【正文】 荊剛 2022 年 5 月 20 日 I 摘 要 步進(jìn)電機(jī)是一種將數(shù)字信號(hào)直接轉(zhuǎn)換成角位移或線位移的控制驅(qū)動(dòng)元件，具有快速啟動(dòng)和停止的特點(diǎn)。其驅(qū)動(dòng)速度和指令脈沖能?chē)?yán)格同步，能實(shí)現(xiàn)正反轉(zhuǎn)和平滑速度調(diào)節(jié)，因而被廣泛應(yīng)用于數(shù)模轉(zhuǎn)換，速度控制和位置控制系統(tǒng)。尤其在一些智能化要求較高的場(chǎng)合，用模擬芯片及信號(hào)發(fā)生器來(lái)控制步進(jìn)電機(jī)有一定的局限。 本設(shè)計(jì)采用 PIC 系列單片機(jī)作為步進(jìn)電機(jī)控制系統(tǒng)的核心，實(shí)現(xiàn)了軟件與硬件相結(jié)合的控制方法。采用單極性驅(qū)動(dòng)電路對(duì)小功率步進(jìn)電機(jī)進(jìn)行驅(qū)動(dòng)，電路簡(jiǎn)單，實(shí)用性好。 關(guān)鍵詞 :步進(jìn)電機(jī)； PIC 單片機(jī)； LCD II Abstract Stepper motor is a controldriven ponent which directly convert digital signal to angular displacement or linear displacement, with a rapid start and stop characteristics． The driving velocity of the stepper motor are strictly synchronous with instructions pulse, and can achieve positive and negative rotation and smooth speed adjustment, so it is widely used in digitaltoanalog converter, speed control and position control system． However, the driving signals of stepper motor are often generated by a special controller of analog chip or signal generator, it is lack of flexibility and reliability． Especially in some occasions of higher intelligence, using analog chips and signal generator to control the stepper motor has some limitations． Because of its singlechip highprecision pulse and relatively simple peripheral circuits, so stepper motor controllers based on singlechip are widely used in industrial applications． The design uses a PIC MCU as the core of stepper motor control system, and a control method of bination of software and hardware is realized． We choose software instead of the Pulse Distributor to achieve the best control of the stepper motor． Unipolar drive circuit is used for driving lowpower stepper motor, which is simple and really functional． LCD is used for dynamic displaying intuitively and clearly the state of the stepper motor． Keywords:Stepper motor； PIC Microcontroller； LCD 目 錄 摘要 .................................................................................................................................I Abstract ....................................................................................................................... II 緒論 ................................................................................................................................ 1 第一章 控制系統(tǒng)實(shí)現(xiàn)原理 ......................................................................................................2 一、步進(jìn)電機(jī)的分類(lèi)和主要性能指標(biāo) .................................................................... 2 （一）步進(jìn)電機(jī)的分類(lèi) ......................................................................................... 2 （二）步進(jìn)電機(jī)的主要性能指標(biāo) ......................................................................... 2 二、步進(jìn)電動(dòng)機(jī)的結(jié)構(gòu)及工作原理 ........................................................................ 3 （一）反應(yīng)式步進(jìn)電動(dòng)機(jī)的結(jié)構(gòu)及工作原理 ..................................................... 3 （二）混合式步進(jìn)電動(dòng)機(jī)的結(jié)構(gòu)及工作原理 ..................................................... 4 （三） KP39M2025 型混合式步進(jìn)電動(dòng)機(jī)的工作方式 ........................................ 5 （四）步進(jìn)電動(dòng)機(jī)的加減速 ................................................................................. 6 三、 液晶顯示模塊 OCMJ48C ..................................................................................... 7 （一）帶有中文字庫(kù)圖形點(diǎn)陣液晶顯示模塊的應(yīng)用 ......................................... 7 （二） OCMJ48C 液晶顯示模塊的功能 .................................................................. 8 四 、 PIC 單片機(jī) ......................................................................................................... 8 （一） PIC 系列單片機(jī)的特點(diǎn) .............................................................................. 8 （二） PIC16F877 單片機(jī)的結(jié)構(gòu) .......................................................................... 9 第二章 控制系統(tǒng)硬件設(shè)計(jì) ........................................................................................ 12 一、控制系統(tǒng)總體概述 .......................................................................................... 12 二、控制系統(tǒng)的硬件電路 ...................................................................................... 12 （一）控制系統(tǒng)總體電路 ................................................................................... 12 （二）單片機(jī)與步進(jìn)電機(jī)接口驅(qū)動(dòng)電路 ........................................................... 14 （三）單片機(jī)與 LCD 顯示屏接口電路（ 8 位并行模式） ................................ 14 （四）單片機(jī)與鍵盤(pán)接口電路 ........................................................................... 15 三、步進(jìn)電動(dòng)機(jī)的選型 .......................................................................................... 16 四、開(kāi)發(fā)平臺(tái) MPLAB ICD 簡(jiǎn)介 .............................................................................. 16 第三章 控制系統(tǒng)軟件設(shè)計(jì) ........................................................................................ 18 一、控制系統(tǒng)總流程圖 .......................................................................................... 18 二、系統(tǒng)監(jiān)控模塊 .................................................................................................. 18 （一）系統(tǒng)監(jiān)控模塊流程圖 ............................................................................... 18 （二）步進(jìn)電機(jī)轉(zhuǎn)向設(shè)置子程序范例 ............................................................... 19 （三）步進(jìn)電機(jī)轉(zhuǎn)速設(shè)置 ................................................................................... 20 三、鍵盤(pán)識(shí)別處理模塊 .......................................................................................... 20 四 、 LCD 顯示模塊 ................................................................................................... 21 五、控制信號(hào)產(chǎn)生模塊 .......................................................................................... 22 （一）步進(jìn)脈沖產(chǎn)生模塊 ................................................................................... 22 （二）系統(tǒng)中斷模塊 ........................................................................................... 24 （三）步進(jìn)電機(jī)加減速模塊 ............................................................................... 25 結(jié)論 ...........................................................................................