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附录-专题部分步进电机的基本原理 步进电机是一种将电脉冲转化为角位移的执行机构。当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度(称为“步距角”)，它的旋转是以固定的角度一步一步运行的。可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。步进电机可以作为一种控制用的特种电机，利用其没有积累误差(精度为100%)的特点，广泛应用于各种开环控制。 现在比较常用的步进电机包括反应式步进电机（VR）、永磁式步进电机（PM）、混合式步进电机（HB）和单相式步进电机等。 永磁式步进电机一般为两相，转矩和体积较小，步进角一般为7.5度 或15度；反应式步进电机一般为三相，可实现大转矩输出，步进角一般为1.5度，但噪声和振动都很大。反应式步进电机的转子磁路由软磁材料制成，定子上有多相励磁绕组，利用磁导的变化产生转矩。 混合式步进电机是指混合了永磁式和反应式的优点。它又分为两相和五相：两相步进角一般为1.8度而五相步进角一般为 0.72度。这种步进电机的应用最为广泛，也是本次细分驱动方案所选用的步进电机。 步进电机的一些基本参数： 电机固有步距角： 它表示控制系统每发一个步进脉冲信号，电机所转动的角度。电机出厂时给出了一个步距角的值，如86BYG250A型电机给出的值为0.9/1.8（表示半步工作时为0.9、整步工作时为1.8），这个步距角可以称之为电机固有步距角，它不一定是电机实际工作时的真正步距角，真正的步距角和驱动器有关。 步进电机的相数： 是指电机内部的线圈组数，目前常用的有二相、三相、四相、五相步进电机。电机相数不同，其步距角也不同，一般二相电机的步距角为0.9/1.8、三相的为0.75/1.5、五相的为0.36/0.72 。在没有细分驱动器时，用户主要靠选择不同相数的步进电机来满足自己步距角的要求。如果使用细分驱动器，则相数将变得没有意义，用户只需在驱动器上改变细分数，就可以改变步距角。 保持转矩（HOLDING TORQUE）： 是指步进电机通电但没有转动时，定子锁住转子的力矩。它是步进电机最重要的参数之一，通常步进电机在低速时的力矩接近保持转矩。由于步进电机的输出力矩随速度的增大而不断衰减，输出功率也随速度的增大而变化，所以保持转矩就成为了衡量步进电机最重要的参数之一。比如，当人们说2N.m的步进电机，在没有特殊说明的情况下是指保持转矩为2N.m的步进电机。 DETENT TORQUE：是指步进电机没有通电的情况下，定子锁住转子的力矩。DETENT TORQUE 在国内没有统一的翻译方式，容易使大家产生误解；由于反应式步进电机的转子不是永磁材料，所以它没有DETENT TORQUE。 步进电机的一些特点：1一般步进电机的精度为步进角的3-5%，且不累积。 2步进电机外表允许的最高温度。 步进电机温度过高首先会使电机的磁性材料退磁，从而导致力矩下降乃至于失步，因此电机外表允许的最高温度应取决于不同电机磁性材料的退磁点；一般来讲，磁性材料的退磁点都在摄氏130度以上，有的甚至高达摄氏200度以上，所以步进电机外表温度在摄氏80-90度完全正常。3步进电机的力矩会随转速的升高而下降。 当步进电机转动时，电机各相绕组的电感将形成一个反向电动势；频率越高，反向电动势越大。在它的作用下，电机随频率（或速度）的增大而相电流减小，从而导致力矩下降。4步进电机低速时可以正常运转,但若高于一定速度就无法启动,并伴有啸叫声。 步进电机有一个技术参数：空载启动频率，即步进电机在空载情况下能够正常启动的脉冲频率，如果脉冲频率高于该值，电机不能正常启动，可能发生丢步或堵转。在有负载的情况下，启动频率应更低。如果要使电机达到高速转动，脉冲频率应该有加速过程，即启动频率较低，然后按一定加速度升到所希望的高频（电机转速从低速升到高速）。 步进电动机以其显著的特点，在数字化制造时代发挥着重大的用途。伴随着不同的数字化技术的发展以及步进电机本身技术的提高，步进电机将会在更多的领域得到应用。 附录外文翻译部分原文：Research of High-speed Data Storage Technique in Windows ModeAbstract: In the application of modern industry measure and control fields,the transient state single should be incepted to computer for storage and processing real time. With increasing design target,it becomes more and more important to the problems in the data storage processing and the ways to solve these problems in the data storage processing and the ways to solve these problems in Windows mode.Keywords: Data storage; transfers speed; WinDriver; ASPI; virtual disk.1 Foreword With the measure instrument precision and practice demand target increasing, the data transfer speed between instrument and computer improves, and most of the data should be processing real time. Common CPU operation speed has already exceeded 1 GHz, so it is easy for the operation ability of computer to satisfy the command of industry measure and control. However, the key point is the transfer bottleneck between the instrument and host computer. If the data cannot be sent to computer in time, the computers operation ability will not be exerted effectively. This problem will be discussed as follow. The first item should be ensured is the kind of the OS(operation system). The most popular OS is Windows system, so the most important tache of data transfer will be discussed in Windows mode.2Memory Management One of the key concepts of memory managements is the correlation between the address space (logic address) and storage and storage space (physical address). When program is running, memory management unit (MMU) executes the mapping from logic address to physical address. The logic address is added by the value in relocation register before sent to memory, and the value in relocation register is transparent to user. It is obvious that in Windows mode, memory management is used the virtual address space, but not physical address, so the program will receive the virtual address, instead of physical address. Considering of the mapping affection on data transfer speed, operation physical address directly is the best choice. The operation step is as follow : first , send the data to the buffer area (physical memory) that