英文文獻(xiàn)及其翻譯

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（PM）,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。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。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。2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。3步進(jìn)電機(jī)具有快速啟動(dòng)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(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：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+5VCPLD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320Q。R9-R12的電阻值為2.2KQ。Q1?Q4作為達(dá)林頓401A,Q5-Q8為S8550oJ1，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；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?，容易共振?。 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)驅(qū)動(dòng)就旋轉(zhuǎn)一個(gè)步距角，步進(jìn)電機(jī)的速度與的脈沖信號(hào)頻率成正比，因此，通過(guò)控制脈沖信號(hào)頻率，就可以精確控制電機(jī)轉(zhuǎn)速步進(jìn)脈沖數(shù)決定準(zhǔn)確連接為電機(jī)步進(jìn)電機(jī)驅(qū)動(dòng)器有很多，我們應(yīng)該根據(jù)功率采取的合理的方式選擇驅(qū)動(dòng)器最新的技術(shù)發(fā)展國(guó)內(nèi)和國(guó)際上對(duì)于驅(qū)動(dòng)技術(shù)的研究十分活躍，高性能子驅(qū)動(dòng)電路可以細(xì)分成幾千部分甚至任意細(xì)分，現(xiàn)在已經(jīng)能夠做到通過(guò)復(fù)雜的計(jì)算統(tǒng)一步距角，大大提高了步進(jìn)電機(jī)的脈沖分辨率，減少或消除振動(dòng)，噪聲和轉(zhuǎn)矩波動(dòng)，步進(jìn)電機(jī)有了更多“類伺服”功能實(shí)際作用：步距角細(xì)分驅(qū)動(dòng)器出現(xiàn)之前，用戶需要選擇不同的相來(lái)獲取不同的步進(jìn)電機(jī)步距角，以滿足自己的要求，如果使用細(xì)分驅(qū)動(dòng)器，用戶可以通過(guò)更改驅(qū)動(dòng)器號(hào)段，來(lái)改變實(shí)際的步距角，相數(shù)對(duì)實(shí)際步距角的作用幾乎可以忽略不計(jì)AT89C51的介紹描述AT89C51是一個(gè)擁有4K字節(jié)FLASH編程功能和可擦除只讀儲(chǔ)存器的低功耗，高性能CMOS8位微機(jī)（PEROM）。該設(shè)備是采用Atmel的高密度非易失性內(nèi)存技術(shù)并與工業(yè)標(biāo)準(zhǔn)的的MCS-51指令集和引腳兼容。芯片上的Flash允許程序存儲(chǔ)器通過(guò)系統(tǒng)或由傳統(tǒng)的非易失性存儲(chǔ)器編程重新編程。通過(guò)把一個(gè)多功能8位CPU與一個(gè)單一的芯片上的Flash相結(jié)合的，Atmel的AT89C51是一個(gè)功能強(qiáng)大微型計(jì)算機(jī)為許多嵌入式控制程序提供了高度靈活和成本效益的解決方案。功能特點(diǎn)AT89C51具有以下功能：4K字節(jié)的Flash，128字節(jié)RAM，32I/O口，兩個(gè)16位定時(shí)器/計(jì)數(shù)器，一個(gè)五向量2級(jí)中斷機(jī)構(gòu)，一個(gè)全雙工串行口，芯片振蕩器和時(shí)鐘電路。此外，AT89C51支持頻率為0的靜態(tài)邏輯運(yùn)算,并支持兩種節(jié)電模式?？臻e模式時(shí)CPU停止工作，同時(shí)允許RAM,定時(shí)器/計(jì)數(shù)器，串口和中斷系統(tǒng)繼續(xù)運(yùn)作。掉電模式保存RAM的內(nèi)容，但凍結(jié)振蕩器，禁用所有其他芯片功能，直到硬件復(fù)位。引腳描述VCC：電源電壓GND：地端口0：端口0是一個(gè)8位漏極開(kāi)路雙向I/O端口。作為一個(gè)輸出端口，每個(gè)引腳可以驅(qū)動(dòng)8個(gè)TTL輸入端。當(dāng)1寫(xiě)入端口0引腳，引腳可作為高阻輸入端.端口0也可以設(shè)定成地址/數(shù)據(jù)在訪問(wèn)外部程序和數(shù)據(jù)存儲(chǔ)器時(shí)的總線。在這種模式下，口0內(nèi)部上拉?電阻口0在Flash編程期間也可以收到代碼字節(jié)，輸出程序改變的代碼字節(jié)。程序改變期間還要外部上拉電阻端口1端口1是一個(gè)具有內(nèi)部上拉電阻的8位雙向I/O端口端口1輸出緩沖器可以驅(qū)動(dòng)四個(gè)TTL輸入?