【正文】 I畢業(yè)論文高精度步進(jìn)電機(jī)控制系統(tǒng)的研究摘 要步進(jìn)電機(jī)是一種將電脈沖信號(hào)轉(zhuǎn)換為角位移的執(zhí)行機(jī)構(gòu)，步進(jìn)電機(jī)的主要優(yōu)點(diǎn)是有較高的定位精度，無(wú)位置累積誤差，并且特有的開(kāi)環(huán)運(yùn)行機(jī)制，與閉環(huán)控制系統(tǒng)相比減少系統(tǒng)成本，提高了可靠性，在數(shù)控領(lǐng)域得到了廣泛的應(yīng)用。但是，步進(jìn)電機(jī)在低速運(yùn)行時(shí)的振動(dòng)、噪聲大，在步進(jìn)電機(jī)的自然振蕩頻率附近運(yùn)行時(shí)易產(chǎn)生共振，輸出轉(zhuǎn)矩隨著步進(jìn)電機(jī)的轉(zhuǎn)速升高而下降，這些缺點(diǎn)制約了步進(jìn)電機(jī)的應(yīng)用范圍。步進(jìn)電機(jī)的使用離不開(kāi)步進(jìn)電機(jī)驅(qū)動(dòng)器，步進(jìn)電機(jī)的運(yùn)行性能與步進(jìn)電機(jī)驅(qū)動(dòng)器的優(yōu)劣密切相關(guān)。傳統(tǒng)的驅(qū)動(dòng)方式偏重使步進(jìn)電機(jī)繞組電流以盡可能短的時(shí)間上升到額定值，從而提高電機(jī)高速運(yùn)行時(shí)的轉(zhuǎn)矩，造成低速運(yùn)行時(shí)的振動(dòng)和噪音加大。并且為滿足用戶對(duì)不同步距角的要求。本文在調(diào)研各種驅(qū)動(dòng)技術(shù)的基礎(chǔ)上，設(shè)計(jì)實(shí)現(xiàn)了基于電流追蹤型脈寬調(diào)制(PWM)技術(shù)的多細(xì)分兩相混合式步進(jìn)電機(jī)驅(qū)動(dòng)器，包括硬件設(shè)計(jì)、軟件實(shí)現(xiàn)。正弦電流細(xì)分技術(shù)基本上克服了傳統(tǒng)步進(jìn)電機(jī)低速振動(dòng)大和噪音大的缺點(diǎn)，減小發(fā)生共振的幾率。電流追蹤型脈寬調(diào)制(PWM)技術(shù)使電機(jī)運(yùn)行在較大速度范圍內(nèi)轉(zhuǎn)矩保持恒定。以滿足不同用戶和不同電機(jī)的要求,該驅(qū)動(dòng)器的功率驅(qū)動(dòng)部分使用 NMOS智能功率模塊，提高了驅(qū)動(dòng)器可靠性。 驅(qū)動(dòng)器細(xì)分運(yùn)行時(shí)減弱了混合式步進(jìn)電機(jī)的低速振動(dòng)，電機(jī)運(yùn)轉(zhuǎn)平穩(wěn)，大大減輕了噪聲。同時(shí)該驅(qū)動(dòng)器具有較小的體積、較低的成本和較高的可靠性。關(guān)鍵詞: 混合式步進(jìn)電機(jī) 細(xì)分驅(qū)動(dòng)器 脈寬調(diào)制 II AbstractThe stepper motor is an electromechanical device that converts electrical pulses into discrete mechanical movements. The advantages of stepper motor are precise positioning and noncumulative movement error from one step to the next. Compared to closed loop control, open loop operation of stepper motor is more reliable and less expensive. The disadvantages in using a step motor are vibration and noise at low speeds, resonance when the motor is operated at or around the natural resonance frequency, motor torque decreasing with speed increasing. These disadvantages limit step motor39。s application. Step motor cannot work without step motor driver. Its performance is close related to stepper motor driver. Traditionally, a motor driver is to provide the rated current to the motor windings in the shortest possible time, helping to maintain high speed torque. As a result, motor39。s vibration and noise is greater at low speeds. Otherwise, many types of step motor anddriver have to be produced in order to satisfy customer39。s need for different step anglesAfter study many kinds of driver technology, a microstepping driver for twophase hybrid stepper motor has been designed. The driver adopts sine wave current subdividing and current tracking PWM technology. Sine wave current subdividing technology not only overes the disadvantages of motor39。s vibration and noise at low speeds but also reduces probability of resonance. Current tracking PWM technology can maintain constant torquewithin wide speed range. Output phase current that can meet the need of IIIdifferent customer and motor. The power stage of this driver uses NMOS intelligent power module that provides high reliability.This microstepping driver reduce vibration and noise of step has small size, low cost and high reliability. KeyWords： Hybrid stepper motor Microstepping driver PWM IV目 錄第 1 章 緒 論 .................................................... 1 步進(jìn)電機(jī)概述 ................................................ 