allotted by the management soft; second, send the data to the buffer area (logic memory) that allotted by the management soft; third, send the data from logic memory to storage disks. Both physical address and logic address should be continuous. The reasons are listed as follow: first, it is sure to allot the memory like that, and next it will be shown; second, relative to allotting several buffer areas , allotting one buffer area will not add the fragment to memory to; third , allotting this kind of buffer area can predigest the program. In the fist step, data acquisition card should obtain the process of transfer data ,and the physical address must be continuous. The buffer areas size lies on the datas size transferred once. And in the third step, since suing ASPI interface technique (it will be explained in fourth part), the logic address should be continuous, too. If the buffer areas in first and third step can be united into one buffer area, the processing is only concluding two steps: fist, send the data to continuous buffer area; second, send the data to data disks. By this way, the time of the data move in the memory will be reduced,and the data storage speed is increased. To avoid the storage operation effect on the data read, the ping-pong mode is accepted in the storage processing . The allotted buffer area is divided into two same parts. When the first buffer area is full of data , the system sends an interrupt signal to management soft , and transfers the data to hard disk. The following data will data will be sent to the next buffer area. When this buffer area is full of data, the system sends an inteeeupt signal to management soft, too. The precondition of this mode is the storage speed should should should be higher than data acquisition speed. The transfer speed of Wide Ultra2 SCSI disk can reach 80MB/s,and the data width is 16bit, which will satisfy the precondition.3. Method on Allotting Continuous Buffre Area There are several methods on allotting continuous area in Windows mode, and two of these are compared here . One is using VxD (Virtual Device Driver) to do this job. It can allot one continuous buffer area and provide the head address of this buffer area to management program and mapping form this buffer area to virtual address space. In the pro gram, first hold one buffer area in the virtual address space, then transfer VxD with sending the head address of the virtual address space to VxD, so that VxD allot one buffer area in the physical memory and obtain the hcad address. At last, refer the physical memory to the appointed virtual address space . This way can be used in win32 ,and it can receive a continuous physical buffer area and logic buffer area. However, it is much complex to be carried out. Another is using the function of cards DMA operation in WinDriver: WD_DMALock. By using this function, the continuous buffer area can be obtained for DMA operation area. WinDriver is only used to drive cards, so it requires at least one card in the acquisition system. But it is common for most acquisition system than the first way, and its dependability is higher, too. Moreover, it is convenience to upgrade. So it is a good choice for industry measure fields.The buffer area is allotted by this way: setting the reasonable parameter of the function WD_DMALock to obtain the continuous physical page , and the corresponding logic address is continuous, too. The head address of first physical page is the physical memory address .The return value of puseraddr , one of the parameter of WD_DMALock, is the physical memory. In addition ,winDriver collates every acquisition card by logic mumber (from l to the maximum ,the logic number is not corresponding to physical order),and the function can run without operating acquisition cards or any response of those cards, so the logic number can be used as l in the function and affords to all acquisition cards.One detail should be paid