毕业论文- 步进电动机驱动的位置调节机构设计.doc

临沂大学2013届本科毕业设计2015届 分 类 号：TP368.1；TM33 单位代码：10452 毕业论文（设计）宋体、一号字居装订处装订处 步进电动机驱动的位置调节机构设计题目：小三号宋体加粗，居中姓 名 学 号 年 级 专 业电气工程及其自动化 系（院）汽车学院 指导教师 2015年 月 日22临沂大学2015届本科毕业设计摘 要页眉：宋体、五号、居中，文字内容为临沂大学2013届本科毕业设计 步进电机的控制种类有很多，在这里我是基于单片机来设计了一个步进电机控制系统。我的设计是由AT89C52单片机，步进电机，led灯和集成芯片ULN2003等元件组成。通过led灯来显示步进电机的正反转及速度。我的设计采用的是模块化设计，结构简单，便于操作，通过这个设计来展示步进电机在机电一体化中的广泛应用。关键词：单片机AT89C5；步进电机；led灯；集成芯片ULN2003；摘要内容后下空一行，小四号、黑体、顶格小三号、Times New Roman字体、加粗、居中 Abstract There are many types of control of stepping motor, and here I was to design a microcontroller based stepper motor control system. My design is composed of AT89C52 microcontroller, stepper motor, LED lights and ULN2003 integrated chip and other components. Through the LED light to display the rotation direction and speed of the stepper motor. The design is modular in design, simple structure, convenient operation, through this design to display the step motor has been widely applied in electromechanical integration.Keywords:MCUAT89c5; Stepping motor;LED integrated chip ;ULN2003 lamp摘要内容后下空一行，小四号、Times New Roman字体、加粗、顶格目录摘 要11 背景意义及研究现状31.1背景意义41.2 研究现状42步进电机的分类、结构、工作原理42.1 步进电机的概念42.2 步进电机的结构及工作原理42.2.1 结构42.2.2 工作原理53 系统硬件电路设计53.1 单片机的选择53.1.1单片机的引脚功能63.1.2 主要特性：63.2 步进电机的选择7因本次设计的要求，我选用了四相五线的步进电机28BYJ-48，具体说明如下:73.3 控制系统组成83.4工作状态区LED灯功能介绍93.5步进电机控制系统原理图93.6pCB板图104系统软件的设计114.1 系统软件程序设计11设计总结16目录16谢辞171 背景意义及研究现状 自人类步入电气时代以来，电动机因其在不用位置传感器和速度传感器的条件下就可以实现定位的优越条件一直被广泛的应用于生产生活中。1.1背景意义 步进电动机因其独特的特点在高度定位、高分解性能、高响应性的机械系统中。在当今要求自动化，生劳动力，高效率的年代，我们的生产中已经布满了步进电机的踪影。作为机电一体化中的执行机构，更是被广泛应用在各种自动化控制系统中。随着微电子和计算机技术的发展，人们对步进电机的需求越来越大，所以研究步进电机的控制系统有着深远的意义。1.2 研究现状 步进电机被发明于1830年到现在已有185年的历史，在这近200年的发展过程中，经过不断的改良，使得今天的步进电动机已经被广泛地应用于高精度，高分辨率，机械系统，所述柔性控制的信赖的高响应。自动化，人力，工作效率高，在机器的制造过程中，可以很容易地找到步进电机的痕迹，特别要注意的速度，位置控制，柔性控制的情况步骤精确操作命令使用最多步进电机。2步进电机的分类、结构、工作原理2.1 步进电机的概念步进电机是数字控制系统中的一种执行元件，它能够将电脉冲信号转化为角位移或线位移，而且具有迅速起动，制动，正反转和调速，步距角精度高，停止时能自锁等特点，在机电一体化中广泛应用。2.2 步进电机的结构及工作原理2.2.1 结构步进电机分为转子和定子两部分:1:定子是硅钢板堆放,6定子磁极,每个2相反的两极(N,S)组成的一对,总共3对。定子的牙齿有三个励磁绕组,几何轴分别与转子齿轴。0,1/3 2/3(,两个相邻转子齿轴之间的距离是沥青PI)说,即A和B与1牙齿,2牙齿交错1/3 PI,3 C和牙齿交错2/3,神经末梢5牙齿对齐,(一个是一个,牙5是1牙齿)。2:转子是由软磁性材料,外表面均匀分布着小,和相同的定子齿牙,和相同的大小,相同的时间间隔。2.2.2 工作原理电机的U1、V1、W1接电源，分别有三个开关控制，U2、V2、W2分别接地。如果给处于错齿状态的相通电，则转子在电磁力的作用下，将向磁导率最大（即最小磁阻位置）位置转动，即向趋于对齿的状态转动。步进电机是一种感应电机,它的工作原理是利用电子电路,直流电源的变量组成、相序控制电流,这个电流步进电机供电,步进电机可以正常工作,为步进电机驱动电源分为时间、相序控制器。以反应式步进电机为例：如果是B,C,这不是亢奋时,磁场,牙齿是符合(1、转子没有任何力量都一样)。如果B,C,没有电,和2个牙齿应该与B,当转子转向正确的后1/3,牙3和C抵消1/3,牙齿4和一个偏移量(1/3)= 2/3。如果C是A,B,没有电,和3牙齿应该与C,转子转向右边1/3圆周率后,牙齿4和抵消1/3对齐。如果A是B,C,没有电,牙齿4是一致的,转子转向右边1/3后,B、P C,一个电源,4牙(1牙齿牙之前)转移到一个阶段,电动机的转子将音高,如果按下A,B,C,电动马达,步(每脉冲)1/3 PI,向右转。根据A、C、B电,电机反转。由此可见：电机的位置和速度由导电次数（脉冲数）和频率成一一对应关系，而方向由导电顺序决定。 然而,目前,平稳,噪音和减少角度考虑。