步进电机及单片机英文文献及翻译

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) perma nent magnet stepper usually two-phase, torque, and smaller, step an gle of degrees or the gen eral 15 degrees; reacti on step is gen erally three-phase, can achieve high torque output

4、, step an gle of degrees is gen erally, but the no ise and vibration are large. 80 countries in Europe and America have been eliminated;hybridstepper 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 degrees while the gen

5、eral five-phase step an gle of 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 motor to allow the mini

6、mum amount of surface temperature Stepper 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 the maximum allowed

7、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 normal.How to determi

8、ne 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 the request to cho

9、ose. 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 generally based on the outp

10、ut phase current drive I to determine. If a linear power supply, power supply current is generally preferable to times the I; if we adopt the switching power supply, power supply current is generally preferable to I, to times.The main characteristics of stepping motor：A stepper motor drive can be ad

11、ded 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 stepper motor version is degrees, 360 d

12、egrees 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 core of the st

13、epper 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 of positive). The windings of one phase

14、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. per step can be transferred to control the motor excitation is transferred in order as follows:If the requirements of motor reversal

15、, 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 module, which not only makes the debugging proce

16、ss 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 of large-scale, for the

17、 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 signal output to the stepper motor drive.

18、Put the control signal drives the motor windings after the input, to achieve effective control of the motor. The hardware structure of the motor driveMotor drive using the following circuit:R1-R8 in which the resista nee value of 320Q. R9R12resista nee value Q. Q1-Q4 as Darlington D401A, Q5-Q8 for t

19、he S8550. J1, J2 and the stepper motor connected to the six-lead 。Advantages and disadvantages of stepper motorAdvantages1. The motor rotation angle is proportional to the number of pulses;2. When the motor stopped with a maximum torque (when the winding exeitation time);3. Since the accuracy of eac

20、h 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 just depends on the life of the mot

21、or 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 simple System cost7. Just load directly connected to the motor shaft can also be extremely slow synchronous rotation.8.

22、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 weight, low energy efficiency.5. O

23、ver 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 loop current flo

24、w, 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 pulse signal ea

25、ch through the stepper motor drive to rotate a step angle. That is the stepper motorspeed 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 accurately. Stepper m

26、otor 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-performance sub-dri

27、ver 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, the stepper motor

28、 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 number of segments, ca

29、n 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 read only memory

30、 (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 memoryprogrammer. By c

31、ombining 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: 4K bytes of Fla

32、sh, 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 two software sele

33、ctable 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 reset.Pin Descript

34、ionVCC： 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 0 may also be configured to be the multiplexed loworder address/data bus

35、during accesses to external program and data memory. In this mode P0 has internal 0 also receives the code bytes during Flash programming,and outputs the code bytes during programverification. External pullups are required during programverification.Port 1Port 1 is an 8-bit bi-directional I/O port w

36、ith internal pullups.The Port 1 output buffers can sink/source four TTL 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 current (IIL) because of the internal 1 also receives t

37、he 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 1s are written to Port 2 pins they arepulled high by the internal pullups and can be used as in puts. As in p

38、uts,Port 2pi ns that are externally being pulled low will source curre nt, because of the internal 2 emits the high-order address byte during fetches from external program memory and duri ng accesses to exter nal data memory that use 16-bit addresses. In this application, it uses strong internalpull

39、upswhen emitting 1s. During accessesto external data memorythat use 8-bit addresses, Port 2 emits the contents of the P2 Special Fun cti on 2 also receives the high-order address bits and some con trol signals during Flash programming and verification.Port 3Port 3 is an 8-bit bi-directional I/O port

40、 with internal pullups.The Port 3 output buffers can sin k/source four TTL 1s are writte n to Port 3 pi ns they are pulled high by the internal pullups and can be used as in puts. As in puts,Port 3 pins that are externallybeing pulled low will source current (IIL) because of the3 also serves the fun

41、ctions of various special features of the AT89C51 as listed below:Port PinAlternate FunctionsP3.0RXD (serial input portP3.1TXD (serial cnitput port)P12IMTO (external interrupt QP3.3INTI (external interrupt 11卩3*4TO (timer 0 external input)P3,5H (timer 1 eternal input)卩3*6WR (external daU memory writ

42、e strobe)P3,7RD (external data memory read strobe)Port 3 also receives some control signals forFlash programming and verification.RSTReset in put. A high on this pin for two machi ne cycles while the oscillatoris running resets the device.ALE/PROGAddress Latch Enable output pulse for latching the lo

43、w byte of the address during accesses to external memory. This pin is also the program pulse input (PROG) during Flash normal operation ALE isemitted at a constant rate of 1/6 theoscillator frequency, and may be used for external timing or clocking purposes. Note, however, that one ALE pulse is skip

44、ped 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 active only during a MOVXor MOVCinstruction. Otherwise, the pin is weakly pulled high. Setting the ALE-disable bit has no effect if the microcontroll

45、er is in external execution mode.PSENProgram Store Enable is the read strobe to external program the AT89C51 is executing code from external program memory, PSEN is activated twice each machine cycle, except that two PSENactivations are skipped during each access to external data memory.EA/VPPExtern

46、al Access Enable. EA must be strapped to GNDin order to enable the device to fetch code from external program memorylocations starting at 0000Hup to FFFFH. Note, however, that if lock bit 1 is programmed, EA will be internally latched on should be strapped to VCC for internal program pin also receiv

47、es the 12-volt programming enable voltage(VPP) during Flash programming, for 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

48、are the input and output, respectively,of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown inFigure a quartz crystal or ceramic res on ator maybe used. To drive the device froman exter nal clock source, XTAL2 should be left unconn ected while XTAL1 is drive n

49、as show n in Figure are no requireme nts on the duty cycle of the exter nal clocksig nal, since the in put to the in ternal clock ing circuitryis through adivide-by-two flip-flop,but minimum and maximum voltage high and low timespecificatio ns must be observed.XTAL2XTAL1G忖DFigure 1. Oscillator Conne

50、ctionsNCEXTERNALOSCILLATORSIGNALFigure 2. Exter nal Clock DriveXTAL2XTAL1GNDCon figurati onIdle ModeIn 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

51、 un cha nged duri ng this mode. The idlemode can be term in ated by any en abled in terrupt or by a hardware should be no ted that when idle is terminated by a hard ware reset, the device normally resumes program executi on from where it left off, up to two mach ine cycles before the internal reset

52、algorithm takes control.On-chip hardware inhibits access tointernal RAM in this eve nt, but access to the port pins is not in hibited. Toeliminate the possibility of an unexpected write to a port pin when Idle is terminated by reset, the instruction following the one that invokes Idle shouldnot be o

53、ne that writes to a port pin or to exter nal memory.Power-dow n ModeIn the power-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

54、terminated. The on ly exit from power-dow n is a hardware reset. Reset redefi nes 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 stabili

55、ze.Status of External Pins During Idle and Power-down ModesModeProgram MemoryALEPSNPORTOPORT1PORKPORTSIdleInierniiJ11DataBata5悟DirtaIdlEjdarnal111FbalD謝歯AddressDataPcwar-dc-wiiInternal00DataDataDataDataPowerdownExternalQ0FkatDpnDataData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

56、，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度，而的五相步距角为度。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

57、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12?48VDQ，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

58、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？倍；如果采用开关电源，电源电流一般可取I的？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