步进电机应用和控制翻译

1、 毕业设计(论文)外文资料翻译题 目: 步进电机应用和控制 院系名称： 信息学院 专业班级： 电科0802班 学生姓名： xxx 学 号： xxxxxxxxxxxxxxx 指导教师： xxx 教师职称： xxxxxxxxxxxx 地 点: xxxxxxxxxxxxx 附 件： 1.外文资料翻译译文；2.外文原文。 指导教师评语： 该外文翻译资料选题为步进电机应用和控制，与毕业论文题目联系紧密，语句基本通顺，说明该生具有一定的外文文献阅读能力。 签名： 年 月 日附件1：外文资料翻译译文步进电机应用和控制步进电机是将电脉冲转换成角位移的执行机构。通俗的讲：当步进电机驱动器接收到脉冲信号，它就驱动

2、步进电机按设定的方向转动一个固定的角即步进角。你可以控制脉冲的个数来控制角位移量，从而能准确定位；同时你可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到改变速度的目的。 步进电机不能直接用交直流电源供电，而必须使用专用设备即步进电机驱动器。步进电机驱动系统的性能，除与电机自身性能有关外，在很大程度上取决于驱动器上的好坏。一个典型的步进电机驱动系统是由步进电机控制器，步进电机驱动器和步进电机三部分组成。步进电机控制器发出步进脉冲和方向信号，每一个脉冲，步进电机驱动器驱动步进电机转子旋转一个步距角，就是一步。步进电机转速的高低，加速和减速，启动或停止完全取决脉冲的有无和频率的高低。控制器

3、的方向信号决定步进电机的正转或者反转。通常，步进电机驱动器由逻辑控制电路、保护电路、功率驱动电路和电源组成。当步进电机驱动器接收到来自控制器的方向信号和步进脉冲，控制电路就按照预先设定的电机通电方式产生步进电机各相励磁绕组导通或截止信号。由于控制电路输出的信号功率很低，不能提供步进电机所需的输出功率，所以必须进行功率放大，这就是步进电机驱动器的功率驱动部分。功率驱动电路向步进电机控制绕组输入电流，使其励磁形成空间旋转磁场，驱动转子运动。保护电路在出现短路、过载、等故障时迅速停止驱动器和电机的运行。 电机转子通常是永磁转子，通过定子绕组的电流流时，定子绕组产生的磁场矢量。磁场会导致转子的旋转角度

4、，使一对转子和定子的磁场方向的磁场方向。当定子旋转磁场矢量，从不同的角度。另外，作为一种观点的转子磁场。为每个输入的电脉冲，电机的旋转角度一步。它的输出和输入的角位移是成正比的脉冲，与速度成正比的脉冲频率。权力改变绕组的顺序，电气将得到扭转。因此，我们可以控制每个阶段的脉冲数，频率和电源绕组来控制步进电机旋转的顺序。步进电机类型： 永磁式（PM）。磁性一般两相步进电机，转矩和体积较小，一般步进角度为7.5度或15度，多用于空调上。 反应式（VR），国内一般称为BF，常见的是三相反应式，步进角度为1.5度，也有五相反应式。混合式（HB），普通的两相混合式，五相混合式，三相混合，四相混合式，两相和

5、四相可以通用驱动器。五相和三相只能用自己的驱动器。两相，四相混合式步进角为1.8度，具有小体积，大力距，低噪。五相混合式步进电机一般为0.72，电机步距角小，分辨率高，但驱动电路接线复杂。三相混合式步进电机步距角为1.2度，但根据使用1.8度，三相混合式步进电机有两相混合比五相混合式多极将有助于电动夹对称角，可以比两相，五相精度高，误差更小，运行更平稳。步进电机保持扭矩：步进电机功率是指没有旋转，定子锁住转子的力矩。它是步进电机，通常在低速步进电机的力矩接近保持转矩的时间，最重要的参数之一。由于步进电机的输出转矩与不断衰减的速度增加，输出功率也增加了变化的速度，从而保持对步进电机的扭矩来衡量，

