步進(jìn)電機(jī)與單片機(jī)英文文獻(xiàn)與翻譯

1、外文文獻(xiàn):Kno wledge of the stepper motorWhat is a stepper motor :Stepper motor is a kind of electrical pulses into an gular displaceme nt of the impleme nting age ncy. Popular littleless on: Whe n the driver receives a step pulsesig nal, it will drive a stepper motor to set the directi on of rotatio n a

2、t a fixed an gle (and the step an gle). You can control the nu mber of pulses to con trol the angular displacement, so as to achieve accurate positioningpurposes; the sametimeyou can control the pulse frequency to controlthe motor rotationspeed andaccelerati on, to achieve speed con trol purposes.Wh

3、at kinds of stepper motor sub- :In three stepper motors: perma nent magnet (PM), reactive (VR) and hybrid (HB) permanent magnet stepper usually two-phase, torque, and smaller, step angle of 7.5 degrees or the gen eral 15 degrees; reacti on step is gen erally three-phase, can achieve high torque outp

4、ut, step an gle of 1.5 degrees is gen erally, but the no ise and vibrati on are large. 80 coun tries in Europe and America have bee n elim in ated;hybrid stepper is a mix of perma nent magnet and reactive adva ntages. It con sists of two phases and the five-phase: two-phase step an gle of 1.8 degree

5、s while the gen eral five-phase step an gle of 0.72 degrees gen erally. The most widely used Stepper Motor.What is to keep the torque (HOLDING TORQUE)How much precisi on stepper motor? Whether the cumulative:The general accuracy of the stepper motor step angle of 3-5%, and not cumulative.Stepper mot

6、or to allow the minimum amount of surface temperatureStepper motor to allow the mi nimum amount of surface temperature:Stepper motor causes the motor temperature is too high the first magnetic demagnetization, resulting in loss of torque downeven further, so the motor surface temperature should be t

7、he maximum allowed depe nding on the motor demag netizatio n of magn etic material poin ts; Gen erally speak ing, the magn etic demag netizati on points are above 130 degrees Celsius, and someeven as high as 200 degrees Celsius, so the stepper motor surface temperature of 80-90 degrees Celsius is no

8、rmal.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 the motor speed and response to

9、 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 maximuminput voltage of the drive, or it may damage the drive.B. Determination of CurrentPower supply current is generall

10、y 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 main characteristics of stepping mo

11、tor：A stepper motor drive can be added operate pulse drive signal must be no pulsewhen 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 step

12、per 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 current printers, plotters, robotics

13、, 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 inFigure 1:Four four-phase winding leads (as opposed to phase A1 A2 B1 phase phase B2) and two public lines (to the power o

14、f positive). The windings of one phase to the power of the ground. So that the windings will be inspired. Weuse 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 fo

15、llows:If the requirements of motor reversal, the transmission excitation signal canbe reversed. 2 control schemeControl system block diagram is as followsThe program uses AT89S51 as the main control device. It is compatible with theAT89C51, but also increased the SPI interface and the watchdog modul

16、e, 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.CPLD with EPM7128SLC84-15, EPM7128 progra

17、mmable 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 +5V. CPLD receives information sent from the microcontroller after converted to the corresponding control

18、 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 resista nee value of 320 Q . R9-R12 resista

19、 nee value 2.2K Q .Q1-Q4 as Darlington D401A, Q5-Q8 for the S8550. J1, J2 and the stepper motor eonneeted to the six-lead 。Advantages and disadvantages of stepper motorAdvantagesThe motor rotation angle is proportional to the number of pulses;When the motor stopped with a maximum torque (when the wi

20、nding exeitationtime);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;Excellent response from the stop and reverse;In the absence of brush, high reliabilit

21、y, it just depends on the life of the 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 simple System costJust load directly connected to the motor shaft can also be extr

22、emely slow synchronous rotation.Speed 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 ene

23、rgy efficiency.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 waveform as close as possible rectangle.For the period ended with the release of the

24、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 into the angular displacement of the stepper motor, or: the control system sends a

25、 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 precise motor speed control; control the number of step pulses to connect the motor accu

26、rately. 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 developmentsDomestic and international research on the sub-drive technology is very active, high-pe

27、rformance sub-driver circuitcan be broken down into thousands or even anysubdivision. 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,

28、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 requirements on the step angle ， If you use the sub-drive, the user can change the drive numbe

29、r 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 AT89C51is a low-power, high-performance CMOS8-bit microcomputer with 4K bytes of Flash programmable and erasable

30、 read only memory (PEROM). The device is manufactured using Atmel s high -density nonvolatile memory technology and is compatible with the industry-standardMCS-51 instructionset and pinout. Theon-chip Flash allows the program memory to be reprogrammed in-system or by a conventional nonvolatile memor

31、yprogrammer. By combining a versatile 8-bit CPUwith 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 applications.Function characteristicThe AT89C51 provides the following standard features

32、: 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 AT89C51 is designed with static logic for operation down to zero frequency and supports

33、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 but freezes the oscillator disabling all other chip functions until the next hardware r

34、eset.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. When1s are written to port 0 pins, the pins can be used as highimpedance inputs.Port 0 mayalso be configured to be the multiplexed