这是常用A-AB-B-BCC-CA-A导电状态,所以,最初的1/3圆周率是1/6的阶跃变化。即使通过相电流的组合,1/3阶段到1/12 1/24 PI,PI,基于细分驱动的基本理论。不难推出:M相励磁绕组定子,转子齿轴和轴分别为1 / M / M(m - 1)/ m,1。根据电动机的顺序可以是正反演控制这是旋转的身体状况。理论上,只要符合这个条件我们可以做任何相步进电机,因为成本和其他方面考虑,市场通常两个或三个,四个或五个。3 系统硬件电路设计3.1 单片机的选择 本次设计选用89c52作为CPU。89C52单片机的结构简单，可以在程序员闪电擦除超过数万次类型实现。易于使用，并且是完全兼容所有的特征mcs5l系列微控制器。该装置采用ATMEL公司的高密度非易失性存储器制造技术制造，与工业标准MCS-51指令集和输出管脚兼容。由于多用8位CPU和FLASH存储器组合在单个芯片中，ATMEL公司的AT89C52单片机是一种非常有效的为很多嵌入式控制系统提供了高度的灵活性和低成本的解决方案。3.1.1单片机的引脚功能（1）VCC（40）：电源+5V。（2)VSS(20):地面,也称为接地。(3)XTL1(19)和XTL2(18):振荡电路。(4)PSEN(29):ROM芯片选择信号,活性低。(5)啤酒/学监(30):地址锁存器信号输出终端/ EPROM程序的脉冲输入。(6)RST / VPD(9):复位输入信号/备用电源输入。(7)EA / VPP(31):内部/外部ROM(8)P0(39-32):双向I / O端口。(9)P1(1 - 8):准双向口I / 0共同之处。3.1.2 主要特性： 通过mcs51汇编语言兼容4 k字节编程flash memorylife:1000写/擦除周期数据保留时间:静态工作:0 hz-24hz三个级别程序内存锁,128 * 8日内部RAM 32可编程I / O线,两个16位定时器/计数器、5个中断源,可编程串行通道,低功耗空闲和掉电模式,芯片上的振荡器和时钟电路1.振荡器特性：XTAL1 XTAL2是反向放大器的输入和输出。反向放大器可以作为片上振荡器配置。但因外部时钟信号的不同对振荡器有不同的要求，当采用外部时钟源驱动器件时，XTAL2不接。在保证脉冲高低电平宽度的条件下，对外部时钟信号的脉宽无要求。2.芯片擦除：PEROM数组的电力和三个锁可以被正确的组合的控制信号,并保持啤酒销低水平10 ms。广泛的芯片擦除操作,代码写“1”,在任何非空存储字节编程重复过去,操作必须执行。此外,AT89C51稳态逻辑,静态逻辑零频率条件下的低功耗模式,支持两种软件可选。即空闲模式和断电模式。空闲模式下，CPU休息，但其他系统仍旧工作。断电模式下，节省内存，并冻结振荡器，其他芯片功能也无法使用。知道下一个硬件复位。3.2 步进电机的选择因本次设计的要求，我选用了四相五线的步进电机28BYJ-48，具体说明如下: 步进电机类型28 byj48四相八步进电机,电压是DC5V - 12 v。当应用于步进电机控制的一系列连续的脉冲,可以不断旋转。每个脉冲信号到一个或两个线圈激励与步进电机对应的状态改变一次,结果一定角相对于转子(一步)。当电源状态更改完成一个周期,以及转子齿距。四相步进电机可以运行在不同模式的电力,一个电动模式(常见的单相绕组(A-B-C-D-A)4),双(双相绕组(AB-BC-CD-DA-AB)4)八、(A-AB-B-BC-C-CD-D-DA-A)红线连接到5 v的电源,橙色线与P1.3口接,P1.2的黄线连接端口,粉色线与P1.0端口，P1.1端口连接蓝线。通过ULN2003放大和相应的接口连接到电动机如下：橙黄粉蓝十六制（P1口）10000x0811000x0c01000x0401100x0600100x0200110x0300010x0110010x09顺序刚好相反3.3 控制系统组成 控制系统的硬件电路主要有89c52单片机，LED工作状态指示灯，环形脉冲分配器，步进电机驱动电路，5v电源及复位，操作按键。系统硬件框图如图3.3所示。3.4工作状态区LED灯功能介绍1绿灯-步进电机正转指示灯2黄灯-步进电机反转指示灯3红灯-步进电机转速等级指示灯（低速亮一个红灯，中速亮两个，高速亮三个）3.5步进电机控制系统原理图如图3.5所示图3.53.6pCB板图图3.64系统软件的设计4.1 系统软件程序设计步进电机控制程序就是完成环形分配器的任务，从而控制步进电机转动，以达到控制转动角度和位移之目的。第一步就是要判断旋转方向，然后向相应的控制程序。正向和反向控制程序分别根据控制序列，输出相应的控制模型的要求，再加上脉冲宽度延时程序其程序流程图如下图所示：图4.1 程序流程图程序编写：D0 EQU 0D2 EQU 2 ORG 0000HSTART: LJMP MAIN ORG 0003H LJMP INT0 ORG 0100HMAIN: MOV P2,#00H ;等待信号 MOV P0,#FFH MOV R2,#0 MOV R3,#0 MOV R4,#0 CLR IT0 SETB EA SETB EX0 LJMP MAININT0: JNB P2.0,ZHENG;正转 JNB P2.1,FAN ;反转 JNB P2.2,JIA ;加速 JNB P2.3,JIAN ;减速 JNB P2.4,TIN ;停 RETIZHENG: MOV R2,#1 ;正转 MOV DPTR,CHA MOV A,D0 MOVC A,A+DPTR MOV P0,A ACALL YAN0 CPL P0.0 CPL P0.2 ACALL YAN0 CPL P0.0 CPL P0.1 ACALL YAN0 LJMP ZHENGFAN: MOV R2,#0 ;反转 MOV DPTR,CHA MOV A,D2 MOVC A,A+DPTR MOV P0,A ACALL YAN0 CPL P0.0 CPL P0.1 ACALL YAN0 CPL P0.0 CPL P0.2 LJMP FANZHENG1:MOV DPTR,CHA ;加减速正转 MOV A,D0 MOVC A,A+DPTR MOV P0,A CJNE R3,#0,YIA1 CJNE R4,#0,YIA2 CPL P0.0 CPL P0.2 CJNE R3,#0,YIA1 CJNE R4,#0,YIA2 CPL P0.0 CPL P0.1 CJNE