當(dāng)1被寫(xiě)入端口1它們被內(nèi)部上拉電阻上拉為高電平并可以用作輸入口。作為輸入口時(shí)，由于內(nèi)部上拉電阻的作用，引腳被外部信號(hào)拉低時(shí)輸出一個(gè)電流，flash編程和校驗(yàn)時(shí)端口1也會(huì)接收到低地址信號(hào)。端口2端口2是一個(gè)具有內(nèi)部上拉電阻的8位雙向I/O端口。端口2輸出緩沖器可以驅(qū)動(dòng)四個(gè)TTL輸入。當(dāng)1S寫(xiě)入端口2引腳他們被內(nèi)部上拉電阻拉到高電平，并可以用作輸入口。作為輸入口時(shí)，由于內(nèi)部上拉電阻的做用，端口2引腳被外部信號(hào)拉至低電平時(shí)，將輸出電流，端口2在訪問(wèn)使用16位地址的外部數(shù)據(jù)存儲(chǔ)器時(shí)發(fā)出的高位地址字節(jié)。在此應(yīng)用中，它采用強(qiáng)大的內(nèi)部上拉電阻，發(fā)光1S。在訪問(wèn)使用8位地址的外部數(shù)據(jù)存儲(chǔ)器時(shí)，端口2也會(huì)收到一些高八位地址信號(hào)或者控制信號(hào)。端口3端口3是一個(gè)具有內(nèi)部上拉電阻的8位雙向I/O端口。端口3輸出緩沖器可以驅(qū)動(dòng)四個(gè)TTL輸入。當(dāng)1S被寫(xiě)入端口3的引腳，他們被內(nèi)部上拉電阻拉到高電平，并可以用作輸入口。作為輸入口時(shí)，由于內(nèi)部上拉電阻的做用，端口2引腳被外部信號(hào)拉至低電平時(shí)，將輸出電流。端口3還為AT89C51提供各種特殊功能，如下：端口引腳第二功能P3.0RXDP3.1TXDP3.2INT0P3.3INT1P3.4T0P3.5T1P3.6WRP3.7RDRST復(fù)位輸入引腳。震蕩器運(yùn)行時(shí)，兩個(gè)運(yùn)行周期的高電平將使設(shè)備復(fù)位。ALE/PROG在訪問(wèn)外部存儲(chǔ)器時(shí)地址鎖存使能輸出脈沖鎖存的低八位地址。該引腳也是程序在Flash編程時(shí)的PROG。正常運(yùn)行時(shí)ALE以恒定的速率發(fā)出振蕩頻率的1/6的脈沖信號(hào)，可用作外部時(shí)鐘或定時(shí)。但是請(qǐng)注意,，在每次訪問(wèn)外部數(shù)據(jù)存儲(chǔ)器都有一個(gè)ALE脈沖跳過(guò)。。如果需要，可以通過(guò)把0SFR置位為8EH來(lái)禁用ALE。此時(shí)，ALE僅執(zhí)行MOVX或MOVC指令。如果單片機(jī)在執(zhí)行外部的工作，應(yīng)將ALE設(shè)置為禁用。PSEN程序儲(chǔ)存允許輸出是外部程序存儲(chǔ)器的讀選通信號(hào)，當(dāng)AT89C51由外部程序存儲(chǔ)器讀取指令時(shí)，每個(gè)機(jī)器周期兩次PSEN有效，即輸出兩個(gè)脈沖。在此期間，當(dāng)訪問(wèn)外部數(shù)據(jù)存儲(chǔ)器時(shí)，這兩次有效的PSEN信號(hào)不出現(xiàn)。EA/VPP外部訪問(wèn)允許。EA必須綁到GND才能使設(shè)備開(kāi)始在0000H到FFFFH位取代碼。但是請(qǐng)注意，如果鎖存位1被編程，EA將鎖存位置上復(fù)位。若EA為高電平則單片機(jī)執(zhí)行內(nèi)部程序。在Flash編程時(shí)，也可以使用使用12V編程電壓VCCXTAL1：震蕩器反相放大器及內(nèi)部時(shí)鐘發(fā)生器的輸入端。XTAL2：震蕩器反相放大器的輸出端。時(shí)鐘振蕩器的特性時(shí)鐘振蕩器是可以設(shè)置為內(nèi)部振蕩器的反相放大器XTAL1和XTAL2分別為其出入端和輸出端，如圖1所示。石英晶體或陶瓷諧振器都可以作為其材料。如圖2所示要想通過(guò)外部時(shí)鐘來(lái)驅(qū)動(dòng)它，XTAL1工作時(shí)XTAL2應(yīng)懸空。對(duì)外部時(shí)鐘信號(hào)的占空比沒(méi)有特殊要求，因?yàn)橥獠繒r(shí)鐘信號(hào)是通過(guò)一個(gè)2分頻觸發(fā)器后作為內(nèi)部時(shí)鐘信號(hào)的，但最小高電平持續(xù)時(shí)間和最大的低電平持續(xù)時(shí)間應(yīng)該符合要求。

XTAL1外部振蕩電路EXTERNALOSCILLATORSIGNAL內(nèi)部振蕩電路閑散模式XTAL1外部振蕩電路EXTERNALOSCILLATORSIGNAL在閑散模式下，CPU停止工作，而所有其他元件依然處于工作狀態(tài)。該模式是通過(guò)軟件控制的。這種模式下，片上RAM和所有特殊功能寄存器的內(nèi)部數(shù)據(jù)不變。該模式可以由任何可用的終止指令或者硬件重置來(lái)終止當(dāng)由硬件復(fù)位來(lái)終止閑散工作模式時(shí)，中央處理器CPU通常是從激活空閑模式那條指令的下一條開(kāi)始繼續(xù)執(zhí)行程序的，要完成內(nèi)部復(fù)位操作，硬件復(fù)位脈沖要保持兩個(gè)機(jī)器周期有效，在這種情況下，內(nèi)部禁止中央處理器CPU訪問(wèn)片內(nèi)RAM,而允許訪問(wèn)其他端口，這是為了避免可能對(duì)端口產(chǎn)生的意外寫(xiě)入：激活空閑模式的指令后面的一條指令不應(yīng)是一條對(duì)端口或外部存儲(chǔ)器的寫(xiě)入指令。掉電模式在掉電模式下，振蕩器停止運(yùn)行，斷電指令是最后一條要執(zhí)行的指令。片上RAM和特殊功能寄存器保持原值，直到掉電模式終止。