Stepper Motor Intro 步进电机
步进电机外文翻译
英文资料及其中文翻译Stepper motor is an electrical pulse will be converted into 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 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 special 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 motor 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 deceleration, 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 power 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, 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 forrotating magnetic field excitation, the rotor-driven movement.Protection 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 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 angle 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 phase 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 BF, 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, 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, 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 atwo-phase mixed than the five-phase hybrid more pole will help electric folder symmetric angle, it 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 motor 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. 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 case 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 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 stepper 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 motor 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 thenumber of drives for the 8, then the operation of the electrical pulse for each resolution of 0.072 °, the precision 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.步进电机是一种将电脉冲转化为角位移的执行机构。
步进电机细分控制(英文)
1/17AN1495APPLICATION NOTE1INTRODUCTIONMicrostepping a stepper motor may be used to achieve one or both of two objectives; 1) increase the position resolution or 2) achieve smoother operation of the motor. In either case the basic the-ory of operation is the same.The simplified model of a stepper motor is a permanent magnet rotor and two coils on the stator separated by 90 degrees, as shown in Figure 1. In classical full step operation an equal current is delivered to each of the coils and the rotor will align itself with the resulting magnetic vector along one of the 45 degree axis. To step the motor, the current in one of the two coils is reversed and the rotor will rotate 90 degrees. The complete full step sequence is shown in figure 2. Half step drive,where the current in the coil is turned off for one step period before being turned on in the opposite direction, has been used to double the step resolution of a motor. In either full and half step drive,the motor can be positioned only at one of the 4 (8 for half step) defined positions.[4][5] Therefore,the number of steps per electrical revolution and the number of poles on the motor determine the resolution of the motor. Typical motors are designed for 1.8 degree steps (200 steps per revolution)or 7.5 degree steps (48 steps per revolution). The resolution may be doubled to 0.9 or 3.75 degrees by driving the motor in half step. Further increasing the resolution requires positioning the rotor at positions between the full step and half step positions.Figure 1. Model of stepper motorMICROSTEPPING STEPPER MOTOR DRIVEUSING PEAK DETECTING CURRENT CONTROL Stepper motors are very well suited for positioning applications since they can achieve very good positional accuracy without complicated feedback loops associated with servo sys-tems. However their resolution, when driven in the conventional full or half step modes of operation, is limited by the configuration of the motor. Many designers today are seeking alternatives to increase the resolution of the stepper motor drives. This application note will discuss implementation of microstepping drives using peak detecting current control where the sense resistor is connected between the bottom of the bridge and ground. Examples show the implementation of microstepping drives with several currently available chips and chip sets. REV . 2AN1495/0604AN1495 APPLICATION NOTEFigure 2. Full step sequence.Another issue occurs at low operating speeds. At low speeds, both the full and half step drive tend to make abrupt mechanical steps since the time the rotor takes to move to the next position can be much less than the step period. This stepping action contributes to jerky movement and mechanical noise in the system. Looking at the simplified model of the stepper motor in Figure 1, it can be seen that if the two coils were driven by sine and cosine waveforms the motor would operate as a syn-chronous machine and run very smoothly. These sinusoidal waveforms may be produced by a mi-crostepping drive .Microstepping can be implemented in either a voltage mode or current mode drive. In voltage mode drive, the appropriate duty cycle would be generated by the controller so that the voltage applied to the coil (Vsupply * duty cycle) is the appropriate value for the desired position. In current mode drives, the winding current is sensed and controlled to be the appropriate value for the desired po-sition. This application note will consider only current mode drive implemented using peak detecting current controllers.To understand the microstepping concept, consider the simplified model of the stepper motor as shown in Figure 1. As previously discussed when the two coils are energized with equal currents, the re-sulting magnetic vector will be at 45° and the permanent magnet of the rotor will align with that vec-tor. However, if the two coils are energized by currents of different magnitude, the resulting magnetic vector will be at an angle other than 45° and the rotor would attempt to align with the new magnetic vector. If one coil were driven with a current that was twice the current in the second coil the magnetic vector would be at 30°, as shown in Figure 3. For any given desired position, the re-quired currents are defined by the sine and cosine of the desired angle.To implement a microstepping drive, two D/A converters are used to set the current level in the coils of the motor, as shown in the block diagram in Figure 4.2/17AN1495 APPLICATION NOTE Figure 3. Example alignment of microstepingFigure 4. Block Diagram of microstepping motor drive.2MICROSTEPPING WITH THE L6208In a typical application the L6208, which integrates two H-Bridges with the current control, drives a bipolar stepper in either full or half step modes. The internal state machine generates the full step or half step sequence from the clock and direction inputs. [1] Although at first glance it is not obvious that the L6208 may be used in a microstepping application, it is possible since the current control circuits have separate reference inputs.To implement a microstepping application, a variable voltage proportional to the desired output cur-rent must be applied to each of the reference pins. In the block diagrams above, the two required D/A converters provide the required voltages. A simple and inexpensive alternative to a D/A con-3/17AN1495 APPLICATION NOTEverter chip is to use a counter/timer in the microprocessor to generate a PWM output for each phase and pass this through a voltage divider and low pass filter to get the desired voltage. The Vref input voltage is equal to the microprocessor power supply voltage times the divider ratio of the resistor divider times the PWM duty cycle. Figure 5 shows the connection between a microcontroller and the L6208. The complete circuit schematic for the power section is shown in appendix A.Since the L6208 includes an internal phase generation circuit, this circuit must be synchronized to the externally provided reference voltages. Again a simple solution is possible. The initial state of the decoding logic after reset is known and may be used as the starting state. After applying a reset to the L6208, either at power up or by forcing a reset from the microprocessor, the full-scale voltage is applied to both Vref pins to align the stepper motor to the known state that corresponds to one of the full step positions. Once the motor is aligned, the references can be reduced to 70.7%, which is the correct value for the currents for the 45-degree position in the microstepping sequence. After the motor is aligned the microcontroller can move through the sine/cosine table to generate the ap-propriate reference levels to move in either direction. The software also has to set the appropriate direction on the CW/CCW pin and generate a clock pulse for each phase reversal that is required. This occurs whenever the phase crosses a 90° boundary in the sine table. By operating the L6208 in the full step mode and providing clock signals at the appropriate time, the decoding logic will out-put the correct phase information for the bridges. Using the L6208 in the half step mode with the appropriate clock signals can improve the performance at the zero cross over of the current, as will be discussed later.Figure 5. Circuit connections for the L6208Figure 6 shows the operating waveforms when using the L6208 in full step mode and varying the reference inputs to achieve microstepping. Trace 1 is the clock input to the L6208. Traces 2 and 3 on the plot are the VrefA and VrefB inputs applied to the L6208. Trace 4 is the motor current in chan-nel B. Although the current has the discontinuities near zero that are typical of a peak detection cur-rent control method, the resulting output matches the desired sine wave reasonably well.4/17AN1495 APPLICATION NOTE Figure 6. Microstepping waveforms: Typical OperationFigure 7. Microstepping waveforms: Current can not follow desired sine wave3SPEED LIMITATIONSSince the motor coil is primarily an inductance, the rate of current change in the coils is limited by the L/R time constant of the motor. As the motor is operated at higher speeds, the L/R time constant of the motor limits the rate of current change and the current can no longer follow the desired sine wave. Figure 7 shows the motor current at a higher rotational frequency. On this scope trace, we see two effects. First, the filter on the reference voltage is starting to roll off the reference signal and5/17AN1495 APPLICATION NOTEsecond, the motor current is limited by the motor time constant and it begins to look more like a triangle waveform than the desired sine wave. Although moving the pole of the filter on the refer-ence voltage will make the reference signal appear more ideal, it will have little effect on the motor current at this point since the motor current is primarily limited by the L/R characteristics of the mo-tor. When approaching this point, the motor will run smoothly in full step mode and the micropro-cessor could easily change to full step drive.If the step rate is increased further, the motor will stall when the current can no longer reach a value large enough to produce the required torque. Figure 8 shows a typical current waveform when the motor has stalled. The almost pure triangular current waveform is similar to the triangular waveform that would result if the motor were being driven in the full step mode at this step rate. At this oper-ating point the current is entirely controlled by the L/R time constant of the motor and no chopping is occurring.Figure 8. Waveforms when motor has stalled4SLOW VS. FAST DECAY MODEWhen implementing current controlled motor drives, the designer has a choice of the recirculation path the current flows in during the "off" time. Figure 9 shows the two recirculation options imple-mented in the L6208. Applying the chopping to only one side of the bridge allows the current to re-circulate around a low voltage loop, in the upper transistors with the L6208. Since the rate of change of the current is controlled primarily by the L/R time constant of the motor, the current decays rela-tively slowly, hence the designation of slow decay mode. However applying the chopping to both sides of the bridge results in the current recirculating back to the power supply and a higher voltage across the coil, hence a fast decay mode. The L6208 also implements a type of synchronous rec-tification that turns on the MOS transistor in parallel with the conducting diode to reduce the power dissipation. [1]The selection of the decay mode influences the operation of a microstepping drive in several ways. The most obvious is the magnitude of the ripple current. Drives implemented using the fast decay mode will have, for the same off time or chopping frequency, a higher ripple current than drives im-plemented using a slow decay mode. This difference in itself is not significant for most stepper mo-6/17AN1495 APPLICATION NOTEtor drives. Issues with the stability of the current control loop are discussed elsewhere [3].When microstepping at a relatively high speed, the selection of the decay mode affects the ability of the drive to follow the desired current level. At any time, the rate of change of current is deter-mined by the inductance of the motor and the voltage across the coil. In the slow decay mode, the voltage across the coil during the off time is only the drop across one transistor and one diode so the current changes very slowly. As the desired current level is lowered, it is the rate of change dur-ing the off time that determines how quickly the current transitions to the new level. At low speeds, the effect may not be too noticeable. However, at higher speeds, the motor current cannot decay fast enough to follow the desired decreasing slope of the sine wave. During this time the current change is limited by the time constant imposed by the motor inductance and the slow decay path and can remain higher than the set value. The current will continue to decay at the slow rate until a phase reversal occurs, at which point the bridge reverses, applying the full supply voltage across the coil, effectively putting the bridge in a fast decay mode and the current will decay quickly to zero. Selecting the fast decay mode can improve the ability of the drive to follow fast decreases in the current. The waveforms in Figure 6 are achieved using the fast decay mode.The ability of the drive to increase current on the upper slope of the sine wave is not affected by the choice of the decay mode since the voltage applied to the coil during the on time is the same. Figure 9. PWM current control decay modes.7/17AN1495 APPLICATION NOTE 8/175MINIMUM CURRENT ISSUESWhen operating a chopping current control that has a minimum duty cycle, the current cannot be taken below a level that is effectively set by the motor resistance and the minimum duty cycle. Con-stant off time controls, like the L6208, have a minimum on time that is set primarily by the propaga-tion delays from the end of the off time until the comparator detects a current above the threshold and retriggers the monostable putting the bridge in the recirculation mode again. This minimum on time and the off time set by the monostable set a minimum working duty cycle for the circuit. When this duty cycle is applied to the motor, a current will be established. If a reference corresponding to a current lower than this minimum is set on the input, the circuit will detect that the motor current is above the reference. However, since the IC is already operating at its minimum duty cycle, the cur-rent can not go any lower and thus will not reach the current level desired by the reference level.The minimum duty cycle in other controllers can some times be adjusted. The minimum on time in the L6506, for example, is set by the width of the sync pulse. By varying the duty cycle of the oscil-lator, the minimum duty cycle of the output can also be changed. Since the sync pulse is also used to mask the switching noise in the system, reducing the minimum duty cycle is not always possible.