6、最重要的一个参数。例如，当人们说步进电机2N.m的，在特殊情况下，这意味着保持的步进电机2N.m.的扭矩 精密步进电机：步进电机步距角精度为3-5，不累计。 空载启动频率：步进电机在无负载的正常启动的脉冲频率的情况下，如果脉冲频率高于电机的价值没有启动，可能丢步或堵。在负载的情况下，启动频率应更低。如果你想实现高速旋转的电机，脉冲频率应该加快进程，也就是说，在较低的频率开始，然后上升到所需的频率一定的加速度（电机转速从低到高）。 步距角：即发送一个脉冲，相应的电角度旋转。 扭矩定位：定位力矩步进电机没有电的情况下，锁住转子的力矩定子。 工作频率：步进电机一步步运行的最高频率。细分驱动器： 步进

7、电机细分驱动器的主要目的是减弱或消除步进电机的低频振动，提高电机的运转精度。减少噪音。如对于步距角为1.8°（整步）两相混合式步进电机，如果细分驱动器的细分数为8，那么电机的运转分辨率为每个脉冲0.072°，电机的精度能否达到或接近0.225°，还取决于细分驱动器的细分电流控制精度等其他因素，细分数越大精度越难控制。步进电机有以下好处：（1）成本低廉（2）坚固耐用（3）结构简单（4）高可靠性（5）无维修（6） 适用广泛（7）稳定性很高（8）无需反馈元件（8）适应多种工作环境因此，几乎没有任何可以想象的失败使步进驱动模块出错。 步进电机驱动简单，并且驱动和控制在一个

8、开放的闭环系统内。他们只需要4个驱动器。低速时，驱动器提供良好的扭矩，是有刷电机同一帧大小5 倍连续力距，或相当于无刷电机一倍扭矩。这往往不再需要变速箱。步进驱动系统迟缓，在限定的范围内，可以更好的 减少动态位置误差。 步进电机有下列缺点：（1）共振效应和相对长的适应性。（2）在低速表现粗糙，除非微驱动器来驱动。（3）开环系统可能导致未被查觉的损失。（4）由于过载，他们消耗过多电流。因此倾向于过热运行。（5）亏损速度比较高，并可产生过多热量因此，他们噪音很大（尤其是在高速下）。（6）他们的滞后现象导致振荡，这是很难抑制的。对他们的可行性，这儿有一个限度，而他们的大小，定位精度主要依靠的是机器（

9、例如，滚珠丝杠的精确度）。这些缺点是可以克服的，通过使用一个闭环控制方案。 当电动机驱动，在其全步模式，给两个绕组通电时即"2 相"通电的时候（见图 1.8 ），每一步的扭矩是相同的（除极少数的变异和传动特性）,在半步模式下，我们交替改变两相电流，如图 1.9 所示。假设该驱动器在每种情况下提供了相同的绕组电流，再通电时，这将导致更大的转矩。换句话说，交替的步进距将时强时弱。对电动机表现来说，这并不代表着一个重大的危险。扭矩明显受制于较弱的一步，但在全步模式时，低速平滑有一个显着的改善。显然，我们想在每一个步骤实现约相等扭矩对时，这扭矩应该在水平较强的一步。当只有一个绕组通

10、电时，通过用高电平来实现。这并不过度消耗电机，因为该电机的额定电流假定两个阶段被激活（目前的评级是基于许可的温度）。只有一相通电，如果目前是增加了40 的功率，同样的总功率将会消散。利用这种更高的电流在一相中产生大致相等的扭矩，在交替的步进距中。（见图1.10 ）。 我们已经看到，给两相都通与平等电流产生的一个中间步进，居于每一相的中间位置。如果两相电流是不平等的， 转子位置将转向更强的一极。这种作用是利用细分驱动，其中细分的大小基于两个绕组中的电流的大小。以这种方式，步长是减少了，而低速平滑度得到大幅度提高。高细分驱动电动机细分整步步进到多达500 个细分步，转一圈可细分十万步。在这种情况下

11、，绕组中的电流极为相似的两个正弦波有90°相移。图1.11 电机被驱动好像转换成了交流同步电机。事实上，步进电机可被驱 动，从60赫兹美（50赫兹-欧洲）正弦波源头起，包括电容器系列的一相。它将旋转 72转。 图 1.11 步进电机的相电流 标准步进电机运行在同就如同我们的简单模式，但有一个更大的数目齿数在转 子和定子中，从而有了一个较小的基本步长。转子有2部分，但每部分有50个齿。 该半齿位于两部分之间。定子每5个齿有 8个极，完整的共有40个齿（见图1.12 ） 图 1.12 200步混合标准电机 如果我们想象一个齿，是摆在2个定子极点每一齿隙中， 假设定子共有48个齿， 少于转