R3,#0,YIA1 CJNE R4,#0,YIA2 LJMP ZHENGFAN1: MOV DPTR,CHA ;加减速反转 MOV A,D2 MOVC A,A+DPTR MOV P0,A CJNE R3,#0,YIA1 CJNE R4,#0,YIA2 CPL P0.0 CPL P0.1 CJNE R3,#0,YIA1 CJNE R4,#0,YIA2 CPL P0.0 CPL P0.2 CJNE R3,#0,YIA1 CJNE R4,#0,YIA2 LJMP FAN1JIA: MOV R3,#1 ;加速 MOV R4,#0 CJNE R2,#0,ZHENG1 LCALL FAN JIAN: MOV R4,#1 ;减速 MOV R3,#0 CJNE R2,#0,ZHENG LCALL FANTIN: LCALL MAIN ;停 YAN0: MOV R0,#25LOOP00:MOV R1,#100LOOP01:DJNZ R1,LOOP01 DJNZ R0,LOOP00 RETYAN1: MOV R0,# 20 LOOP10:MOV R1,#100LOOP11:DJNZ R1,LOOP11 DJNZ R0,LOOP10 RETYAN2: MOV R0,#30 LOOP20:MOV R1,#100LOOP21:DJNZ R1,LOOP21 DJNZ R0,LOOP20 CHA: DB 03H,06H,05H END设计总结全文从步进电机的结构，工作原理，单片机和步进电机的选择等方面进行了系统的阐述，对原理理论和概念有了一个系统的分析和街市。并对电路和程序进行了设计。1. 硬件电路单片机有很多类型，我的设计采用了89c52的常用型号。由于该系列的单片机带有连个内部16位定时/计数器，从而很大限度的开发了单片机。再加上搭载的p0口可以快站芯片，很大限度的简化了我的设计。2电机运转的信号表达在我的设计中我选用了LED灯来表示电机的运转情况，而没有选择显示器，一是节省了成本而是指示灯能够更加直观的显示，且非常易懂，易于应用于生活实践中。LED灯采用了红黄绿三中颜色，色彩对比明显，易于观察。3改进方法和进一步工作从实际生活和生产出发我饿设计存在着一定的误差，对步进电机旋转的角度和速度的控制不是那么的精确。所以下一步的工作就是工作板的制作和调整，也就是将硬件电路进行参数的测量，以达到更加精确的目的。目录1袁任光,张伟武.电动机控制电路选用与258实例M.北京:机械工业出版社,2005. 2李夙.异步电动机直接转矩控制M.北京:机械工业出版社,1998. 3张友德.单片微型机原理、应用与实验M.上海:复旦大学出版社2005. 4王秀和.永磁电机M.北京: 中国电力出版社,2007. 6孙笑辉,韩曾晋.减少感应电动机直接转矩控制系统转矩脉动的方法J.电气传动,2001(1):8-11. 7韩利虎浅谈步进电机的基本原理J. 内蒙古石油化工, Inner Mongolia Petrochemical Industry, 200711):109. 8张巍. 浅谈单片机控制步进电机J. 安防科技,2006(3): 25. 9张文爱, 杨鑫. 基于智能功率模块的步进电机驱动电路J. 电机与控制应用, 2009, 36(3):28-30. DOI:10.3969/j.issn.1673-6540.2009.03.007.10吴红星, 高寒英. 电机控制集成电路的选用：第七讲 步进电机驱动电路UC3770的选用J. 微电机：伺服技术, 2000, 33(1):44-45. DOI:10.3969/j.issn.1001-6848.2000.01.016.11赵家政, 补家武. 实用的步进电机驱动电路J. 今日电子, 2007, (5):90-91. DOI:10.3969/j.issn.1004-9606.2007.05.026.12韩铮, 张润和, 王冰等. 基于集成芯片的步进电机驱动器设计J. 电子测量技术, 2009, 32(2):115-117. DOI:10.3969/j.issn.1002-7300.2009.02.034.13易来华, 冯培淑. 关于步进电机驱动电路细分的研究J. 职业, 2008, (24). DOI:10.3969/j.issn.1009-9573.2008.24.018.14张玉峰, 李声晋, 卢刚等. 基于步进电动机的油门调节系统设计J. 微特电机, 2012, 40(8):37-41. DOI:10.3969/j.issn.1004-7018.2012.08.012.15杨斐, 刘景林, 董亮辉. 两相混合式步进电动机动态多细分驱动器设计J. 微特电机, 2013, 41(2):42-44. DOI:10.3969/j.issn.1004-7018.2013.02.012.16闫要岗, 骆光照, 李斐等. 一种新型步进电动机驱动器设计J. 微特电机, 2010, 38(10):51-54. DOI:10.3969/j.issn.1004-7018.2010.10.016.谢辞 通过本次毕业实习和毕业设计的实践，使我把大学四年当中所学的知识进行了归纳与应用，在很大程度上提高了我的综合素质与工作能力，使我学会了利用所学的知识来解决具有一定技术难度的种种问题，锻炼了我的动手能力，使我不在是一个只会讲理论而不会动手的书呆子。最重要的是树立了敢于实践的思想，以及求知探索的科学精神，这是我最大的体会和收获。 到现在，本人的设计无论在显示方面，系统的稳定方面，以及按键操作方面都己经基本达到了预期的结果。这是一件令人无比欣慰的事情，在这个过程中我遇到了很多的困难，查阅了很多的资料，以及请教了很多的同学，所以最后我成功完成了我人生中的第一次毕业设计。从这次的设计过程中我看到了自己的很多不足之处，需要在以后的生活工作中改进提高。 在整个的设计过程中，我明白了知识的积累不是靠短时间内完成的，需要在平时的生活学习中认真耐心的去总结。一些生活中的小细节就会这你的工作学习中起到很大的作用。当然我现在的设计的成功离不开李玉廷老师对我的悉心教导和指点，以及很多同学的热心帮助。最后祝愿老师在以后的生活中身体健康，家庭幸福，桃李满天下。 两字中间空两格、四号黑体、居中为你提供优秀的毕业论文参考资料，请您删除以下内容，O(_)O谢谢！