[3]Figure 10 shows the operating waveforms at the minimum current level. The traces in the oscilo-graph are:Ch 1 :Voltage on output pinCh 2 :V refCh 3 :V senseCh 4 :Load current (20mA/div)Figure 10. Oscillograph of the minimum currentAt the start of each cycle the bridge is turned on and the motor current flows through the sense re-sistor to produce the voltage V sense . However at this operating point the sense voltage is already greater than the Vref input voltage, as can be seen in Figure 10. The comparator will detect that V senseis greater than Vref and cause the circuit switch the bridge into the recirculation mode andAN1495 APPLICATION NOTE the output is switched off after a delay that is determined by the response time of the circuit. The output pulse width, and hence the operating current, are set by the response of the circuit to a con-dition where the current sense comparator detects a current above the set value as soon as the drive is turned on. Since this pulse width can not be reduced further, the current that flows is the minimum that the device can regulate. In Figure 10, the minimum current is approximately 100mA. The minimum current level means a nonlinear transfer function exists between reference in (usually a voltage) to current out. Figure 11 shows the resulting transfer function between reference and out-put current.Figure 11. Transfer function showing nonlinearityThe transfer function also depends on the chopping mode, fast decay (enable chopping) or slow decay (phase chopping) as shown in Figure 11. In slow decay mode the current changes very slow-ly during recirculation and has a small ripple value. When operating in fast decay the transfer func-tion also has a discontinuity in the slope at low levels. At the minimum current level, the duty cycle is small and when operating at this point the current typically is discontinuous, that is the current rises to a peak value and decays back to zero during each cycle. The flat section of the current transfer function corresponds to this minimum current. When the reference is increased, the device begins to regulate current however the device will still operate in the discontinuous mode. Continu-ing to increase the reference, the device will begin to operate in the continuous current mode, where the current does not decay to zero in each cycle. When the current changes from discontinuous to continuous, the slope of the transfer function changes. The result is that there are two discontinui-ties in the transfer function, one set by the minimum current and one set by the change in slope. In theory the slow decay mode could also have two discontinuities, however in practical examples the minimum current is reached before the current goes discontinuous.The minimum achievable current effectively sets a limit on the number of microsteps per step by setting minimum current for the first microstep. Since the fast decay mode has a lower minimum current, fast decay can be used to minimize the effect of the minimum current, but will introduce another error due to the change of the slope. The latter can be compensated for by adjusting the DAC value.It is, however, possible to get zero current in a phase by disabling the bridge when zero current is desired in that phase. When using drivers that have an enable input for each bridge simply disabling the bridge will force the current to zero. The L6208, however, does not have a separate enable input for each bridge so we need to use another trick of the logic to disable the bridge at the appropriate time. When driven in the half step mode, one bridge is disabled in each of the even states [2]. This operating sequence can be used to disable the bridge at the appropriate times. To achieve this, op-9/17AN1495 APPLICATION NOTEerate the L6208 in half step mode and apply a pulse to the clock input at the same time that the desired current is set to zero. At the next change of current apply a second pulse to the clock input and set the current value for the first microstep. The step sequence generator in the L6208 will cause the change from current in one direction in the bridge, to the bridge being disabled, to current in the reverse direction as shown in Figure 12.Figure 12. Microstepping waveforms with improved performance at zero current.The effects of the minimum current can be seen in the motor movement as errors in the motor po-sition or as a jerky movement in a constant speed movement. How much the minimum current af-fects the drive depends primarily on the number of microsteps implemented per step. Since zero current can be achieved as described above, the positions at the 90 degree intervals where one coil is driven by zero current and the other is driven by the full scale current can easily be implemented. However, the next microstep where the current in one coil is small is most affected. If the desired current for any position is less than the minimum current, an error occurs. If the current required for the first microstep after the zero current position is greater than the minimum current, no error is contributed. Fortunately, since the desired current profile is a sine wave, the first step after the zero crossing has the largest relative increase in current of any microstep. If the required current for this first microstep is greater then the minimum current the device can regulate, there will be no error in the current to the motor due to the minimum current.If the design required that one step (90 Deg.) be divided into 16 microsteps, the angle for the first step would be 5.625 Deg. The sine of 5.625 degrees is 0.098. When using an 8-bit D/A, the closest available value would correspond to an input of 25 out of 255. No other microstep needs a current less than this (except the 0 as discussed above). As long as the minimum current is less than the value corresponding 25/255 of the peak current, there will be no noticeable error contributed by the minimum current. Another way to express this that no error will be noticeable if the output current can be regulated to plus or minus 1 LSB over the range 24 to 255. There is no system level require-ment to maintain the accuracy for inputs less than 24.10/17AN1495 APPLICATION NOTE6L6506 & L6203/L298Microstepping drives can be implemented using the L6506 controller and bridge IC's like the L6201, L6202, L6203 and L298. The main difference between the standard half step application and a mi-crostepping application is that the two references of the L6506 are set by D/A converter outputs. Figure 13 shows a microstepping application using the L6506 and the L6203. Outputs Px 1 through Px 4 from the microprocessor set the phase for the L6506/L6203 combination and output Px 5 and PX 6 are used to enable the bridges. Again, the D/A function could be implemented using the PWM outputs of the microprocessor as was done in the example above or it could be implemented using and integrated D/A. The same logic configuration can be used with the L6201, L6202 or L298. When using the typical connection between the L6506 and the L6203 (as shown in Figure 13a), the PWM signal is applied to one of the phase inputs (the phase that is normally high) and you get the slow decay mode of operation.To implement the fast decay mode of operation, the PWM signal needs to be applied to the EN-ABLE inputs of the L6203s. This can be accomplished by rearranging the connections from the mi-croprocessor. Inputs IN 1 and IN 2 of the L6203s are disconnected from the L6506 and connected directly to the Px 1 through Px 4 outputs of the microprocessor, which will continue to provide the phase information as before. The two PWM current control loops in the L6506 are then used to con-trol the ENABLE inputs of the two L6203, as shown in Figure 13b. Px 5 and Px 6 are now connected to the inputs of the L6506 so that each bridge can be disabled to get zero current. Finally the Power On Reset (POR) is connected to the RESET input of the L6506 to disable the bridge during power up.Figure 13a. Microstepping using L6506 and L6203 (Slow Decay)11/17AN1495 APPLICATION NOTEFigure 13b. Microstepping using L6506 and L6203 (Fast Decay)7PBL3717, TEA3717, TEA3718 AND L6219Devices like the PBL3717, TEA3717 TEA3718 and L6219 can also be used to implement mi-crostepping. The main limitation in these devices is that, due to their internal connections, they can only implement the slow decay mode. The microstepping application is the same as the typical ap-plication for the device except that D/A converters must control the reference pins. With these de-vices since the reference is designed to operate from 5V and includes an internal voltage divider, a low impedance output must be used to drive the reference. If the PWM from the microprocessor is used for the D/A function, then only an RC filter is used without the second resistor for the divider. The resulting signal must them be buffered by an amplifier before driving the reference input. The connections between the microprocessor and the PBL3717 family of devices are shown in Fig-ure 14. For the best resolution it is suggested to set the I0 and I1 inputs to select the maximum cur-rent level. One should also be aware that the specifications of the L6219 have a minimum input reference voltage level. This level must be respected and will then determine the minimum current that can be achieved in a microstepping circuit.12/17AN1495 APPLICATION NOTE Figure 14. Microstepping connection using PBL37178CONCLUSIONAlthough they were not designed specifically to implement microstepping, many of the integrated motor control/drive circuits can be used to implement microstepping stepper motor drives. The lim-its imposed by a peak detecting current control technique and the selected decay mode will directly affect the performance of the motor drive. Specifically it's ability to follow the desired current wave-form. So long as these limits allow the designer to achieve the desired resolution in the microstep-ping application the devices provide a cost effective implementation.9REFERENCES[1] A NEW FULLY INTEGRATED STEPPER MOTOR DRIVER IC, Domenico Arrigo, Thomas L. Hopkins, Angelo Genova, Vincenzo Marano, and Aldo Novelli, Proceedings of PCIM 2001, Septer-mber 2001, Intertech Communication[2] L6208 Data Sheet[3] STEPPER MOTOR DRIVES, COMMON PROBLEMS AND SOLUTIONS, AN460, T. Hopkins, STMicroelectronics[4] L297 Data Sheet[5] THE L297 STEPPER MOTOR CONTROLLER, AN470, STMicroelectronics[6] STEPPER MOTOR DRIVING, AN235, H. Sax, STMicroelectronics13/17AN1495 APPLICATION NOTE APPENDIX AFigure 15. Scheme of the EVAL6208N14/17AN1495 APPLICATION NOTEAPPENDIX BThe following is an excerpt from the firmware which executes on the ST7264 based control which is part of the Practispin evaluation system. This code segment is executed when the decision has been made that it is time for the L6208 to take the next microstep (either forward or reverse).; PB.4 is the L6208 clock pin; PB.5 is the L6208 reset pin; stepstate is a byte variable which controls the motor stepping.; torquscaler is a byte used to modulate the normalized sine wave values read from the table to set the current level; TAOC1LR is a register that controls Vrefa (via the duty cycle into the low pass filter) ; TBOC1LR is a register that controls Vrefb (via the duty cycle into the low pass filter) bres PBDR,#4; take clock back low ready to generate rising edge lat-erbset PBDR,#5; normal state for resetjumpifflagclear forward,doclockrev; jump if direction is reverse;direction is forwardinc stepstatejrne for002; skip if stepstate has not rolled over to zerobres PBDR,#5; activate reset to maintain sync (just for added noiseimmunity insurance)for002:ld a,stepstateand a,#%00011111; use only lower five bits as index for table lookupld x,a ; save index; on indexes 8 and 9, clock L6208 to sequence through zero and then polarity reversal and a,#%00001110cp a,#8 ; 8 or 9jrne for001bset PBDR,#4 ; rising edge for clockfor001:ld a,(microtable1,x) ; get normalized value from tableld y,torquescalermul y,a ; y:a = (table value) * torquescalerld TAOC1LR,y ; duty cycle = (table value) * torquescaler/256; repeat for phase Bld a,(microtable2,x)ld y,torquescalermul y,ald TBOC1LR,yjp pwmend; end of routine for forward stepdoclockrev:;direction is reversedec stepstatejrne rev002bres PBDR,#5; activate reset to maintain syncrev002:ld a,stepstateand a,#%00011111ld x,ainc a; 7 or 8 =>> 8 or 9and a,#%00001110cp a,#8 ; 8 or 915/17AN1495 APPLICATION NOTE16/17jrne rev001bset PBDR,#4 ; rising edge for clockrev001:ld a,(microtable1,x)ld y,torquescalermul y,ald TAOC1LR,yld a,(microtable2,x)ld y,torquescalermul y,ald TBOC1LR,yjp pwmend; The lookup table holds the magnitude of a sine wave normalized to a peak value of 256. ; Each line of 16 entries represents 90 degrees or one full step (thus 16 microsteps per step).; Table reference labels at 45 degrees (microtable1) and 135 degrees (microtable2) are provided for convenience; to allow easy lookup of two waveforms with 90 degree phase relationship.; Since only five bits (0 to 31) of the stepstate table index are used, references using microtable1 roll over through; just the first two lines of the table while references using microtable2 stay within the second and third lines; of the overall table.microtable1:; degrees 45 90dc.b180,197,212,224,235,244,250,253,254,253,250,244,235,224,212,197microtable2:; degrees 135 0dc.b180,161,141,120,097,074,049,024,000,024,049,074,097,120,141,161; degrees 45 +90dc.b180,197,212,224,235,244,250,253,254,253,250,244,235,224,212,197Table 1. Revision HistoryDate Revision Description of ChangesApril 20021First IssueJune 20042Replaced the Appendix B that contains assembler code for an ST7264.Changed the Style-sheet following the new "Corporate T echnicalPubblications Design Guide"。
步进电机及其驱动系统简介中英文翻译
About stepper motor and drive systemStep characteristics for machine for angular displacement for entering the electrical engineering is first kind will give or get an electric shocking the pulse signal conversion cowgirl or line potential moving battery carry outing a piece, having the fast stopping, accurate step entering and directly accepting the arithmetic figure measuring, because of but got the extensive application.Such as in the drafting machine, print the machine and optical instrument inside, and all adopt the inside of a place control system for entering the electrical engineering to positioning to paint the pen print head or optical prinipal, especially indrstry process the type control, and move to spread to feel the to can immediately attain the precision fixed position because of its precision and need not potential, and control the technique along with the calculator of continuously deveolp, applied to would be more and more extensive.Control and can is divided into the simple control sum the complicacy to control to motor two kind.The simple control points to proceeds to start to motor, the system move, positive and negative revolution and sequential plicacy the control point to the motor's revolving speed, screw angle, turning moment, tension, electric current etc. physics quantisty progress control.Control technique that the development that motor get force is in latest development achievement that micro-electronics technique, electric power electronics, spread to feel the the technique, automatic control the technique, tiny machine the application technique to wait.Exactly the advance of these techniques make the motor control the technique at near two 10-year insides change for turn overing the ground of day is take placed.Among them the motor's control division have already been controled by emulation gradually let locate to regard single flake machine as principle of microprocessor control, formation the mix control system of the arithmetic figure and emulation and the application of the pure arithmetic figure control system, combine control the direction to total amount word to quickly deveolp.The motor's drive part of power forusing the piece experienced a few renewals to change the on behalf, current switch speed sooner, more simple whole type power piece of control the MOSFET become the main current with IGBT.Stepper motors have the following benefits:•Low cost•Ruggedness•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 is virtually no conceivable failure within the stepper drive module that 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 equivalent 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 DisadvantagesStepper motors have the following disadvantages:•Resonance effects and relatively long settlingtimes•Rough performance at low speed unless amicrostep drive is used•Liability to undetected position loss as a result ofoperating open-loop•They consume current regardless of loadconditions and therefore tend to run hot•Losses at speed are relatively high and can causeexcessive heating, and they are frequently noisy(especially at high speeds).•They can exhibit lag-lead oscillation, which isdifficult to damp. There is a limit to their availablesize, and positioning accuracy relies on themechanics (e.g., ballscrew accuracy). Many ofthese drawbacks can be overcome by the use ofa closed-loop control scheme.Note: The Compumotor Zeta Series minimizes orreduces many of these different stepper motor disadvantages.There are three main stepper motor types:•Permanent Magnet (P.M.) Motors•Variable Reluctance (V.R.) Motors•Hybrid MotorsWhen the motor is driven in its full-step mode, energizing two windings or “phases”at a time (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 phases and then only one as shown in Fig. 1.9. Assuming the drive delivers the same winding current in each case, 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 motor performance—the 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.Applications in hazardous environmentsor in a vacuum may not be able to use a brushed motor. Either a stepper or a brushless motor is called for, depending on the demands of the load. Bear in mind that heat dissipation may be a problem in a vacuum when the loads are excessive.continuous duty applications suit the servo motor, and in fact a step motor should be avoided in such applications because the high-speed losses can cause excessive motor heating.are the natural domain of the stepper due to its high torque at low speeds, good torque-to-inertia ratio and lack of commutation problems.The brushes of the DC motor can limit its potential for frequent starts, stops and direction changes.continuous duty applications are appropriate to the step motor. At low speeds it is very efficient in terms of torque output relative to both size and input power. Microstepping can be used to improve smoothness in lowspeed applications such as a metering pump drive for very accurate flow control.Stepper motor is a stepper motor for precise electrical and mechanical actuators, which are widely used in industrial machinery, digital control, for the system reliability, interoperability, maintainability, and cost-optimal, according to the control system functional requirements and Control system through the microcontroller memory, I/O interface, interrupt, keyboard, LED display of the expansion of the annular distributor stepping motor, drive and protection circuit, man-machine interface circuit, interrupt system and reset circuit, a single voltage drive circuit, etc.designed to achieve a four-phase stepper motor rotating, and emergency stop functions.To achieve the stepping motor system in NC Machine Tools, system design, two external interrupts, in order to achieve within a certain period of time stepper motor repeated Reversible function, ie, the turret CNC automatic feed movement. With the continuous development of single chip microcomputer, microcontroller in household electronic products widely applied, since the since the early sixties, the stepper motor applications are greatly enhanced.People use it to drive the clock and other instruments with pointers, printers, plotters, disk CD-ROM drive, a variety of automatic control valves, various tools, as well as robots and other mechanical devices.In addition,as the acIn addition, as the actuator, stepper motor is one of mechanical and electrical integration of the key products are widely used in a variety of automatic control systems, microelectronics and computer technology with the development of its requirements with the Japanese fear of growing in all the field of application of the national economy has. Stepper motor digital control system of electromechanical actuators commonly used, due to its high precision, small size, flexible to control, so the smart meter and position control hasbeen widely used in large-scale integrated circuits technology development, and SCM The increasing popularity of design features, the lowest price of the stepper motor control driver provides advanced technology and adequate resources.步进电机及其驱动系统简介步进电机是一种将电脉冲信号转换成相应的角位移或线位移的机电执行元件，具有快速启停、精确步进以及直接接受数字量的特点，因而得到了广泛的应用。
交流伺服电机、步进电机、直流伺服电机介绍
交流伺服电机的缺点
• 控制较复杂 • 驱动器参数需要现场调整
– PID参数整定
• 需要更多的连线
驱动器（放大器）工作原理（续）
伺服放大器结构框图
电流PWM控制
• 脉宽调制技术（三角波、正弦波） • 非低噪音模式
驱动器
• 步进电机驱动器（Indexer） • 接受脉冲信号控制绕组电流；环形分配
Torque
IA = 1
IB = 1
P Q Angle
Figure : Rotation in a stepper motor is generated by alternately energizing and de-energizing the poles in the motor’s stator creating torque which turns the rotor.
