Th vin Hc liu M Vit Nam module: m33824

iu khin Step Motor

DKS Group
This work is produced by Th vin Hc liu M Vit Nam and licensed under the Creative Commons Attribution License

Tm tt ni dung Yu cu Hiu nguyn l iu khin ng c bc n cc iu khin c bng AVR

1 L thuyt
1.1 Gii thiu v ng c bc ng c bc thc cht l mt ng c ng b dng bin i cc tn hiu iu khin di dng cc xung in ri rc k tip nhau thnh cc chuyn ng gc quay hoc cc chuyn ng ca roto v c kh nng c nh roto vo nhng v tr cn thit. ng c bc lm vic c l nh c b chuyn mch in t a cc tn hiu iu khin vo stato theo mt th t v mt tn s nht nh. Tng s gc quay ca roto tng ng vi s ln chuyn mch, cng nh chiu quay v tc quay ca roto, ph thuc vo th t chuyn i v tn s chuyn i. Khi mt xung in p t vo cun dy stato (phn ng) ca ng c bc th roto (phn cm) ca ng c s quay i mt gc nht nh, gc y l mt bc quay ca ng c. Khi cc xung in p t vo cc cun dy phn ng thay i lin tc th roto s quay lin tc. (Nhng thc cht chuyn ng vn l theo cc bc ri rc). 1.2 H thng iu khin ng c bc Mt h thng c s dng ng c bc c th c khi qut theo s sau.
Version

1.1: Jan 9, 2011 8:34 pm GMT+7

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Th vin Hc liu M Vit Nam module: m33824

D.C.SUPPLY: C nhim v cung cp ngun mt chiu cho h thng. Ngun mt chiu ny c th ly t pin nu ng c c cng sut nh. Vi cc ng c c cng sut ln c th dng ngun in c chnh lu t ngun xoay chiu. CONTROL LOGIC: y l khi iu khin logic. C nhim v to ra tn hiu iu khin ng c. Khi logic ny c th l mt ngun xung, hoc c th l mt h thng mch in t. N to ra cc xung iu khin. ng c bc c th iu khin theo c bc hoc theo na bc. POWER DRIVER: C nhim v cp ngun in c iu chnh a vo ng c. N ly in t ngun cung cp v xung iu khin t khi iu khin to ra dng in cp cho ng c hot ng. STEPPER MOTOR: ng c bc. Cc thng s ca ng c gm c: Bc gc, sai s bc gc, mmen ko, mmen hm, mmen lm vic.i vi h iu khin ng c bc, ta thy l mt h thng kh n gin v khng h c phn t phn hi. iu ny c c v ng c bc trong qu trnh hot ng khng gy ra sai s tch ly, sai s ca ng c do sai s trong khi ch to. Vic s dng ng c bc tuy em lai chnh xc cha cao nhng ngy cng c s dng ph bin. V cng sut v chnh xc ca bc gc ang ngy cng c ci thin. Bc gc ca ng c bc c ch to theo bng tiu chun sau:

2 Nguyn tc iu khin ng c bc n cc
ng c bc n cc, ( c th l ng c vnh cu hoc ng c hn hp ) c 5,6 hoc 8 dy ra thng c qun nh s di. Khi dng, cc u ni trung tm thng c ni vo cc dng ngun cp, v hai u cn li ca mi mu ln lt ni t o chiu t trng to bi qun .

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Th vin Hc liu M Vit Nam module: m33824

Hnh 1: ng c n cc

Tn hiu iu khin. iu khin bc (full step) : Winding 1a 1000100010001000100010001 Winding 1b 0010001000100010001000100 Winding 2a 0100010001000100010001000 Winding 2b 0001000100010001000100010 time > Winding 1a 1100110011001100110011001 Winding 1b 0011001100110011001100110 Winding 2a 0110011001100110011001100 Winding 2b 1001100110011001100110011 time > iu khin na bc ( half step ) Winding 1a 11000001110000011100000111 Winding 1b 00011100000111000001110000 Winding 2a 01110000011100000111000001 Winding 2b 00000111000001110000011100 time >

3 Mch iu khin ng c bc
Mch iu khin ng c bc bao gm mt s chc nng sau y: To cc xung vi nhng tn s khc nhau. Chuyn i cc phn cho ph hp vi th t kch t. Lm gim cc dao ng c hc. u vo ca mch iu khin l cc xung. Thnh phn ca mch l cc bn dn, vi mch. Kch thch cc phn ca ng c bc theo th t 1-2-3-4 do cc transistor cng sut T1 n T4 thc hin.Vi vic thay i v tr b chuyn mch, ng c c th quay theo chiu kim ng h hoc ngc li.

