步進(jìn)電機(jī)控制系統(tǒng)外文翻譯文獻(xiàn)

步進(jìn)電機(jī)控制系統(tǒng)外文翻譯文獻(xiàn)步進(jìn)電機(jī)控制系統(tǒng)外文翻譯文獻(xiàn)步進(jìn)電機(jī)控制系統(tǒng)外文翻譯文獻(xiàn)(文檔含中英文對照即英文原文和中文翻譯)譯文：步進(jìn)電機(jī)運(yùn)動控制系統(tǒng)設(shè)計(jì)論文關(guān)鍵詞：步進(jìn)電機(jī)單片機(jī)調(diào)速系統(tǒng)論文摘要：步進(jìn)電機(jī)是將電脈沖信號轉(zhuǎn)變?yōu)榻俏灰苹蚓€位移的開環(huán)控制元件。在非超載的情況下，電機(jī)的轉(zhuǎn)速、停止的位置只取決于脈沖信號的頻率和脈沖數(shù)，而不受負(fù)載變化的影響，即給電機(jī)加一個(gè)脈沖信號，電機(jī)則轉(zhuǎn)過一個(gè)步距角。這一線性關(guān)系的存在，加上步進(jìn)電機(jī)只有周期性的誤差而無累積誤差等特點(diǎn)。使得在速度、位置等控制領(lǐng)域用步進(jìn)電機(jī)來控制變的非常的簡單。步進(jìn)電機(jī)的調(diào)速一般是改變輸入步進(jìn)電機(jī)的脈沖的頻率來實(shí)現(xiàn)步進(jìn)電機(jī)的調(diào)速，因?yàn)椴竭M(jìn)電機(jī)每給一個(gè)脈沖就轉(zhuǎn)動一個(gè)固定的角度，這樣就可以通過控制步進(jìn)電機(jī)的一個(gè)脈沖到下一個(gè)脈沖的時(shí)間間隔來改變脈沖的頻率，延時(shí)的長短來具體控制步進(jìn)角來改變電機(jī)的轉(zhuǎn)速，從而實(shí)現(xiàn)步進(jìn)電機(jī)的調(diào)速。在本設(shè)計(jì)方案中采用AT89C51型單片機(jī)內(nèi)部的定時(shí)器改變CP脈沖的頻率從而實(shí)現(xiàn)對步進(jìn)電機(jī)的轉(zhuǎn)速進(jìn)行控制，實(shí)現(xiàn)電機(jī)調(diào)速與正反轉(zhuǎn)的功能。