C1
A2
交流伺服电机结构示意图
交流伺服电机工作原理
• 电子换相（VS 电刷换向）
• 磁极位置检测
霍尔传感器
将3个霍尔传感器装在定子上，各相差120度（不是空间 角度）均布在电机一端。
H1
H2
H3
States 101 100 110 010 011 001
如何放置霍尔传感器？
假设转矩曲线为梯形曲线
三相电流和力矩的关系
Ta
每一相有三个阶段:
• 正向电流 － 1/3 时
Ia
间
• 负向电流 － 1/3 时
Tb
间
• 没有电流 － 1/3 时
Ib
间
在三相中，总是：
Tc
• 一相正向电流
• 一相负向电流
Ic
• 一相没有电流
步进电机 英文翻译
郑州航空工业管理学院英文翻译2014 届电气工程及其自动化专业班级姓名学号指导教师职称二О一四年 2 月22 日Stepper motorStepper motor is the electrical pulse signal into angular displacement or linear displacement of an open loop stepper motor control element pieces . In the case of non- overloading , motor speed , stopped position depends only on the number of pulse frequency and pulse signals , which are not affected by changes in load , when stepper drive receives a pulse signal , it will drive a stepper motor the rotational direction is set to a fixed angle , referred to as " step angle ", which is fixed to the rotational angle of the step by step operation . The number of pulses can be controlled by controlling the amount of angular displacement , so as to achieve accurate positioning ; while the pulse frequency can be controlled by controlling the motor rotation speed and acceleration to achieve speed control purposes .1. basic introductionStepper motor is an induction motor, it works by using an electronic circuit .The DC power into power -sharing , multi-phase timing control current, this current is powered stepper motor , stepper motor to work properly, the stepper motor drive is powered -sharing , multi-phase timing controller .Although the stepper motor has been widely used, but the stepper motor does not like an ordinary DC motors, AC motors for use in routine under . It must be by a two- ring pulse signal , power driver circuit composed of the control system can be used. So make good use of a stepper motor , but not easy, it involves a lot of expertise in mechanical ,electrical , electronics and computers.Stepper motors as actuators , is one of the key products of mechatronics , widely used in a variety of automated control systems. With the development of microelectronics and computer technology, the growing demand for stepper motor , has applications in various fields of national economy .Stepper motor is an electrical pulse into the angular displacement of the actuator. Plainly speaking : When the stepper drive receives a pulse signal , it will drive a stepper motor to set the direction of rotation of a fixed angle ( ie, step angle ) . The number of pulses can be controlled by controlling the amount of angular displacement , so as to achieve accurate positioning ; while the pulse frequency can be controlled by controlling the motor rotation speed and acceleration to achieve speed control purposes .2. major categoriesThere are three main types of stepper motors in the structure : Reaction (Variable Reluctance, VR), permanent magnet (Permanent Magnet, PM) and hybrid (Hybrid Stepping, HS).Reaction: the stator windings , the rotor soft magnetic material. Simple structure, low cost , small step angle up to 1.2 °, but poor dynamic performance , low efficiency, heat a large , difficult to guarantee reliability .Permanent magnet : permanent magnet stepper motors with permanent magnet rotor material, the number of poles of the rotor and the stator of the same number of poles . Which is characterized by good dynamicperformance, output torque, this motor but poor accuracy , a large step angle (typically 7.5 ° or 15 °).Hybrid : a combination of hybrid stepping motors and permanent magnet reactive advantage of its multi-phase windings on the stator , the rotor permanent magnet material , the rotor and the stator teeth are a number of small steps to improve the accuracy of the moment . It features an output torque, good dynamic performance, step angle is small, but the structure is complex, the cost is relatively high.Press the stator windings to points , a total of two-phase , three-phase and five equal series. Most popular is the two-phase hybrid stepping motor , accounting for more than 97 % market share , the reason is the high cost , coupled with good results after the breakdown of the drive. This kind of basic step angle of the motor 1.8 °/ step , half step back coupled with the drive to reduce the step angle of 0.9 °, coupled with sub-drive after its step angle can be broken up to 256 -fold (0.007 °/ micro step ) . Due to friction and manufacturing precision and other reasons , the actual control accuracy is slightly lower . Same stepper motors can be equipped with different segments of the drive to change the precision and effectiveness.3. selection methodStepper motor and drive selection methods :Determine how much torque is required : static torque stepper motor is to choose one of the main parameters. Load is large, requires the use of high torque motor. Indicators big moment , the motor appearance is also large.Determine motor speed : high speed requirements , should be selected phase current is larger , smaller inductor motors to increase power input. And select the drive when using higher supply voltages.Select motor installation specifications : as 57,86,110 , the main requirements for the moment .Determine the precision positioning requirements and vibration aspects of the case : to determine whether the required segments, the number of segments required .According to the motor current , supply voltage breakdown and select the drive .4. Basic PrinciplesWorksThe rotor is a permanent magnet motor typically , when a current flows through the stator windings , the stator winding generates a magnetic field vector . The rotating magnetic field to drive the rotor at an angle such that the magnetic field of the stator is consistent with a direction of the magnetic field of the rotor. When the stator magnetic field vector rotation angle. As the rotors turn a field angle . Each input an electrical pulse , the motor rotation angle forward. The number of pulses proportional to the angular displacement of the output and its input , the pulse frequency is proportional to the rotational speed . Change the order of the winding is energized , the motor will reverse. Therefore, the number of pulses can be used to control power-on sequence , frequency and motor windings to control each phase stepper motor rotation .Fever principleUsually see all kinds of motors , are all inside the core and windings . Windings resistance , power will produce loss , the loss is proportional to the square of the size of the resistance and current , and this is what we often say that the copper losses , if the current is not a standard DC or sine wave , but also produce harmonic losses ; core has hysteresis eddy current effect , in the alternating magnetic field will produce losses , its size and materials , current, frequency , voltage dependent , called iron loss. Copper and iron losses are manifested in the form of heat , thus affecting the efficiency of the motor . Stepper motors are generally pursue positioning accuracy and torque output , efficiency is relatively low, the current is generally relatively large, and the high harmonic components , the frequency of the alternating current with the speed of change, thus stepping motor widespread fever cases and situations than the general severe AC motor .5. major tectonicStepping motor is also called a stepper , which uses the principle of electromagnetic , mechanical energy is converted to electrical energy , People as early as the 1920s began to use this motor . As embedded systems ( such as printers, disk drives , toys, wipers, pager vibration , mechanical arm and video recorders , etc. ) of the increasingly popular use of the stepper motor also began surge. Whether in industrial, military , medical, automotive or entertainment industry , as long as a piece of the object needs to be moved from one location to another , the stepper motor will certainly come in handy. Stepper motors have many shapes and sizes, but regardless of how the shape and size , they can be classified into two categories : a variable reluctance stepper motors and permanent magnetstepper motors.A stepper motor is wound on the motor fixing part - the stator coils driven alveolar . Typically , a ring-shaped metal wire called a solenoid winding , and in the motor , the teeth around the winding wire is called the coil or phase .6. index termsStatic index terms1, number of phases : produce different on pole N, S magnetic excitation coil pairs. Common m said .2, Beats: cyclical changes in the magnetic field required to complete a number of pulses or conductive state with n, or refer to the motor turned a pitch angle required number of pulses to four-phase motor, for example , there are four ways with four -run shot that AB-BC-CD-DA-AB, four-phase eight-shot operation That way A-AB-B-BC-C-CD-D-DA-A. 3, step angle : corresponds to a pulse signal , the angular displacement of the rotor turn is repre sented by θ. θ = 360 degrees / ( number of rotor teeth * run shot ) to the conventional two , four-phase , the rotor teeth 50 teeth motor, for example . Four beats running step angle is θ = 360 degrees / ( 50 * 4 ) = 1.8 degrees ( commonly known as the full step ) , eight-shot operation step angle of θ = 360 degrees / ( 50 * 8 ) = 0.9 degrees ( commonly known as half-step ) .4, the detent torque : motor is not energized in the state itself locked rotor torque ( harmonics and mechanical error by the magnetic field caused by the tooth ) .5, static torque : motor at rated static electricity effect, the motor doesnot rotates when the motor shaft locking torque. This moment is a measure of the volume of the standard motor , regardless of the driving voltage and driving power supply. Although static torque is proportional to the electromagnetic excitation ampere-turns , and set the air gap between the rotor teeth related, but over the use of the air gap decreases , increasing the excitation ampere-turns to increase the static torque is not desirable, this will cause motor heating and mechanical noise.Dynamic Indicators term1,step angle accuracy: stepper motor turned every error between the actual value and the theoretical value of a step angle . Expressed as a percentage : error / step angle * 100 %. Different running different beats its value , when the four -run shot in the 5% ,eight shot should run less than 15 %.2, step : the number of steps the motor running operation does not mean that the theoretical number of steps . Called out of step .3, the offset angle: rotor stator teeth tooth axis shift axis angle , the motor is running there must be offset angle , angle error generated by the imbalance , driven by subdivision can not be solved .4, he maximum no-load starting frequency : motor in the form of a drive voltage and rated current, in the case without the load, the maximum frequency can directly start .5, the operating frequency of the maximum load : the motor in the form of a drive voltage and rated current, the maximum speed of the motor with no load frequency .6, running torque characteristics : Measured motor running undercertain test conditions the output torque versus frequency curve is called the running torque-frequency characteristic , which is the motor of many dynamic curve of the most important , but also the fundamental basis for the motor selection.Other features include inertia frequency characteristics, starting frequency characteristics. Once the motor is selected, the static torque of the motor is determined , and dynamic moment is not the case , the dynamic torque motor depends on the average current ( rather than static current ) motor is running , the average current , the greater the motor output torque that the motor frequency characteristics of the harder . For the average current, the drive voltage to maximize the use of small high-current inductor motor .7, the resonance point of the motor : stepper motor has a fixed resonance region , two , four-phase Induction resonance zone is generally between 180-250pps ( step angle of 1.8 degrees ) , or about 400pps ( step angle 0.9 degrees ) , the higher the motor drive voltage , motor current increases, the lighter the load , motor size smaller, the upward shift resonance region , and vice versa , so that the motor output torque is large , and the entire system without losing step noise reduction , general working point should shift more resonance region .8, motor reversing control : the timing of when the motor windings are energized for the forward , the timing is energized when AB-BC-CD-DA or () DA-CD-BC-AB or ( ) when inverted.7. features characteristicThe main features1, the general accuracy of the stepper motor step angle of 3-5 % , and does not accumulate.2, the appearance of the stepper motor maximum temperature allowed . First, make a stepper motor temperature magnetic motor demagnetization ,Resulting in the loss of torque down even further , so the maximum temperature of the motor should be allowed depending on the appearance of magnetic motor demagnetization points ; generally speaking, magnetic demagnetization points above 130 degrees Celsius , and some even as high as 200 degrees Celsius above , so the stepper motor surface temperature at 80-90 degrees Celsius completely normal .3, stepper motor torque will increase with the speed of decline .When the stepping motor rotates , the inductance of the motor windings of each phase will form a counter electromotive force ; the higher the frequency, the greater the back EMF . In its role, the motor with frequency ( or speed ) increases the phase current is reduced , resulting in decreased torque .4, the stepper motor can operate normally at low , but if more than a certain speed will not start , accompanied by howling.Stepper motor has a technical parameter : load starting frequency , ie stepper motor under no-load conditions to start the normal pulse frequency , if the pulse frequency is higher than this value, the motor does not start properly , you may lose steps or stall . Under a load , the starting frequency should be lower . If you want the motor to achieve high-speed rotation , the pulse frequency should speed up the process ,which starts at lower frequencies , and then rise to the hope that at a certain acceleration frequency ( motor speed rise from low speed ) . Stepper motor with its remarkable features in the era of digital manufacturing plays a significant purpose. Along with improving the different development of digital technology and the technology itself, stepper motor , stepper motors will be applied in more fields .Key FeaturesA stepping motor can be operated must be added before the drive , the drive signal is a pulse signal to be no pulse when the stepping motor is stationary, if the addition of a suitable pulse signal will at a certain angle ( called a step angle ) is rotated. Rotational speed and the pulse frequency is proportional to .2, phase stepper motor step angle of 7.5 degrees, 360 degrees around , you need to complete the 48 pulses .3, stepper motor with instant start and stop the rapid superior characteristics .4, change the order of the pulse , you can easily change the direction of rotation .Therefore , printers , plotters , robotics and other equipment to the stepper motor driven core .8. speed methodStepper motor pulse signal is converted to angular displacement or linear displacement .First, the overload is good. Its speed independent of load size , unlikeordinary motor when the load increase rate decline occurs when using the stepper motor speed and position , there are stringent requirements.The second is easy to control. Stepper motors are "steps" as a unit rotation , digital features more obvious .Third, the whole structure is simple . Traditional mechanical speed and position control structure is complicated , difficult to adjust after using stepper motors , which makes it simple and compact structure . Motor rotation speed is converted into a voltage , and passed as a feedback signal to the input terminal . Tacho is an auxiliary motor , the motor is installed at the end of the ordinary speed DC motor , the voltage generated by the motor speed feedback to the DC power supply, DC motor speed control to achieve the purpose .9. function module designThis module can be divided into the following three parts:· SCM system : control of stepper motors ;· Peripheral circuits : PIC microcontroller interface circuit and stepper motors ;· PIC procedure : Write SCM stepper electric power machine interface program to achieve output of the triangular wave signal.( 1 ) stepper motor and microcontroller interface .SCM is the excellent performance of the control processor, stepper motor control , interface components must have the following features.① voltage isolation .SCM work at 5V, while the stepper motor is working in dozens of V, or even higher. Once the voltage to the microcontroller series stepper motor , it will damage the microcontroller ; signals would interfere with chip stepper motor , the system may also lead to errors in the work , so the interface device must have isolation .② messaging functions.Interface components should be able to pass information to the microcontroller stepper motor control circuit generates control information needed work , corresponding to different ways of working, interface components should be able to produce a corresponding job control waveform.