步进电机驱动器设计

电气自动化论文编号:ZD606 论文字数:28074,页数:53，有外文翻译，原理图，

目 录
第1章 绪论 1
1.1 步进电机的概述 1
1.2 步进电机驱动技术概述 2
1.3 国内外研究概况及发展趋势 2
1.4 本课题的研究意义及目的 3
1.4.1 课题的研究意义 3
1.4.2 课题的研究目的 4
1.5 本课题的主要研究内容 4
第2章 混合式步进电机的工作原理及结构 6
2.1 混合式步进电机的机构组成特点 6
2.2 混合式步进电机的工作原理 6
2.3 混合步进电机的绕组通电方式 8
第3章 步进电机驱动系统 9
3.1 步进电机驱动系统的概述 9
3.2 混合式步进电机传统驱动方式的电路与性能比较 10
3.2.1 单电压驱动方式 10
3.2.2 高低压驱动方式 10
3.2.3 调频调压驱动方式 11
3.2.4 斩波恒流驱动方式 12
3.3 混合式步进电机的细分驱动 13
3.3.1 细分驱动原理 13
3.3.2 细分驱动的特点 14
3.3.3 恒转矩等步距角细分 15
3.4 正弦脉宽调制技术原理及其控制方式 16
3.4.1 脉宽调制技术(PWM)的基本原理 16
3.4.2 SPWM正弦细分驱动 17
3.4.3 电流追踪型PWM控制 17
第4章 驱动器的硬件设计 20
4.1 硬件电路总体概述 20
4.2 单片机控制的多重数字细分电路 20
4.2.1 单片机最小系统设计 21
4.2.2 正弦阶梯波的产生 25
4.2.3 GAL片逻辑综合信号处理单元 26
4.3 恒流控制电路 28
4.3.1 SG3525工作原理简介 28
4.3.2 SG3525功能实现 29
4.4 驱动功放电路的设计 30
4.4.1 IR2110功能原理及应用简介 30
4.4.2 主驱动电路 33
4.5 过流保护及反馈电路 34
4.6 系统供电电源简介 38
4.7 硬件电路抗干扰措施 39
第5章 驱动器的软件设计 41
5.1 AT89C51单片机软件编程 41
5.1.1 单片机编程语言的选择 41
5.1.2 AT89C51单片机软件系统介绍 41
5.2 GAL16V8软件简介 45
5.3 软件设计小结 46
参考文献 48
致 谢 49

摘 要
 论文分析了混合式步进电动机的工作原理和运行特性。并对步进电机的多种驱动技术进行了详细的研究，着重分析和论述了正弦脉宽调制细分驱动技术。文中对整个系统的结构硬件电路设计及驱动软件编程进行了研究和实现。
 步进电机的使用离不开步进电机驱动器，驱动器的优劣影响着步进电机的运行性能。传统的驱动方式侧重于使步进电机绕组电流以尽可能短的时间上升到额定值，以提高电机高速运行时的转矩，一般步距角较大，且造成低速运行时的振动和噪声加大。针对此问题，开发出一种新型的基于单片机的多细分二相混合式步进电机驱动器。该驱动器以二相混合式步进电动机的静态和动态运行特性为出发点，主要分为数字控制部分、GAL片逻辑综合信号处理单元、SG3525恒流控制电路、驱动功放电路、过流保护及反馈电路和系统供电电源模块等。采用专用集成芯片和可编程逻辑器件，以8位单片机AT89C51为控制核心，实现恒流控制、正/反转运行、过流保护和多档位细分等功能。在器件选型和软、硬件设计方面兼顾了性能与成本等因素，性价比较高且通用性强。
 该驱动器的系统硬件和软件设计合理可行，各项技术指标均达到了设计要求。它与混合式步进电动机配套可以明显地改善步进电动机的运行性能，拓宽其应用领域。

关键词：混合式步进电机，正弦脉宽调制，细分驱动，单片机
Abstract
 The thesis analyses the work principle and operating characteristics of hybrid stepper motor. and also studies varies driving technologies of stepper motor in detail. On the emphasis the thesis analyses the technology of sine pulse width modulation subdivided driving. The structure，hardware and software of the system are studied. They all come true. In the end, performance tests of the driving system are given out at length.
 Stepper motor cannot work without stepper motor driver. Its performance is close related to the driver. Traditionally, a motor driver is to provide the rated current to the motor windings in the shortest possible time, helping to maintain high speed torque. As a result, motors vibration and noise is grater at low speeds and the step angle is grater too. In order to improve the running characteristics, multi-micro stepping driver for two-phase hybrid stepper motor has been developed, which is based on the one-chip computer controlling. The driver which takes the static and dynamic characteristics of two-phase hybrid stepper motor as the starting point consists of digital control part, GAL logic integrated unit, SG3525 constant current control circuit, driving circuit over current protecting and feedback circuit, and the power supply block. The driving system using special integrated chip and programmable logic device takes 8-bit single chip AT89C51 as the control core and has the functions of constant current control, forward/reverse working, over-current protection and multilevel subdivided driving. The driver has high performance price ratio and id very universal.
 The design of hardware and software of the driver is reasonable and feasible, and successfully meets the design needs. The driver working together with hybrid stepper motor can improve the running characteristics and widen the application fields of the motor.
Keywords: hybrid stepper motor，SPWM，subdivided driving，single chip microcomputer