步进电机及其单片机英文文献及其翻译

1、外文文献： Knowledge of the stepper motorWhat is a stepper motor： Stepper motor is a kind of electrical pulses into angular displacement of the implementing agency. Popular little lesson: When the driver receives a step pulse signal, it will drive a stepper motor to set the direction of rotation at a fix

2、ed angle (and the step angle). You can control the number of pulses to control the angular displacement, so as to achieve accurate positioning purposes; the same time you can control the pulse frequency to control the motor rotation speed and acceleration, to achieve speed control purposes.What kind

3、s of stepper motor sub-： In three stepper motors: permanent magnet (PM), reactive (VR) and hybrid (HB) permanent magnet stepper usually two-phase, torque, and smaller, step angle of 7.5 degrees or the general 15 degrees; reaction step is generally three-phase, can achieve high torque output, step an

4、gle of 1.5 degrees is generally, but the noise and vibration are large. 80 countries in Europe and America have been eliminated; hybrid stepper is a mix of permanent magnet and reactive advantages. It consists of two phases and the five-phase: two-phase step angle of 1.8 degrees while the general fi

5、ve-phase step angle of 0.72 degrees generally. The most widely used Stepper Motor.What is to keep the torque (HOLDING TORQUE)How much precision stepper motor? Whether the cumulative： The general accuracy of the stepper motor step angle of 3-5%, and not cumulative.Stepper motor to allow the minimum a

6、mount of surface temperatureStepper motor to allow the minimum amount of surface temperature：Stepper motor causes the motor temperature is too high the first magnetic demagnetization, resulting in loss of torque down even further, so the motor surface temperature should be the maximum allowed depend

7、ing on the motor demagnetization of magnetic material points; Generally speaking, the magnetic demagnetization points are above 130 degrees Celsius, and some even as high as 200 degrees Celsius, so the stepper motor surface temperature of 80-90 degrees Celsius is normal.How to determine the stepper

8、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 the request to choose. If the mo

9、tor 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 maximum input voltage of the drive, or it may damage the drive. B. Determination of CurrentPower supply current is generally based on the output phase cur

10、rent 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 motor： A stepper motor drive can

11、be added operate pulse drive signal must be no pulse when 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 stepper motor version is 7.5 deg

12、rees, 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, and so devices are the cor

13、e of the stepper motor as the driving force.Stepper motor control exampleWe use four-phase unipolar stepper motor as an example. The structure shown in Figure 1: Four four-phase winding leads (as opposed to phase A1 A2 B1 phase phase B2) and two public lines (to the power of positive). The windings

14、of one phase to the power of the ground. So that the windings will be inspired. We use 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 follows: If the requirement

15、s of motor reversal, the transmission excitation signal can be reversed. 2 control schemeControl system block diagram is as follows The program uses AT89S51 as the main control device. It is compatible with the AT89C51, but also increased the SPI interface and the watchdog module, which not only mak

16、es 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 programmable logic device o

17、f 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 +5 V. CPLD receives information sent from the microcontroller after converted to the corresponding control signal output to th

18、e 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 resistance value of 320. R9-R12 resistance value 2.2K. Q1-Q4 as

19、 Darlington D401A, Q5-Q8 for the S8550. J1, J2 and the stepper motor connected to the six-lead。Advantages and disadvantages of stepper motorAdvantages 1. The motor rotation angle is proportional to the number of pulses; 2. When the motor stopped with a maximum torque (when the winding excitation tim

20、e); 3. 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; 4. Excellent response from the stop and reverse; 5. In the absence of brush, high reliability, it j

21、ust depends on the life of the motor bearing life; 6. 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 simpleSystem cost 7. Just load directly connected to the motor shaft can also be extr

22、emely slow synchronous rotation. 8. Speed is proportional to the pulse frequency, and thus a relatively wide speed range.Shortcomings1. If not properly controlled prone to resonance;2. Difficult operation to a higher speed.3. Difficult to obtain high torque4. There is no advantage in terms of volume

