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<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6250171b74bc5c01055a9c5c/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6250171b74bc5c01055a9c5c/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">www<span class="_ _0"></span>.txmcu.com<span class="_ _1"> </span><span class="ff2 fc1 ls1">步进电机原理应用及程序详解</span></div><div class="t m0 x2 h3 y2 ff3 fs0 fc1 sc0 ls1 ws0">天祥电子</div><div class="t m0 x3 h4 y3 ff2 fs1 fc1 sc1 ls2 ws0">步进电机原理应用及程序详解 </div><div class="t m0 x4 h5 y4 ff4 fs2 fc1 sc0 ls1 ws0">1<span class="ff2 sc1 ls3">、步进电机实物图片</span> </div><div class="t m0 x5 h6 y5 ff2 fs3 fc1 sc0 ls1 ws0">图<span class="_ _2"> </span><span class="ff5 ls4">1 <span class="_ _3"></span></span>普通步进电机<span class="_ _4"> </span>图<span class="_ _2"> </span><span class="ff5 ls4">2 <span class="_ _3"></span></span>减速步进电机<span class="ff5"> </span></div><div class="t m0 x6 h6 y6 ff2 fs3 fc1 sc0 ls1 ws0">图<span class="_ _2"> </span><span class="ff5 ls4">3 <span class="_ _3"></span></span>直线步进电机<span class="_ _5"> </span>图<span class="_ _2"> </span><span class="ff5">4<span class="_ _2"> </span></span>微型步进电机<span class="ff5"> </span></div><div class="t m0 x7 h6 y7 ff2 fs3 fc1 sc0 ls1 ws0">图<span class="_ _2"> </span><span class="ff5">5<span class="_ _2"> </span></span>步进电机解剖图<span class="ff4"> </span></div><div class="t m0 x4 h7 y8 ff2 fs2 fc1 sc1 ls5 ws0">2、步进电机介绍 </div><div class="t m0 x8 h8 y9 ff2 fs3 fc1 sc0 ls1 ws0">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。<span class="_ _6"></span>在非超载</div><div class="t m0 x4 h8 ya ff2 fs3 fc1 sc0 ls1 ws0">的情况下，<span class="_ _7"></span>电机的转速、<span class="_ _7"></span>停止的位置只取决于脉冲信号的频率和脉冲数，<span class="_ _7"></span>而不受</div><div class="t m0 x4 h8 yb ff2 fs3 fc1 sc0 ls1 ws0">负载变化的影响，<span class="_ _7"></span>即给电机加一个脉冲信号，<span class="_ _7"></span>电机则转过一个步距角。<span class="_ _7"></span>这一线性</div><div class="t m0 x4 h8 yc ff2 fs3 fc1 sc0 ls1 ws0">关系的存在，<span class="_ _8"></span>加上步进电机只有周期性的误差而无累积误差等特点。<span class="_ _8"></span>使得在速度、</div><div class="t m0 x4 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">www<span class="_ _0"></span>.txmcu.com<span class="_ _9"> </span><span class="fc1 ls6">1<span class="_ _a"> </span></span>www<span class="_ _0"></span>.txmcu.com<span class="fc1 ls1"> </span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6250171b74bc5c01055a9c5c/bg2.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">www<span class="_ _0"></span>.txmcu.com<span class="_ _1"> </span><span class="ff2 fc1 ls1">步进电机原理应用及程序详解</span></div><div class="t m0 x2 h3 y2 ff6 fs0 fc1 sc0 ls1 ws0">天祥电子</div><div class="t m0 x4 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">www<span class="_ _0"></span>.txmcu.com<span class="_ _9"> </span><span class="fc1 ls6">2<span class="_ _a"> </span></span>www<span class="_ _0"></span>.txmcu.com<span class="fc1 ls1"> </span></div><div class="t m0 x4 h8 ye ff2 fs3 fc1 sc0 ls1 ws0">位置等控制领域用步进电机来控制变的非常的简单。<span class="_ _6"></span>虽然步进电机已被广泛地应</div><div class="t m0 x4 h8 yf ff2 fs3 fc1 sc0 ls1 ws0">用，<span class="_ _7"></span>但步进电机并不能象普通的直流电机，<span class="_ _7"></span>交流电机在常规下使用。