on the stepper motor to meet their own requiremen

29、ts on the step angle，If you use the sub-drive, the user can change the drive number of segments, can dramatically change the actual step angle stepper motor phases of change in the role of the actual step angle is almost negligible. Introduction of AT89C51DescriptionThe AT89C51 is a low-power, high-

30、performance CMOS 8-bit microcomputer with 4K bytes of Flash programmable and erasable read only memory (PEROM). The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry-standard MCS-51 instruction set and pinout. The on-chip Flash allows

31、the program memory to be reprogrammed in-system or by a conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel AT89C51 is a powerful microcomputer which provides a highly-flexible and cost-effective solution to many embedded control

32、applications.Function characteristicThe AT89C51 provides the following standard features: 4K bytes of Flash, 128 bytes of RAM, 32 I/O lines, two 16-bit timer/counters, a five vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator and clock circuitry. In addition, the

33、AT89C51 is designed with static logic for operation down to zero frequency and supports two software selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The Power-down Mode saves the RAM contents

34、 but freezes the oscillator disabling all other chip functions until the next hardware reset.Pin DescriptionVCC：Supply voltage.GND：Ground.Port 0：Port 0 is an 8-bit open-drain bi-directional I/O port. As an output port, each pin can sink eight TTL inputs. When 1s are written to port 0 pins, the pins

35、can be used as highimpedance inputs.Port 0 may also be configured to be the multiplexed loworder address/data bus during accesses to external program and data memory. In this mode P0 has internal pullups.Port 0 also receives the code bytes during Flash programming,and outputs the code bytes during p

36、rogramverification. External pullups are required during programverification.Port 1Port 1 is an 8-bit bi-directional I/O port with internal pullups.The Port 1 output buffers can sink/source four TTL inputs.When 1s are written to Port 1 pins they are pulled high by the internal pullups and can be use

37、d as inputs. As inputs,Port 1 pins that are externally being pulled low will source current (IIL) because of the internal pullups.Port 1 also receives the low-order address bytes during Flash programming and verification.Port 2Port 2 is an 8-bit bi-directional I/O port with internal pullups.The Port

38、 2 output buffers can sink/source four TTL inputs.When 1s are written to Port 2 pins they are pulled high by the internal pullups and can be used as inputs. As inputs,Port 2 pins that are externally being pulled low will source current, because of the internal pullups.Port 2 emits the high-order add

39、ress byte during fetches from external program memory and during accesses to external data memory that use 16-bit addresses. In this application, it uses strong internal pullupswhen emitting 1s. During accesses to external data memory that use 8-bit addresses, Port 2 emits the contents of the P2 Spe

40、cial Function Register.Port 2 also receives the high-order address bits and some control signals during Flash programming and verification.Port 3Port 3 is an 8-bit bi-directional I/O port with internal pullups.The Port 3 output buffers can sink/source four TTL inputs.When 1s are written to Port 3 pi

41、ns they are pulled high by the internal pullups and can be used as inputs. As inputs,Port 3 pins that are externally being pulled low will source current (IIL) because of the pullups.Port 3 also serves the functions of various special features of the AT89C51 as listed below:Port 3 also receives some

42、 control signals for Flash programming and verification.RSTReset input. A high on this pin for two machine cycles while the oscillator is running resets the device.ALE/PROGAddress Latch Enable output pulse for latching the low byte of the address during accesses to external memory. This pin is also

43、the program pulse input (PROG) during Flash programming.In normal operation ALE is emitted at a constant rate of 1/6 the oscillator frequency, and may be used for external timing or clocking purposes. Note, however, that one ALE pulse is skipped during each access to external Data Memory.If desired,

44、 ALE operation can be disabled by setting bit 0 of SFR location 8EH. With the bit set, ALE is active only during a MOVX or MOVC instruction. Otherwise, the pin is weakly pulled high. Setting the ALE-disable bit has no effect if the microcontroller is in external execution mode.PSENProgram Store Enab

45、le is the read strobe to external program memory.When the AT89C51 is executing code from external program memory, PSEN is activated twice each machine cycle, except that two PSEN activations are skipped during each access to external data memory.EA/VPPExternal Access Enable. EA must be strapped to G

