【正文】 ent of science and technology in many areas will be widely used. The traditional migration of poor impulse system, microputer control system is proposed to replace the pulse generator and pulse distributor, produced with the software solution control pulses can be arbitrarily set by software programming of step motor speed, rotation, rotation number and control the stepper motor running. To simplify the control circuit, reduce production costs, increase efficiency and flexibility of the system. The key is to design single chip stepper motor and closely linked, through the microcontroller to control the stepper motor driver run a variety of actions to achieve the conventional stepper motor high degree of automation. Stepper motor according to types of structure: stepper motors, also called pulse motor, including the Step Motor (VR), permanent mag stepper motor (PM), hybrid stepper motors (HB) and so on. Step Motor: also known as induction, hysteresis or reluctance type stepping motor. The stator and rotor are made of soft magic materials, uniform distribution of the stator magic pole is equipped with a large multiphase field winding, stator and rotor teeth and a small uniform distribution around the slot, power changes after the use of magic permeability generated torque. Usually three, four, five, six phase。 本設(shè)計(jì)采用 AT89S52 單片機(jī)為核心對步進(jìn)電機(jī)進(jìn)行控制，并且輔以必要的外圍器件和電路，通過 IO 口輸出的具有時(shí)序的方波作為步進(jìn)電機(jī)的控制信號， 信號經(jīng) 驅(qū)動芯片ULN2021 驅(qū)動步進(jìn)電機(jī)；同時(shí)，用鍵盤對電機(jī)的 轉(zhuǎn)向 — 正轉(zhuǎn)、反轉(zhuǎn) 和 轉(zhuǎn)速 — 加速、減速 進(jìn)行控制。其定子和四相反應(yīng)式步進(jìn)電動機(jī)沒有區(qū)別（但同一相的兩個(gè)磁極相對，且兩個(gè)磁極上繞組產(chǎn)生的 N、 S 極性必須相同），轉(zhuǎn)子結(jié)構(gòu)較為復(fù)雜（轉(zhuǎn)子內(nèi)部為圓柱形永磁鐵，兩端外套軟磁材料，周邊有小齒和槽）。一般為兩相或四相；輸出轉(zhuǎn)矩?。ㄏ墓β瘦^小，電流一般小于 2A，驅(qū)動電壓 12V）；步距角大（例如 度、 15 度、 度等）；斷電時(shí)具有一定的保持轉(zhuǎn)矩；啟動和運(yùn)行頻率較低。一般為三、四、五、六相；可實(shí)現(xiàn)大轉(zhuǎn)矩輸出（消耗功率較大，電流最高可達(dá) 20A，驅(qū)動電壓較高）；步距角?。?斷電時(shí)無定位轉(zhuǎn)矩；電機(jī)內(nèi)阻尼較小，單步運(yùn)行（指脈沖頻率很低時(shí)）震蕩時(shí)間較長；啟動和運(yùn)行頻率較高。 反應(yīng)式步進(jìn)電動機(jī)：也叫感應(yīng)式、磁滯式或磁阻式步進(jìn)電動機(jī)。本設(shè)計(jì)主要就是將步進(jìn)電機(jī)與單片機(jī)緊密聯(lián)系 起來，通過單片機(jī)的驅(qū)動程序來控制步進(jìn)電機(jī)的各種運(yùn)行動作，以實(shí)現(xiàn)傳統(tǒng)的步進(jìn)電機(jī)的高度自動化。鑒于傳統(tǒng)的脈沖系統(tǒng)移植性不好 ,本文提出微機(jī)控制系統(tǒng)代替脈沖發(fā)生器和脈沖分配器 ,用軟件的方法產(chǎn)生控制脈沖 ,通過軟件編程可以任意設(shè)定步進(jìn)電機(jī)的轉(zhuǎn)速、旋轉(zhuǎn)角度、轉(zhuǎn)動次數(shù)和控制步進(jìn)電機(jī)的運(yùn)行狀態(tài)。 步進(jìn)電機(jī)具有控制簡便、定位準(zhǔn)確等特點(diǎn)。 1 畢業(yè)設(shè)計(jì) (論文 )說明書 題 目： 單片機(jī)實(shí)現(xiàn)的步進(jìn)電機(jī)控制系統(tǒng) 系 別： 電子工程系 專 業(yè)： 學(xué)生姓名： 學(xué) 號： 指導(dǎo)教師： 職 稱： 2 摘 要 ： 步進(jìn)電機(jī)作為執(zhí)行元件，是機(jī)電一體 化的關(guān)鍵產(chǎn)品之一 , 廣泛應(yīng)用在各種自動化控制系統(tǒng)中。隨著微電子和計(jì)算機(jī)技術(shù)的發(fā)展，步進(jìn)電機(jī)的需求量與日俱增，在各個(gè)國民經(jīng)濟(jì)領(lǐng)域都有應(yīng)用。隨著科學(xué)技術(shù)的發(fā)展 ,在許多領(lǐng)域?qū)⒌玫綇V泛的應(yīng)用。以簡化控制電路 ,降低生產(chǎn)成本 ,提高系統(tǒng)的運(yùn)行效率和靈活性。 步進(jìn)電機(jī)按結(jié)構(gòu)分類：步進(jìn)電動機(jī)也叫脈沖電機(jī)，包括反應(yīng)式步進(jìn)電動機(jī)（ VR）、永磁式步進(jìn)電動機(jī)（ PM）、混合式步進(jìn)電動機(jī)（ HB）等。其定子和轉(zhuǎn)子均由軟磁材料制成，定子上均勻分布的大磁極上裝有多相勵(lì)磁繞組，定、轉(zhuǎn)子周邊均勻分布小齒和槽，通電后利用磁導(dǎo)的變化產(chǎn)生轉(zhuǎn)矩。 