much attention : one of parameter of this function must be set to “DMA_KERNEL_BUFFER_ALLOC”, so that WinDriver can allot a continuous physical memory space. Moreover, the process of allotting buffer area must be placed in the initialization phase in the program, and other program should not run before the memory management soft runs. Otherwise, the process of allotting memory may be failure for the system has not enough continuous physical memory space. When the process is finished, the allotted memory must be free by function WD_DMAUnlock. The figure shows the allotted physical memory model by ping-pong mode (the size of each buffer area is 1MB)OFFSET0x001FFFFFOFFEST0x00100000 Data storage buffer area 2 (1MB)OFFSET0x000FFFFFOFFEST0x00000000 Data storage buffer area 1 (1MB)Fig.1 Allotted Physical Memory Model4. Storage in Hard Disk Hard disk operation has two levels: Windows and logic sector level. Accessing disk in Windows level , the operation system will do most of the job. The operation is so simple that the Windows98/2000 operation system can call API function directly to access the disk. However, the speed of this access is too low to satisfy the data storages requirement. Accessing disk in logic sector level , the soft developed by user self can operate disk directly in logic sector. This method gains higher speed than Windows level by accessing disk without using operation systems file system. If the data are stored in continuous logic sector, the speed of data storage will get higher. So, it is better to access disk in logic sector level and continuous logic sector than Windows level. To improve the data storage speed , system adopts SCSI hard disk instead of IDE hard disk . In the forepart of SCSI, users develop the SCSI devices driver. The job is very complex and often makes mistakes, and the drivers portability is not well. ASPI (Advanced SCSI Program Interface) technique solves this problem. Problem. ASPI is developed by Adaptec Company, and defined in most operation system, including Windows system, The process of accessing SCSI hard disk by ASPI includes four steps commonly: construct accessing disk command; send the command to ASPI manager; wait for executing command; explain the state or error code returned by ASPI manager.The concrete method about ASPI will not be explained here, which can be found in many books about SCSI. In the process of data storage, the time of searching track and sector is reduced after the disk rotate speed keeps normal. But a detail should be paid much attention. If the magnetic head is far form the sector where to write data when the first time to write data, the magnetic head will spend more time to write to seek trick and sector. Moreover, if the disk is at dormancy state (disk rotate speed is zero), the process that changing the disk state from dormancy state to running state will cost many times. However, the data transferring form acquisition card to the allotted buffer area keeps constant. This case maybe happens at this time that some data will be lost because the speed of data storage is lower than the speed of transfer data from acquisition card to memory. To solve this problem, the disk rotate speed must be kept running state when the process of data storage starts, and every magnetic head be moved to the cylinder or the conjoint cylinder where the data will be sent to. It is difficult to operate disks magnetic head by soft and this method maybe hurt disk, so it is better to find a new way but not to move magnetic head directly. An effective way is read the data form the sector where the data will transfer to memory, then write back to the sector .By this way, the magnetic head moves to the cylinder or the conjoint cylinder and keeps the disk running.5. Virtual Disk Generally, the disk operation speed is lower than the memory operation speed of 4 to 6 order. So it can improve the storage speed to use memory as disk, this way is also called