③ produce different frequencies required .To the stepping motor at different speeds to suit different purposes , interface components should produce different operating frequencies . ( 2 ) V oltage Isolation interface.Isolation voltage isolation interface dedicated to the low-pressure part of the microcontroller and the stepper motor drive circuit high-voltage part , to ensure that they work properly.V oltage pulse transformer isolation interface or optical isolator is basically the use of optical isolators. Microcontroller output signal can be sent directly to the TTL gate or base of the transistor , and then driven by the transistor optocoupler devices emitting diodes.Light -emitting diodes on the opto-coupler devices inside the photodiode , converted into electrical signals , go drive a stepper motor power amplifier circuit , current amplification interface is a stepper motoramplifier circuit preamplifier circuit . Its role is to optical isolator output signal current amplification in order to provide enough power amplifier circuit drive current .( 3 ) Work interface and frequency generator .MCU controlled stepper motor requires the input and output interfaces for controlling stepper motors using three I / 0 lines, this time, the microcontroller I / O port RA0, RAI, RA2 control three-phase stepping motor .10. advantages and defectsAdvantage1, the angle of rotation of the motor is proportional to the number of pulses ;2, when the motor is stopped with a maximum torque ( when winding excitation time ) ;3, the accuracy of each step in the three percent to five percent , but the error will not accumulate to the next step and thus a better position accuracy and repeatability movement ;4, excellent response from the stop and reverse ;5, since there is no brush , high reliability, and therefore the life of the motor depends only on bearing life ;6, only the response of the motor is determined by the digital input pulse , which can be open-loop control, which makes the structure of the motor can be relatively simple and cost control ;7, only the load can be connected directly to a very low speed synchronous rotation on the shaft of the motor ;8, since the speed is proportional to the pulse frequency , and thus a relatively wide speed range.Defect1, if not properly controlled prone resonance ;2, the high speed operation is difficult ;3, it is difficult to obtain a large torque ;4, there is no advantage, low energy efficiency in terms of volume and weight ;5, more than the load will destroy the synchronization , will be issued when the high speed vibration and noise .11. drive methodStepper motors can be connected directly to the power frequency AC or DC power source to work , but must use a dedicated stepper motor driver , which occurs by the pulse control unit , power drive unit , the protection unit and so on. Stepper motor drive unit with direct coupling , can also be interpreted as a stepper motor controller microprocessor power connector.12. drive requirements1, can provide rapid current rise and fall times ,Current waveform as close as possible to make a rectangle .With a cut-off period for the release of the current flow loop to reducethe back electromotive force at both ends of the windings and accelerate the current decay .2, has a high rhyme power and efficiency.Stepper motor driver , which is a pulse signal into the control system of the angular displacement of the stepper motor , or : a control signal for each pulse issued by the stepper motor drive of a step angle of rotation . That frequency is proportional to the speed of the stepper motor pulse signal. So to control the frequency pulse signal , the speed of the motor can be accurately ; controlled stepper pulse number , you can pinpoint the motor . There are a lot of stepper motor drive , power requirements should be based on the actual reasonable choice drive.13. Major ApplicationsSelect the stepper motorThere are step angle stepping motor ( related to the number of phases ) , static torque , and the current composition of the three elements .Once identified three elements , the stepper motor model has determined.1, step angle selectionStep motor angle accuracy depends on the load requirements , the minimum resolution of the load ( equivalent ) conversion to the motor shaft , the number of angles ( including gear ) for each equivalent motor should go. Step motor angle should be equal to or less than this angle. Step angle stepping motor on the market are generally 0.36 °/ 0.72 °( five-phase motors ) , 0.9 degrees / 1.8 degrees ( two , four-phase motor ) , 1.5 degrees / 3 degrees ( three-phase motors ) and so on.2, static moment of choiceDynamic torque stepper motor is difficult to determine all of a sudden , we tend to first determine the static torque of the motor. The choice is based on static torque load on the motor work, and the inertia of the load and the load can be divided into two kinds of friction load . Single inertia load and a single load is not present in friction . When direct start ( generally low ) when the two loads are to be considered , the main consideration inertial load during acceleration start, constant run into just consider friction loads. Under normal circumstances, the static torque should be 2-3 times the load of friction is good, static torque Once selected, the machine base and be able to determine the length of the motor down ( geometry ) .3, the current selectionLike static torque motors , due to the different current parameters , their operating characteristics vary greatly, can be based on torque-frequency characteristic curve , determine the motor current . Application note points1, the stepper motor used in low-speed situations --- rpm less than 1000 rpm , ( 0.9 degrees 6666PPS), preferably using 1000-3000PPS (0.9 degrees ) between , can make it work here through deceleration devices, At this high electrical efficiency, low noise ;2, the stepper motor is best not to use the state of the whole step , whole step when the state of vibration ;3, due to historical reasons, only a nominal voltage of 12V 12V motors , the voltage value other than the motor drive voltage V value, drive selectdriving voltage according to ( suggestions : 57BYG DC 24V-36V, 86BYG DC 50V, 110BYG using higher than the DC 80V), of course, in addition to 12 volts 12V constant voltage driver can also use other external power supply, but to consider the temperature rise ;4, the moment of inertia of the load should choose a large frame size motors ;5, when compared with the high-speed motor or high inertia loads , generally do not start working speed , and the use of up- speed gradually , without losing a step motor , two noise can be reduced while improving the positioning accuracy is stopped ;6, high-precision, through mechanical reduction should improve motor speed , or high number of sub-drive to solve, 5 -phase motor can also be used , but the prices of its entire system more expensive , less manufacturer , which is eliminated argument is the layman ;7, the vibration motor in the region should not , should be resolved by changing the voltage , current, or add some damping ;8, motor 600PPS (0.9 degrees ) following work should be low current , high inductance , low voltage to drive ;9, after the first election should follow the principle of the drive motor option .步进电机步进电机是将电脉冲信号转变为角位移或线位移的开环控制元步进电机件。
基于proteus步进电机仿真及程序
proteus中的步进电机有两种，六线制(MOTOR-STEPPER)和四线制(MOTOR-BISTEPPER)，六线制的左右中间两根线接电源，任然剩下四根，但的顺序和四线制的不同，见下图。
注意a,b,c,d的顺序在实际情况中，单片机是不能直接拖动步进电机的，需用ULN2003这样的器件两个步进电机都是四相电机。
如果用四拍：那么P2输出的(顺时针）顺序就是：0x03,0x06,0x0c,0x09a 1 0 0 1b 1 1 0 0c 0 1 1 0d 0 0 1 1如果用八拍：那么P2输出的(顺时针）顺序就是：0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09a 1 1 0 0 0 0 0 1b 0 1 1 1 0 0 0 0c 0 0 0 1 1 1 0 0d 0 0 0 0 0 1 1 1给一个测试八拍的仿真程序：1.#include<reg52.h>2.3.main(){4.while(1){5.unsigned int i,j,k;6.for(k=0;k<255;k++){7.for(i=0;i<75;i++)8.for(j=0;j<255;j++);9.P2=0x01;10.for(i=0;i<75;i++)11.for(j=0;j<255;j++);12.P2=0x03;13. for(i=0;i<75;i++)14.for(j=0;j<255;j++);15.P2=0x02;16.17. for(i=0;i<75;i++)18.for(j=0;j<255;j++);19.P2=0x06;20.for(i=0;i<75;i++)21.for(j=0;j<255;j++);22.P2=0x04;23.for(i=0;i<75;i++)24.for(j=0;j<255;j++);25.P2=0x0c;26. for(i=0;i<75;i++)27.for(j=0;j<255;j++);28.P2=0x08;29.30. for(i=0;i<75;i++)31.for(j=0;j<255;j++);32.P2=0x09;33.34.35.}36. }37.}。
步进电机细分控制代码_解释说明_
步进电机细分控制代码解释说明1. 引言1.1 概述步进电机是一种常用的电动机类型，它通过对定角度进行分步操控来实现精准的位置控制。
细分控制是指通过改变驱动脉冲信号的频率和相位，使步进电机可以实现更高的转动精度和速度。
在传统情况下，步进电机通常采用全步进驱动模式，即每接收到一个脉冲信号就前进一个整步（通常为1.8°或0.9°）。
然而，在一些特定应用场景中，需要更高精度和更平滑的运动来满足要求。
因此，细分控制技术应运而生。
本文将详细介绍步进电机细分控制代码的原理和实现方法，并讨论其在工业领域中的优势和应用范围。
通过实验验证和案例分析，我们将验证并展示细分控制对步进电机性能提升的效果。
1.2 文章结构本文共分为以下几个部分：引言、正文、优势和应用范围、实验验证与案例分析以及结论与展望。
在引言部分，我们将首先概述步进电机工作原理，并介绍细分控制的概念与原理。
然后，我们将详细讨论细分控制代码的实现方法。
1.3 目的本文旨在向读者介绍步进电机细分控制代码的背景和原理，并提供实际应用方面的案例分析。
通过深入了解步进电机细分控制技术，读者将能够更好地理解其优势以及在工业领域中的应用范围。
同时，本文也旨在激发读者对于步进电机细分控制技术未来发展方向和挑战的思考。
2. 正文：2.1 步进电机工作原理步进电机是一种将电脉冲信号转化为机械转动的电动执行器。
其工作原理基于电磁学和力学原理，通过定向的磁场引起旋转运动。
步进电机通常由定子和转子组成，其中定子由多个绕组构成，而转子则包含一个或多个磁节（也称为极对）。
在正常工作情况下，步进电机引入一系列脉冲信号来驱动定子绕组产生磁场。
这些脉冲信号使得定子的磁场按特定顺序不断变化，从而吸引或排斥磁节，推动转子沿着预定方向旋转。
每当一个脉冲信号输入时，步进电机会以固定的角度（步距角）进行旋转。
2.2 细分控制概念与原理细分控制是指通过改变每个脉冲信号的时间长度、幅值或次数，使得步进电机能够实现更精确的旋转运动。
外文翻译--步进电机运动控制系统设计
密级分类号编号成绩本科生毕业设计 (论文)外文翻译原文标题Stepper Motor Motion Control System Design 译文标题步进电机运动控制系统设计作者所在系别机械工程系作者所在专业机械设计制造及其自动化作者所在班级作者姓名作者学号指导教师姓名指导教师职称完成时间2012 年 2 月的个数严格成正比，在时间上与输入脉冲同步，因此只要控制输入脉冲的数量、频率及电动机绕组通电的相序，便可获得所需的转角、转速及转动方向。
在没有脉冲输入时，在绕组电源的激励下气隙磁场能使转子保持原有位置处于定位状态。
因此非常适合于单片机控制。
步进电机还具有快速启动、精确步进和定位等特点，因而在数控机床，绘图仪，打印机以及光学仪器中得到广泛的应用。
步进电动机已成为除直流电动机和交流电动机以外的第三类电动机。
传统电动机作为机电能量转换装置，在人类的生产和生活进入电气化过程中起着关键的作用。
步进电机可以作为一种控制用的特种电机，利用其没有积累误差(精度为100%)的特点，广泛应用于各种开环控制。
现在比较常用的步进电机包括反应式步进电机（VR）、永磁式步进电机（PM）、混合式步进电机（HB）和单相式步进电机等。
一步进电机的工作原理步进电机是一种用电脉冲进行控制 ,将电脉冲信号转换成相位移的电机 ,其机械位移和转速分别与输入电机绕组的脉冲个数和脉冲频率成正比 ,每一个脉冲信号可使步进电机旋转一个固定的角度.脉冲的数量决定了旋转的总角度 ,脉冲的频率决定了电机运转的速度.当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度(称为“步距角”)，它的旋转是以固定的角度一步一步运行的。
可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。
二步进电机详细调速原理步进电机的调速一般是改变输入步进电机的脉冲的频率来实现步进电机的调速，因为步进电机每给一个脉冲就转动一个固定的角度，这样就可以通过控制步进电机的一个脉冲到下一个脉冲的时间间隔来改变脉冲的频率，延时的长短来具体控制步进角来改变电机的转速，从而实现步进电的调速。
伺服电机,步进电机区别（Servomotor,steppermotordifference）
伺服电机,步进电机区别（Servo motor, stepper motor difference）Stepper motor is a discrete motion device, and it has an essential connection with modern digital control technology. In the domestic digital control system, the application of stepping motor is very extensive. With the advent of full digital AC servo system, AC servo motor is also more and more used in digital control system. In order to adapt to the development trend of digital control, most of the motion control systems adopt stepping motor or full digital AC servo motor as executive motors. Although the two are similar in control mode (pulse train and directional signal), there are great differences in performance and application. The use of the two properties are compared.First, the control accuracy is differentThe step angle of two phase hybrid stepping motor is usually 3.6 degree and 1.8 degree, and the step angle of five phase hybrid stepping motor is usually 0.72 degree and 0.36 degree. There are also some high-performance stepping motors with smaller stepping angle. As a Stone Company for the production of the WEDM machine of the stepper motor, the step angle is 0.09 degrees; Germany bergerlahr company (BERGER LAHR) three-phase hybrid step motor production by the step angle dial switch is set to 1.8 degrees, 0.9 degrees, 0.72 degrees, 0.36 degrees, 0.18 degrees, 0.09 DEG and 0.072 DEG, 0.036 DEG, compatible with the step angle two-phase and five phase hybrid stepping motor.The control accuracy of the AC servo motor is guaranteed by the rotary encoder at the back of the motor shaft. Taking Panasonic digital AC servo motor as an example, for a motor with a standard2500 line encoder, the pulse equivalent is 360 degrees/10000=0.036 degrees due to the adoption of the four octave technique in the drive. For a motor with a 17 bit encoder, the drive turns 217=131072 pulses per receiver, i.e., its pulse equivalent is 360 DEG /131072=9.89 sec. It is the pulse equivalent 1/655 of stepping motor with step angle of 1.8 degrees.Two, low frequency characteristicsLow frequency vibration is easy to occur in stepping motors at low speeds. Vibration frequency is related to load and drive performance. Vibration frequency is generally considered as half of the no-load take-off frequency of motor. The low frequency vibration, which is determined by the working principle of the stepper motor, is very harmful to the normal operation of the machine. When stepping motor works at low speed, damping technology should be adopted to overcome low frequency vibration, such as adding damper on motor or subdividing technology on drive.AC servo motors operate very smoothly and do not vibrate even at low speeds. AC servo system has resonance suppression function, it can cover mechanical rigidity shortage, and the system has frequency analysis function (FFT), it can detect the resonance point of the machine, so that it is easy to adjust the system.Three, the torque frequency characteristics are differentThe output torque of the stepping motor decreases with theincrease of the speed, and it drops sharply at higher speed, so the maximum working speed is usually 300 to 600RPM. AC servo motor for constant torque output, that is, at its rated speed (generally 2000RPM or 3000RPM) within the rated torque can be output at rated speed above the constant power output.Four, overload ability is differentStepper motors generally do not have overload capacity.AC servo motor has strong overload ability. Take Panasonic AC servo system as an example, it has the ability of speed overload and torque overload. Its maximum torque is three times of the rated torque, which can be used to overcome the inertia moment of the inertia load at the start moment. Stepper motor because without the overload ability, in the selection in order to overcome this inertia moment, often need to select large torque motor, and the machine during normal operation and does not need so large torque, the torque will appear the phenomenon of waste.Five, the operation performance is differentStep motor control for open loop control, the start frequency is too high or too much load there is lost or blocking the phenomenon of step turn off high speed, prone to overshoot phenomenon, so as to ensure the control accuracy, should handle the ascending and descending velocity. AC servo drive system for closed-loop control, drive directly to the motor encoder feedback signal sampling, the internal structure of position loop and speed loop, is generally not a stepping motor lose step or overshoot phenomenon, the control performance is morereliable.Six, speed response performance is differentStepping motors from stationary to working speeds (typically hundreds of revolutions per minute) require 200~400 milliseconds. The AC servo system has better acceleration performance. Taking Panasonic MSMA 400W AC servo motor as an example, the speed from static acceleration to its rated speed 3000RPM is only a few milliseconds. It can be used in the control occasions which require quick start and stop.To sum up, AC servo system is superior to stepper motor in many performance aspects. But in some occasions where the requirement is not high, stepper motors are often used as executive motors. Therefore, in the design process of the control system, a variety of factors, such as control requirements and cost, should be taken into consideration, and appropriate control motors should be selected.。
SteppermotordriverPrinciple（步进电机驱动器原理）