2 Many people have the same mixed feelings when planning a trip during Golden Week. With heaps of time, the seven-day Chinese为你提供优秀的毕业论文设计参考资料，请您删除一下内容，O(_)O谢谢！National Day holiday could be the best occasion to enjoy a destination. However, it can also be the easiest way to ruin how you feel about a place and you may become more fatigued after the holiday, due to battling the large crowds. During peak season, a dream about a place can turn to nightmare without careful planning, especially if you travel with children and older people. As most Chinese people will take the holiday to visit domestic tourist destinations, crowds and busy traffic are inevitable at most places. Also to be expected are increasing transport and accommodation prices, with the possibility that there will be no rooms available. It is also common that youllwait in the line for one hour to get a ticket, and another two hours at the site, to only see a tiny bit of the place due to the crowds. Last year, 428 million tourists traveled in China over the week-long holiday in October. Traveling during this period is a matter that needs thorough preparation. If you are short on time to plan the upcoming Golden Week it may not be a bad idea to avoid some of the most crowded places for now. There is always a place so fascinating that everyone yearns for. Arxan is a place like this. The beauty of Arxan is everlasting regardless of the changing of four seasons. Bestowed by nature, its spectacular seasonal landscape and mountains are just beyond word. Arxan is a crucial destination for the recommended travelling route, China Inner Mongolia Arxan Hailar Manzhouli. It is also the joint of the four prairies across the Sino-Mongolian border, where people gravitate towards the exotic atmosphere mixed with Chinese, Russian, and Mongolia elements. As a historic site for the Yitian Battle, Arxan still embodies the spirit of Genghis Khan. Walking into Arxan, you will be amazed by a kaleidoscope of gorgeous colors all the year round - the Spring azaleas blooming red in the snow, the Summer sea wavering blue in the breeze, the Autumn leaves painted in yellow covering volcanic traces, and the Winter woods shining white on the vast alpine snowscape. Hinggan League Arxan city is situated in the far eastern area of Inner Mongolia Autonomous Region. Its full name Haren Arxan means hot holy water in the Mongolian language. Arxan is a tourism city in the northern frontier with a blend of large forest, grand prairies, vast snowfield, heaven lake cluster, thermium, as well as volcanic cluster. It is a rare and unique ecotourism base filled with healthy sunshine, clean air and unspoiled green. Nestled close to the countrys largest virgin forest, and known for its spring