畢業(yè)論文外文翻譯-步進(jìn)電機(jī)的知識(shí)

1、外文文獻(xiàn)：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 drive a stepper motor to set the direction of rotation at a fixed

2、 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 speed and acceleration, to achieve speed control purposes. What kinds

3、 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 generally three-phase, can achieve high torque output, step angl

4、e 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-phase: two-phase step angle of 1.8 degrees while the general five

5、-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 of 3-5%, and not cumulative. Stepper motor to allow the minimum am

6、ount 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 motor surface temperature should be the maximum allowed dependi

7、ng 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 of 80-90 degrees Celsius is normal.How to determine the stepper m

8、otor driver DC power supply：- 1 -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 the motor speed and response to the request to choose. If the

9、 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 CurrentPower supply current is generally based on the output phase c

10、urrent 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 main characteristics of stepping motor：A stepper motor drive can

11、 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 proportional to.2 Dragon step angle stepper motor version is 7.5 degr

12、ees, 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 current printers, plotters, robotics, and so devices are the core

13、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) and twopublic lines (to the power of positive). The windings of o

14、ne 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 excitation is transferred in order as follows:- 2 -If the requirement

15、s of motor reversal, the transmission excitation signal can be reversed. 2 control schemeControl system block diagram is as followsThe program uses AT89S51 as the main control device. It is compatible with the AT89C51,but also increased the SPI interface and the watchdog module, which not only makes

16、 the debugging process becomes easy and also more stable. The microcontroller in the programmainly for field signal acquisition and operation of the stepper motor to calculate the direction and speed information. Then sent to the CPLD.CPLD with EPM7128SLC84-15, EPM7128 programmable logic device of l

17、arge-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 after converted to the corresponding control signaloutput to the st

18、epper 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 resistance value of 320-R12. resistanceR9 value 2.2K-Q4.Q1asDarlington

19、 D401A, Q5-Q8 for the S8550. J1, J2 and the stepper motor connected to the six-lead。 Advantages and disadvantages of stepper motor AdvantagesThe motor rotation angle is proportional to the number of pulses;When the motor stopped with a maximum torque (when the winding excitation time);Since the accu

20、racy 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;Excellent response from the stop and reverse;In the absence of brush, high reliability, it just depends on the life of th

21、e motor bearing life;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 costJust load directly connected to the motor shaft can also be extremely slow synchronous- 3 -rotation.S

22、peed is proportional to the pulse frequency, and thus a relatively wide speed range. ShortcomingsIf not properly controlled prone to resonance;Difficult operation to a higher speed.Difficult to obtain high torqueThere is no advantage in terms of volume weight, low energy efficiency.Over load will de

23、stroy 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 waveform as close as possible rectangle.For the period ended with the release of the loop current flow, to reduce the

24、 winding ends of theback electromotive force, to accelerate the current decay.(2) rhyme with higher power and efficiency.Stepper motor driver, which is the control pulse signal emitted into the angular displacement ofthe stepper motor, or: the control system sends a pulse signal each through the ste

25、pper motordrive to rotate a step angle. That is the stepper motor speed is proportional to the frequency andpulse signals. Therefore, the frequency control pulse signal, to be precise motor speed control;control the number of step pulses to connect the motor accurately. Stepper motor drive there are

26、many, we should take a reasonable choice of power requirements of the drive, the following wereintroduced various types of typical drive.The latest technological developmentsDomestic and international research on the sub-drive technology is very active, high-performance sub-driver circuit can be bro

27、ken 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 of stepper motor pulses, reduce or eliminate the vibration, noise and torque ripple, the stepper motor is more class serve

28、r feature.The actual role of step angle: in the absence of sub-drive, the user select a different number of- 4 -phases depends mainly on the stepper motor to meet their own requirements on the step angle，If you use the sub-drive, the user can change the drive number of segments, can dramatically cha

29、nge 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-performance CMOS 8-bit microcomputer with 4K bytesof Flash programmable and erasable read only memory (PEROM). The dev

