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AVR446步进电机加速算法

步进电机

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AVR446提供了步进电机梯形加速算法，可以学习如何让步进电机加速，达到更高的转速，与防止失步

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AVR446: Linear speed control of stepper motor

Features

• Linear speed control of stepper motor

- Control of acceleration, deceleration, max speed and number of steps to move

• Driven by one timer interrupt

• Full- or half-stepping driving mode

• Supports all AVR® devices with 16bit timer

• Demo application for ATmega48 running on 3,68MHz, with serial interface on 19200

8/N/1.

1 Introduction

This application note describes how to implement an exact linear speed controller

for stepper motors. The stepper motor is an electromagnetic device that converts

digital pulses into mechanical shaft rotation. Many advantages are achieved using

this kind of motors, such as higher simplicity, since no brushes or contacts are

present, low cost, high reliability, high torque at low speeds, and high accuracy of

motion. Many systems with stepper motors need to control the acceleration/

deceleration when changing the speed. This application note presents a driver with

a demo application, capable of controlling acceleration as well as position and

speed.

This linear speed controller is based on an algorithm presented in ‘Embedded

Systems Programming’ January 2005, ‘Generate stepper-motor speed profiles in

real time’ an article by D. Austin. This algorithm allows parameterization and

calculation in real time, using only simple fixed-point arithmetic operations and no

data tables.

Figure 1-1. Stepper motors

8-bit

Microcontrollers

Application Note

Rev. 8017A-AVR-06/06

AVR446

8017A-AVR-06/06

2 Theory

2.1 Stepper motor

This application note covers the theory about linear speed ramp stepper motor control

as well as the realization of the controller itself. It is assumed that the reader is

familiar with basic stepper motor operation, but a summary of the most relevant topics

will be given. Further details about stepper motors can be found in D. W. Jones,

Control of Stepper Motors.

2.1.1 Bipolar vs. Unipolar stepper motors

The two common types of stepper motors are the bipolar motor and the unipolar

motor. The bipolar and unipolar motors are similar, except that the unipolar has a

center tap on each winding as shown in

Figure 2-1.

Figure 2-1. Bipolar and Unipolar stepper motors

A1A2

The bipolar motor needs current to be driven in both directions through the windings,

and a full bridge driver is needed as shown in

Figure 2-2. The center tap on the

unipolar motor allows a simpler driving circuit, also shown in

Figure 2-2, limiting the

current flow to one direction. The main drawback with the unipolar motor is the limited

capability to energize all windings at any time, resulting in a lower torque compared to

the bipolar motor. The unipolar stepper motor can be used as a bipolar motor by

disconnecting the center tap.

Figure 2-2. Bipolar and Unipolar drivers with MOS transistors

122112

2.1.2 Full vs. half stepping

Stepper motors used in full-stepping mode powers one winding at a time. This way,

four different settings (positions) is possible, shown in the ‘Full-stepping’ row of

Table

2-1. By powering both windings simultaneous, the stepper motor is trapped between

the positions obtained when full-stepping, also known as half-stepping. This gives

eight positions as shown in the ‘Half-stepping’ row of

Table 2-1. When powering both

windings, the torque is approximately 1.4 times higher than when powering only one

winding, but at the cost of twice the power consumption. The electrical cycle parts in

AVR446

8017A-AVR-06/06

Table 2-1are all part of one electrical cycle. One mechanical cycle (revolution) usually

consists of several electrical cycles.

Table 2-1. Full-stepping and half-stepping

Electric polarity Winding A + + - - - +

Winding B + + + - - -

Electrical cycle part Full-stepping 1 2 3 4

Half-stepping 1 2 3 4 5 6 7 8

2.1.3 Speed properties

One drawback with the stepper motor is the limited torque capabilities at high speeds,

since the torque of a stepper motor will decrease with increasing speed. The torque

also drops at the resonant speed, as shown in

Figure 2-3. The resonant speed will

depend on the driving scheme of the stepper motor and the load.

Figure 2-3. Torque vs. speed

Resonant

Speed

Maximum torque is achieved at low speeds, and this is an advantageous in many

applications.

2.2 Fundamental stepper motor equations

To create rotational motion in a stepper motor, the current thru the windings must

change in the correct order. This is obtained using a driver that gives the correct

output sequence when subjected to a pulse (‘stepper motor pulse’) and a direction

signal.

To rotate the stepper motor at a constant speed, pulses must be generated at a

steady rate, shown in

Figure 2-4.

Figure 2-4. Stepper motor pulses

tct

Step pulse

A counter generates these pulses, running at the frequency

[Hz].

The delay

programmed by the counter c is

ctt ==

[s]

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