and ecological environment, Arxan is marveled at by many tourists as the purest land on earth. You cannot miss out the Autumn of Arxan. It is definitely the best with brightly-colored scenery full of emotions. Autumn in the northern part of the country comes earlier than the South. A September rain followed by the footprints of Autumn brings more colors to the once emerald green mountain and blooming grassland. Shutterbugs flock to see for themselves the marvel of splendid colors around the mountains and waters, many of whom have travel a long distance and even camp here only to capture a moment of the nature wonder. The silver birch turns golden, while the larch is still proudly green. You will find yourself drowned in the intoxicating red of the wild fruits as well as the glamour of flowers in full blown. And your heart will be lingering on the woods as its time for the wild fruits to ripe. The picturesque Arxan in Autumn is indeed a fairyland only exists in a dream that satisfies all your fantasies. If itrains heavily on Saturday night, some elderly Chinese will say it is because Zhinu, or the Weaving Maid, is crying on the day she met her husband Niulang, or the Cowherd, on the Milky Way. Most Chinese remember being told this romantic tragedy when they were children on Qixi, or the Seventh Night Festival, which falls on the seventh day of the seventh lunar month, which is usually in early August. This year it falls on Saturday, August 2. Folklore Story As the story goes, once there was a cowherd, Niulang, who lived with his elder brother and sister-in-law. But she disliked and abused him, and the boy was forced to leave home with only an old cow for company. The cow, however, was a former god who had violated imperial rules and was sent to earth in bovine form. One day the cow led Niulang to a lake where fairies took a bath on earth. Among them was Zhinu, the most beautiful fairy and a skilled seamstress. The two fell in love at first sight and were soon married. They had a son and daughter and their happy life was held up as an example for hundreds of years in China. Yet in the eyes of the Jade Emperor, the Supreme Deity in Taoism, marriage between a mortal and fairy was strictly forbidden. He ordered the heaven troop to catch Zhinu back. Niulang grew desperate when he discovered Zhinu had been taken back to heaven. Driven by Niulangs misery, the cow told him to turn its hide into a pair of shoes after it died. The magic shoes whisked Niulang, who carried his two children in baskets strung from a shoulder pole, off on a chase after the empress. The pursuit enraged the empress, who took her hairpin and slashed it across the sky creating the Milky