1 步進(jìn)電機(jī)特怔 ................................................ 2 步進(jìn)電機(jī)國(guó)內(nèi)外發(fā)展趨勢(shì) ...................................... 3 國(guó)內(nèi)發(fā)展趨勢(shì) ........................................... 3 國(guó)外發(fā)展趨勢(shì) ........................................... 5 主要研究?jī)?nèi)容 ................................................ 5 第 2 章 步進(jìn)電機(jī)的工作原理 ........................................ 7 步進(jìn)電機(jī)的結(jié)構(gòu) .............................................. 7 步進(jìn)電機(jī)的工作原理 .......................................... 7 步進(jìn)電機(jī)的控制方法 .......................................... 9 脈寬調(diào)制技術(shù)（PWM）的基本原理 .......................... 9 SPWM 的調(diào)制方式 ........................................ 12 電流追蹤型 PWM 控制 .................................... 13 PID 控制算法的應(yīng)用及設(shè)計(jì) ................................... 14 PID 控制原理 ........................................... 14 數(shù)字 PID 的控制算法 .................................... 16 PID 各參數(shù)對(duì)系統(tǒng)的影響 ................................. 17 本章小結(jié) ................................................... 18 第 3 章 步進(jìn)電機(jī)控制系統(tǒng)的硬件設(shè)計(jì) ............................... 19 步進(jìn)電機(jī)的控制電路 ......................................... 21 AVR 單片機(jī)的優(yōu)點(diǎn) ....................................... 21 AVR 單片機(jī)的特性 ....................................... 21 V AVR 的結(jié)構(gòu)框圖 ......................................... 23 單片機(jī)電路設(shè)計(jì) ........................................ 23 D/A 轉(zhuǎn)換電路 ............................................... 26 TLC7528 的特點(diǎn) ......................................... 26 TLC7528 的時(shí)序圖 ....................................... 27 D/A 轉(zhuǎn)換的原理圖 ....................................... 27 步進(jìn)電機(jī)的驅(qū)動(dòng)電路 ......................................... 28 D 觸發(fā)器 ............................................... 28 D 觸發(fā)器電路 ........................................... 29 驅(qū)動(dòng)電路原理圖 ........................................ 29 信號(hào)的放大電路 ............................................. 30 步進(jìn)電機(jī)的檢測(cè)電路 ......................................... 30 TL082 的特點(diǎn) ........................................... 30 TL082 引腳功能及內(nèi)部結(jié)構(gòu)圖 ............................. 31 檢測(cè)電路原理圖 ........................................ 32 H 橋電路 ................................................... 32 H 橋簡(jiǎn)介 .............................................. 32 H 橋電路原理圖 ........................................ 35 本章小結(jié) .................................................. 35 第 4 章 步進(jìn)電機(jī)控制系統(tǒng)的軟件設(shè)計(jì) ............................... 36 軟件設(shè)計(jì)的基本原則 ......................................... 36 主程序設(shè)計(jì) ................................................. 37 D/A 轉(zhuǎn)換電路流程圖 ..................................... 38 PID 子程序流程圖 ...................................... 39 中斷服務(wù)程序 .......................................... 40 本章小結(jié) ................................................... 40 總 結(jié) ........................................................... 41 致 謝 ........................................................... 42 參考文獻(xiàn) ......................................................... 43 VI附錄 1：高精度步進(jìn)電機(jī)控制系統(tǒng)原理圖（1） ........................ 45 高精 度步進(jìn)電機(jī)控制系統(tǒng)原理圖（2） ................................ 46 1 第 1