<span class="_ _7"></span>它必须由双</div><div class="t m0 x4 h8 y10 ff2 fs3 fc1 sc0 ls1 ws0">环形脉冲信号、<span class="_ _b"></span>功率驱动电路等组成控制系统方可使用。<span class="_ _b"></span>因此用好步进电机也非</div><div class="t m0 x4 h8 y11 ff2 fs3 fc1 sc0 ls1 ws0">易事，它涉及到机械、电机、电子及计算机等许多专业知识。 </div><div class="t m0 x4 h7 y12 ff2 fs2 fc1 sc1 ls5 ws0">3、步进电机分类 </div><div class="t m0 x4 h8 y13 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">永磁式（PM）</span></div><div class="t m0 x9 h8 y14 ff2 fs3 fc1 sc0 ls1 ws0">永磁式步进电机一般为两相，转矩和体积较小，步进角一般为<span class="_ _c"> </span>7.5<span class="_ _c"> </span>度或<span class="_ _c"> </span>15</div><div class="t m0 x9 h8 y15 ff2 fs3 fc1 sc0 ls1 ws0">度。</div><div class="t m0 x4 h8 y16 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">反应式（VR）</span></div><div class="t m0 x9 h8 y17 ff2 fs3 fc1 sc0 ls1 ws0">反应式步进电机一般为三相，<span class="_ _0"></span>可实现大转矩输出，<span class="_ _d"></span>步进角一般为<span class="_ _2"> </span>1.5<span class="_ _2"> </span>度，<span class="_ _0"></span>但</div><div class="t m0 x4 h8 y5 ff2 fs3 fc1 sc0 ls1 ws0">噪声和振动都很大。在欧美等发达国家<span class="_ _2"> </span>80<span class="_ _2"> </span>年代已被淘汰。 </div><div class="t m0 x4 h8 y18 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">混合式（HB）</span></div><div class="t m0 x8 h8 y19 ff2 fs3 fc1 sc0 ls1 ws0">混合式步进是指混合了永磁式和反应式的优点。<span class="_ _b"></span>它又分为两相和五相：<span class="_ _b"></span>两相</div><div class="t m0 x4 h8 y1a ff2 fs3 fc1 sc0 ls1 ws0">步进角一般为<span class="_ _2"> </span>1.8<span class="_ _2"> </span>度而五相步进角一般为 0.72<span class="_ _2"> </span>度。<span class="_ _7"></span>这种步进电机的应用最为广</div><div class="t m0 x4 h8 y1b ff2 fs3 fc1 sc0 ls1 ws0">泛。 </div><div class="t m0 x4 h7 y1c ff2 fs2 fc1 sc1 ls7 ws0">4、技术指标 </div><div class="t m0 x4 h8 y1d ff2 fs3 fc1 sc0 ls1 ws0">（1）步进电机的静态指标</div><div class="t m0 x4 h8 y1e ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">相数：</span></div><div class="t m0 x8 h8 y1f ff2 fs3 fc1 sc0 ls8 ws0">是指电机内部的线圈组数，<span class="_ _e"></span>目前常用的有二相、<span class="_ _e"></span>三相、<span class="_ _e"></span>四相、<span class="_ _e"></span>五相步进电机。</div><div class="t m0 x4 h9 y20 ff2 fs3 fc1 sc0 ls1 ws0">电机相数不同，<span class="_ _0"></span>其步距角也不同，<span class="_ _f"></span>一般二相电机的步距角为<span class="_ _2"> </span><span class="ff1 ls9">0.9°/1.8°</span><span class="lsa">、<span class="_ _f"></span>三相的为</span></div><div class="t m0 x4 h9 y21 ff1 fs3 fc1 sc0 ls8 ws0">0.75°/1.5°<span class="ff2 lsb">、五相的为<span class="_ _c"> </span></span>0.36°/0.72° <span class="_"> </span><span class="ff2 ls1">。在没有细分驱动器时，用户主要靠选择不同</span></div><div class="t m0 x4 h8 y22 ff2 fs3 fc1 sc0 ls1 ws0">相数的步进电机来满足自己步距角的要求。<span class="_ _f"></span>如果使用细分驱动器，<span class="_ _f"></span>则<span class="_ _7"></span>“相数”<span class="_ _f"></span>将</div><div class="t m0 x4 h8 y23 ff2 fs3 fc1 sc0 ls1 ws0">变得没有意义，用户只需在驱动器上改变细分数，就可以改变步距角。 </div><div class="t m0 x4 h8 y24 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">步距角：</span></div><div class="t m0 x8 h8 y25 ff2 fs3 fc1 sc0 ls1 ws0">它表示控制系统每发一个步进脉冲信号，<span class="_ _b"></span>电机所转动的角度。