步进电机及单片机英文文献及翻译文档格式.docx
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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%,andnot
Themaincharacteristicsofsteppingmotor:
Asteppermotordrivecanbeaddedoperatepulsedrivesignalmustbenopulsewhenthesteppermotoratrest,suchas
Ifaddingtheappropriatepulsesignal,itwilltoacertainangle(calledthestepangle)rotation.Rotationspeedandpulsefrequencyisproportionalto.
2Dragonstepanglesteppermotorversionis7.5degrees,360degreesaround,takes48pulsestocomplete.
3steppermotorhasinstantstartandrapidcessationofsuperiorcharacteristics.
Changethepulseoftheorderof4,youcaneasilychangethedirectionofrotation.
Therefore,thecurrentprinters,plotters,robotics,andsodevicesarethecoreofthesteppermotorasthedrivingforce.
Steppermotorcontrolexample
Weusefour-phaseunipolarsteppermotorasanexample.ThestructureshowninFigure1:
Fourfour-phasewindingleads(asopposedtophaseA1A2B1phasephaseB2)andtwopubliclines(tothepowerofpositive).Thewindingsofonephasetothepoweroftheground.Sothatthewindingswillbeinspired.Weusefour-phaseeight-beatcontrol,ie,1phase2phasealternatingturn,wouldenhanceresolution.0.9°
perstepcanbetransferredtocontrolthemotorexcitationistransferredinorderasfollows:
Iftherequirementsofmotorreversal,thetransmissionexcitationsignalcanbereversed.2controlscheme
Controlsystemblockdiagramisasfollows
TheprogramusesAT89S51asthemaincontroldevice.ItiscompatiblewiththeAT89C51,butalsoincreasedtheSPIinterfaceandthewatchdogmodule,whichnotonlymakesthedebuggingprocessbecomeseasyandalsomorestable.Themicrocontrollerintheprogrammainlyforfieldsignalacquisitionandoperationofthesteppermotortocalculatethedirectionandspeedinformation.ThensenttotheCPLD.
CPLDwithEPM7128SLC84-15,EPM7128programmablelogicdeviceoflarge-scale,fortheALTERAcompany'
sMAX7000family.Highimpedance,electricallyerasableandothercharacteristics,canbeusedforthe2500unit,theworkingvoltageof+5V.CPLDreceivesinformationsentfromthemicrocontrollerafterconvertedtothecorrespondingcontrolsignaloutputtothesteppermotordrive.Putthecontrolsignaldrivesthemotorwindingsaftertheinput,toachieveeffectivecontrolofthemotor.2.1Thehardwarestructureofthemotordrive
Motordriveusingthefollowingcircuit:
R1-R8inwhichtheresistancevalueof320Ω.R9-R12resistancevalue2.2KΩ.Q1-Q4asDarlingtonD401A,Q5-Q8fortheS8550.J1,J2andthesteppermotorconnectedtothesix-lead。
Advantagesanddisadvantagesofsteppermotor
Advantages
1.Themotorrotationangleisproportionaltothenumberofpulses;
2.Whenthemotorstoppedwithamaximumtorque(whenthewindingexcitationtime);
3.Sincetheaccuracyofeachstepinthethreepercenttofivepercent,andtheerrorwillnotaccumulatetothenextstepandthushasbetterpositionalaccuracyandrepeatabilityofmovement;
4.Excellentresponsefromthestopandreverse;
5.Intheabsenceofbrush,highreliability,itjustdependsonthelifeofthemotorbearinglife;
6.Motorresponseonlydeterminedbythenumberofinputpulses,whichcanbeusedopenloopcontrol,whichmakesthemotorandcontrolstructurecanberelativelysimple
Systemcost
7.Justloaddirectlyconnectedtothemotorshaftcanalsobeextremelyslowsynchronousrotation.
8.Speedisproportionaltothepulsefrequency,andthusarelativelywidespeedrange.
Shortcomings
1.Ifnotproperlycontrolledpronetoresonance;
2.Difficultoperationtoahigherspeed.
3.Difficulttoobtainhightorque
4.Thereisnoadvantageintermsofvolumeweight,lowenergyefficiency.
5.Overloadwilldestroythesynchronization,theworkwillbeissuedwhenhigh-speedvibrationandnoise.
Steppermotordriverequirements
(1)toprovidefastriseandfallofcurrentspeed,thecurrentwaveformascloseaspossiblerectangle.
Fortheperiodendedwiththereleaseoftheloopcurrentflow,toreducethewindingendsofthebackelectromotiveforce,toacceleratethecurrentdecay.
