步进电机与单片机英文文献与翻译

1、外文文献: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电PtugiHin MeinoiyAL

56、EPSENPORTOPORT1PORT；PORTS忖幻Iniorna11DataD日：aD皱3DataIdleExternal11FbatAddressDataPzwar-dDwnInternal00DalaDataDataPcwwd&wnExternal00FtoaiD曲OataData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

57、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，磁性材料退磁点在摄氏130度以上有些材料甚至高达摄氏2

58、00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电压确定混合式步进电机驱动器的电源电压围较广（比如IM483的供电电压12? 48VDC，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。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1.1 ? 1.3倍；如果采用开关电源，电源电流一般可取I的1.5? 2.0倍。步进电机的主

59、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。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。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0.9。，可以转移到控制电机励磁是为了转移如下：如果电机

60、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CPLDCPLD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