12、子齿数两个。因此，如果转子和定子的齿排列一整圈，他们同样也可以排列 半圈。1/4和3/4圈也同样可以排列。 然而，由于转子齿排列位置，在另一端的转 子，排列将发生在1/4和3/4位置处。 绕组4个一组，并对角线方向的极性相反。如图1.12所示 ，北极在转子前面 的12点和 6点位置，吸引着在在背面 3时和 9 时的南极。通过开关第二组线圈的电 流，定子场模式旋转45 °。不过，要配合这个新的领域，转子只转过1.8 °。相当 于转子，这只转过了四分之一齿间距，每一次旋转要200个全步。注意到，每一次旋转全部时这儿有很多定位点位置，通常是200个 。该定位点 的位置与转子齿全面

13、接轨定子齿时相对应。当通电给步进驱动器时， 它通常是"零 阶段"状态时最活跃，也就是两套绕组都通电。因此产生的转子位置并不符合转子自 然定位点的位置。因此，空载时，一旦通电电机将至少步进半步。当然，如果系统关机，或在零相位位置，电机一旦通电将步进一大步。 另一点要注意的是，对于一个给定电流的绕组，有很多稳定的位置，正如转子 齿（200步进电机有50个齿）。如果电机是同步电机，导致位置误差将永远是一个 整体倍转子齿或能被7.2 °整除 。电机不能"细分"，如个别一个或两个位置误差，是 由于噪声，错误脉冲或控制器故障造成的。 步进电机驱动方法：步进

14、电动机不能直接接到工频交流或直流电源上工作，而必须使用专用的步进电动机驱动器，它由脉冲发生控制单元、功率驱动单元、保护单元等组成。图中点划线所包围的二个单元可以用微机控制来实现。驱动单元与步进电动机直接耦合，也可理解成步进电动机微机控制器的功率接口，这里予以简单介绍。 最新技术发展：国内外对细分驱动技术的研究十分活跃，高性能的细分驱动电路，可以细分到上千甚至任意细分。目前已经能够做到通过复杂的计算使细分后的步距角均匀一致，大大提高了步进电机的脉冲分辨率，减小或消除了震荡、噪声和转矩波动，使步进电机更具有“类伺服”特性。 对实际步距角的作用：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

15、满足自己对步距角的要求。如果使用细分驱动器，则用户只需在驱动器上改变细分数，就可以大幅度改变实际步距角，步进电机的相数对改变实际步距角的作用几乎可以忽略不计。附件2：外文原文References: Stepping motor application and controlJ. Mechanical and ElectricalEngineering Technology, 2004，33（1）：69-70Stepping motor application and controlstepper motor is an electrical pulse will be converted in

16、to angular displacement of the implementing agencies. Put it in simple language-speaking: When the stepper drive pulse signal to a receiver, it drives stepper motor rotation direction by setting a fixed point of view (and the step angle). You can control the number of pulses to control the amount of

17、 angular displacement, so as to achieve the purpose of accurate positioning; At the same time, you can by controlling the pulse frequency to control the motor rotation speed and acceleration, so as to achieve the purpose of speed. Stepper motor directly from the AC-DC power supply, and must use spec

18、ial equipment - stepper motor drive. Stepper motor drive system performance, in addition to their own performance with the motor on the outside, but also to a large extent depend on the drive is good or bad. A typical stepper motor drive system is operated by the stepper motor controller, stepper mo

19、tor drives and stepper motor body is composed of three parts. Stepper motor controller stepper pulse and direction signal, each made of a pulse, stepper motor-driven stepper motor drives a rotor rotating step angle, that is, step-by-step further. High or low speed stepper motor, or speed, or deceler

20、ation, start or stop pulses are entirely dependent on whether the level or frequency. Decide the direction of the signal controller stepper motor clockwise or counterclockwise rotation. Typically, the stepper motor drive circuit from the logic control, power driver circuit, protection circuit and po

21、wer components. Stepper motor drive controller, once received from the direction of the signal and step pulse, the control circuit on a pre-determined way of the electrical power-phase stepper motor excitation windings of the conduction or cut-off signal. Control circuit output signal power is low,