(2)rhymewithhigherpowerandefficiency.
Steppermotordriver,whichisthecontrolpulsesignalemittedintotheangulardisplacementofthesteppermotor,or:
thecontrolsystemsendsapulsesignaleachthroughthesteppermotordrivetorotateastepangle.Thatisthesteppermotorspeedisproportionaltothefrequencyandpulsesignals.Therefore,thefrequencycontrolpulsesignal,tobeprecisemotorspeedcontrol;
controlthenumberofsteppulsestoconnectthemotoraccurately.Steppermotordrivetherearemany,weshouldtakeareasonablechoiceofpowerrequirementsofthedrive,thefollowingwereintroducedvarioustypesoftypicaldrive.
Thelatesttechnologicaldevelopments
Domesticandinternationalresearchonthesub-drivetechnologyisveryactive,high-performancesub-drivercircuitcanbebrokendownintothousandsorevenanysubdivision.Nowabletodocomplicatedcalculationstomakeafterthebreakdownofuniformstepangle,whichgreatlyimprovestheresolutionofsteppermotorpulses,reduceoreliminatethevibration,noiseandtorqueripple,thesteppermotorismore"
classserver"
feature.
Theactualroleofstepangle:
intheabsenceofsub-drive,theuserselectadifferentnumberofphasesdependsmainlyonthesteppermotortomeettheirownrequirementsonthestepangle,Ifyouusethesub-drive,theusercanchangethedrivenumberofsegments,candramaticallychangetheactualstepanglesteppermotor'
phases'
ofchangeintheroleoftheactualstepangleisalmostnegligible.
IntroductionofAT89C51
Description
TheAT89C51isalow-power,high-performanceCMOS8-bitmicrocomputerwith4KbytesofFlashprogrammableanderasablereadonlymemory(PEROM).ThedeviceismanufacturedusingAtmel’shigh-densitynonvolatilememorytechnologyandiscompatiblewiththeindustry-standardMCS-51instructionsetandpinout.Theon-chipFlashallowstheprogrammemorytobereprogrammedin-systemorbyaconventionalnonvolatilememoryprogrammer.Bycombiningaversatile8-bitCPUwithFlashonamonolithicchip,theAtmelAT89C51isapowerfulmicrocomputerwhichprovidesahighly-flexibleandcost-effectivesolutiontomanyembeddedcontrolapplications.
Functioncharacteristic
TheAT89C51providesthefollowingstandardfeatures:
4KbytesofFlash,128bytesofRAM,32I/Olines,two16-bittimer/counters,afivevectortwo-levelinterruptarchitecture,afullduplexserialport,on-chiposcillatorandclockcircuitry.Inaddition,theAT89C51isdesignedwithstaticlogicforoperationdowntozerofrequencyandsupportstwosoftwareselectablepowersavingmodes.TheIdleModestopstheCPUwhileallowingtheRAM,timer/counters,serialportandinterruptsystemtocontinuefunctioning.ThePower-downModesavestheRAMcontentsbutfreezestheoscillatordisablingallotherchipfunctionsuntilthenexthardwarereset.
PinDescription
VCC:
Supplyvoltage.
GND:
Ground.
Port0:
Port0isan8-bitopen-drainbi-directionalI/Oport.Asanoutputport,eachpincansinkeightTTLinputs.When1sarewrittentoport0pins,thepinscanbeusedashighimpedanceinputs.Port0mayalsobeconfiguredtobethemultiplexedloworderaddress/databusduringaccessestoexternalprogramanddatamemory.InthismodeP0hasinternalpullups.Port0alsoreceivesthecodebytesduringFlashprogramming,andoutputsthecodebytesduringprogramverification.Externalpullupsarerequiredduringprogramverification.
Port1
Port1isan8-bitbi-directionalI/Oportwithinternalpullups.ThePort1outputbufferscansink/sourcefourTTLinputs.When1sarewrittentoPort1pinstheyarepulledhighbytheinternalpullupsandcanbeusedasinputs.Asinputs,Port1pinsthatareexternallybeingpulledlowwillsourcecurrent(IIL)becauseoftheinternalpullups.Port1alsoreceivesthelow-orderaddressbytesduringFlashprogrammingandverification.
Port2
Port2isan8-bitbi-directionalI/Oportwithinternalpullups.ThePort2outputbufferscansink/sourcefourTTLinputs.When1sarewrittentoPort2pinstheyarepulledhighbytheinternalpullupsandcanbeusedasinputs.Asinputs,Port2pinsthatareexternallybeingpulledlowwillsourcecurrent,becauseoftheinternalpull