KHOA C KH CH TO MY

B MN C IN T
BO CO MN HC
SERVO IN THY - KH
TI: IU KHIN NG C BC

GVHD:PHM BCH DNG
SVTH: H L THIN BNH 06111 006
TRN HU PHC 06111078
NGUYN NGC TN 06111091

TP. HCM, Thng 4 2010
TNG QUAN
i nt v ng c
bc
Cch iu khin ng
c bc
Cc ch hot ng
Thit k phn cng
Kt qu
I NT NG C BC
Theo cu to cun dy,
c cc loi:
n cc (Uni-polar
Stepper Motor)
Lng cc (Bi-polar
Stepper Motor)
a cc (Multi-polar
Stepper Motor)


I NT NG C BC
Cc thng s c trng:
phn gii
(Resolution):
Re=1.8
0
, 3.6
0
, 7.5
0

in p nh mc
Dng in nh mc
Tn s p ng cao
nht (f
max
)

CCH IU KHIN
iu khin ng c bc n cc bng
cch cp xung ln lt cho cc pha.
Tng gim khong thi gian gia cc xung
iu chnh tc ng c.
i chiu cp xung o chiu chy
ng c.
Trong m hnh dng vi iu khin 16 bit
iu khin ng c.

CCH IU KHIN
Chia 1 bc ca ng c ra thnh 8 bc
nh ta dng 8 transistors cng sut D468
mc song song cp xung cho cho mi
pha, do phi dng tt c 32 transistors
cho 4 pha ca ng c.

CCH IU KHIN
Tnh ton in tr
R
B
mc vo cc B
ca D468 sao cho
dng I
CE
qua n t
gi tr ph hp:
I
A
+ I
B
= I
m



CCH TNH IN TR IBE
TRONG MCH
GM CC BC SAU:
Bc 1: Chia full step ca ng c bc ra thnh
8 gc bng nhau. Do mi gc l 90/8= 11.25
o
.
CCH TNH IN TR IBE
TRONG MCH
Bc 2 : tnh ICE
V IA + IB =1
T mi v tr mi xc nh trn ta c:
IA = sin IB = cos
Vy ICE (mA) = IB =cos
Bc 3 : tnh denta ICE.V mi ln ta kch ng thi 8
trasistor ngha l tng dng ICE lun lun bng 1. do ta
phi tnh denta sao cho tng cc denta bng 1. denta
c tnh nh sau

Denta VBE ICE = VBE ICE(i ) - ICE(i-1)
CCH TNH IN TR IBE
TRONG MCH
Bc 4 : tnh VBE
T datasheet ca transistor d468 ta c s ph
thuc gia VBE v ICE ( tnh 25 C)
T ICE tnh trn ta chng ln v xc nh c VBE
th 2: S ph lin h gia ICE v VBE
CCH TNH IN TR IBE
TRONG MCH
Bc 5 : tnh HFE
T datasheet ca transistor D468 ta c s ph
thuc gia HFE v ICE ( tnh 25 C)
th 3: S ph lin h gia ICE v HFE
CCH TNH IN TR IBE
TRONG MCH
Bc 6 : tnh I BE(mA)
Ta c I BE = dentaICE / HFE
Bc 7 : tnh RB
RB = (5 - V BE )/ I BE
Bc 8 : tnh Rtt
V in tr c tiu chun ha. Do ta ly gn ng
in tr v chp nhn sai s nht nh.
T cc bc trn ta tnh c bng gi tr
CC CH HOT NG
CH FULL-STEP 1
CH HALF-STEP 2
CH OCT-STEP


CH FULL-STEP 1
CH HALF-STEP 1
CH OCT-STEP
LU GII THUT CH
OCT-STEP
THIT K PHN CNG
C rt nhiu IC
dch nh l
74HC164,
74HC254,
Dng IC 74HC595
iu khin
y l IC dch bn
trong l nhng
Flipflop D ni ghp
cht d liu

IC DCH 74HC 595
Chn IC 74HC595 v c nhng u im so
vi cc loi IC khc
V chc nng c hai IC u l IC dch
IC DCH 74HC 595
Cc d liu vo l ni tip ra song song

Gia cc thanh ghi dch v ng ra c mt cht.
iu ny cho php thay i linh hot d liu
trong cc thanh ghi v n nh trng thi logic
ng ra

Tuy nhin 74HC595 c chn 13 (enable output)
tc ng mc thp, gip cho vic iu khin d
dng hn. n hin ng ra khi cn thit

Trong khi 74HC164 khng c chn enable output
cho nn tn hiu ra s c hin th
THIT K PHN CNG


8 transitor s
chia dng
I
A
+ I
B
= I
m

Led c ni
song song vi
transitor hin
th

THIT K PHN CNG
Kt
qu
board
cng
sut


THIT K PHN CNG
ng dng mch KIT Atmega8


LU GII THUT CHO
TON CHNG TRNH
KT QU
Chy c Full-
step, Haft-step, Oct-
step
C 32 led hin th
qu trnh chy
Cc led hin th ch