<span class="_ _b"></span>电机出厂时给</div><div class="t m0 x4 h9 y26 ff2 fs3 fc1 sc0 ls1 ws0">出了一个步距角的值，<span class="_ _d"></span>如<span class="_ _2"> </span><span class="ff1 lsc">86BYG250A<span class="_"> </span></span>型电机给出的值为<span class="_ _2"> </span><span class="ff1 ls9">0.9°/1.8°<span class="_ _d"></span><span class="ff2 ls1">（表示半步工</span></span></div><div class="t m0 x4 h9 y27 ff2 fs3 fc1 sc0 ls1 ws0">作时为<span class="_ _2"> </span><span class="ff1">0.9°</span>、整步工作时为<span class="_ _2"> </span><span class="ff1">1.8°</span>）<span class="_ _10"></span>，这个步距角可以称之为“电机固有步距角”<span class="_ _10"></span>，</div><div class="t m0 x4 h8 y28 ff2 fs3 fc1 sc0 ls1 ws0">它不一定是电机实际工作时的真正步距角，真正的步距角和驱动器有关。 </div><div class="t m0 x4 h8 y29 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">拍数：</span></div><div class="t m0 x8 h8 y2a ff2 fs3 fc1 sc0 ls1 ws0">完成一个磁场周期性变化所需脉冲数或导电状态，<span class="_ _6"></span>或指电机转过一个步距角</div><div class="t m0 x4 h8 y2b ff2 fs3 fc1 sc0 lsd ws0">所需脉冲数，以四相电机为例，有四相四拍运<span class="lse">行方式即<span class="_"> </span>A<span class="_ _d"></span><span class="lsf">B-BC-CD-DA-AB，四相</span></span></div><div class="t m0 x4 h8 y2c ff2 fs3 fc1 sc0 ls1 ws0">八拍运行方式即 A-AB-B-BC-C-CD-D-DA-A。 </div><div class="t m0 x4 h8 y2d ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">定位转矩：</span></div><div class="t m0 x8 h8 y2e ff2 fs3 fc1 sc0 ls1 ws0">电机在不通电状态下，<span class="_ _b"></span>电机转子自身的锁定力矩<span class="_ _b"></span>（由磁场齿形的谐波以及机</div><div class="t m0 x4 h8 y2f ff2 fs3 fc1 sc0 ls1 ws0">械误差造成的）<span class="_ _10"></span>。 </div><div class="t m0 x4 h8 y30 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">保持转矩：</span></div><div class="t m0 x8 h8 y9 ff2 fs3 fc1 sc0 ls1 ws0">是指步进电机通电但没有转动时，<span class="_ _b"></span>定子锁住转子的力矩。<span class="_ _b"></span>它是步进电机最重</div><div class="t m0 x4 h8 ya ff2 fs3 fc1 sc0 ls1 ws0">要的参数之一，<span class="_ _b"></span>通常步进电机在低速时的力矩接近保持转矩。<span class="_ _b"></span>由于步进电机的输</div><div class="t m0 x4 h8 yb ff2 fs3 fc1 sc0 ls1 ws0">出力矩随速度的增大而不断衰减，<span class="_ _b"></span>输出功率也随速度的增大而变化，<span class="_ _b"></span>所以保持转</div><div class="t m0 x4 h9 yc ff2 fs3 fc1 sc0 ls1 ws0">矩就成为了衡量步进电机最重要的参数之一。比如，当人们说<span class="_ _11"> </span><span class="ff1">2N</span>·<span class="ff1">m<span class="_ _11"> </span></span>的步进电</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>

<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6250171b74bc5c01055a9c5c/bg3.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">www<span class="_ _0"></span>.txmcu.com<span class="_ _1"> </span><span class="ff2 fc1 ls1">步进电机原理应用及程序详解</span></div><div class="t m0 x2 h3 y2 ff8 fs0 fc1 sc0 ls1 ws0">天祥电子</div><div class="t m0 x4 h9 ye ff2 fs3 fc1 sc0 ls1 ws0">机，在没有特殊说明的情况下是指保持转矩为<span class="_ _2"> </span><span class="ff1">2N</span>·<span class="ff1">m<span class="_"> </span></span>的步进电机。</div><div class="t m0 x4 h8 y31 ff2 fs3 fc1 sc0 ls1 ws0">（2）步进电机的动态指标</div><div class="t m0 x4 h8 y32 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">步距角精度：</span></div><div class="t m0 x9 h8 y33 ff2 fs3 fc1 sc0 ls1 ws0">步进电机每转过一个步距角的实际值与理论值的误差。<span class="_ _0"></span>用百分比表示：<span class="_ _f"></span>误差</div><div class="t m0 x4 h8 y34 ff2 fs3 fc1 sc0 ls10 ws0">/步距角*100%。不同运行拍数其值不同，四拍运行时应在<span class="_"> </span>5%之内，八拍运行时</div><div class="t m0 x4 h8 y35 ff2 fs3 fc1 sc0 ls1 ws0">应在<span class="_ _2"> </span>15%以内。 </div><div class="t m0 x4 h8 y13 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">失步：</span></div><div class="t m0 x9 h8 y14 ff2 fs3 fc1 sc0 ls1 ws0">电机运转时运转的步数不等于理论上的步数。