22、can not provide the necessary stepping motor output power, the need for power amplifier, which is stepper motor driven power drive part. Power stepper motor drive circuit to control the input current winding to form a space for rotating magnetic field excitation, the rotor-driven movement. Protectio

23、n circuit in the event of short circuit, overload, overheating, such as failure to stop the rapid drive and motor. Motor is usually for the permanent magnet rotor, when the current flows through the stator windings, the stator windings produce a magnetic field vector. The magnetic field will lead to

24、 a rotor angle of rotation, making a pair of rotor and stator magnetic field direction of the magnetic field direction. When the stator rotating magnetic field vector from a different angle. Also as the rotor magnetic field to a point of view. An electrical pulse for each input, the motor rotation a

25、ngle step. Its output and input of the angular displacement is proportional to the pulses, with pulse frequency proportional to speed. Power to change the order of winding, the electrical will be reversed. We can, therefore, control the pulse number, frequency and electrical power windings of each p

26、hase to control the order of rotation of stepper motor. Stepper motor types: Permanent magnet (PM). Magnetic generally two-phase stepper, torque and are smaller and generally stepping angle of 7.5 degrees or 15 degrees; put more wind for air-conditioning. Reactive (VR), the domestic general called B

27、F, have a common three-phase reaction, step angle of 1.5 degrees; also have five-phase reaction. Noise, no torque has been set at a large number of out. Hybrid (HB), common two-phase hybrid, five-phase hybrid, three-phase hybrid, four-phase hybrid, two-phase can be common with the four-phase drive,

28、five-phase three-phase must be used with their drives; Two-phase, four-phase hybrid step angle is 1.8 degrees more than a small size, great distance, and low noise; Five-phase hybrid stepping motor is generally 0.72, the motor step angle small, high resolution, but the complexity of drive circuits,

29、wiring problems, such as the 5-phase system of 10 lines. Three-phase hybrid stepping motor step angle of 1.2 degrees, but according to the use of 1.8 degrees, the three-phase hybrid stepping motor has a two-phase mixed than the five-phase hybrid more pole will help electric folder symmetric angle, i

30、t can be more than two-phase, five-phase high accuracy, the error even smaller, run more smoothly. Stepper motor to maintain torque: stepper motor power means no rotation, the stator locked rotor torque. It is a stepper motor, one of the most important parameters, usually in the low-speed stepper mo

31、tor torque at the time of close to maintain the torque. As the stepper motor output torque increases with the speed of constant attenuation, the output power also increases with the speed of change, so as to maintain torque on the stepper motor to measure the parameters of one of the most important.

32、 For example, when people say that the stepper motor 2N.m, in the absence of special circumstances that means for maintaining the torque of the stepper motor 2N.m. Precision stepper motors: stepper motor step angle accuracy of 3-5%, not cumulative. Start frequency of no-load: the stepper motor in ca

33、se of no-load to the normal start of the pulse frequency, if the pulse frequency is higher than the value of motor does not start, possible to lose steps or blocking. In the case of the load, start frequency should be lower. If you want to achieve high-speed rotation motor, pulse frequency should be

34、 to accelerate the process, that is, the lower frequency to start, and then rose to a certain acceleration of the desired frequency (motor speed from low rise to high-speed). Step angle: that is to send a pulse, the electrical angle corresponding to rotation. Torque positioning: positioning torque s

35、tepper motor does not refer to the case of electricity, locked rotor torque stator. Operating frequency: step-by-step stepper motor can run without losing the highest frequency. Subdivision Drive: stepper motor drives the main aim is to weaken or eliminate low-frequency vibration of the stepper moto

36、r to improve the accuracy of the motor running. Reduce noise. If the step angle is 1.8 ° (full step) the two-phase hybrid stepping motor, if the breakdown of the breakdown of the number of drives for the 8, then the operation of the electrical pulse for each resolution of 0.072 °, the prec

37、ision of motor can reach or close to 0.225 °, also depends on the breakdown of the breakdown of the drive current control accuracy and other factors, the breakdown of the number of the more difficult the greater the precision of control. Stepper motors have the following benefits: Low cost Rugg

38、edness Simplicity in construction High reliability No maintenance Wide acceptance No tweaking to stabilize No feedback components are needed They work in just about any environment Inherently more failsafe than servo motors. There isvirtually no conceivable failure within the stepper drive module th