前言步進(jìn)電機(jī)最早是在1920年由英國人所開發(fā)。1950年后期晶體管的發(fā)明也逐漸應(yīng)用在步進(jìn)電機(jī)上，這對于數(shù)字化的控制變得更為容易。以后經(jīng)過不斷改良，使得今日步進(jìn)電機(jī)已廣泛運(yùn)用在需要高定位精度、高分解性能、高響應(yīng)性、信賴性等靈活控制性高的機(jī)械系統(tǒng)中。在生產(chǎn)過程中要求自動化、省人力、效率高的機(jī)器中，我們很容易發(fā)現(xiàn)步進(jìn)電機(jī)的蹤跡，尤其以重視速度、位置控制、需要精確操作各項(xiàng)指令動作的靈活控制性場合步進(jìn)電機(jī)用得最多。步進(jìn)電機(jī)作為執(zhí)行元件，是機(jī)電一體化的關(guān)鍵產(chǎn)品之一,廣泛應(yīng)用在各種自動化控制系統(tǒng)中。隨著微電子和計(jì)算機(jī)技術(shù)的發(fā)展，步進(jìn)電機(jī)的需求量與日俱增，在各個(gè)國民經(jīng)濟(jì)領(lǐng)域都有應(yīng)用。步進(jìn)電機(jī)是將電脈沖信號變換成角位移或直線位移的執(zhí)行部件。步進(jìn)電機(jī)可以直接用數(shù)字信號驅(qū)動，使用非常方便。一般電動機(jī)都是連續(xù)轉(zhuǎn)動的，而步進(jìn)電動機(jī)則有定位和運(yùn)轉(zhuǎn)兩種基本狀態(tài)，當(dāng)有脈沖輸入時(shí)步進(jìn)電動機(jī)一步一步地轉(zhuǎn)動，每給它一個(gè)脈沖信號，它就轉(zhuǎn)過一定的角度。步進(jìn)電動機(jī)的角位移量和輸入脈沖的個(gè)數(shù)嚴(yán)格成正比，在時(shí)間上與輸入脈沖同步，因此只要控制輸入脈沖的數(shù)量、頻率及電動機(jī)繞組通電的相序，便可獲得所需的轉(zhuǎn)角、轉(zhuǎn)速及轉(zhuǎn)動方向。在沒有脈沖輸入時(shí)，在繞組電源的激勵下氣隙磁場能使轉(zhuǎn)子保持原有位置處于定位狀態(tài)。因此非常適合于單片機(jī)控制。步進(jìn)電機(jī)還具有快速啟動、精確步進(jìn)和定位等特點(diǎn)，因而在數(shù)控機(jī)床，繪圖儀，打印機(jī)以及光學(xué)儀器中得到廣泛的應(yīng)用。步進(jìn)電動機(jī)已成為除直流電動機(jī)和交流電動機(jī)以外的第三類電動機(jī)。傳統(tǒng)電動機(jī)作為機(jī)電能量轉(zhuǎn)換裝置，在人類的生產(chǎn)和生活進(jìn)入電氣化過程中起著關(guān)鍵的作用。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(精度為100%)的特點(diǎn)，廣泛應(yīng)用于各種開環(huán)控制?，F(xiàn)在比較常用的步進(jìn)電機(jī)包括反應(yīng)式步進(jìn)電機(jī)（VR）、永磁式步進(jìn)電機(jī)（PM）、混合式步進(jìn)電機(jī)（HB）和單相式步進(jìn)電機(jī)等。一步進(jìn)電機(jī)的工作原理步進(jìn)電機(jī)是一種用電脈沖進(jìn)行控制,將電脈沖信號轉(zhuǎn)換成相位移的電機(jī),其機(jī)械位移和轉(zhuǎn)速分別與輸入電機(jī)繞組的脈沖個(gè)數(shù)和脈沖頻率成正比,每一個(gè)脈沖信號可使步進(jìn)電機(jī)旋轉(zhuǎn)一個(gè)固定的角度.脈沖的數(shù)量決定了旋轉(zhuǎn)的總角度,脈沖的頻率決定了電機(jī)運(yùn)轉(zhuǎn)的速度.當(dāng)步進(jìn)驅(qū)動器接收到一個(gè)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(gè)固定的角度(稱為“步距角”)，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(gè)數(shù)來控制角位移量，從而達(dá)到準(zhǔn)確定位的目的；同時(shí)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。二步進(jìn)電機(jī)詳細(xì)調(diào)速原理步進(jìn)電機(jī)的調(diào)速一般是改變輸入步進(jìn)電機(jī)的脈沖的頻率來實(shí)現(xiàn)步進(jìn)電機(jī)的調(diào)速，因?yàn)椴竭M(jìn)電機(jī)每給一個(gè)脈沖就轉(zhuǎn)動一個(gè)固定的角度，這樣就可以通過控制步進(jìn)電機(jī)的一個(gè)脈沖到下一個(gè)脈沖的時(shí)間間隔來改變脈沖的頻率，延時(shí)的長短來具體控制步進(jìn)角來改變電機(jī)的轉(zhuǎn)速，從而實(shí)現(xiàn)步進(jìn)電的調(diào)速。具體的延時(shí)時(shí)間可以通過軟件來實(shí)現(xiàn)。這就需要采用單片機(jī)對步進(jìn)電機(jī)進(jìn)行加減速控制,實(shí)際上就是改變輸出脈沖的時(shí)間間隔,單片機(jī)控制步進(jìn)電機(jī)加減法運(yùn)轉(zhuǎn)可實(shí)現(xiàn)的方法有軟件和硬件兩種,軟件方法指的是依靠延時(shí)程序來改變脈沖輸出的頻率,其中延時(shí)的長短是動態(tài)的,軟件法在電機(jī)控制中,要不停地產(chǎn)生控制脈沖,占用了大量的CPU時(shí)間,使單片機(jī)無法同時(shí)進(jìn)行其他工作;硬件方法是依靠單片機(jī)內(nèi)部的定時(shí)器來實(shí)現(xiàn)的,在每次進(jìn)入定時(shí)中斷后,改變定時(shí)常數(shù),從而升速時(shí)使脈沖頻率逐漸增大,減速時(shí)使脈沖頻率逐漸減小,這種方法占用CPU時(shí)間較少,在各種單片機(jī)中都能實(shí)現(xiàn),是一種比較實(shí)用的調(diào)速方法。三控制的測定