終止掉電唯一的方式是硬件復(fù)位。復(fù)位將重置SFR，但不改變RAM的內(nèi)容。復(fù)位不能被激活，直到VCC恢復(fù)到其正常水平，以確保有足夠長(zhǎng)的時(shí)間使振蕩器重新啟動(dòng)并穩(wěn)定。。模式程序存儲(chǔ)器ALEPSENP0P1P2P3閑散模式內(nèi)部11數(shù)據(jù)數(shù)據(jù)數(shù)據(jù)數(shù)據(jù)閑散模式內(nèi)部11浮空數(shù)據(jù)地址數(shù)據(jù)掉電模式外部00數(shù)據(jù)數(shù)據(jù)數(shù)據(jù)數(shù)據(jù)掉電模式外部00數(shù)據(jù)數(shù)據(jù)數(shù)據(jù)數(shù)據(jù)KnowledgeofTheStepperMotorWhatisasteppermotor：Steppermotorisakindofelectricalpulsesintoangulardisplacementoftheimplementingagency.Popularlittlelesson:Whenthedriverreceivesasteppulsesignal,itwilldriveasteppermotortosetthedirectionofrotationatafixedangle(andthestepangle).Youcancontrolthenumberofpulsestocontroltheangulardisplacement,soastoachieveaccuratepositioningpurposes;thesametimeyoucancontrolthepulsefrequencytocontrolthemotorrotationspeedandacceleration,toachievespeedcontrolpurposes.Whatkindsofsteppermotorsub-：Inthreesteppermotors:permanentmagnet(PM),reactive(VR)andhybrid(HB)permanentmagnetstepperusuallytwo-phase,torque,andsmaller,stepangleof7.5degreesorthegeneral15degrees;reactionstepisgenerallythree-phase,canachievehightorqueoutput,stepangleof1.5degreesisgenerally,butthenoiseandvibrationarelarge.80countriesinEuropeandAmericahavebeeneliminated;hybridstepperisamixofpermanentmagnetandreactiveadvantages.Itconsistsoftwophasesandthefive-phase:two-phasestepangleof1.8degreeswhilethegeneralfive-phasestepangleof0.72degreesgenerally.ThemostwidelyusedStepperMotor.Whatistokeepthetorque(HOLDINGTORQUE)Howmuchprecisionsteppermotor?Whetherthecumulative：Thegeneralaccuracyofthesteppermotorstepangleof3-5%,andnotcumulative.SteppermotortoallowtheminimumamountofsurfacetemperatureSteppermotortoallowtheminimumamountofsurfacetemperature：Steppermotorcausesthemotortemperatureistoohighthefirstmagneticdemagnetization,resultinginlossoftorquedownevenfurther,sothemotorsurfacetemperatureshouldbethemaximumalloweddependingonthemotordemagnetizationofmagneticmaterialpoints;Generallyspeaking,themagneticdemagnetizationpointsareabove130degreesCelsius,andsomeevenashighas200degreesCelsius,sothesteppermotorsurfacetemperatureof80-90degreesCelsiusisnormal.HowtodeterminethesteppermotordriverDCpowersupply：A.DeterminationofthevoltageHybridsteppingmotordriverpowersupplyvoltageisgenerallyawiderange(suchastheIM483supplyvoltageof12~48VDC),thesupplyvoltageisusuallybasedontheworkofthemotorspeedandresponsetotherequesttochoose.Ifthemotoroperatingspeedhigherorfasterresponsetotherequest,thenthevoltagevalueishigh,butnotethattheripplevoltagecannotexceedthemaximuminputvoltageofthedrive,oritmaydamagethedrive.B.DeterminationofCurrentPowersupplycurrentisgenerallybasedontheoutputphasecurrentdriveItodetermine.Ifalinearpowersupply,powersupplycurrentisgenerallypreferable1.1to1.3timestheI;ifweadopttheswitchingpowersupply,powersupplycurrentisgenerallypreferabletoI,1.5to2.0times.Themaincharacteristicsofsteppingmotor：Asteppermotordrivecanbeaddedoperatepulsedrivesignalmustbenopulsewhenthesteppermotoratrest,suchasIfaddingtheappropriatepulsesignal,itwilltoacertainangle(calledthestepangle)rotation.Rotationspeedandpulsefrequencyisproportionalto.2Dragonstepanglesteppermotorversionis7.5degrees,360degreesaround,takes48pulsestocomplete.3steppermotorhasinstantstartandrapidcessationofsuperiorcharacteristics.Changethepulseoftheorderof4,youcaneasilychangethedirectionofrotation.Therefore,thecurrentprinters,plotters,robotics,andsodevicesarethecoreofthesteppermotorasthedrivingforce.SteppermotorcontrolexampleWeusefour-phaseunipolarsteppermotorasanexample.ThestructureshowninFigure1:Fourfour-phasewindingleads(asopposedtophaseA1A2B1phasephaseB2)andtwopubliclines(tothepowerofpositive).Thewindingsofonephasetothepoweroftheground.Sothatthewindingswillbeinspired.Weusefour-phaseeight-beatcontrol,ie,1phase2phasealternatingturn,wouldenhanceresolution.0.9°perstepcanbetransferredtocontrolthemotorexcitationistransferredinorderasfollows:Iftherequirementsofmotorreversal,thetransmissionexcitationsignalcanbereversed.2controlschemeControlsystemblockdiagramisasfollowsTheprogramusesAT89S51asthemaincontroldevice.ItiscompatiblewiththeAT89C51,butalsoincreasedtheSPIinterfaceandthewatchdogmodule,whichnotonlymakesthedebuggingprocessbecomeseasyandalsomorestable.Themicrocontrollerintheprogrammainlyforfieldsignalacquisitionandoperationofthesteppermotortocalculatethedirectionandspeedinformation.ThensenttotheCPLD.CPLDwithEPM7128SLC84-15,EPM7128programmablelogicdeviceoflarge-scale,fortheALTERAcompany'sMAX7000family.Highimpedance,electricallyerasableandothercharacteristics,canbeusedforthe2500unit,theworkingvoltageof+5V.CPLDreceivesinformationsentfromthemicrocontrollerafterconvertedtothecorrespondingcontrolsignaloutputtothesteppermotordrive.Putthecontrolsignaldrivesthemotorwindingsaftertheinput,toachieveeffectivecontrolofthemotor.2.1ThehardwarestructureofthemotordriveMotordriveusingthefollowingcircuit:R1-R8inwhichtheresistancevalueof320Q.R9-R12resistancevalue2.2KQ.Q1-Q4asDarlingtonD401A,Q5-Q8fortheS8550.J1,J2andthesteppermotorconnectedtothesix-lead。