23、 weight, low energy efficiency.5. 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

24、the release of the 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 con

25、trol system sends a 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 con

26、nect the motor accurately. 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 v

27、ery active, high-performance sub-driver circuit can be broken down into thousands or even any subdivision. 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, nois

28、e and torque ripple, 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 cha

29、nge the drive number 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 AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with 4K bytes of Flash pro

30、grammable and erasable read only memory (PEROM). The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry-standard MCS-51 instruction set and pinout. The on-chip Flash allows the program memory to be reprogrammed in-system or by a convent

31、ional nonvolatile memory programmer. By combining a versatile 8-bit CPU with 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 fo

32、llowing standard features: 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 zer

33、o frequency and supports 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

34、until the next hardware reset.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. When 1s are written to port 0 pins, the pins can be used as highimpedance inputs.Port 0 may also be configur

35、ed to be the multiplexed 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 progra

36、mverification.Port 1Port 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 pu

37、lled low will source current (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 2 output buffers can sink/source four TTL inputs.When 1s are w

38、ritten to Port 2 pins they are pulled high by the internal pullups and can be used as inputs. As inputs,Port 2 pins that are externally being pulled low will source current, because of the internal pullups.Port 2 emits the high-order address byte during fetches from external program memory and durin

39、g accesses to external data memory that use 16-bit addresses. In this application, it uses strong internal pullupswhen emitting 1s. During accesses to external data memory that use 8-bit addresses, Port 2 emits the contents of the P2 Special Function Register.Port 2 also receives the high-order addr

40、ess bits and some control 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

41、 as inputs. As inputs,Port 3 pins that are externally being pulled low will source current (IIL) because of the pullups.Port 3 also serves the functions of various special features of the AT89C51 as listed below:Port 3 also receives some control signals for Flash programming and verification.RSTRese

42、t input. A high on this pin for two machine 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 norm

43、al operation ALE is emitted at 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

44、 8EH. With the bit set, ALE is active only during a MOVX or MOVC instruction. 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 AT89C

45、51 is executing code from external program memory, PSEN is activated twice each machine cycle, except that two PSEN activations are skipped during each access to external data memory.EA/VPPExternal Access Enable. EA must be strapped to GND in order to enable the device to fetch code from external pr

46、ogram memory locations starting at 0000H up 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

47、parts that require12-volt VPP.XTAL1Input 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 inverting amplifier which can be

48、 configured for use as an on-chip oscillator, as shown in Figure 1.Either a quartz crystal or ceramic resonator may be used. To drive the device from an external clock source, XTAL2 should be left unconnected while XTAL1 is driven as shown in Figure 2.There are no requirements on the duty cycle of t

49、he external clock signal, since the input to the internal clocking circuitry is through a divide-by-two flip-flop, but minimum and maximum voltage high and low time specifications must be observed. Figure 1. Oscillator Connections Figure 2. External Clock Drive ConfigurationIdle ModeIn idle mode, th

50、e CPU puts itself to sleep while all the onchip peripherals remain active. The mode is invoked by software. The content of the on-chip RAM and all the special functions registers remain unchanged during this mode. The idle mode can be terminated by any enabled interrupt or by a hardware reset.It sho

51、uld be noted that when idle is terminated by a hard ware reset, the device normally resumes program execution,from where it left off, up to two machine cycles before the internal reset algorithm takes control. On-chip hardware inhibits access to internal RAM in this event, but access to the port pin

52、s is not inhibited. 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 external memory.Power-down ModeIn the power-down mode, the oscillator is stopp

53、ed, and the instruction that invokes power-down is the last instruction executed. The on-chip RAM and Special Function Registers retain their values until the power-down mode is terminated. The only exit from power-down is a hardware reset. Reset redefines the SFRs but does not change the on-chip RA