因本次設(shè)計(jì)的要求，選用三相三拍步進(jìn)電機(jī)，單片機(jī)選用89C51作為控制器。選取用8279來驅(qū)動顯示和鍵盤。選用8713作為步進(jìn)電機(jī)的驅(qū)動芯片并通過光電耦合來驅(qū)動步進(jìn)電機(jī)。然后由于步進(jìn)電機(jī)同軸的光電編碼器作為反饋元件，并把反饋回的信號經(jīng)CPU處理后再由顯示器顯示出來。但由鍵盤輸入的速度數(shù)值了得通過顯示器來顯示，固本次設(shè)計(jì)要兩排顯示，一排來顯示給定的轉(zhuǎn)速一排來顯示實(shí)際的轉(zhuǎn)速。

四微控制器的選擇

本次設(shè)計(jì)以CPU選用89C5l作為步進(jìn)電機(jī)的控制芯片．89C51的結(jié)構(gòu)簡單并可以在編程器上實(shí)現(xiàn)閃爍式的電擦寫達(dá)幾萬次以上．使用方便等優(yōu)點(diǎn)，而且完全兼容MCS5l系列單片機(jī)的所有功能。AT89C51是一種帶4K字節(jié)閃爍可編程可擦除只讀存儲器（FPEROM—FAlshProgrAmmABleAndErAsABleReAdOnlyMemory）的低電壓，高性能CMOS8位微處理器，俗稱單片機(jī)。該器件采用ATMEL高密度非易失存儲器制造技術(shù)制造，與工業(yè)標(biāo)準(zhǔn)的MCS-51指令集和輸出管腳相兼容。由于將多功能8位CPU和閃爍存儲器組合在單個(gè)芯片中，ATMEL的AT89C51是一種高效微控制器，為很多嵌入式控制系統(tǒng)提供了一種靈活性高且價(jià)廉的方案原文：StepperMotorMotionControlSystemDesignPaperKeywords:steppingmotorspeedcontrolsystemmicrocontroller

PaperAbstract:Thesteppermotoristheelectricpulsesignalintoangulardisplacementorlineardisplacementoftheopen-loopcontrolcomponents.Inthenon-overloadcase,themotorspeed,andstoplocationdependsonlyonpulsefrequencyandpulsenumber,withouttheloadchange,thatis,toaddanelectricalpulsesignal,astepmotoristurnedawayfromthecorner.Theexistenceofthislinearrelationship,coupledwithonlyaperiodicerrorofsteppermotorswithouttheaccumulatederrorandsoon.Madeintermsofspeed,positionandothercontrolareastocontrolthesteppermotorusedbecomeverysimple.Steppermotorspeedcontrolingeneralistochangetheinputfrequencyofsteppermotorpulsestoachievethesteppermotorspeed,becausethesteppermotortoapulseoneachrotationafixedangle,sothatyoucanbycontrollingthesteppermotorapulsetothenextapulsetimeintervaltochangethepulsefrequency,thelengthofdelaytospecificcontrolstochangetheanglesteppermotorspeed,inordertoachievespeedcontrolsteppermotor.InthisdesigntheuseofAT89C51microcontroller-basedtimertochangetheinternalpulsefrequencyofCPinordertoachievethespeedofsteppermotorcontrol,motorspeedandtherealizationofpositiveinversionfunctions.Preface

Steppermotorsin1920wasfirstdevelopedbytheBritish.Late1950inventionofthetransistorisgraduallyappliedtosteppermotor,whichcontrolsforthedigitaleasier.Throughcontinuousimprovementinthefuture,makestoday'ssteppermotorshavebeenwidelyusedinrequirehighpositioningaccuracy,highdecompositionperformance,highresponsiveness,reliabilityandotherflexibleandhighlycontrolledmechanicalsystems.Requiredintheproductionprocessautomation,savemanpowerresources,efficientmachines,wecaneasilyfindtracesofsteppermotors,inparticular,tofocusattentiononthespeed,positioncontrol,operationoftheDirectiverequiresprecisemovementsandflexiblesteppermotorcontrolledbyoccasionthemost.Steppermotorastheactuatorisamechanicalandelectricalintegration,oneofthekeyproducts,widelyusedinavarietyofautomaticcontrolsystems.Withthedevelopmentofmicroelectronicsandcomputertechnology,increasingdemandforsteppermotors,hasapplicationsinvariouseconomicfields.