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Th vin Hc liu M Vit Nam module: m33824

in p c cp qua cc kho chuyn nui cc cun dy, to ra t trng lm quay rotor. Cc kho y khng c th, c th l bt c thit b ng ct no iu khin c nh rle, transitor cng sut... Tn hiu iu khin c th c a ra t b iu khin nh vi mch chuyn dng, my tnh. Vi ng c nh c dng c 500 mili Ampe, c th dng IC loi dy darlington collector h nh : ULN2003, ULN2803 ( Allegro Microsystem) DS2003 (National Semiconductor), MC1413 ( Motorola)

IC h ULN200x c u vo ph hp TTL, cc u emitor c ni vi chn 8. Mi transitor darlington c bo v bi hai diode. Mt mc gia emitor ti collector chn in p ngc ln t ln transitor. Diode th hai ni collector vi chn 9. Nu chn 9 ni vi cc dng ca cun dy, to thnh mch bo v cho transitor. Vi cc ng c ln c dng > 0.5A cc IC h ULN khng p ng c ta c th dng cc Tranzitor trng(IRF).Mt s loi IRF thng dng: IRF540 tranzitor ngc c th chu dng n 20A IRF640 tranzitor ngc c th chu dng n 18A IRF250 tranzitor ngc c th chu dng n 30A . S mch c thit k nh sau:

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Th vin Hc liu M Vit Nam module: m33824

4 Code
#include <mega16.h> #include <delay.h> // Khai bao bien unsigned char stepA[] = {0xFF,0xFE,0xFD,0xFB,0xF7}, stepB[] = {0xFF,0xEF,0xDF,0xBF,0x7F}, stepC[] = {0xFF,0xEF,0xDF,0xBF,0x7F}; unsigned char indexA, indexB, indexC; unsigned char n_data; unsigned char n_step=10;

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Th vin Hc liu M Vit Nam module: m33824

unsigned int n_step3=5000,n_i; //// Declare your global variables here void main(void) { // Declare your local variables here // Input/Output Ports initialization // Port A initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In // State7=T State6=T State5=T State4=T State3=T State2=T DDRA=0xFF; // Port B initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In // State7=T State6=T State5=T State4=T State3=T State2=T DDRB=0xFF; // Port C initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In // State7=T State6=T State5=T State4=T State3=T State2=T DDRC=0xFF; // Port D initialization // Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In // State7=T State6=T State5=T State4=T State3=T State2=T PORTD=0xFF; DDRD=0xFF; // Timer/Counter 0 initialization // Clock source: System Clock // Clock value: Timer 0 Stopped // Mode: Normal top=FFh // OC0 output: Disconnected TCCR0=0x00; TCNT0=0x00; OCR0=0x00; // Timer/Counter 1 initialization // Clock source: System Clock // Clock value: Timer 1 Stopped // Mode: Normal top=FFFFh // OC1A output: Discon. // OC1B output: Discon. // Noise Canceler: Off // Input Capture on Falling Edge // Timer 1 Overflow Interrupt: Off // Input Capture Interrupt: Off // Compare A Match Interrupt: Off // Compare B Match Interrupt: Off TCCR1A=0x00; TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; ICR1H=0x00; ICR1L=0x00; OCR1AH=0x00; OCR1AL=0x00;

Func1=In Func0=In State1=T State0=T PORTA=0xFF;

Func1=In Func0=In State1=T State0=T PORTB=0xFF;

Func1=In Func0=In State1=T State0=T PORTC=0xFF;

Func1=In Func0=In State1=T State0=T

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Th vin Hc liu M Vit Nam module: m33824

OCR1BH=0x00; OCR1BL=0x00; // Timer/Counter 2 initialization // Clock source: System Clock // Clock value: Timer 2 Stopped // Mode: Normal top=FFh // OC2 output: Disconnected ASSR=0x00; TCCR2=0x00; TCNT2=0x00; OCR2=0x00; // External Interrupt(s) initialization // INT0: Off // INT1: Off // INT2: Off MCUCR=0x00; MCUCSR=0x00; // Timer(s)/Counter(s) Interrupt(s) initialization TIMSK=0x00; // Analog Comparator initialization // Analog Comparator: Off // Analog Comparator Input Capture by Timer/Counter 1: Off ACSR=0x80; SFIOR=0x00; while (1) { // Place your code here if(indexA ++>3) indexA = 1; if(indexB ++>3) indexB = 1; if(indexC ++>3) indexC = 1; PORTA = stepA[indexA] & stepB[indexB]; PORTC = stepC[indexC]; //- delay_ms(500); }}

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