30、ice is manufacturedusing Atmel shigh-densitynonvolatile memorytechnology and iscompatible withtheindustry-standard MCS-51 instruction set and pinout. The on-chip Flash allows the programmemory to be reprogrammed in-system or by a conventional nonvolatile memory programmer.By combining a versatile 8-

31、bit CPU with Flash on a monolithic chip, the Atmel AT89C51 is apowerful microcomputer which provides a highly-flexible and cost-effective solution to manyembedded control applications.Function characteristicThe AT89C51 provides the following standard features: 4K bytes of Flash, 128 bytes of RAM, 32

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 AT89C51 is designed with static logic for operation down to zero frequency and supports two software selectable power saving mode

33、s. 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 but freezes the oscillator disabling all other chip functions until the next hardware reset. Pin DescriptionVCC ：Supply voltage.

34、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 can be used as highimpedance inputs.Port 0 may also be configured to be the multiplexed loworder address/databus during- 5 -ac

35、cesses 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 programverification. External pullups are required during programverification. Port 1Port 1 is an 8-bit bi-directional I/O p

36、ort with internal pullups.The Port 1 output buffers cansink/source four TTL inputs.When 1s are written to Port 1 pins they are pulled high by theinternal pullups and can be used as inputs. As inputs,Port 1 pins that are externally being pulled low will source current (IIL) because of the internal pu

37、llups.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 2 output buffers cansink/source four TTL inputs.When 1s are written to Port 2 pins they are pulled high by theinternal pul

38、lups 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 address byte during fetches from external program memory and during accesses to external data memory that use 16-bit addresses.

39、In this application, it uses strong internal pullupswhen emitting 1s. During accessesto external data memory that use 8-bit addresses,Port 2 emits the contents of the P2 Special Function Register.Port 2 also receives the high-order address bits and some control signals during Flash programming and v

40、erification. Port 3Port 3 is an 8-bit bi-directional I/O port with internal pullups.The Port 3 output buffers cansink/source four TTL inputs.When 1s are written to Port 3 pins they are pulled high by the internal pullups and can be used as inputs. As inputs,Port 3 pins that are externally being pull

41、ed 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:- 6 -Port 3 also receives some control signals for Flash programming and verification.RSTReset input. A high on this pin for two machine cycles while th

42、e 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 the program pulse input (PROG) during Flash programming.In normal operation ALE is emitted at a constant rate of 1/6 the o

43、scillator 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, 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

44、MOVC instruction. Otherwise, the pin is weakly pulledhigh. Setting the ALE-disable bit has no effect if the microcontroller is in external executionmode.PSENProgram Store Enable is the read strobe to external program memory.When the AT89C51 is executing code from external program memory, PSEN is act

45、ivated 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 GND in order to enable the device to fetch- 7 -code from external program memory locations starting at 0000H up to FFFFH. Not

46、e, 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 programming enable voltage(VPP) during Flash programming, for parts that require12-volt VPP.XTAL1Input to the inverting

47、 oscillator amplifier and input to the internal clock operating circuit. XTAL2Output from the inverting oscillator amplifier.Oscillator CharacteristicsXTAL1 and XTAL2 are the input and output, respectively,of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown i

48、n 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 shown in Figure 2.There are no requirements on the duty cycle of the external clock signal, since the input to the interna

49、l 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 ConnectionsFigure 2. External Clock Drive ConfigurationIdle ModeIn idle mode, the CPU puts itself to sleep while all the onchip peripheral

50、s 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 terminated by any enabled- 8 -interrupt or by a hardware reset.It should be noted that when idle is terminated by a hard wa

51、rereset, the device normally resumes program execution,from where it left off, up to two machinecycles before the internal reset algorithm takes control. On-chip hardware inhibits access tointernal RAMin this event, but access to the port pins is not inhibited. To eliminate thepossibility of an unex

52、pected write to a port pin when Idle is terminated by reset, the instructionfollowing the one that invokes Idle should not be one that writes to a port pin or to externalmemory.Power-down ModeIn the power-down mode, the oscillator is stopped, and the instruction that invokes power-down is the last i