称之为失步。</div><div class="t m0 x4 h8 y15 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">失调角：</span></div><div class="t m0 x9 h8 y16 ff2 fs3 fc1 sc0 ls1 ws0">转子齿轴线偏移定子齿轴线的角度，<span class="_ _0"></span>电机运转必存在失调角，<span class="_ _f"></span>由失调角产生</div><div class="t m0 x4 h8 y17 ff2 fs3 fc1 sc0 ls1 ws0">的误差，采用细分驱动是不能解决的。 </div><div class="t m0 x4 h8 y5 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">最大空载起动频率：</span></div><div class="t m0 x9 h8 y18 ff2 fs3 fc1 sc0 ls1 ws0">电机在某种驱动形式、<span class="_ _0"></span>电压及额定电流下，<span class="_ _d"></span>在不加负载的情况下，<span class="_ _0"></span>能够直接</div><div class="t m0 x4 h8 y19 ff2 fs3 fc1 sc0 ls1 ws0">起动的最大频率。 </div><div class="t m0 x4 h8 y1a ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">最大空载运行频率：</span></div><div class="t m0 x9 h8 y1b ff2 fs3 fc1 sc0 ls1 ws0">电机在某种驱动形式，电压及额定电流下，电机不带负载的最高转速频率。</div><div class="t m0 x4 h8 y36 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">运行矩频特性：</span></div><div class="t m0 x9 h8 y37 ff2 fs3 fc1 sc0 ls11 ws0">电机在某种测试条件下测得运行中输出力矩与频率关系的曲线称为运行矩</div><div class="t m0 x4 h8 y38 ff2 fs3 fc1 sc0 ls1 ws0">频特性，<span class="_ _0"></span>这是电机诸多动态曲线中最重要的，<span class="_ _d"></span>也是电机选择的根本依据。<span class="_ _0"></span>如图<span class="_ _2"> </span>6</div><div class="t m0 x4 h8 y39 ff2 fs3 fc1 sc0 ls1 ws0">所示。 </div><div class="t m0 xa h8 y3a ff2 fs3 fc1 sc0 ls1 ws0">图<span class="_ _2"> </span>6 力矩与频率关系曲线 </div><div class="t m0 x9 h8 y3b ff2 fs3 fc1 sc0 ls1 ws0">电机一旦选定，<span class="_ _0"></span>电机的静力矩确定，<span class="_ _d"></span>而动态力矩却不然，<span class="_ _0"></span>电机的动态力矩取</div><div class="t m0 x4 h8 y3c ff2 fs3 fc1 sc0 ls12 ws0">决于电机运行时的平均电流（而非静态电流）<span class="_ _10"></span><span class="ls13">，平均电流越大，电机输出力矩越</span></div><div class="t m0 x4 h8 y3d ff2 fs3 fc1 sc0 ls1 ws0">大，即电机的频率特性越硬。如图<span class="_ _2"> </span>7<span class="_ _2"> </span>所示。 </div><div class="t m0 xa h8 y3e ff2 fs3 fc1 sc0 ls1 ws0">图<span class="_ _2"> </span>7 力矩与频率关系曲线 </div><div class="t m0 x8 h8 y3f ff2 fs3 fc1 sc0 ls9 ws0">其中，<span class="_ _f"></span>曲线<span class="_ _2"> </span>3<span class="_ _2"> </span>电流最大、<span class="_ _0"></span>或电压最高；<span class="_ _f"></span>曲线<span class="_ _2"> </span>1<span class="_ _2"> </span>电流最小、<span class="_ _f"></span>或电压最低，<span class="_ _0"></span>曲线</div><div class="t m0 x4 h8 y40 ff2 fs3 fc1 sc0 ls1 ws0">与负载的交点为负载的最大速度点。<span class="_ _7"></span>要使平均电流大，<span class="_ _7"></span>尽可能提高驱动电压，<span class="_ _7"></span>或</div><div class="t m0 x4 h8 y41 ff2 fs3 fc1 sc0 ls1 ws0">采用小电感大电流的电机。 </div><div class="t m0 x4 h8 y42 ff7 fs3 fc1 sc0 ls1 ws0">z<span class="_"> </span><span class="ff2">电机的共振点：</span></div><div class="t m0 x9 h8 y43 ff2 fs3 fc1 sc0 ls1 ws0">步进电机均有固定的共振区域，<span class="_ _7"></span>步进电机的共振区一般在<span class="_ _2"> </span>50<span class="_ _2"> </span>转/分至<span class="_ _2"> </span>80<span class="_ _2"> </span>转/</div><div class="t m0 x4 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">www<span class="_ _0"></span>.txmcu.com<span class="_ _9"> </span><span class="fc1 ls6">3<span class="_ _a"> </span></span>www<span class="_ _0"></span>.txmcu.com<span class="fc1 ls1"> </span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>