Steppermotorisconvertedintoelectricalpulsesangulardisplacementorlineardisplacementoftheimplementationofthecomponents.Steppermotorcanbedrivendirectlyfromadigitalsignal,useveryconvenient.Generalmotorsarecontinuousrotation,whilethesteppermotorstherearetwokindsoflocationandoperationofthebasicstate,whenapulseinputwhenthesteppermotorrotatingstepbystep,eachtogiveitapulsesignal,itturnedacertainangle.Steppermotorangulardisplacementvolumeandthenumberofstrictlyproportionaltotheinputpulseintimewiththeinputpulsesynchronization,aslongasthecontrolinputthenumberofpulses,frequencyandelectricalpowerwindingsofthephasesequence,cangetthecornerspeedanddirectionofrotation.Intheabsenceofpulseinput,inthewindingsinspiredbythepowerrotorair-gapmagneticfieldcanmaintainitsoriginallocationinatargetedstate.Thereforeverysuitableformicrocomputercontrol.Steppermotoralsohasaquickstart,precisesteppingandpositioningcharacteristics,andthusinNCmachinetools,plotters,printers,andopticalinstrumentsarewidelyused.InadditiontosteppingmotorhasbecomeaDCmotorandACmotorotherthanthethirdtypeofmotor.Conventionalelectricmotorsaselectricalandmechanicalenergyconversiondevice,inhumanproductionandlifeoftheelectrificationprocessplaysakeyrole.Steppermotorcanbeusedasacontrolusingspecialmotors,usingitsnoaccumulationoferror(accuracyof100%)ofthefeatures,iswidelyusedinavarietyofopen-loopcontrol.

Nowmorecommonlyusedinsteppermotorincludingreactivesteppingmotor(VR),permanentmagnetsteppermotor(PM),hybridsteppermotors(HB)andsingle-phasesteppermotorandsoon.Chapter1anoverviewofsteppermotor

steppermotorworks:

Steppermotorisanelectricimpulsecontrol,willbeconvertedtoelectricalpulsesignalphaseshiftofthemotor,themechanicaldisplacementandspeedofmotorwindings,respectivelytheinputpulseandpulsefrequencyisproportionaltothenumberofeachsteppulsesignalcanintothemotorrotatingafixedangle.thenumberofpulsesdeterminesthetotalrotationangle,pulsefrequencydeterminesthespeedofmotoroperation.Whenthestepperdriverreceivesapulsesignal,itwilldriveasteppermotortosetthedirectionofrotationaccordingtoafixedangle(knownas"stepangle"),whichisbasedonafixedpointoftherotationstepbystepoperation.Bycontrollingthepulsenumbertocontroltheamountofangulardisplacement,soastoachieveaccuratepositioningpurposes;thesametime,bycontrollingthepulsefrequencytocontrolthemotorrotationspeedandacceleration,soastoachievethepurposeofspeed.

Detailsofsteppermotorspeedcontrolprinciple

Steppermotorspeedcontrolingeneralistochangetheinputfrequencyofsteppermotorpulsestoachievethesteppermotorspeed,becausethesteppermotortoapulseoneachrotationafixedpointofview,sothatyoucanbycontrollingthesteppermotorapulsetothenextapulsetimeintervaltochangethepulsefrequency,thelengthofdelaytospecificcontrolstochangetheanglesteppermotorspeed,inordertoachievestep-speedpower.Aspecificdelaytimecanbeachievedthroughsoftware.

ThisrequiresuseofSCMaccelerationanddecelerationofthesteppermotorcontrol,infact,tochangetheoutputpulsetimeinterval,microcontroller-controlledsteppermotorenablesoperationofadditionandsubtractionmethodsaretwokindsofsoftwareandhardwareandsoftwaremethodsthatisattributablemainlytodelayproceedingstochangethepulseoutputfrequency,inwhichthelengthofdelayisdynamic,thesoftwaremethodinmotorcontrol,wemustconstantlyproducecontrolpulses,takingupalotofCPUtimesothatSCMcannotbeatthesametimeotherwork;hardwareapproachistorelyontheinternalmicrocontrollertimertoachieve,ineachtimeintothetimerinterrupt,thechangefromtimetotimeconstants,andthusspeeduptimetopulsefrequencygraduallyincreased,whenslowingdowntomakepulsefrequencygraduallydecreasesThismethodtakeupCPUtime,lesscanbeachievedinavarietyofMCUisamorepracticalmethodofspeedcontrol.DeterminationofControlAresultofthisthedesignrequirements,selectionofthree-phasethree-beatsteppingmotor,use89C51microcontrollerasacontroller.Selecttheused8279todrivethedisplayandkeyboard.Use8713asthesteppermotordriverchipthroughtheopticalcouplingtodriveasteppermotor.Andthenbecauseofsteppermotorcoaxialopticalencoderasafeedbackcomponent,andtothesignalfedbackbytheCPUprocessing,thendisplayedbythemonitor.However,thespeedvaluefromthekeyboardinputthroughthedisplaytoshowtheterrible,thest