53、nstruction 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 reset. Reset redefines the SFRs but does not change the on-chip RAM. The reset should not be activated before VCC is restored t

54、o its normal operating level and must be held active long enough to allow the oscillator to restart and stabilize.- 9 -中文譯文：步進(jìn)電機(jī)的知識(shí)什么是步進(jìn)電機(jī)：步進(jìn)電機(jī)是一種把電脈沖轉(zhuǎn)化為角位移的執(zhí)行機(jī)構(gòu)。通俗的說(shuō)：當(dāng)驅(qū)動(dòng)程序收到一個(gè)步進(jìn)脈沖信號(hào)，將驅(qū)動(dòng)步進(jìn)電機(jī)軸旋轉(zhuǎn)一個(gè)固定的角度（步進(jìn)角）。您可以通過(guò)控制脈沖個(gè)數(shù)來(lái)控制角位移， 從而達(dá)到準(zhǔn)確定位的目的 ; 同時(shí)，你可以通過(guò)控制脈沖頻率來(lái)控制電機(jī)的旋轉(zhuǎn)速度和加速度，實(shí)現(xiàn)速度控制的目的。步進(jìn)電機(jī)的種類：步進(jìn)電機(jī)分為三種：永磁式（P

55、M），反應(yīng)式（VR）和混合式（HR）永磁式步進(jìn)電機(jī)一般為兩相，轉(zhuǎn)矩和體積較小，步進(jìn)角一步7.5 度或 15 度 ; 反應(yīng)式一般有三相可以實(shí)現(xiàn)大轉(zhuǎn)矩輸出，步進(jìn)角一般是1.5 度，但噪聲和振動(dòng)大。在歐洲和美洲80 個(gè)國(guó)家已被淘汰 ; 混合式步進(jìn)是混合了永磁式和反應(yīng)的優(yōu)勢(shì)。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(jìn)電機(jī)。步進(jìn)電機(jī)允許的最高表面溫度步進(jìn)電機(jī)溫度過(guò)高首先會(huì)的磁性材料退磁，導(dǎo)致轉(zhuǎn)矩降低甚至失步，電機(jī)表面溫度允許的最大值取決于的磁性材料退磁點(diǎn); 一般來(lái)說(shuō)，磁性材料退磁點(diǎn)在攝氏130 度以上有些材料甚至高達(dá)攝氏200 度高，所以步進(jìn)電機(jī)表

56、面溫度在攝氏80-90 度是正常的。步進(jìn)電機(jī)精度為多少？是否累積一般步進(jìn)電機(jī)的精度為步進(jìn)角的3-5%，且不累積如何確定步進(jìn)電機(jī)驅(qū)動(dòng)器直流電源電壓確定混合式步進(jìn)電機(jī)驅(qū)動(dòng)器的電源電壓范圍較廣 （比如 IM483 的供電電壓 12? 48VDC），電源電壓通常根據(jù)電機(jī)的轉(zhuǎn)速和響應(yīng)要求來(lái)選擇。如果要求較快的運(yùn)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(guò)驅(qū)動(dòng)器的最大輸入電壓，否則可能會(huì)損壞驅(qū)動(dòng)器。B. 電流確定電源電流一般根據(jù)輸出相電流I 來(lái)確定。如果采用線性電源，電源電流一般可取I 的 1.1 ? 1.3 倍 ; 如果采用開(kāi)關(guān)電源，電源電流一般可取I 的 1.5 ? 2.0 倍。

