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1、外文文献：KnowledgeofthesteppermotorWhatisasteppermotor：Steppermotorisakindofelectricalpulsesintoangulardisplacementoftheimplementingagency.Popularlittlelesson:Whenthedriverreceivesasteppulsesignal,itwilldriveasteppermotortosetthedirectionofrotationatafixedangle(andthestepangle).Youcancontrolthenumberofp
2、ulsestocontroltheangulardisplacement,soastoachieveaccuratepositioningpurposes;thesametimeyoucancontrolthepulsefrequencytocontrolthemotorrotationspeedandacceleration,toachievespeedcontrolpurposes.Whatkindsofsteppermotorsub-：Inthreesteppermotors:permanentmagnet(PM),reactive(VR)andhybrid(HB)permanentma
3、gnetstepperusuallytwo-phase,torque,andsmaller,stepangleofdegreesorthegeneral15degrees;reactionstepisgenerallythree-phase,canachievehightorqueoutput,stepangleofdegreesisgenerally,butthenoiseandvibrationarelarge.80countriesinEuropeandAmericahavebeeneliminated;hybridstepperisamixofpermanentmagnetandrea
4、ctiveadvantages.Itconsistsoftwophasesandthefive-phase:two-phasestepangleofdegreeswhilethegeneralfive-phasestepangleofdegreesgenerally.ThemostwidelyusedStepperMotor.Whatistokeepthetorque(HOLDINGTORQUE)HowmuchprecisionsteppermotorWhetherthecumulative：Thegeneralaccuracyofthesteppermotorstepangleof3-5%,
5、andnotcumulative.SteppermotortoallowtheminimumamountofsurfacetemperatureSteppermotortoallowtheminimumamountofsurfacetemperature：Steppermotorcausesthemotortemperatureistoohighthefirstmagneticdemagnetization,resultinginlossoftorquedownevenfurther,sothemotorsurfacetemperatureshouldbethemaximumallowedde
6、pendingonthemotordemagnetizationofmagneticmaterialpoints;Generallyspeaking,themagneticdemagnetizationpointsareabove130degreesCelsius,andsomeevenashighas200degreesCelsius,sothesteppermotorsurfacetemperatureof80-90degreesCelsiusisnormal.HowtodeterminethesteppermotordriverDCpowersupply：A.Determinationo
7、fthevoltageHybridsteppingmotordriverpowersupplyvoltageisgenerallyawiderange(suchastheIM483supplyvoltageof1248VDC),thesupplyvoltageisusuallybasedontheworkofthemotorspeedandresponsetotherequesttochoose.Ifthemotoroperatingspeedhigherorfasterresponsetotherequest,thenthevoltagevalueishigh,butnotethatther
8、ipplevoltagecannotexceedthemaximuminputvoltageofthedrive,oritmaydamagethedrive.B.DeterminationofCurrentPowersupplycurrentisgenerallybasedontheoutputphasecurrentdriveItodetermine.Ifalinearpowersupply,powersupplycurrentisgenerallypreferabletotimestheI;ifweadopttheswitchingpowersupply,powersupplycurren
9、tisgenerallypreferabletoI,totimes.Themaincharacteristicsofsteppingmotor：Asteppermotordrivecanbeaddedoperatepulsedrivesignalmustbenopulsewhenthesteppermotoratrest,suchasIfaddingtheappropriatepulsesignal,itwilltoacertainangle(calledthestepangle)rotation.Rotationspeedandpulsefrequencyisproportionalto.2
10、Dragonstepanglesteppermotorversionisdegrees,360degreesaround,takes48pulsestocomplete.3steppermotorhasinstantstartandrapidcessationofsuperiorcharacteristics.Changethepulseoftheorderof4,youcaneasilychangethedirectionofrotation.Therefore,thecurrentprinters,plotters,robotics,andsodevicesarethecoreofthes
11、teppermotorasthedrivingforce.SteppermotorcontrolexampleWeusefour-phaseunipolarsteppermotorasanexample.ThestructureshowninFigure1:Fourfour-phasewindingleads(asopposedtophaseA1A2B1phasephaseB2)andtwopubliclines(tothepowerofpositive).Thewindingsofonephasetothepoweroftheground.Sothatthewindingswillbeins
12、pired.Weusefour-phaseeight-beatcontrol,ie,1phase2phasealternatingturn,wouldenhanceresolution.perstepcanbetransferredtocontrolthemotorexcitationistransferredinorderasfollows:Iftherequirementsofmotorreversal,thetransmissionexcitationsignalcanbereversed.2controlschemeControlsystemblockdiagramisasfollow
13、sTheprogramusesAT89S51asthemaincontroldevice.ItiscompatiblewiththeAT89C51,butalsoincreasedtheSPIinterfaceandthewatchdogmodule,whichnotonlymakesthedebuggingprocessbecomeseasyandalsomorestable.Themicrocontrollerintheprogrammainlyforfieldsignalacquisitionandoperationofthesteppermotortocalculatethedirec
14、tionandspeedinformation.ThensenttotheCPLD.CPLDwithEPM7128SLC84-15,EPM7128programmablelogicdeviceoflarge-scale,fortheALTERAcompanysMAX7000family.Highimpedance,electricallyerasableandothercharacteristics,canbeusedforthe2500unit,theworkingvoltageof+5V.CPLDreceivesinformationsentfromthemicrocontrolleraf
15、terconvertedtothecorrespondingcontrolsignaloutputtothesteppermotordrive.Putthecontrolsignaldrivesthemotorwindingsaftertheinput,toachieveeffectivecontrolofthemotor.ThehardwarestructureofthemotordriveMotordriveusingthefollowingcircuit:R1-R8inwhichtheresistaneevalueof320Q.R9-R12resistaneevalueQ.Q1-Q4as
16、DarlingtonD401A,Q5-Q8fortheS8550.J1,J2andthesteppermotorconnectedtothesix-lead。AdvantagesanddisadvantagesofsteppermotorAdvantages1. Themotorrotationangleisproportionaltothenumberofpulses;2. Whenthemotorstoppedwithamaximumtorque(whenthewindingexcitationtime);3. Sincetheaccuracyofeachstepinthethreepercenttofivepercent,andtheerrorwillnotaccumulatetothenextstepandthushasbetterpositionalaccuracyandrepeatabilityofmovement;4. Excellentresponsef