46、ND in order to enable the device to fetch code from external program memory locations starting at 0000H up to FFFFH. Note, however, that if lock bit 1 is programmed, EA will be internally latched on reset.EA should be strapped to VCC for internal program executions.This pin also receives the 12-volt

47、 programming enable voltage(VPP) during Flash programming, for parts that require12-volt VPP.XTAL1Input to the inverting oscillator amplifier and input to the internal clock operating circuit.XTAL2Output from the inverting oscillator amplifier.Oscillator CharacteristicsXTAL1 and XTAL2 are the input

48、and output, respectively,of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown in Figure 1.Either a quartz crystal or ceramic resonator may be used. To drive the device from an external clock source, XTAL2 should be left unconnected while XTAL1 is driven as sho

49、wn in Figure 2.There are no requirements on the duty cycle of the external clock signal, since the input to the internal clocking circuitry is through a divide-by-two flip-flop, but minimum and maximum voltage high and low time specifications must be observed. Figure 1. Oscillator Connections Figure

50、 2. External Clock Drive ConfigurationIdle ModeIn idle mode, the CPU puts itself to sleep while all the onchip peripherals remain active. The mode is invoked by software. The content of the on-chip RAM and all the special functions registers remain unchanged during this mode. The idle mode can be te

51、rminated by any enabled interrupt or by a hardware reset.It should be noted that when idle is terminated by a hard ware reset, the device normally resumes program execution,from where it left off, up to two machine cycles before the internal reset algorithm takes control. On-chip hardware inhibits a

52、ccess to internal RAM in this event, but access to the port pins is not inhibited. To eliminate the possibility of an unexpected write to a port pin when Idle is terminated by reset, the instruction following the one that invokes Idle should not be one that writes to a port pin or to external memory

53、.Power-down ModeIn the power-down mode, the oscillator is stopped, and the instruction that invokes power-down is the last instruction executed. The on-chip RAM and Special Function Registers retain their values until the power-down mode is terminated. The only exit from power-down is a hardware res

54、et. Reset redefines the SFRs but does not change the on-chip RAM. The reset should not be activated before VCC is restored to its normal operating level and must be held active long enough to allow the oscillator to restart and stabilize.中文譯文： 步進電機的知識什么是步進電機：步進電機是一種把電脈沖轉(zhuǎn)化為角位移的執(zhí)行機構(gòu)。通俗的說：當驅(qū)動程序收到一個步進脈沖

55、信號，將驅(qū)動步進電機軸旋轉(zhuǎn)一個固定的角度（步進角）。您可以通過控制脈沖個數(shù)來控制角位移，從而達到準確定位的目的;同時，你可以通過控制脈沖頻率來控制電機的旋轉(zhuǎn)速度和加速度，實現(xiàn)速度控制的目的。步進電機的種類：步進電機分為三種：永磁式（PM），反應(yīng)式（VR）和混合式（HR）永磁式步進電機一般為兩相，轉(zhuǎn)矩和體積較小，步進角一步7.5度或15度;反應(yīng)式一般有三相可以實現(xiàn)大轉(zhuǎn)矩輸出，步進角一般是1.5度，但噪聲和振動大。在歐洲和美洲80個國家已被淘汰;混合式步進是混合了永磁式和反應(yīng)的優(yōu)勢。它由兩相和五相：一般兩相的步距角是1.8度，而的五相步距角為0.72度。是使用最廣泛的的步進電機。步進電機允許的最高

56、表面溫度步進電機溫度過高首先會的磁性材料退磁，導致轉(zhuǎn)矩降低甚至失步，電機表面溫度允許的最大值取決于的磁性材料退磁點;一般來說，磁性材料退磁點在攝氏130度以上有些材料甚至高達攝氏200度高，所以步進電機表面溫度在攝氏80-90度是正常的。 步進電機精度為多少？是否累積一般步進電機的精度為步進角的3-5%，且不累積 如何確定步進電機驅(qū)動器直流電源A.電壓確定混合式步進電機驅(qū)動器的電源電壓范圍較廣（比如IM483的供電電壓1248VDC），電源電壓通常根據(jù)電機的轉(zhuǎn)速和響應(yīng)要求來選擇。如果要求較快的運行速度較高的響應(yīng)速度就選用較高的電壓，但注意電源電壓的峰值不能超過驅(qū)動器的最大輸入電壓，否則可能會損