57、步進(jìn)電機(jī)的主要特性在步進(jìn)電機(jī)關(guān)機(jī)時(shí)要確保沒(méi)有脈沖信號(hào)，當(dāng)電機(jī)運(yùn)行時(shí)如果加入適當(dāng)?shù)拿}沖信號(hào)，它會(huì)轉(zhuǎn)過(guò)一定的角度（稱為步距角是）。轉(zhuǎn)速與脈沖頻率成正比。龍式步進(jìn)電機(jī)步距角 7.5 度，旋轉(zhuǎn) 360 度，需要 48 個(gè)脈沖來(lái)完成。步進(jìn)電機(jī)具有快速啟動(dòng)和停止的優(yōu)良特性。只要改變脈沖，可以很容易地改變電機(jī)軸旋轉(zhuǎn)的方向。因此，目前的打印機(jī)，繪圖儀，機(jī)器人設(shè)備以步進(jìn)電機(jī)作為動(dòng)力核心。步進(jìn)電機(jī)控制的例子我們以四相單極步進(jìn)電機(jī)為例：-10-四個(gè)相繞組引出四個(gè)相和兩個(gè)公共線（連接到正極）。一相接地。會(huì)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(guò)來(lái)，會(huì)提高分辨率。步距角0.9 ，可以轉(zhuǎn)移到控制電

58、機(jī)勵(lì)磁是為了轉(zhuǎn)移如下：如果電機(jī)反轉(zhuǎn)的要求，傳輸?shù)募?lì)信號(hào)可以逆轉(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(jī)程序主要用于現(xiàn)場(chǎng)信號(hào)的采集和通過(guò)步進(jìn)電機(jī)的運(yùn)轉(zhuǎn)來(lái)計(jì)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。具有高阻抗， 電可擦除等特點(diǎn)， 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(hào)輸出到步進(jìn)電機(jī)驅(qū)動(dòng)器，從微

59、控制器發(fā)送的信息。輸入后把控制信號(hào)發(fā)送到驅(qū)動(dòng)電機(jī)繞組，以達(dá)到有效控制電機(jī)的目的。2.1為電機(jī)驅(qū)動(dòng)器的硬件結(jié)構(gòu)電機(jī)驅(qū)動(dòng)器通過(guò)下面的電路來(lái)實(shí)現(xiàn)：R1? R8的電阻值為 320 。R9-R12 的電阻值為 2.2K 。Q1? Q4作為達(dá)林頓 401A， Q5-Q8 為 S8550。 J1 ， J2 和步進(jìn)電機(jī)連接到六個(gè)接口。步進(jìn)電機(jī)優(yōu)點(diǎn)和缺點(diǎn)優(yōu)勢(shì)1。電機(jī)的旋轉(zhuǎn)角度與脈沖數(shù)成正比;2。當(dāng)電機(jī)停轉(zhuǎn)為最大轉(zhuǎn)矩（當(dāng)繞組勵(lì)磁時(shí)）;3。由于每一步準(zhǔn)確度為百分之三到五，而且誤差不會(huì)累積到下一步，因而具有更好定位精度和重復(fù)定位精度 ;4。優(yōu)良的啟動(dòng)和制動(dòng)特性 _;5。沒(méi)有電刷，可靠性高，電機(jī)的壽命只是取決于電機(jī)軸承

60、;6。電機(jī) _僅由輸入脈沖數(shù)決定，可用于開(kāi)環(huán)控制，這使得電機(jī)和控制結(jié)構(gòu)確定相對(duì)簡(jiǎn)單系統(tǒng)成本7。只是負(fù)載直接連接到電機(jī)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(duì)較寬的調(diào)速范圍缺點(diǎn)1。如果沒(méi)有適當(dāng)?shù)目刂疲菀坠舱?2。高速操作難度較大3。難以獲得大轉(zhuǎn)矩4。沒(méi)有體積小，重量輕，能耗低，效率高等方面優(yōu)勢(shì)5。過(guò)載時(shí)會(huì)破壞同步性，工作時(shí)會(huì)發(fā)出時(shí)較大的振動(dòng)和噪音步進(jìn)電機(jī)驅(qū)動(dòng)要求1）為了滿足速度迅速上升或下降的要求，波形應(yīng)當(dāng)盡可能接近矩形以釋放回路電流流，繞組兩端的反電動(dòng)勢(shì)，加速電流衰減2）具有較高功率和效率步進(jìn)電機(jī)驅(qū)動(dòng)器，把輸入的脈沖信號(hào)轉(zhuǎn)化為角位移，每當(dāng)控制系統(tǒng)發(fā)出一個(gè)脈沖信號(hào)，步進(jìn)電機(jī)