39、at could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equiv

40、alent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error. Stepper Motor Disadvantages Stepper motors have the following disadvantages: Resonance effects and relatively long settling times Rough p

41、erformance at low speed unless a microstep drive is used Liability to undetected position loss as a result of operating open-loop They consume current regardless of load conditions and therefore tend to run hot Losses at speed are relatively high and can cause excessive heating, and they are frequen

42、tly noisy (especially at high speeds). They can exhibit lag-lead oscillation, which is difficult to damp. There is a limit to their available size, and positioning accuracy relies on the mechanics (e.g., ballscrew accuracy).Many of these drawbacks can be overcome by the use of a closed-loop control

43、scheme. When the motor is driven in its full-step mode, energizing two windings or “phases” at atime (see Fig. 1.8), the torque available on each step will be the same (subject to very small variations in the motor and drive characteristics). In the half-step mode, we are alternately energizing two

44、phases and then only one as shown in Fig. 1.9. Assuming the drive delivers the same winding current in eachcase, this will cause greater torque to be produced when there are two windings energized. In other words, alternate steps will be strong and weak. This does not represent a major deterrent to

45、motorperformancethe available torque is obviously limited by the weaker step, but there will be a significant improvement in low-speed smoothness over the full-step mode. Clearly, we would like to produce approximately equal torque on every step, and this torque should be at the level of the stronge

46、r step. We can achieve this by using a higher current level when there is only one winding energized. This does not over dissipate the motor because the manufacturers current rating assumes two phases to be energized the current rating is based on the allowable case temperature). With only one phase

47、 energized, the same total power will be dissipated if the current is increased by 40%. Using this higher current in the one-phase-on state produces approximately equal torque on alternatesteps (see Fig. 1.10). Fig. 1.8 Full step current, 2-phase onFig. 1.9 Half step currentFig. 1.10 Half step curre

48、nt, profiled We have seen that energizing both phases with equal currents produces an intermediate step position half-way between the one-phase-on positions. If the two phase currents are unequal, the rotor position will be shifted towards the stronger pole. This effect is utilized in the microstepp

49、ing drive, which subdivides the basic motor step by proportioning the current in the two windings. In this way, the step size is reduced and the low-speed smoothness is dramatically improved. High-resolution microstep drives divide the full motor step into as many as 500 microsteps, giving 100,000 s

50、teps per revolution. In this situation, the current pattern in the windings closely resembles two sine waves with a 90° phase shift between them (see Fig. 1.11). The motor is now being driven very much as though it is a conventional AC synchronous motor. In fact, the stepper motor can be driven

51、 in this way from a 60 Hz-US (50Hz-Europe) sine wave source by including a capacitor in series with one phase. It will rotate at 72 rpm.Fig. 1.11 Phase currents in microstep mode Standard 200-Step Hybrid Motor The standard stepper motor operates in the same way as our simple model, but has a greater

52、 number of teeth on the rotor and stator, giving a smaller basic step size. The rotor is in two sections as before, but has 50 teeth on each section. The half-tooth displacement between the two sections is retained. The stator has 8 poles each with 5 teeth, making a total of 40 teeth (see Fig. 1.12)

53、. Fig. 1.12 200-step hybrid motor If we imagine that a tooth is placed in each of the gaps between the stator poles, there would be a total of 48 teeth, two less than the number of rotor teeth. So if rotor and stator teeth are aligned at 12 oclock, they will also be aligned at 6 oclock. At 3 oclock

54、and 9 oclock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 oclock and 9 oclock at the other end of the rotor. The windings are arranged in sets of four, and wound such that diametrically-opposite poles are the same. So refer

55、ring to Fig. 1.12, the north poles at 12 and 6 oclock attract the south-pole teeth at the front of the rotor; the south poles at 3 and 9 oclock attract the north-pole teeth at the back. By switching current to the second set of coils, the stator field pattern rotates through 45°. However, to al

56、ign with this new field, the rotor only has to turn through 1.8°. This is equivalent to one quarter of a tooth pitch on the rotor, giving 200 full steps per revolution. Note that there are as many detent positions as there are full steps per rev, normally 200. The detent positions correspond with rotor teeth being fully aligned with stator teeth. When pow