RAM disk. RAM disks device driver allows the normal disk operation, though the operation is executed in memory instead of disk. So it is transparent for the user. This way is not a good choice for the high dependability system, because it has many disadvantages such as the memory capability should be enough, the data in the virtual disk will be lost if the system or power meet some accidents.6. Postscript All the above items are the key points in high-speed data storage technique. In addition, there are some other points also as RAID (Redundant Arrays of Inexpensive Disks), disk dispatch algorithm, etc .The affection range and the cost of the system are all different. So the choices are different. too. “Four Channels PXI Bus Preprocessing Dynamic Data Acquisition System” is design for the aero engines transient and dynamic state, wind tunnel examination. This task belongs to the subject: the research of aero automatism measure and test technique. In the development of the system soft, the research of the data storage technique has provided the powerful support.Reference1Chen xiangqun XiangYong, WangLei MaHongbing, ZhengKougen Dave Probert. Windows Operation System Principle 2CaoZiyuan. Physical Memorys Allocation and Direct Access in Win32 Mode,Observe and Control Technique, Vol.20,No.1,Jan2001.3Brian Sawert. The Programmers Guide To SCSI, China Electric Power Press,20014Walter Oney. Programming the Microsofy Windows Driver Model, Microsoft Press,19995ZhangHao. The Archive of PHD2000 Data Acquisition Systems Sofr, Sep, 2001Author BiographiesZhang Lei: work in the First Aeronaut Institute of Air Foree, instructor, graduate student of Beijing University of Aeronautics&Astronautics, engaged in data acquisition system development:Xu Xing: work in Beijing University of Aeronautics&Astronautics ,School of Instrumentation Science & Opto-electronics Engineering, professor, tutor of graduate student, engaged in computer measure and control technique research.翻译：和关于Windows模式中高速存储技术的研究摘要：在现代工业测量和技术领域的应用中，单一的短暂状态输入计算机存储，并却实时处理。随着设计目标的增加，重要数据的存储速度变的越来越重要。本文主要讲的是数据存储过程中的问题和在Windows模式中解决这些问题的方式。关键词：数据存储 转换速度 Windows ASPI 虚拟磁场1 .展望 随着测量工具的精确和实际需求目标的曾加，数据转换速度在测量仪器和计算之间改进，并且大部分数据都可以实时处理。普通CPU的运行速度已经超过1G赫兹。对于计算机的运行能力来讲，需满足工业测量仪器和控制的要求是很容易的：然而主要的问题在于测量仪器与主机同的转换障碍。如果数据没有及时地传送到计算机，那么计算机的操作能力就不能有效地被运用，这个问题将按如下步骤进行探讨：第一步应先确定操作系统的类别最流行的操作系统是Windows系统。因此，最重要的数据转换技术将在Windows模式中讨论。2.存储器管理存储器管理的一个主要的概念是在“位置空间”（逻辑地址）和“存储空间”（物理地址）间的相互关系。当程序运行时，存储器管理单元执行从逻辑地址到物理地址间的制作工作。在传到存储器前，逻辑地址就是通过重新注册的价值得到补充，并且重新登记的的价值对用在虚拟地址中使用，而非物理地址。所以这个程序存到的是虚拟地址而非物理地址。考虑到数据转换速度中制图因素的影响，操作物理地址显然是最好的选择，操作步骤如下：第一：将数据传到由管理软件分配的缓冲区域（物理区域）；第二，将数据传到由管理软件分配的缓冲区域（逻辑区域）；第三，将数据从逻辑存储器传送到存储磁盘上，但是物理地址和逻辑地址是无法连续的，原因如下：第一，必须保证向上述那样分配存储器，并且下一步可以显示出来；第二，相关的分配几个缓冲区域，分配一个缓冲区域并不能将零碎的片段添加的记忆中去。第三，分配到这种缓冲区域可以预先处理此程序。在第一步中，数据获得下可以获得数据转换过程中，数据存储分配区域的物理地址，并且物理地址必须是连续的。缓冲区域的大小在于一次性转换数据的长度。并在有第三步中，因为使用了ASPI界面技术（将在第四部分中介绍），逻辑地址也应是连续的，如果第一阶段和第三阶段的缓冲区域可以统一在一个缓冲区域，那么这个过程只包括两步：第一，将数据传送到连续的缓冲区域；第二，将数据传送到数据磁盘，通过这种方式，数据转移到存储器系统的时间将缩短，且数据存储速度将增加。为了避免存储操作技术影响数据只读功能，PING-PONG模式有存储过程中被接受，分配缓冲区域被划分为两个相同的部分。第一个缓冲区域充满数据，系统传送一个中断信号到管理软件，并且将数据转到硬盘上，剩下的数据被传到下个缓冲区域，当这个缓冲区域充满数据，系统也会向管理软件传送中断信号，这个模式的前提是：数据的存储速度应高于获得速度。WIDEULTRA2 SCSI磁盘的转换速度可以达到80MB/S,且数据的宽度是16位,可以满足这个前提.3.分配连续缓冲区域的方式 在WINDOWS模式下,有多种分配连续缓冲区域的方式,这里将比较其中的两种. 一种是利用VXD(虚拟装置驱动器)来做此工作,它可以分散一些连续的缓冲区域,切给管理程序提供这个缓冲区域的首地址,为从这个缓冲区域到虚拟地址提供制图,在此程序中,首先在虚拟地址中选择一个缓冲区域,然后将附有首地址的虚拟地址的VXD传送到VXD,只有这样,VXD分散一个在物理存储器与已确定的虚拟地址联系起来,这种方法可以在WIN32中使用,它可以直接收到一个连续的物理缓冲区域和逻辑缓冲区域.但是,这个模式的执行比较复杂. 另一种是是用WinDreir中卡的DMA运行的功能:WD-DMALOCK.通过使用其功能,对DMA来说,这个连续的缓冲区域能够获得,这个缓冲区域可以作为数据存储缓冲区域使用. WinDreir只是被用来驱动卡,因此,在获得系统中要求最少一张卡.但是对大多时获得系统来讲,使用数据获得卡是很普通的一件事,这种方法较第一种来讲是比较简单的,且它的依赖性也更高,更多的是,对上层来讲是简便的,所以对工业测量是个很好的选择. 缓冲区域是按此方式分散的,为了获得一个连续的物理页码,设定一个合理的WD-DMALOCK功能的参数,切相应的逻辑地址也是连续的,首个物理页码的首地址是一个物理存储器地址.PuserAddr的回服价值, WD-DMALOCK的一个参数,是物理存储器的地址.另外WinDreir通过逻辑数字(从1到无穷大,逻辑数字与物理顺序不是对应的)分散获得卡,在设有运行获得卡或这些卡的任何影响的情况下,这项功能就可运行.因此逻辑数字在
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