AdvantagesanddisadvantagesofsteppermotorAdvantagesThemotorrotationangleisproportionaltothenumberofpulses;Whenthemotorstoppedwithamaximumtorque(whenthewindingexcitationtime);Sincetheaccuracyofeachstepinthethreepercenttofivepercent,andtheerrorwillnotaccumulatetothenextstepandthushasbetterpositionalaccuracyandrepeatabilityofmovement;Excellentresponsefromthestopandreverse;Intheabsenceofbrush,highreliability,itjustdependsonthelifeofthemotorbearinglife;Motorresponseonlydeterminedbythenumberofinputpulses,whichcanbeusedopenloopcontrol,whichmakesthemotorandcontrolstructurecanberelativelysimpleSystemcostJustloaddirectlyconnectedtothemotorshaftcanalsobeextremelyslowsynchronousrotation.Speedisproportionaltothepulsefrequency,andthusarelativelywidespeedrange.ShortcomingsIfnotproperlycontrolledpronetoresonance;Difficultoperationtoahigherspeed.DifficulttoobtainhightorqueThereisnoadvantageintermsofvolumeweight,lowenergyefficiency.Overloadwilldestroythesynchronization,theworkwillbeissuedwhenhigh-speedvibrationandnoise.Steppermotordriverequirements(1)toprovidefastriseandfallofcurrentspeed,thecurrentwaveformascloseaspossiblerectangle.Fortheperiodendedwiththereleaseoftheloopcurrentflow,toreducethewindingendsofthebackelectromotiveforce,toacceleratethecurrentdecay.(2)rhymewithhigherpowerandefficiency.Steppermotordriver,whichisthecontrolpulsesignalemittedintotheangulardisplacementofthesteppermotor,or:thecontrolsystemsendsapulsesignaleachthroughthesteppermotordrivetorotateastepangle.Thatisthesteppermotorspeedisproportionaltothefrequencyandpulsesignals.Therefore,thefrequencycontrolpulsesignal,tobeprecisemotorspeedcontrol;controlthenumberofsteppulsestoconnectthemotoraccurately.Steppermotordrivetherearemany,weshouldtakeareasonablechoiceofpowerrequirementsofthedrive,thefollowingwereintroducedvarioustypesoftypicaldrive.ThelatesttechnologicaldevelopmentsDomesticandinternationalresearchonthesub-drivetechnologyisveryactive,high-performancesub-drivercircuitcanbebrokendownintothousandsorevenanysubdivision.Nowabletodocomplicatedcalculationstomakeafterthebreakdownofuniformstepangle,whichgreatlyimprovestheresolutionofsteppermotorpulses,reduceoreliminatethevibration,noiseandtorqueripple,thesteppermotorismore"classserver"feature.Theactualroleofstepangle:intheabsenceofsub-drive,theuserselectadifferentnumberofphasesdependsmainlyonthesteppermotortomeettheirownrequirementsonthestepangle，Ifyouusethesub-drive,theusercanchangethedrivenumberofsegments,candramaticallychangetheactualstepanglesteppermotor'phases'ofchangeintheroleoftheactualstepangleisalmostnegligible.IntroductionofAT89C51DescriptionTheAT89C51isalow-power,high-performanceCMOS8-bitmicrocomputerwith4KbytesofFlashprogrammableanderasablereadonlymemory(PEROM).ThedeviceismanufacturedusingAtmel'shigh-densitynonvolatilememorytechnologyandiscompatiblewiththeindustry-standardMCS-51instructionsetandpinout.Theon-chipFlashallowstheprogrammemorytobereprogrammedin-systemorbyaconventionalnonvolatilememoryprogrammer.Bycombiningaversatile8-bitCPUwithFlashonamonolithicchip,theAtmelAT89C51isapowerfulmicrocomputerwhichprovidesahighly-flexibleandcost-effectivesolutiontomanyembeddedcontrolapplications.FunctioncharacteristicTheAT89C51providesthefollowingstandardfeatures:4KbytesofFlash,128bytesofRAM,32I/Olines,two16-bittimer/counters,afivevectortwo-levelinterruptarchitecture,afullduplexserialport,on-chiposcillatorandclockcircuitry.Inaddition,theAT89C51isdesignedwithstaticlogicforoperationdowntozerofrequencyandsupportstwosoftwareselectablepowersavingmodes.TheIdleModestopstheCPUwhileallowingtheRAM,timer/counters,serialportandinterruptsystemtocontinuefunctioning.ThePower-downModesavestheRAMcontentsbutfreezestheoscillatordisablingallotherchipfunctionsuntilthenexthardwarereset.PinDescriptionVCC：Supplyvoltage.GND：Ground.Port0：Port0isan8-bitopen-drainbi-directionalI/Oport.Asanoutputport,eachpincansinkeightTTLinputs.When1sarewrittentoport0pins,thepinscanbeusedashighimpedanceinputs.Port0mayalsobeconfiguredtobethemultiplexedloworderaddress/databusduringaccessestoexternalprogramanddatamemory.InthismodeP0hasinternalpullups.Port0alsoreceivesthecodebytesduringFlashprogramming,andoutputsthecodebytesduringprogramverification.Externalpullupsarerequiredduringprogramverification.Port1Port1isan8-bitbi-directionalI/Oportwithinternalpullups.ThePort1outputbufferscansink/sourcefourTTLinputs.When1sarewrittentoPort1pinstheyarepulledhighbytheinternalpullupsandcanbeusedasinputs.Asinputs,Port1pinsthatareexternallybeingpulledlowwillsourcecurrent(IIL)becauseoftheinternalpullups.Port1alsoreceivesthelow-orderaddressbytesduringFlashprogrammingandverification.Port2Port2isan8-bitbi-directionalI/Oportwithinternalpullups.ThePort2outputbufferscansink/sourcefourTTLinputs.When1sarewrittentoPort2pinstheyarepulledhighbytheinternalpullupsandcanbeusedasinputs.Asinputs,Port2pinsthatareexternallybeingpulledlowwillsourcecurrent,becauseoftheinternalpullups.Port2emitsthehigh-orderaddressbyteduringfetchesfromexternalprogrammemoryandduringaccessestoexternaldatamemorythatuse16-bitaddresses.Inthisapplication,itusesstronginternalpullupswhenemitting1s.Duringaccessestoexternaldatamemorythatuse8-bitaddresses,Port2emitsthecontentsoftheP2SpecialFunctionRegister.Port2alsoreceivesthehigh-orderaddressbitsandsomecontrolsignalsduringFlashprogrammingandverification.Port3Port3isan8-bitbi-directionalI/Oportwithinternalpullups.ThePort3outputbufferscansink/sourcefourTTLinputs.When1sarewrittentoPort3pinstheyarepulledhighbytheinternalpullupsandcanbeusedasinputs.Asinputs,Port3pinsthatareexternallybeingpulledlowwillsourcecurrent(IIL)becauseofthepullups.Port3alsoservesthefunctionsofvariousspecialfeaturesoftheAT89C51aslistedbelow:PortPinAlternateFunctionsP3.0RXD(serialinputport)P3.1TXD(serialoutputport)P3-2INTO(externalinterrupt0)P3.3INT1(externalinterruptV)P茂4TO(timer0externalinput；P3.5T1(timer1externalinput}P3.6WR(exte-rnaldatame-morywritestrobe)P3.7RD(externaldatamemaryreadstrobe)Port3alsoreceivessomecontrolsignalsforFlashprogrammingandverification.RSTResetinput.Ahighonthispinfortwomachinecycleswhiletheoscillatorisrunningresetsthedevice.ALE/PROGAddressLatchEnableoutputpulseforlatchingthelowbyteoftheaddressduringaccessestoexternalmemory.Thispinisalsotheprogrampulseinput(PROG)duringFlashprogramming.InnormaloperationALEisemittedataconstantrateof1/6theoscillatorfrequency,andmaybeusedforexternaltimingorclockingpurposes.Note,however,thatoneALEpulseisskippedduringeachaccesstoexternalDataMemory.Ifdesired,ALEoperationcanbedisabledbysettingbit0ofSFRlocation8EH.Withthebitset,ALEisactiveonlyduringaMOVXorMOVCinstruction.Otherwise,thepinisweaklypulledhigh.SettingtheALE-disablebithasnoeffectifthemicrocontrollerisinexternalexecutionmode.PSENProgramStoreEnableisthereadstrobetoexternalprogrammemory.WhentheAT89C51isexecutingcodefromexternalprogrammemory,PSENisactivatedtwiceeachmachinecycle,exceptthattwoPSENactivationsareskippedduringeachaccesstoexternaldatamemory.EA/VPPExternalAccessEnable.EAmustbestrappedtoGNDinordertoenablethedevicetofetchcodefromexternalprogrammemorylocationsstartingat0000HuptoFFFFH.Note,however,thatiflockbit1isprogrammed,EAwillbeinternallylatchedonreset.EAshouldbestrappedtoVCCforinternalprogramexecutions.Thispinalsoreceivesthe12-voltprogrammingenablevoltage(VPP)duringFlashprogramming,forpartsthatrequire12-voltVPP.XTAL1Inputtotheinvertingoscillatoramplifierandinputtotheinternalclockoperatingcircuit.XTAL2Outputfromtheinvertingoscillatoramplifier.OscillatorCharacteristicsXTAL1andXTAL2aretheinputando