Way which separated husband from wife. But all was not lost as magpies, moved by their love and devotion, formed a bridge across the Milky Way to reunite the family. Even the Jade Emperor was touched, and allowed Niulang and Zhinu to meet once a year on the seventh night of the seventh month. This is how Qixi came to be. The festival can be traced back to the Han Dynasty (206 BC-AD 220). Traditionally, people would look up at the sky and find a bright star in the constellation Aquila as well as the star Vega, which are identified as Niulang and Zhinu. The two stars shine on opposite sides of the Milky Way. Customs In bygone days, Qixi was not only a special day for lovers, but also for girls. It is also known as the Begging for Skills Festival or Daughters Festival. In this day, girls will throw a sewing needle into a bowl full of water on the night of Qixi as a test of embroidery skills. If the needle floats on top of the water instead of sinking, it proves the girl is a skilled embroiders. Single women also pray for finding a good husband in the future. And the newly married women pray to become pregnant quickly. Tradition transformed The love story of Niulang and Zhinu, and the Qixi Festival have been handed down for generations. Yet these ancient traditions and customs are slowly dying out. Many modern Chinese, particularly youngsters, seem to know more about St Valentines Day on February 14, characterized by bouquets of roses, chocolates and romantic candlelight dinners, than they do about their home-grown day for lovers. Even Qixi is nowadays referred to as the Chinese Valentines Day. More and more young Chinese people begin to celebrate this day in a very similar way as that in western countries. Fewer people than ever will gaze at the heavens on Saturday to pick out the two stars shining bright on either side of the Milky Way, that is, if people even know on which day Qixi falls. There are ready reminders dotted about, in the form of big ads saying Sales on Chinese Valentines Day! in shops, hotels and restaurants. But few young women will mark the festival with their boyfriends, or take part in traditional activities to pray for cleverness. A large-scale of exhibition on the Silk Road opened to the public in the National Museum on Thursday. The exhibition displays more than 400 treasures from Shaanxi province, Gansu province and 14 other regions. It is largest scale exhibition that shows the history of the Silk Road in recent years. AsAPECis going on in Beijing, the exhibit aims to show the world this brilliant section of history. The Silk Road is a series of trade and cultural transmission routes that were central to cultural interaction throug