Stepper motor driver Principle（步进电机驱动器原理）1, the stepper motor is a special motor as control, it is the rotation of the fixed point (called "step") operation step by step, which is characterized by no accumulated error (accuracy of 100%), so it is widely used in a variety of open-loop control. Stepper motor operation to have an electronic device driver, this device is the stepper motor drive control system, it is a pulse signal into angular displacement, the stepper motor or the control system: each made of a pulse signal, the driver makes a step angle stepper motor rotation. Therefore, the speed of the stepper motor is proportional to the frequency of the pulse signal. Therefore, to control the frequency of the stepped pulse signal, the motor can be adjusted accurately. The number of step pulses can be controlled to locate the motor precisely;2, driven by stepping motor subdivision driver, the step angle becomes small, such as the driver operates in 10 segments of the state, the step angle only for "natural" 1/10 step motor, it is said: "when the driver operating in segments of the whole step state, the control system of each a stepper motor pulse, rotate 1.8 degrees; and subdivision drive work in 10 segments when the motor rotation only 0.18 degrees", this is the basic concept of subdivision. The subdivision function is entirely generated by the phase current of the drive by precisely controlling the motor, independent of the motor.3, what are the advantages of driver segmentation, and why is it necessary to use subdivision functions?The main advantage of driver subdivision is that the lowfrequency oscillation of the motor is completely eliminated. Low frequency oscillation is a stepper motor (especially reactive motor) the inherent characteristics, and is the only way to eliminate the subdivision of it, if you step motor sometimes work in the resonance region (such as walking, arc) is the only choice to choose driver. The output torque of the motor is improved. Especially for three-phase reactive motors, the torque ratio increases by about 30-40% without subdivision. The resolution of the motor is improved. Because of reducing the step angle and increasing the uniformity of the step distance, it is self-evident that the resolution of the motor is increased.Basic knowledge of stepper motor drive systems1. Common sense of the system: stepping motor and stepping motor driver constitute stepping motor drive system. The performance of the stepping motor drive system depends not only on the performance of the stepper motor itself, but also on the performance of the stepper motor driver. The research of stepping motor driver is almost synchronous with the research of stepping motor.2. System overview: stepper motor is an electrical pulse into angular displacement of the implementation of components. When the stepper motor driver receives a pulse signal (from the controller), it drives the stepper motor to set the direction of rotation of a fixed angle (called "step"), it is the rotation of the fixed point of the operation step by step.3, system control: stepper motor can not be directly connectedto DC or AC power supply, you must use a dedicated drive power (stepper motor drive). The controller (pulse generator) through a control pulse to control the amount of angular displacement, so as to achieve the purpose of accurate positioning; at the same time by controlling the pulse frequency to control the motor rotation speed and acceleration, so as to achieve the purpose of speed.4, use: stepper motor is a special motor control, as the actuator, electromechanical integration is one of the key products, along with the development of microelectronics and computer technology (stepper motor drive performance improvement), demand for stepper motor grow with each passing day. Stepping motor has no accumulation error in operation, so it is widely used in various automatic control systems, especially open-loop control system.5, stepper motor classification according to the structure: stepper motor is also called a pulse motor, including reactive stepping motor (VR), permanent magnet stepper motor (PM), hybrid stepping motor (HB) and so on.(1) reaction stepping motor: also called induction type, hysteresis type or reluctance type stepping motor. The stator and rotor are made of soft magnetic material,The uniform distribution of large magnetic pole on the stator with multiphase excitation winding, stator and rotor evenly distributed around the teeth and grooves, permeability changes using electricity generated torque. Is generally three or four, five or six phase; can achieve high torque output (larger powerconsumption, current up to 20A, higher driving voltage); small step angle (the minimum can be 10 '); power without cogging torque; small damping motor, single step operation (the pulse frequency is very low when the shock takes a long time to start); and the operation of high frequency.(2) permanent magnet stepper motor: motor rotor comprises a permanent magnetic material, a multiphase excitation winding stator is made of soft magnetic materials, stator and rotor teeth and no surrounding groove, energized by permanent magnet and stator current magnetic field interact to produce torque. Usually two or four; the output torque is small (smaller power consumption, current driving voltage is less than 2A, 12V); large step angle (e.g. 7.5 degrees, 15 degrees, 22.5 degrees and so on); power has a certain torque starting and operating frequency is low.(3) hybrid stepping motor: also called permanent magnet reaction type and permanent magnet induction stepping motor. It combines the advantages of permanent magnet and reaction type. The stator and the four phase step motor (but no difference between the two magnetic poles of the same phase, and the two pole winding of N produced, S must have the same polarity), the rotor structure is more complex (rotor internal cylindrical permanent magnet, two coats of soft magnetic materials, the surrounding denticulate and groove). Usually two or four; to supply positive and negative pulse signal; the output torque is large (permanent magnet power consumption is relatively small); a permanent magnet small step angle (typically 1.8 degrees); power without positioning torque; starting and running high frequency; is the development of arapid step motor.6, stepper motor classification according to the way of operation: can be divided into power and servo type two.(1) power type: output torque is larger, can directly drive larger load (general use reaction type, hybrid stepping motor).(2) servo type: the output torque is small and can only drive smaller loads (usually using permanent magnet and hybrid stepping motors).7, the choice of stepper motor:(1) first select the type, followed by the specific varieties and models.(2) the reaction type and permanent magnet type and three kinds of hybrid stepping motor performance, dimensions, installation methods, types of pulse power supply and control circuit are different, the price difference is also great, when the choice should be considered.(3) stepping motor with control IC should be given priority.8. Basic parameters of stepping motor:(1) the intrinsic step angle of the motor: it represents the angle of rotation of the motor when each step of the control system sends a pulse signal. The factory motor gives a step angle value, such as 86BYG250A type motor is given a value of0.9 DEG /1.8 DEG (said half step work for 0.9 degrees, the whole step was 1.8 degrees), this step can be called the "inherent motor step angle", it is not necessarily a real step angle when the motor is working, the actual step angle and drive on.(2) the number of stepping motor: refers to the number of coils within the motor, the current commonly used are two-phase, three-phase, four phase, five phase stepper motor. The motor phase number is different, and the step angle is different. The step angle of the general two-phase motor is 0.9 DEG /1.8 degrees, the three-phase is 0.75 DEG /1.5 degrees, and the five phase is 0.36 degrees /0.72 degrees. Stepping motors increase the number of phases, but the structure and power supply of the stepper motor will be more complex and the cost will increase.(3) keep torque (HOLDING TORQUE): also known as the maximum static torque, is the nominal static current applied to the power of the stepper motor shaft, without continuous rotation of the maximum torque. It is one of the most important parameters of the stepper motor. The torque of the stepping motor is close to the holding torque at low speed. The output torque of the stepping motor decreases with the increase of speed, and the output power also varies with the increase of speed,Therefore, keeping the torque becomes one of the most important parameters to measure the stepper motor. For example, when people say that the 2N.m stepper motor, in the absence of special instructions, is to keep the torque of 2N.m stepper motor.(4) step distance accuracy: can be represented by location error, or can be represented by step error.(5) torque angle characteristic: when the rotor of stepping motor leaves the balance position, the restoring torque changes with the rotation of the corner. The relation between the static torque and the offset angle of a stepping motor is called the torque angle characteristic.(6) static temperature rise: when the motor is stationary, the maximum number of phases according to the specified operation mode, and the temperature rise when the rated static current reaches the stable thermal balance state.(7) dynamic temperature rise: the motor operates under no load at a certain frequency and operates according to the required operating time. After the running time is over, the temperature rise of the motor is called dynamic temperature rise.(8) torque characteristic: it represents the relation between motor torque and exciting current when it is connected with each other.(9) start torque frequency characteristic: the relation between starting frequency and load torque is called starting torque frequency characteristic.(10) running torque frequency characteristic / frequency characteristic(11) lifting frequency: the time required for the motor to risefrom the starting frequency to the highest operating frequency, or from the highest operating frequency to the starting frequency.(12) DETENT TORQUE: when the stepper motor is not energized, the stator locked the rotor torque. There is no unified translation method in DETENT TORQUE. It is easy to misunderstand; the rotor of reaction stepping motor is not permanent magnet material, so it doesn't have DETENT TORQUE.9, some characteristics of stepper motor:(1) the stepper motor does not accumulate error: the accuracy of the general stepper motor is 3-5% of the actual step angle, and does not accumulate.(2) when the step motor is working, the pulse signal is added to each phase winding in a certain order (the loop divider controlled by the actuator drives the winding to power off).(3) even with a stepper motor, in the use of different driving schemes, the torque frequency characteristics also vary greatly.(4) stepping motor and other motors, the nominal rated voltage and rated current is only a reference value; and because the stepper motor is a pulse mode power supply, the power supply voltage is the maximum voltage, rather than the average voltage, therefore, the stepper motor can exceed the rated value of the scope of work. However, the selection should not deviate from the rated value too far.(5) the highest temperature of stepper motors: stepper motor appearance allows the high temperature will make the first magneticdemagnetization motor, resulting in loss of torque down even further, so the highest temperature of motor appearance allows should depend on the different magnetic material motor demagnetization; in general, the magneticdemagnetization points are in 130 degrees Celsius, some even up to more than 200 degrees Celsius, so step motor surface temperature of 80-90 degrees Celsius is completely normal.(6) the torque of the stepping motor will decrease with the increase of the speed. When the stepper motor turns, the inductance of each phase winding of the motor will form a reverse electromotive force; the higher the frequency, the greater the reverse electromotive force. Under its action, the phase current decreases with the increase of frequency (or speed), which leads to the decrease of torque.(7) the stepping motor can operate normally at low speed, but if it is higher than a certain frequency, it can not start and is accompanied by howling.The stepper motor has a technical parameters: no-load starting frequency is the stepping motor to the normal start of the pulse frequency in the no-load condition, if the pulse frequency is higher than the value of the motor does not start, you may lose steps or stall occurs. In the case of load, the starting frequency should be lower. If the motor is to rotate at high speed, the pulse frequency should have an acceleration process,that is, the starting frequency is low, and then a certain acceleration to the desired high frequency (motor speed from low speed to high speed).(8) the four phase hybrid stepping motor is usually driven bya two phase driver. Therefore, the four phase motor can be connected into two phases by series connection or parallel connection.A series connection is generally used in motor speed lower situation, the drive output current to 0.7 times the motor phase current, so the heating of the motor; parallel connection method commonly used in motor speed high (also calledhigh-speed connection), 1.4 times the driver output current required for the motor phase current therefore, the heating of the motor is large.(9) the power supply voltage of hybrid stepping motor driver is generally a wide range (such as the power supply voltage of IM483 is 12 ~ 48VDC), the power supply voltage is usually based on the motor rotational speed and response to the request to choose. If the motor works at a higher speed or requires faster response, then the voltage is also high, but note that the ripple of the supply voltage can not exceed the maximum input voltage of the drive, otherwise it may damage the drive.(10) the power supply current is generally determined according to the output current I of the driver. If the use of linear power supply, power supply is generally desirable I 1.1 to 1.3 times; if the use of switching power supply, power supply is generally recommended I 1.5 ~ 2 times.(11) when the offline signal FREE is low, the current output from the driver to the motor is cut off and the motor rotor is in free state(offline state). In some automated devices, if the drive is constantly turned on, requiring the direct rotation of the motor shaft (manual), the FREE signal can be lowered to allow the motor to be offline for manual operation or adjustment. Once the manual is completed, the FREE signal is raised to continue automatic control.(12) adjust the rotation direction of the two phase stepping motor with a simple method. Only the A+ and A- (or B+ and B-) can be exchanged between the motor and the driver.10. Some features of stepper motor drive:(1) a dedicated integrated circuit that constitutes a stepper motor drive system:A pulse distributor IC: such as Sanyo Corporation's PMM8713 (three / four phase), PMM8723 (four phase), PMM8714 (five phase) and so on.B includes the pulse divider and current chopping controller IC: such as SGS's L297 (four phase), L6506 (four phase), etc..C only contains power drive (or contains current control and protection circuit) drive integrated circuit: such as the Japanese Shindengen Industrial Company MTD1110 (four phasechopper drive) and MTD2001 (phase, H bridge, chopper drive).D integrates the pulse divider, power drive, current control and protection circuitry into the drive controller IC, such as MOTOROLA's SAA1042 (four phase) and ALLEGRO's UCN5804 (four phase).(2) overview of subdivision drive:Concept: a method for subdividing the intrinsic step angle of a motor into several small steps, called subdivision drive, which is achieved by precisely controlling the phase current of the stepper motor with the motor itself, irrespective of the motor itself. The principle is, let the power of stator phase current is not a rise in place, and the off phase current is reduced to 0 (winding current waveform is no longer the approximate square wave, but N level approximation step wave generated), the stator winding current of the magnetic force, the rotor has N new equilibrium position (form N step).The latest technology development: the research of subdivision drive technology is very active both at home and abroad, and the high performance subdivided driving circuit can be subdivided into thousands or even random segments. At present have been able to do through the complicated calculation that after subdivision step uniform, greatly improving the step pulse resolution into the motor, to reduce or eliminate the vibration, noise and torque ripple, the stepping motor has more "servo" characteristics.The role of the actual step angle: in the absence of subdivisiondrive, the user mainly depends on the choice of different number of stepper motors to meet their own requirements for step angle. If you use the driver, the user only needs to change the fine fraction on the drive, you can greatly change the actual step angle stepper motor 'action phase number' to change the actual step angle is almost negligible.The relationship between the subdivision technology and step motor to improve the accuracy of the segmentation technology essence of stepping motor is a kind of electronic damping technology, its main purpose is to reduce or eliminate the low-frequency vibration of the stepper motor to improve the accuracy of the motor running just a fringe subdivision. After subdividing, the resolution of each pulse is improved when the motor is running, but whether the running accuracy can reach or approach the pulse resolution depends on other factors, such as Subdivision Current, control precision, etc.. The accuracy of subdivision drivers of different manufacturers may vary greatly; the larger the fraction is, the more difficult it is to control the accuracy.True segmentation requires considerable technical requirements and process requirements for the drive, and the cost will be higher. Some domestic drive the motor phase current of smoothing is to replace the subdivision, belonging to the "false segmentation", "smooth" does not produce micro, can cause a decrease of motor torque. The real subdivision control will not only cause the motor torque to decrease, but the torque will increase.。
步进电机 英文翻译.
