【正文】 名 稱 ： 機(jī)械制造與自動(dòng)化 學(xué) 生 姓 名： 王浩 學(xué) 號(hào)： 202124130 指 導(dǎo) 教 師： 2021 年 3 月 30 日 2 鄭 州科技 學(xué) 院 機(jī)械工程系 畢業(yè)設(shè)計(jì)說(shuō)明書 設(shè)計(jì)題目 : 基于直線步進(jìn)電機(jī)的三自由度機(jī)械臂設(shè)計(jì) 學(xué)生姓名： 王浩 學(xué) 號(hào)： 專業(yè)班級(jí)： 指導(dǎo)教師： 2021 年 3 月 30 日 3 摘 要 本文對(duì)步進(jìn)電機(jī)的工作原理和運(yùn)動(dòng)控制做了闡述，對(duì)如何防止步進(jìn)電機(jī)失步和過(guò)沖做出了系統(tǒng)說(shuō)明，并深入研究了步進(jìn)電機(jī)在升降速過(guò)程中脈沖頻率曲線的設(shè)計(jì)和他們的優(yōu)缺點(diǎn)；認(rèn)真研究了步進(jìn)電機(jī)細(xì)分控制的原理，然后給出了具體的實(shí)現(xiàn)方法 。 步進(jìn)電機(jī)是將電脈沖信號(hào)轉(zhuǎn)變?yōu)榻俏灰苹蚓€位移的開環(huán)控制元件。這一線性關(guān)系的存在，加上步進(jìn)電機(jī)只有周期性的誤差而無(wú)累積誤差等特點(diǎn)。 雖然步進(jìn)電機(jī)已被廣泛地應(yīng)用，但步進(jìn)電機(jī)并不能象普通的直流電機(jī)，交流電機(jī)在常規(guī)下使用。因此用好步進(jìn)電機(jī)卻非易事，它涉及到機(jī)械、電機(jī)、電子及計(jì)算機(jī)等許多專業(yè)知識(shí)。 carefully studied the breakdown of stepper motor control theory, then give a specific method of implementation. Stepper motor is the electric pulse signal into an angular displacement or linear displacement of the openloop control ponents. In the nonoverloaded case, motor speed, and stop depending on the location of only pulse frequency and pulse number, free from the impact of changes in load, that is, to add a pulsed electrical signal, then turn a motor step angle. The existence of this linear relationship, together with the stepper motor only cyclical error without accumulative error and so on. Made in terms of speed, position control, such as stepper motor used to control the change very easy. Although the stepper motor has been widely applied, but the stepper motor is not as mon DC motor, AC motor in the conventional use. It must be from a dual Ring pulse signal, power driver circuit, such as control system ponents may use. So make good use of stepper motor is not an easy task, which involves mechanical, electrical, electronic and puter expertise. Keywords: stepper motor drives the structure of the principledriven approach 5 目 錄 摘 要 ............................................................................................................................... 3 abstract ........................................................................................................................... 4 目 錄 ........................................................................................................................... 5 序言 ................................................................................................................................. 7 1 方案說(shuō)明 ： ................................................................................................................... 9 課題研究現(xiàn)狀及研究意義 .................................................................................. 9 直 線步進(jìn)電機(jī)的研究現(xiàn)狀 ........................................................................... 9 研究意義 .................................................................................................. 10 總體介紹 ........................................................................................................... 10 設(shè)計(jì)要求 ......................................................................................................... 11 工作環(huán)境要求 ........................................................................................... 11 直線步進(jìn)電機(jī)自身特點(diǎn) ............................................................................. 12 直線步進(jìn)電機(jī)工作特點(diǎn) ............................................................................. 13 直線步進(jìn)電機(jī)技術(shù)概述 ............................................................................. 14 2 原理及結(jié)構(gòu)設(shè)計(jì) ........................................................................................................ 18 直線步進(jìn)電機(jī)的原理 .......................................................................................... 18 感應(yīng)子式步進(jìn)電機(jī)工作原理 ...................................................................... 20 、感應(yīng)子式步進(jìn)電機(jī) ................................................................................. 22 步進(jìn)電機(jī)的選用 ................................................................................................. 26 步進(jìn)電機(jī)的應(yīng)用 ...................................................................................... 26 、步進(jìn)電機(jī)的選擇 ..................................................................................... 29 、應(yīng)用中的注意點(diǎn) ................................................................................... 30 電機(jī)調(diào)速的功率控制原理 ................................................................................... 31 、功率控制與轉(zhuǎn)矩控制 .............................................................................. 31 、功率控制的方法與性能 .......................................................................... 34 、功 率控制的理想空載轉(zhuǎn)速，效率與機(jī)械特性 ........................................... 38 、異步機(jī)調(diào)速 分類與方法 ....................................................................... 40 、結(jié)論 ...................................................................................................... 41 3 步進(jìn)電機(jī)驅(qū)動(dòng)器 .......................................................................................................... 41 細(xì)分電機(jī)驅(qū)動(dòng)電路 ............................................................................................. 41 、步進(jìn)電機(jī)細(xì)分原理 ................................................................................. 41 、步進(jìn)電機(jī)細(xì)分倍數(shù)與定位精度的關(guān)系 ..................................................... 43 基于 AT89C2051 的步進(jìn)電機(jī)驅(qū)動(dòng)器系統(tǒng)電路原理 .............................................. 45 、直線步進(jìn)電機(jī)在自動(dòng)生化分析儀上的應(yīng)用 ........................................................ 46 4 驅(qū)動(dòng)控制系統(tǒng) .............................................................................................................. 48 、驅(qū)動(dòng)控制系統(tǒng)組成 ........................................................................................... 48 ........................................................................... 48 ......................................................................................... 4