35、 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 programverification. External pullups are required during programverification.Port 1Port

36、 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 used as inputs. As inputs,Port 1 pins that are externally being pulled low will source cur

37、rent (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 2output buffers can sink/source four TTL inputs.When 1s are written to Port 2 pins the

38、y are pulled high by the internal pullups and can be used as in puts. As in puts,Port 2 pi ns that are externally being pulled low will source curre nt, because of the internal pullups.Port 2 emits the high-order address byte duri ng fetchesfrom exter nal program memory and duri ng accesses to exter

39、 nal data memory that use16-bit addresses. In this application, it uses strong internal pullupswhen emitting 1s. During accesses to external data memorythat 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 co

40、ntrol 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 pins they are pulled high by the internal pullups and can be used as in puts. As in p

41、uts,Port 3 pins that are exter nally being pulled low will source curre nt (IIL) because of the pullups.Port 3 also serves the functions of variousspecialfeatures of the AT89C51 as listed below:Port PinAlternate FunctionsP3.0RXD (serial irput port)P11TXO (serial output port)P12IMTO (external interru

42、pt 01P3.3INT1 (external interrupt 11卩3*4TO (timer 0 external inpit)P3,5T1 (timer i external input)卩3*6WR (external daU memory write strobe)卩3.7RD texTernal data memory read strobe)Port 3 also receives some control signals for Flash programming and verification.RSTReset in put. A high on this pin for

43、 two machi ne 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 the program pulse input (PROG) during Flash programming.In normal operation ALE is emitted at

44、 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, ALE operation can be disabled by setting bit 0 of SFR location 8EH.With the bit set, ALE is

45、active only during a MOVXor MOVCinstruction. 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 Enable is the read strobe to external program memory.When the AT89C51 is executing code from externa

46、l program memory, PSEN is activated twice each machine cycle, except that two PSENactivations are skipped during each access to external data memory.EA/VPPExternal Access Enable. EA must be strapped to GNDin order to enable the device to fetch code from external program memorylocations starting at 0

47、000Hup 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 programming enable voltage(VPP) during Flash programming, for parts that require12-volt VPP.XTAL1In

48、put 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 and output, respectively,of an invertingamplifier which can be con figured for use as an on-chip osc

49、illator, as show n inFigure 1.Either a quartz crystal or ceramic res on ator may be used. To drive thedevice from an external clock source, XTAL2should be left unconnected while XTAL1 is drive n as show n in Figure 2.There are no requireme nts on the duty cycle of the exter nal clock sig nal, since

50、the in put to the internal clock ing circuitry is through a divide-by-two flip-flop, but minimum and maximum voltage high and low timespecificatio ns must be observed.Figure 1. Oscillator ConnectionsXTAL2XTAL1NGEXTERNALOSCILLATORSIGNALFigure 2. Exter nal Clock DriveXTAL2XTAL1GNDCon figurati onIdle M

51、odeIn idle mode, the CPU puts itself to sleep while all the on chip peripheralsremain active. The modeis invoked by software. The content of the on-chip RAMand all the special functions registers rema in un cha nged duri ng this mode. The idlemode can be term in ated by any en abled in terrupt or by

52、 a hardware reset.It should be no ted that whe n idle is termi nated by a hard ware reset, the device no rmally resumes program executio n,from where it left off, up to two machi ne cycles before the internal reset algorithm takes control. On-chip hardware inhibits access to internal RAM in this eve

53、 nt, but access to the port pins is not in hibited. 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 exter nal memory.Power-dow n ModeIn the power-

54、dow n mode, the oscillator is stopped, and the in struct ion that inv okes power-dow n is the last in structio n executed. The on-chip RAM and Special Function Registers retain their values until the power-down mode is terminated. The on ly exit from power-dow n is a hardware reset. Reset redefi nes

55、 the SFRs but does not change the on-chip RAM. The reset should not be activated before VCC is restored to its no rmal operat ing level and must be held active long eno ugh to allow the oscillator to restart and stabilize.Status of External Pins During Idle and Power-down ModesMed電PtugiHin MeinoiyAL

56、EPSENPORTOPORT1PORT；PORTS忖幻Iniorna11DataD日：aD皺3DataIdleExternal11FbatAddressDataPzwar-dDwnInternal00DalaDataDataPcwwd&wnExternal00FtoaiD曲OataData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：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 控制脈沖個(gè)數(shù)來控制角位移，從而達(dá)到準(zhǔn)確定位的目的；同時(shí)，你可以通過控制脈沖頻率來控制電機(jī)的旋轉(zhuǎn)速度和加速度，實(shí)現(xiàn)速度控制的

57、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)；一般來說，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2

58、00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

59、要特性在步進(jìn)電機(jī)關(guān)機(jī)時(shí)要確保沒有脈沖信號(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)脈沖來完成。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階段交替反過來，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)

60、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) 的采集和通過步進(jìn)電機(jī)的運(yùn)轉(zhuǎn)來計(jì)算的方向和速度信息。然后將信息發(fā)送到CPLDCPLD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，從微控制器發(fā)送的信息。 輸入后把控制信號(hào)發(fā)送到驅(qū)