郑州航空工业管理学院英文翻译2014 届电气工程及其自动化专业班级姓名学号指导教师职称二О一四年 2 月22 日Stepper motorStepper motor is the electrical pulse signal into angular displacement or linear displacement of an open loop stepper motor control element pieces . In the case of non- overloading , motor speed , stopped position depends only on the number of pulse frequency and pulse signals , which are not affected by changes in load , when stepper drive receives a pulse signal , it will drive a stepper motor the rotational direction is set to a fixed angle , referred to as " step angle ", which is fixed to the rotational angle of the step by step operation . The number of pulses can be controlled by controlling the amount of angular displacement , so as to achieve accurate positioning ; while the pulse frequency can be controlled by controlling the motor rotation speed and acceleration to achieve speed control purposes .1. basic introductionStepper motor is an induction motor, it works by using an electronic circuit .The DC power into power -sharing , multi-phase timing control current, this current is powered stepper motor , stepper motor to work properly, the stepper motor drive is powered -sharing , multi-phase timing controller .Although the stepper motor has been widely used, but the stepper motor does not like an ordinary DC motors, AC motors for use in routine under . It must be by a two- ring pulse signal , power driver circuit composed of the control system can be used. So make good use of a stepper motor , but not easy, it involves a lot of expertise in mechanical ,electrical , electronics and computers.Stepper motors as actuators , is one of the key products of mechatronics , widely used in a variety of automated control systems. With the development of microelectronics and computer technology, the growing demand for stepper motor , has applications in various fields of national economy .Stepper motor is an electrical pulse into the angular displacement of the actuator. Plainly speaking : When the stepper drive receives a pulse signal , it will drive a stepper motor to set the direction of rotation of a fixed angle ( ie, step angle . The number of pulses can be controlled by controlling the amount of angular displacement , so as to achieve accurate positioning ; while the pulse frequency can be controlled by controlling the motor rotation speed and acceleration to achieve speed control purposes .2. major categoriesThere are three main types of stepper motors in the structure : Reaction (Variable Reluctance, VR, permanent magnet (Permanent Magnet, PM and hybrid (Hybrid Stepping, HS.Reaction: the stator windings , the rotor soft magnetic material. Simple structure, low cost , small step angle up to 1.2 °, but poor dynamic performance , low efficiency, heat a large , difficult to guarantee reliability .Permanent magnet : permanent magnet stepper motors with permanent magnet rotor material, the number of poles of the rotor and the stator of the same number of poles . Which is characterized by good dynamicperformance, output torque, this motor but poor accuracy , a large step angle (typically 7.5 ° or 15 °.Hybrid : a combination of hybrid stepping motors and permanent magnet reactive advantage of its multi-phase windings on the stator , the rotor permanent magnet material , the rotor and the stator teeth are a number of small steps to improve the accuracy of the moment . It features an output torque, good dynamic performance, step angle is small, but the structure is complex, the cost is relatively high.Press the stator windings to points , a total of two-phase , three-phase and five equal series. Most popular is the two-phase hybrid stepping motor , accounting for more than 97 % market share , the reason is the high cost , coupled with good results after the breakdown of the drive. This kind of basic step angle of the motor 1.8 °/ step , half step back coupled with the drive to reduce the step angle of 0.9 °, coupled with sub-drive after its step angle can be broken up to 256 -fold (0.007 °/ micro step . Due to friction and manufacturing precision and other reasons , the actual control accuracy is slightly lower . Same stepper motors can be equipped with different segments of the drive to change the precision and effectiveness.3. selection methodStepper motor and drive selection methods :Determine how much torque is required : static torque stepper motor is to choose one of the main parameters. Load is large, requires the use of high torque motor. Indicators big moment , the motor appearance is also large.Determine motor speed : high speed requirements , should be selected phase current is larger , smaller inductor motors to increase power input. And select the drive when using higher supply voltages.Select motor installation specifications : as 57,86,110 , the main requirements for the moment .Determine the precision positioning requirements and vibration aspects of the case : to determine whether the required segments, the number of segments required .According to the motor current , supply voltage breakdown and select the drive .4. Basic PrinciplesWorksThe rotor is a permanent magnet motor typically , when a current flows through the stator windings , the stator winding generates a magnetic field vector . The rotating magnetic field to drive the rotor at an angle such that the magnetic field of the stator is consistent with a direction of the magnetic field of the rotor. When the stator magnetic field vector rotation angle. As the rotors turn a field angle . Each input an electrical pulse , the motor rotation angle forward. The number of pulses proportional to the angular displacement of the output and its input , the pulse frequency is proportional to the rotational speed . Change the order of the winding is energized , the motor will reverse. Therefore, the number of pulses can be used to control power-on sequence , frequency and motor windings to control each phase stepper motor rotation .Fever principleUsually see all kinds of motors , are all inside the core and windings . Windings resistance , power will produce loss , the loss is proportional to the square of the size of the resistance and current , and this is what we often say that the copper losses , if thecurrent is not a standard DC or sine wave , but also produce harmonic losses ; core has hysteresis eddy current effect , in the alternating magnetic field will produce losses , its size and materials , current, frequency , voltage dependent , called iron loss. Copper and iron losses are manifested in the form of heat , thus affecting the efficiency of the motor . Stepper motors are generally pursue positioning accuracy and torque output , efficiency is relatively low, the current is generally relatively large, and the high harmonic components , the frequency of the alternating current with the speed of change, thus stepping motor widespread fever cases and situations than the general severe AC motor .5. major tectonicStepping motor is also called a stepper , which uses the principle of electromagnetic , mechanical energy is converted to electrical energy , People as early as the 1920s began to use this motor . As embedded systems ( such as printers, disk drives , toys, wipers, pager vibration , mechanical arm and video recorders , etc. of the increasingly popular use of the stepper motor also began surge. Whether in industrial, military , medical, automotive or entertainment industry , as long as a piece of the object needs to be moved from one location to another , the stepper motor will certainly come in handy. Stepper motors have many shapes and sizes, but regardless of how the shape and size , they can be classified into two categories : a variable reluctance stepper motors and permanent magnetstepper motors.A stepper motor is wound on the motor fixing part - the stator coils driven alveolar . Typically , a ring-shaped metal wire called a solenoid winding , and in the motor , the teeth around the winding wire is called the coil or phase .6. index termsStatic index terms1, number of phases : produce different on pole N, S magnetic excitation coil pairs. Common m said .2, Beats: cyclical changes in the magnetic field required to complete a number of pulses or conductive state with n, or refer to the motor turned a pitch angle required number of pulses to four-phase motor, for example , there are four ways with four -run shot that AB-BC-CD-DA-AB, four-phase eight-shot operation That way A-AB-B-BC-C-CD-D-DA-A. 3, step angle : corresponds to a pulse signal , the angular displacement of the rotor turn is repre sented by θ. θ = 360 degrees / ( number of rotor teeth * run sh ot to the conventional two , four-phase , the rotor teeth 50 teeth motor, for example . Four beats running step angle is θ = 360 degrees / ( 50 * 4 = 1.8 degrees ( commonly known as the full step , eight-shot operation step angle of θ = 360 degrees / ( 50 * 8 = 0.9 degrees ( commonly known as half-step .4, the detent torque : motor is not energized in the state itself locked rotor torque ( harmonics and mechanical error by the magnetic field caused by the tooth .5, static torque : motor at rated static electricity effect, the motor doesnot rotates when the motor shaft locking torque. This moment is a measure of the volume of the standard motor , regardless of the driving voltage and driving power supply. Although static torque is proportional to the electromagnetic excitation ampere-turns , and set the air gap between the rotor teeth related, but over the use of the air gap decreases , increasing the excitation ampere-turns to increase the static torque is not desirable, this will cause motor heating and mechanical noise.Dynamic Indicators term1,step angle accuracy: stepper motor turned every error between the actual value and the theoretical value of a step angle . Expressed as a percentage : error / step angle *100 %. Different running different beats its value , when the four -run shot in the5% ,eight shot should run less than 15 %.2, step : the number of steps the motor running operation does not mean that the theoretical number of steps . Called out of step .3, the offset angle: rotor stator teeth tooth axis shift axis angle , the motor is running there must be offset angle , angle error generated by the imbalance , driven by subdivision can not be solved .4, he maximum no-load starting frequency : motor in the form of a drive voltage and rated current, in the case without the load, the maximum frequency can directly start .5, the operating frequency of the maximum load : the motor in the form of a drive voltage and rated current, the maximum speed of the motor with no load frequency .6, running torque characteristics : Measured motor running undercertain test conditions the output torque versus frequency curve is called the running torque-frequency characteristic , which is the motor of many dynamic curve of the most important , but also the fundamental basis for the motor selection.Other features include inertia frequency characteristics, starting frequency characteristics. Once the motor is selected, the static torque of the motor is determined , and dynamic moment is not the case , the dynamic torque motor depends on the average current ( rather than static current motor is running , the average current , the greater the motor output torque that the motor frequency characteristics of the harder . For the average current, the drive voltage to maximize the use of small high-current inductor motor .7, the resonance point of the motor : stepper motor has a fixed resonance region , two , four-phase Induction resonance zone is generally between 180-250pps ( step angleof 1.8 degrees , or about 400pps ( step angle 0.9 degrees , the higher the motor drive voltage , motor current increases, the lighter the load , motor size smaller, the upward shift resonance region , and vice versa , so that the motor output torque is large , and the entire system without losing step noise reduction , general working point should shift more resonance region .8, motor reversing control : the timing of when the motor windings are energized for the forward , the timing is energized when AB-BC-CD-DA or ( DA-CD-BC-AB or( when inverted.7. features characteristicThe main features1, the general accuracy of the stepper motor step angle of 3-5 % , and does not accumulate.2, the appearance of the stepper motor maximum temperature allowed . First, make a stepper motor temperature magnetic motor demagnetization ,Resulting in the loss of torque down even further , so the maximum temperature of the motor should be allowed depending on the appearance of magnetic motor demagnetization points ; generally speaking, magnetic demagnetization points above 130 degrees Celsius , and some even as high as 200 degrees Celsius above , so the stepper motor surface temperature at 80-90 degrees Celsius completely normal .3, stepper motor torque will increase with the speed of decline .When the stepping motor rotates , the inductance of the motor windings of each phase will form a counter electromotive force ; the higher the frequency, the greater the back EMF . In its role, the motor with frequency ( or speed increases the phase current is reduced , resulting in decreased torque .4, the stepper motor can operate normally at low , but if more than a certain speed will not start , accompanied by howling.Stepper motor has a technical parameter : load starting frequency , ie stepper motor under no-load conditions to start the normal pulse frequency , if the pulse frequency is higher than this value, the motor does not start properly , you may lose steps or stall . Under a load , the starting frequency should be lower . If you want the motor to achieve high-speed rotation , the pulse frequency should speed up the process ,which starts at lower frequencies , and then rise to the hope that at a certain acceleration frequency ( motor speed rise from low speed . Stepper motor with its remarkable features in the era of digital manufacturing plays a significant purpose. Along with improving the different development of digital technology and the technology itself, stepper motor , stepper motors will be applied in more fields .Key FeaturesA stepping motor can be operated must be added before the drive , the drive signal is a pulse signal to be no pulse when the stepping motor is stationary, if the addition of a suitable pulse signal will at a certain angle ( called a step angle is rotated. Rotational speed and the pulse frequency is proportional to .2, phase stepper motor step angle of 7.5 degrees, 360 degrees around , you need to complete the 48 pulses .3, stepper motor with instant start and stop the rapid superior characteristics .4, change the order of the pulse , you can easily change the direction of rotation .Therefore , printers , plotters , robotics and other equipment to the stepper motor driven core .8. speed methodStepper motor pulse signal is converted to angular displacement or linear displacement .First, the overload is good. Its speed independent of load size , unlikeordinary motor when the load increase rate decline occurs when using the stepper motor speed and position , there are stringent requirements.The second is easy to control. Stepper motors are "steps" as a unit rotation , digital features more obvious .Third, the whole structure is simple . Traditional mechanical speed and position control structure is complicated , difficult to adjust after using stepper motors , which makes it simple and compact structure . Motor rotation speed is converted into a voltage , and passed as a feedback signal to the input terminal . Tacho is an auxiliary motor , the motor is installed at the end of the ordinary speed DC motor , the voltage generated by the motor speed feedback to the DC power supply, DC motor speed control to achieve the purpose .9. function module designThis module can be divided into the following three parts:· SCM system : control of stepper motors ;· Peripheral circuits : PIC microcontroller interface circuit and stepper motors ;· PIC procedure : Write SCM stepper electric power machine interface program to achieve output of the triangular wave signal.