57、壞驅(qū)動器。B.電流確定電源電流一般根據(jù)輸出相電流I來確定。如果采用線性電源，電源電流一般可取I的1.11.3倍;如果采用開關(guān)電源，電源電流一般可取I的1.52.0倍。步進電機的主要特性 在步進電機關(guān)機時要確保沒有脈沖信號，當電機運行時如果加入適當?shù)拿}沖信號，它會轉(zhuǎn)過一定的角度（稱為步距角是）。轉(zhuǎn)速與脈沖頻率成正比。 2龍式步進電機步距角7.5度，旋轉(zhuǎn)360度，需要48個脈沖來完成。 3步進電機具有快速啟動和停止的優(yōu)良特性。4只要改變脈沖，可以很容易地改變電機軸旋轉(zhuǎn)的方向。因此，目前的打印機，繪圖儀，機器人設(shè)備以步進電機作為動力核心。步進電機控制的例子我們以四相單極步進電機為例：四個相繞組引出四

58、個相和兩個公共線（連接到正極）。一相接地。會被激發(fā)，。我們使用四相八拍控制，即第1階段第2階段交替反過來，會提高分辨率。步距角0.9，可以轉(zhuǎn)移到控制電機勵磁是為了轉(zhuǎn)移如下：如果電機反轉(zhuǎn)的要求，傳輸?shù)募钚盘柨梢阅孓D(zhuǎn)的。 2控制方案控制系統(tǒng)框圖如下該方案采用AT89S51的主要控制裝置。它是與AT89C51兼容，但也增加了SPI接口和看門狗模塊，這不僅使調(diào)試變得更容易，也更穩(wěn)定。單片機程序主要用于現(xiàn)場信號的采集和通過步進電機的運轉(zhuǎn)來計算的方向和速度信息。然后將信息發(fā)送到CPLD。CPLD使用EPM7128SLC84-15，ALTERA公司的MAX7000系列可編程邏輯器件EPM7128。具有高阻

59、抗，電可擦除等特點，可用單位數(shù)為2500單位，工作電壓+5 V CPLD接收脈沖后轉(zhuǎn)換為相應(yīng)的控制信號輸出到步進電機驅(qū)動器，從微控制器發(fā)送的信息。輸入后把控制信號發(fā)送到驅(qū)動電機繞組，以達到有效控制電機的目的。 2.1為電機驅(qū)動器的硬件結(jié)構(gòu)電機驅(qū)動器通過下面的電路來實現(xiàn)：R1R8的電阻值為320。 R9-R12的電阻值為2.2K。 Q1Q4作為達林頓401A，Q5-Q8為S8550。 J1，J2和步進電機連接到六個接口。步進電機優(yōu)點和缺點優(yōu)勢1。電機的旋轉(zhuǎn)角度與脈沖數(shù)成正比;2。當電機停轉(zhuǎn)為最大轉(zhuǎn)矩（當繞組勵磁時）;3。由于每一步準確度為百分之三到五，而且誤差不會累積到下一步，因而具有更好定位精

60、度和重復定位精度;4。優(yōu)良的啟動和制動特性_;5。沒有電刷，可靠性高，電機的壽命只是取決于電機軸承;6。電機_僅由輸入脈沖數(shù)決定，可用于開環(huán)控制，這使得電機和控制結(jié)構(gòu)確定相對簡單系統(tǒng)成本7。只是負載直接連接到電機軸也可以極其緩慢旋轉(zhuǎn)8。速度與的脈沖頻率成正比，因此，有相對較寬的調(diào)速范圍缺點1。如果沒有適當?shù)目刂?，容易共?2。高速操作難度較大3。難以獲得大轉(zhuǎn)矩4。沒有體積小，重量輕，能耗低，效率高等方面優(yōu)勢5。過載時會破壞同步性，工作時會發(fā)出時較大的振動和噪音步進電機驅(qū)動要求（1）為了滿足速度迅速上升或下降的要求，波形應(yīng)當盡可能接近矩形以釋放回路電流流，繞組兩端的反電動勢，加速電流衰減（2）具