永磁式步進(jìn)電動機(jī)：通常電機(jī)轉(zhuǎn)子由永磁材料制成，軟磁材料制成的定子上有多相勵(lì)磁繞組，定、轉(zhuǎn)子周邊沒有小齒和槽，通電后利用永磁體與定子電流磁場相互作用產(chǎn)生轉(zhuǎn)矩。 混合式步進(jìn)電動機(jī)：也叫永磁反應(yīng)式、永磁感應(yīng)式步進(jìn)電動機(jī)，混合了永磁式和反應(yīng)式的優(yōu)點(diǎn) 。一般為兩相或四相；須供給正負(fù)脈沖信號；輸出轉(zhuǎn)矩較永磁式大（消耗功率相對較?。?；步距角較永磁式小（一般為 度）；斷電時(shí)無定位轉(zhuǎn)矩；啟動和運(yùn)行頻率較高；是目前發(fā)展較快的一種步進(jìn)電動機(jī)。 3 關(guān)鍵 詞 ：單片機(jī) AT89S52； 驅(qū)動 ULN2021a； 控制 ； 步進(jìn)電機(jī)。 can achieve high torque output (more power consumption, current up to 20A, high voltage)。 power when no positioning torque。 up and running with high frequency. Permanent Mag Stepper motors: permanent mag materials are usually made by the rotor, stator made of soft magic materials, a number of phase field winding, stator and rotor teeth and slots around the not small, is powered using mags and stator current magic field interaction torque. Generally twophase or four phase。 step angle large (such as degrees, 15 degrees, 5 degrees, etc.)。 up and running less frequently. Hybrid Stepping Motor: permanent mag, also known as reactive, permanent mag induction motor, permanent mag and a mixture of reactive advantages. The stator and fourphase Step Motor no difference (but the same relative phase of the two magic poles, and the two magic poles generated on the windings N, S polarity must be the same), the rotor structure is more plex (the rotor within the cylindrical permanent mags, both ends of the coat soft magic material, around small teeth and slots). Generally twophase or four phase。 output torque than the large permanent mag (power consumption is relatively small)。 power failure without positioning torque。 is a stepping motor developed rapidly. This design uses AT89S52 MCU as the core of the stepper motor control, and supplemented with the necessary peripheral devices and circuits, through the IO port output timing of the square wave with a stepper motor control signal, the signal driven by the stepper driver chip ULN2021 motor。 drive ULN2021a。 stepper motor. 6 目 錄 引言 .........................................................................................................8 1 課題研究背景及主要內(nèi)容 ................................................................8 課題研究背景 ........................................................................................................ 8 課題研究主要內(nèi)容及其意義 ................................................................................ 8 2 步進(jìn)電機(jī)的原理 ................................................................................9 步進(jìn)電機(jī)的工作原理 ............................................................................................ 9 步進(jìn)電機(jī) 的分類 .................................................................................................. 10 步進(jìn)電機(jī)的選擇 .................................................................................................. 10 步進(jìn)電動機(jī)的基本參數(shù)及特性 ： .......................................................................11 步進(jìn)電機(jī)的特點(diǎn) .................................................................................................. 12 關(guān)于步進(jìn)電機(jī)調(diào)速問題 .......................................................