( 1 stepper motor and microcontroller interface .SCM is the excellent performance of the control processor, stepper motor control , interface components must have the following features.① voltage isolation .SCM work at 5V, while the stepper motor is working in dozens of V, or even higher. Once the voltage to the microcontroller series stepper motor , it will damage the microcontroller ; signals would interfere with chip stepper motor , the system may also lead to errors in the work , so the interface device must have isolation .② messaging functions.Interface components should be able to pass information to the microcontroller stepper motor control circuit generates control information needed work , corresponding to different ways of working, interface components should be able to produce a corresponding job control waveform.③ produce different frequencies required .To the stepping motor at different speeds to suit different purposes , interface components should produce different operating frequencies . ( 2 V oltage Isolation interface.Isolation voltage isolation interface dedicated to the low-pressure part of the microcontroller and the stepper motor drive circuit high-voltage part , to ensure that they work properly.V oltage pulse transformer isolation interface or optical isolator is basically the use of optical isolators. Microcontroller output signal can be sent directly to the TTL gate or base of the transistor , and then driven by the transistor optocoupler devices emitting diodes.Light -emitting diodes on the opto-coupler devices inside the photodiode , converted into electrical signals , go drive a stepper motor power amplifier circuit , current amplification interface is a stepper motoramplifier circuit preamplifier circuit . Its role is to optical isolator output signal current amplification in order to provide enough power amplifier circuit drive current .( 3 Work interface and frequency generator .MCU controlled stepper motor requires the input and output interfaces for controlling stepper motors using three I / 0 lines, this time, the microcontroller I / O port RA0, RAI, RA2 control three-phase stepping motor .10. advantages and defectsAdvantage1, the angle of rotation of the motor is proportional to the number of pulses ;2, when the motor is stopped with a maximum torque ( when winding excitation time ;3, the accuracy of each step in the three percent to five percent , but the error will not accumulate to the next step and thus a better position accuracy and repeatability movement ;4, excellent response from the stop and reverse ;5, since there is no brush , high reliability, and therefore the life of the motor depends only on bearing life ;6, only the response of the motor is determined by the digital input pulse , which can be open-loop control, which makes the structure of the motor can be relatively simple and cost control ;7, only the load can be connected directly to a very low speed synchronous rotation on the shaft of the motor ;8, since the speed is proportional to the pulse frequency , and thus a relatively wide speed range.Defect1, if not properly controlled prone resonance ;2, the high speed operation is difficult ;3, it is difficult to obtain a large torque ;4, there is no advantage, low energy efficiency in terms of volume and weight ;5, more than the load will destroy the synchronization , will be issued when the high speed vibration and noise .11. drive methodStepper motors can be connected directly to the power frequency AC or DC power source to work , but must use a dedicated stepper motor driver , which occurs by the pulse control unit , power drive unit , the protection unit and so on. Stepper motor drive unit with direct coupling , can also be interpreted as a stepper motor controller microprocessor power connector.12. drive requirements1, can provide rapid current rise and fall times ,Current waveform as close as possible to make a rectangle .With a cut-off period for the release of the current flow loop to reducethe back electromotive force at both ends of the windings and accelerate the current decay .2, has a high rhyme power and efficiency.Stepper motor driver , which is a pulse signal into the control system of the angular displacement of the stepper motor , or : a control signal for each pulse issued by the stepper motor drive of a step angle of rotation . That frequency is proportional to the speed of the stepper motor pulse signal. So to control the frequency pulse signal , the speed of the motor can be accurately ; controlled stepper pulse number , you can pinpoint the motor . There are a lot of stepper motor drive , power requirements should be based on the actual reasonable choice drive.13. Major ApplicationsSelect the stepper motorThere are step angle stepping motor ( related to the number of phases , static torque , and the current composition of the three elements .Once identified three elements , the stepper motor model has determined.1, step angle selectionStep motor angle accuracy depends on the load requirements , the minimum resolution of the load ( equivalent conversion to the motor shaft , the number of angles ( including gear for each equivalent motor should go. Step motor angle should be equal to or less than this angle. Step angle stepping motor on the market are generally 0.36 °/0.72 °( five-phase motors , 0.9 degrees / 1.8 degrees ( two , four-phase motor , 1.5 degrees / 3 degrees ( three-phase motors and so on.2, static moment of choiceDynamic torque stepper motor is difficult to determine all of a sudden , we tend to first determine the static torque of the motor. The choice is based on static torque load on the motor work, and the inertia of the load and the load can be divided into two kinds of friction load . Single inertia load and a single load is not present in friction . When direct start ( generally low when the two loads are to be considered , the main consideration inertial load during acceleration start, constant run into just consider friction loads. Under normal circumstances, the static torque should be 2-3 times the load of friction is good, static torque Once selected, the machine base and be able to determine the length of the motor down ( geometry .3, the current selectionLike static torque motors , due to the different current parameters , their operating characteristics vary greatly, can be based on torque-frequency characteristic curve , determine the motor current . Application note points1, the stepper motor used in low-speed situations --- rpm less than 1000 rpm , ( 0.9 degrees 6666PPS, preferably using 1000-3000PPS (0.9 degrees between , can make it work here through deceleration devices, At this high electrical efficiency, low noise ;2, the stepper motor is best not to use the state of the whole step , whole step when the state of vibration ;3, due to historical reasons, only a nominal voltage of 12V 12V motors , the voltage value other than the motor drive voltage V value, drive selectdriving voltage according to ( suggestions : 57BYG DC 24V-36V, 86BYG DC 50V, 110BYG using higher than the DC 80V, of course, in addition to 12 volts 12V constant voltage driver can also use other external power supply, but to consider the temperature rise ;4, the moment of inertia of the load should choose a large frame size motors ;5, when compared with the high-speed motor or high inertia loads , generally do not start working speed , and the use of up- speed gradually , without losing a step motor , two noise can be reduced while improving the positioning accuracy is stopped ;6, high-precision, through mechanical reduction should improve motor speed , or high number of sub-drive to solve, 5 -phase motor can also be used , but the prices of its entire system more expensive , less manufacturer , which is eliminated argument is the layman ;7, the vibration motor in the region should not , should be resolved by changing the voltage , current, or add some damping ;8, motor 600PPS (0.9 degrees following work should be low current , high inductance , low voltage to drive ;9, after the first election should follow the principle of the drive motor option .步进电机步进电机是将电脉冲信号转变为角位移或线位移的开环控制元步进电机件。
步进电机驱动器说明书
1. How the motor controller control the motor speedIn the motor controller, there is a hardware timer T1 that is used to generate stepping pulse for stepper motor or reference position for servomotor. The input clock’s frequency of the timer, plus the preset value of this timer, determine the slewing speed of the motors.When T1 generates an interrupt, it mighto Drive the motor to move 1 step (1 micro-step or 1 encoder tick) for low speed slewing.o Drive the motor to move up to 32 steps for high speed slewing. This method applies to motor controller firmware version 2.xx. For motor controller with firmware 3.xx or above,the motor controller always drive the motor controller 1 steps/interrupt.2. Two motion modeGOTO mode: The master device tells the motor controller the desired destination, and then send a "Start" command. The motor controller will control the motor to move to that destination. The master device can check the motor status, real-time position, cancel the slewing during the GOTO. Speed(Tracking) mode: The master device calculate a proper preset value for T1 and send it to the motor controller, and then send a "Start" command. The motor controller will control the motor to slew at the desired speed. The master device can check the motor status, real-time position, cancel the slewing during the GOTO.There is a command which is used to select between the two motion mode for the next "Start"command. Generally, the motor should be at full stop status before setting the motion mode.Generally, the motor controller returns to "Speed Mode" when the motor stops automatically.A typical slewing session include:o Check whether the motor is in full stop status. If not, stop it.o Set the motion mode.o Set the parameters, for example, destination or preset value of T1.o Set the "Start" command.o For a GOTO slewing, check the motor status to confirm that the motor stops (Generally means arriving the destination. ). For a Speed mode slewing, send "Stop" command to endthe session.3. Calculation on Master DeviceA Skywatcher motor controller does not do complex calculation. The master device do it instead.Calculate the angleA Skywatcher motor controller only counts the step or the ticks of an incremental encoder on themotor shaft. But a master device can inquire the motor controller the resolution of the telescope axis (how many steps the telescope axis have for one revolution). We called it CPR (Counts per revolution). With CPR, the master device can convert an angle to steps or vise versa.Please note that CPR might be different for the two axes of a mount.Calculate the T1 preset value.A Skywatcher MC can report the T1’s input clock frequency TMR_Freq (Mention at the beginningof this article). A master device can use TMR_Freq and CPR to calculate the T1 preset value for desired motor speed.Speed_CountsPerSec = Speed_DegPerSec * CPR / 360T1_Preset = TMR_Freq / Speed_CountsPerSec= TMR_Freq * 360 / Speed_DegPerSec / CPRCalculate the T1 preset value for high speed slewingT1 preset value can be too small for high speed slewing, if T1’s input clock frequency is low. To solve this problem, the motor use a slightly different way to control motor speed when highspeed slewing is required (For example, move an axis with higher then 128x sidereal rate). When T1 generates an interrupt, the motor controller moves N micro-steps for a stepper motor, orchange the reference position for N steps for a DC servo motor. That means, for the same T1preset value, the motor will run N times faster than changing only 1 steps for each T1 interrupt event.Currently, N is a fixed number, and a master device can inquire the motor controller for it. Itmight be 16, 32 or 64.The formula for calculating T1 preset value for high speed slewing is:T1_Preset = N * TMR_Freq * 360 / Speed_DegPerSec / CPRWhen a master wants an axis to slew at high speed, it should let the motor controller know when it configures the motor to the Speed (Tracking) Mode. For GOTO mode, the motor controller will take care of it automatically.4. Command Format:The command always starts with a ":" character and ends with a carriage return character 0x0D.If a second ":" character is received by the motor controller before the carriage return character, then the motor controller will abandon the characters received and starts receiving a newcommand.Motor controller will process the command and send response after it receives the carriage return character.A response from the motor controller always starts with a "=" character and ends with a carriagereturn character, if the response is normal.If there is something wrong, the motor will response a message starts with a "!" character, followed by error code and a carriage return character.All the character in the command and the response are ASCII characters.A command from the master device has the following parts:o1 byte Leading character: ":"o1 byte command word, check command set table for detailso1 byte channel word: "1" for RA/Az axis; "2" for Dec/Alt axis.o1 to 6 bytes of data, depending on command word: character "0" to "9", "A" to "F"o1 byte Ending character: carriage return character.A normal response from the motor controller has the following parts:o1 byte Leading character: "="o1 to 6 bytes of data, depending on which command is processed: "0" to "9", "A" to "F"o1 byte Ending character: carriage return character.An abnormal response from the motor controller has the following parts:o1 byte Leading character: "!"o2 bytes of error code: "0" to "9", "A" to "F"o1 byte Ending character: carriage return character.Data format:o24 bits Data Sample: for HEX number 0x123456, in the data segment of a command orresponse, it is sent/received in this order: "5" "6" "3" "4" "1" "2".o16 bits Data Sample: For HEX number 0x1234, in the data segment of a command or response, it is sent/received in this order: "3" "4" "1" "2".o8 bits Data Sample: For HEX number 0x12, in the data segment of a command or response, it is sent/received in this order: "1" "2".5. Command Set6. HardwareUART: 9600bps, 1 start bit, 1 stop bit, no parity check.Signal level: 5V or 3.3V.On most of the EQ mount, the TX and RX lines are separated. The motor controller will send its response immediately after it received and process the command.On most the Alt/Az mount, TX and RX lines are connected together, and there is another line(Drop) to indicate that the TX/RX bus is busy. The Drop line is controlled by the master only, which means the master device should pull the Drop line to low level when it starts to send acommand and keep pulling it low until it receives the full response from the motor controller, or,a time-out occurs. The motor controller will send its response immediately after it received andprocess the command, thus the master device should release the TX/RX bus as soon as possible after the last bit of the command is shift out of the hardware register.The motor controller pull its TX line to high level with a 5.1K to 10K resistor, other than that, it does not strongly pull the TX line to high level and other devices can pull the TX line to low level without problem.6. Wi-Fi ConnectionThe same protocol runs on the SynScan Wi-Fi dongle or mount with built-in Wi-Fi module.The Wi-Fi dongle/module runs a UDP server and listen to UDP port 11880 to accept commands from host.The command must be sent in a single UDP package; the response is also included in a single package.When the Wi-Fi dongle/module works in access point mount, its IP address is 192.168.4.1. If it runs in station mode, the router that it links to allocates its IP address.6. Useful ResourcesSample Code: https:///archive/p/skywatcher/Documents: /download/manual/application-development/。