54、M. The reset should not be activated before VCC is restored to its normal operating level and must be held active long enough to allow the oscillator to restart and stabilize.中文译文： 步进电机的知识什么是步进电机：步进电机是一种把电脉冲转化为角位移的执行机构。通俗的说：当驱动程序收到一个步进脉冲信号，将驱动步进电机轴旋转一个固定的角度（步进角）。您可以通过控制脉冲个数来控制角位移，从而达到准确定位的目的;同时，你可以通

55、过控制脉冲频率来控制电机的旋转速度和加速度，实现速度控制的目的。步进电机的种类：步进电机分为三种：永磁式（PM），反应式（VR）和混合式（HR）永磁式步进电机一般为两相，转矩和体积较小，步进角一步7.5度或15度;反应式一般有三相可以实现大转矩输出，步进角一般是1.5度，但噪声和振动大。在欧洲和美洲80个国家已被淘汰;混合式步进是混合了永磁式和反应的优势。它由两相和五相：一般两相的步距角是1.8度，而的五相步距角为0.72度。是使用最广泛的的步进电机。步进电机允许的最高表面温度步进电机温度过高首先会的磁性材料退磁，导致转矩降低甚至失步，电机表面温度允许的最大值取决于的磁性材料退磁点;一般来说，

56、磁性材料退磁点在摄氏130度以上有些材料甚至高达摄氏200度高，所以步进电机表面温度在摄氏80-90度是正常的。 步进电机精度为多少？是否累积一般步进电机的精度为步进角的3-5%，且不累积 如何确定步进电机驱动器直流电源A.电压确定混合式步进电机驱动器的电源电压范围较广（比如IM483的供电电压1248VDC），电源电压通常根据电机的转速和响应要求来选择。如果要求较快的运行速度较高的响应速度就选用较高的电压，但注意电源电压的峰值不能超过驱动器的最大输入电压，否则可能会损坏驱动器。B.电流确定电源电流一般根据输出相电流I来确定。如果采用线性电源，电源电流一般可取I的1.11.3倍;如果采用开关电

57、源，电源电流一般可取I的1.52.0倍。步进电机的主要特性 在步进电机关机时要确保没有脉冲信号，当电机运行时如果加入适当的脉冲信号，它会转过一定的角度（称为步距角是）。转速与脉冲频率成正比。 2龙式步进电机步距角7.5度，旋转360度，需要48个脉冲来完成。 3步进电机具有快速启动和停止的优良特性。4只要改变脉冲，可以很容易地改变电机轴旋转的方向。因此，目前的打印机，绘图仪，机器人设备以步进电机作为动力核心。步进电机控制的例子我们以四相单极步进电机为例：四个相绕组引出四个相和两个公共线（连接到正极）。一相接地。会被激发，。我们使用四相八拍控制，即第1阶段第2阶段交替反过来，会提高分辨率。步距角

58、0.9，可以转移到控制电机励磁是为了转移如下：如果电机反转的要求，传输的激励信号可以逆转的。 2控制方案控制系统框图如下该方案采用AT89S51的主要控制装置。它是与AT89C51兼容，但也增加了SPI接口和看门狗模块，这不仅使调试变得更容易，也更稳定。单片机程序主要用于现场信号的采集和通过步进电机的运转来计算的方向和速度信息。然后将信息发送到CPLD。CPLD使用EPM7128SLC84-15，ALTERA公司的MAX7000系列可编程逻辑器件EPM7128。具有高阻抗，电可擦除等特点，可用单位数为2500单位，工作电压+5 V CPLD接收脉冲后转换为相应的控制信号输出到步进电机驱动器，从微控制器发送的信息。输入后把控制信号发送到驱动电机绕组，以达到有效控制电机的目的。 2.1为电机驱动器的硬件结构电机驱动器通过下面的电路来实现：R1R8的电阻值为320。 R9-R12的电阻值为2.2K。 Q1Q4作为达林顿401A，Q5-Q8为S8550。