步进电机的的基本原理中英文翻译
步进电机的的基本原理中英文翻译English translation of the stepping motor basic principle步进电机作为执行元件,是机电一体化的关键产品之一,广泛应用在各种自动化控制系统中。
随着微电子和计算机技术的发展,步进电机的需求量与日俱增,在各个国民经济领域都有应用。
The stepping motor as executing components, electromechanical integration is one of the key products, widely used in a variety of automatic control systems. With the development of microelectronics and computer technology, the stepper motor demand grow with each passing day, has been applied in various fields of the national economy.步进电机是一种将电脉冲转化为角位移的执行机构。
当步进驱动器接收到一个脉冲信号,它就驱动步进电机按设定的方向转动一个固定的角度(称为“步距角”),它的旋转是以固定的角度一步一步运行的。
可以通过控制脉冲个数来控制角位移量,从而达到准确定位的目的;同时可以通过控制脉冲频率来控制电机转动的速度和加速度,从而达到调速的目的。
步进电机可以作为一种控制用的特种电机,利用其没有积累误差(精度为100%)的特点,广泛应用于各种开环控制。
Stepping motor is a kind of electrical pulses into angular displacement of the implementing agencies. When stepping drive receives a pulse signal, it drives stepper motor rotate in the direction set by a fixed angle ( called the " step " ), it is the rotation at a fixed angle step by step operation. The number of pulses to control the amount of angular displacement through the control, so as to achieve the purpose of accurate positioning; also can control the pulse frequency to control motor rotation speed and acceleration, so as to achieve the purpose of speed. Special motor stepper motor control can be used as a, using its no accumulation of error ( accuracy of 100% ) characteristics, widely used in all kinds of open-loop control.现在比较常用的步进电机包括反应式步进电机(VR)、永磁式步进电机(PM)、混合式步进电机(HB)和单相式步进电机等。
2相步进电机矢量控制
相步进电机矢量控制
两相步进电机矢量控制（Two-Phase Stepper Motor Vector Control）是一种用于控制两相步进电机的驱动技术，它模仿了异步电动机矢量控制的方法。
这种控制技术可以使步进电机在运行时更加平滑、响应更快，并且能够提供更好的速度和位置控制。
在两相步进电机中，通常会有一个主相和一个副相，每个相都有相应的绕组和电流。
矢量控制通过将这两个相的电流分解为磁场的成分和转矩的成分，从而实现对电机行为的精细控制。
具体来说，矢量控制包括以下几个步骤：
1. 坐标变换：为了实现矢量控制，首先需要将静止坐标系（abc坐标系）转换为旋转坐标系（αβ坐标系），这通常是通过Clarke变换和Park变换来完成的。
2. 磁场定向控制：通过上述变换，可以将电机的电流分解为磁场的成分（Iα）和转矩的成分（Iβ）。
然后，控制器可以分别控制这两个成分，以便在旋转坐标系中实现对磁场的控制。
3. 控制器设计：设计电流控制器来调节主相和副相的电流，使得磁场方向和大小得到优化。
此外，还可以设计速度和位置控制器来进一步改善电机的动态和静态性能。
4. 反馈和调节：在实际应用中，需要通过位置反馈来调节速度控制器，以实现精确的位置控制。
同时，通过电流反馈来调节电流控制器，以保证电机运行在稳定状态。
矢量控制技术可以使两相步进电机在复杂的工作环境下表现得更像同步电机，从而提高了电机的性能和控制精度。
这种控制技术在精密定位、速度控制和负载适应性方面具有显著优势，因此在工业自动化、机器人技术和精密仪器等领域得到了广泛应用。
DM860D步进电机驱动器规格概述说明书
DM860DStepper Motor Driver SpecificationOverviewThe DM860D is a new generation high-performance digital stepper driver based on DSP and PID control algorithm with microstep control technology. The motors driven by DM860D can run with much smaller noise and much less vibration than other drivers in the market. The DM860D possess the feature of lower noise, lower vibration, and lower heating. The DM860D’s voltage is DC24V-80V. It is suitable for all the 2-phase hybrid stepper motor whose current is less than 6.0A. There are 16 kinds of microstep of DM860D. The maximum step number of DM860D is 51200 steps/rev (microstep is 1/256 ). Its current range 2.0A-6.0A, and its output current has 8 stalls.DM860D has automatic semi-flow, over-voltage, under voltage and over-current protection function.Current selectionREF Peak SW1 SW2 SW32.00A 2.40A ON ON ON2.57A3.08A OFF ON ON3.14A 3.77A ON OFF ON3.71A4.45A OFF OFF ON4.28A5.14A ON ON OFF4.86A5.83A OFF ON OFF5.43A6.52A ON OFF OFF6.00A7.20A OFF OFF OFFMicrostep selectionPulse/REV SW5 SW6 SW7 SW8Default ON ON ON ON800 OFF ON ON ON1600 ON OFF ON ON3200 OFF OFF ON ON6400 ON ON OFF ON12800 OFF ON OFF ON25600 ON OFF OFF ON51200 OFF OFF OFF ON1000 ON ON ON OFF2000 OFF ON ON OFF4000 ON OFF ON OFF5000 OFF OFF ON OFF8000 ON ON OFF OFF10000 OFF ON OFF OFF20000 ON OFF OFF OFF40000 OFF OFF OFF OFFDefault: The pulse can be customized according to customers’ requirements.Common indicatorPhenomenon Reason Solution1. A short circuit of motor wires. Inspect or change wires2. The external voltage is over or low than the driver’s working voltage. Adjust the voltage to a reasonable rangThe red indicator is on.3. Unknown reason Return the goodsApplicationsIt can be applied in a variety of small scale automation equipment and instruments, such as labeling machine, cutting machine, packing machine, drawing machine, engraving machine, CNC machine and so on. It always performs well when it is used in equipment which requires for low-vibration, low-noise, high-precision and high-velocity.Driver functions descriptionsDriver function Operating instructionsOutput current setting Users can set the driver output current by SW1-SW3 three switches. The setting of the specific output current, please refer to the instructions of the driver panel figure.Microstep setting Users can set the driver Microstep by the SW5-SW8 four switches. The setting of the specific Microstep subdivision, please refer to the instructions of the driver panel figure.Automatic half current function Users can set the driver half flow function by SW4. "OFF" indicates the quiescent current is set to half of the dynamic current, that is to say, 0.5 seconds after the cessation of the pulse, current reduce to about half automatically. "ON" indicates the quiescent current and the dynamic current are the same. User can set SW4 to "OFF", in order to reduce motor and driver heating and improve reliability.Signal interfaces PUL+ and PUL- are the positive and negative side of control pulse signal; DIR+ and DIR- are the positive and negative side of direction signal; ENA+ and ENA- are the positive and negative side of enable signal.Motor interfaces A+ and A- are connected to a phase winding of motor; B+ and B- are connected to another phase winding of motor. If you need to backward, one of the phase windings can be reversed.Power interfaces It uses DC power supply. Recommended operating voltage is 24VDC-80VDC, and power consumption should be greater than 350W.Indicator lights There are two indicator lights. Power indicator is green. When the driver power on, the green light will always be lit. Fault indicator is red, when there is over-voltage or over-current fault, the red light will always be lit; after the driver fault is cleared, if re-power the red light will be off.Installation instructions Driver dimensions:150×98×51mm, please refer to dimensions diagram. Please leave 10CM space for heat dissipation. During installation, it should be close to the metal cabinet for heat dissipation.Signal interface details:The internal interface circuits of the driver are isolated by the opt coupler signals, R in the figure is an external current limiting resistor. The connection is differential. And it has a good anti-jamming performance.Control signal and external interface:Signal amplitudes External currentlimiting resistor R5V Without R12V 680Ω24V 1.8KΩ Outline and installation size (unit:mm)。
步进电机简介stepper motors
步进电机简介s tepper motors2007-03-08 20:28步进电机在去有机床的生产车间都基本上有见过，但主要都是在数控机床，机床呢好象都用了私服电机步进电机我也有玩过一下是一个简易的数控平台设计我做了下位机和上位机的几乎所有程序下位机用了一天一夜用汇编写的 1千多行好恐怖因为赶着交很多其实还没写好插补还实现不了只是留了接口但终究没找到一个现成的又没时间要赶着做上位机的程序！！！！！也搞了一天也来不及做好就验收了～～～～更巧的是验收时步进电机出了问题没被细问～～险啊！！！！三天把人家三个星期的工作都做了已经很不容易了啊在这三天只吃了一顿米饭其他时间 --北方大饼！！来自/Control-Technology/Motor-Control-Circuits/steppe r-motors.htm一、前言步进电机是将电脉冲信号转变为角位移或线位移的开环控制元件。
在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，即给电机加一个脉冲信号，电机则转过一个步距角。
这一线性关系的存在，加上步进电机只有周期性的误差而无累积误差等特点。
使得在速度、位置等控制领域用步进电机来控制变的非常的简单。
虽然步进电机已被广泛地应用，但步进电机并不能象普通的直流电机，交流电机在常规下使用。
它必须由双环形脉冲信号、功率驱动电路等组成控制系统方可使用。
因此用好步进电机却非易事，它涉及到机械、电机、电子及计算机等许多专业知识。
目前,生产步进电机的厂家的确不少，但具有专业技术人员，能够自行开发，研制的厂家却非常少，大部分的厂家只一、二十人，连最基本的设备都没有。
仅仅处于一种盲目的仿制阶段。
这就给用户在产品选型、使用中造成许多麻烦。
签于上述情况，我们决定以广泛的感应子式步进电机为例。
叙述其基本工作原理。
望能对广大用户在选型、使用、及整机改进时有所帮助。
二、感应子式步进电机工作原理（一）反应式步进电机原理由于反应式步进电机工作原理比较简单。
步进马达的详细讲解
步进电机的名称步进电机(stepping motor),步进电机(step motor)，或者是脉冲电机(pulse motor)，其它的如(stepper motor)等……有着各式各样的称呼方式，这些用日本话来表示的时候，就成为阶动电动机，还有，阶动就是一步一步阶段动作的意思，这各用另外一种语言来表示时，就是成为步进驱动的意思，总之，就是输入一个脉冲就会有一定的转角，分配转轴变位的电动机。
步进电机简介：步进电机是将电脉冲信号转变为角位移或线位移的开环控制组件。
在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，即给电机加一个脉冲信号，电机则转过一个步距角。
这一线性关系的存在，加上步进电机只有周期性的误差而无累积误差等特点。
使得在速度、位置等控制领域用步进电机来控制变的非常的简单。
单相步进电机有单路电脉冲驱动，输出功率一般很小，其用途为微小功率驱动。
多相步进电机有多相方波脉冲驱动，用途很广。
使用多相步进电机时，单路电脉冲信号可先通过脉冲分配器转换为多相脉冲信号，在经功率放大后分别送入步进电机各项绕组。
每输入一个脉冲到脉冲分配器，电机各相的通电状态就发生变化，转子会转过一定的角度（称为步距角）。
正常情况下，步进电机转过的总角度和输入的脉冲数成正比；连续输入一定频率的脉冲时，电机的转速与输入脉冲的频率保持严格的对应关系，不受电压波动和负载变化的影响。
在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，即给电机加一个脉冲信号，电机则转过一个步距角。
步进电机按旋转结构分两大类：1是圆型旋转电机如下图A 2直线型电机，结构就象一个圆型旋转电机被展开一样，如下图B一，步进电机的种类现在，在市场上所出现的步进电机有很多种类，依照性能及使用目的等有各自不同的区分使用。
举个例子，各自不同的区分使用有精密位置决定控制的混合型，或者是低价格想用简易控制系构成的PM型，由于电机的磁气构造分类，因此就性能上来说就会有影响，其它的有依步进电机的外观形状来分类，也有由驱动相数来分类，和驱动回路分类等。
步进马达 Stepping Motor 概要
２．ＰＭ型Stepping Motor
ＰＭ型Stepping Motor是指回转轴是用永久性磁石构成的马达。图2为最基本的一种ＰＭ型马达。下图里所标志的各磁场C端子并联后与电源+极相接，磁场驱动按Φ１，２，３，４的顺序移动，回转轴就按顺时针方向转动。根据此原理要想将Step的角度变小的话，只要增加固定子的齿轮数即可，但是此有一个限度。
図７．Bi-Polar驱动結線图
■Stepping Motor特性
关于Stepping Motor的一般性特性，做以下说明。
（ａ）Pull-inTorque
马达与收到的输入频率同步启动，并且这时产生最大扭矩。
（ｂ）最大自启动频率
在无负荷状态下，与一定速度的信号同步启动同步停止的最高频率。
（ｃ）Pull-out Torque
■Stepping Motor的种类
一般而言，Stepping Motor可以分为ＶＲ型（ＶａｒｉａｂｌｅＲｅｌｕｃｔａｎｃｅＴｙｐｅ），ＰＭ型（ＰｅｒｍａｎｅｎｔＭａｇｎｅｔＴｙｐｅ），ＨＢ型（ＨｙｂｒｉｄＴｙｐｅ）等３种。
１．ＶＲ型Stepping Motor
ＶＲ型就是指齿轮状加工的回转轴（ROTOR）和磁场驱动的固定子（STATOR）之间形成的磁场里，回转轴的位置不同磁场电阻会不断地发生变化，使用在这里面的马达，有固定子的地方一被驱动，固定子的齿与最近的回转轴的齿轮相吸的这种类型，从Stepping Motor的扭矩发生原理分类时最基本的东西。
对于超出自启动领域，在速度或负荷扭矩不断上升时，马达能同步产生的最大扭矩。
（ｄ）最大反应频率
在无负荷状态下，输入信号频率不断上升时，能同步反应的最大频率。
（ｅ）Holding Torque
uln2003驱动步进电机的原理
uln2003驱动步进电机的原理英文回答：The ULN2003 is a Darlington transistor array that is commonly used to drive stepper motors. It consists of seven NPN Darlington pairs, each of which can handle up to 500mA of current. This makes it ideal for driving small stepper motors that require currents of up to 3.5A.The ULN2003 is a very easy-to-use chip. It has a simple pinout, and it can be driven directly from a microcontroller. The only external components that are required are a few resistors to limit the current through the Darlington pairs.The ULN2003 can be used to drive stepper motors in a variety of ways. The most common way is to use it to drive a unipolar stepper motor. Unipolar stepper motors have two coils, and they can be driven in one direction or the other by reversing the polarity of the current through the coils.To drive a unipolar stepper motor with the ULN2003, you will need to connect the two coils of the motor to the outputs of the ULN2003. You will also need to connect a resistor to each of the outputs of the ULN2003 to limit the current through the Darlington pairs.Once you have connected the ULN2003 to the stepper motor, you can drive the motor by sending pulses to the inputs of the ULN2003. The pulses should be in the correct order to cause the motor to rotate in the desired direction.The ULN2003 can also be used to drive bipolar stepper motors. Bipolar stepper motors have four coils, and theycan be driven in either direction by reversing the polarity of the current through the coils.To drive a bipolar stepper motor with the ULN2003, you will need to connect the four coils of the motor to the outputs of the ULN2003. You will also need to connect a resistor to each of the outputs of the ULN2003 to limit the current through the Darlington pairs.Once you have connected the ULN2003 to the stepper motor, you can drive the motor by sending pulses to the inputs of the ULN2003. The pulses should be in the correct order to cause the motor to rotate in the desired direction.The ULN2003 is a very versatile chip that can be usedto drive a variety of stepper motors. It is a very easy-to-use chip, and it can be driven directly from a microcontroller. If you are looking for a way to drive a stepper motor, the ULN2003 is a great option.中文回答：ULN2003是一个达林顿晶体管阵列，通常用于驱动步进电机。
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Stepper MotorA stepper motor can move in accurate, fixed angle increments known as steps. For practical purposes, a stepper motor is a bit like a servo: you can tell it to move to a pre-defined position and can count on getting fairly consistent results with multiple repetitions. Servos though, are usually limited to a 0-180 degree range, while a stepper motor can rotate continuously, similar to a regular DC motor. The advantage of steppers over DC motors is that you can achieve much higher precision and control over the movement. The downside of using steppers is that they are a bit more complex to control than servos and DC motors.The 28BYJ-48 Stepper Motor DatasheetThe 28BYJ-48 is a small, cheap, 5 volt geared stepping motors. These stepping motors areapparently widely used to controlthings like automated blinds, A/C unitsand are mass produced. Due to thegear reduction ratioof *approximately* 64:1 it offersdecent torque for its size at speeds ofabout 15 rotations per minute (RPM).With some software “trickery”toaccelerate gradually and a highervoltage power source (I tested themwith 12 volts DC) I was able to getabout 25+ RPM. These little stepperscan be purchased together with asmall breakout board for the Arduinocompatible ULN2003 stepper motordriver for less than $5. Quite abargain, compared to the price of ageared DC motor, a DC motorcontroller and a wheel encoder! Thelow cost and small size makes the28BYJ-48 an ideal option for smallrobotic applications, and an excellent introduction to stepper motor control with Arduino. Here are the detailed specs of the 28BYJ-48 stepper motor.Motor Type Unipolar stepper motorConnection Type 5 Wire Connection (to the motor controller)Voltage 5-12 Volts DCFrequency 100 HzStep mode Half-step mode recommended (8 step control signal sequence)Step angle Half-step mode: 8 step control signal sequence (recommended) 5.625 degrees per step / 64 steps per one revolution of the internal motor shaft Full Step mode: 4 step control signal sequence 11.25 degrees per step / 32 steps per one revolution of the internal motor shaftGear ratio Manufacturer specifies 64:1. Some patient and diligent people on the Arduino forums have disassembled the gear train of these little motors and determined that the exact gear ratio is in fact 63.68395:1. My observations confirm their findings. These means that in the recommended half-step mode we will have:64 steps per motor rotation x 63.684 gear ratio = 4076 steps per full revolution (approximately).Wiring to theULN2003controllerA (Blue),B (Pink),C (Yellow),D (Orange),E (Red, Mid-Point)Weight 30gThe motor has 4 coils of wirethat are powered in asequence to make themagnetic motor shaft spin.When using the full-stepmethod, 2 of the 4 coils arepowered at each step. Thedefault stepper library thatcomes pre-installed with theArduino IDE uses thismethod. The 28BYH-48datasheet specifies that the preferred method for driving this stepper is using the half-step method, where we first power coil 1 only, then coil 1 and 2 together, then coil 2 only and so on. With 4 coils, this means 8 different signals, like in the table below.Wiring the ULN2003 stepper motor driver to Arduino UnoThe ULN2003 stepper motor driver board allows you to easily control the 28BYJ-48 stepper motor from a microcontroller, like the Arduino Uno. One side of the board side has a 5 wire socket where the cable from the stepper motor hooks up and 4 LEDs to indicate which coil is currently powered. The motor cable only goes in one way, which always helps. On the side youhave a motor on / off jumper(keep it on to enable power to thestepper). The two pins below the4 resistors, is where you providepower to the stepper. Note thatpowering the stepper from the 5V rail of the Arduino is notrecommended. A separate 5-12V 1 Amp power supply or batterypack should be used, as themotor may drain more currentthan the microcontroller canhandle and could potentiallydamage it. In the middle of theboard we have the ULN2003chip. At the bottom are the 4 control inputs that should be connected to four Arduino digital pins.Hooking it up to the ArduinoConnect the ULN2003 driver IN1, IN2, IN3 and IN4 to digital pin 8, 9, 10 and 11 respectively on the Arduino Uno. Connect the positive lead from a decent 5-12V battery pack to the “+” pin of the ULN2003 driver and the ground to the “-” pin. Make sure that the “on/off” jumper next to the “-”pin is on. If you power the Arduino from a different battery pack, connect the grounds together.。