基于DSP步进电机伺服系统设计.doc

北华大学毕业设计（论文） - PAGE 1 - 摘　　要 步进电机是一种通过电脉冲信号控制相绕组电流实现定角转动的机电元件，与其他类型电机相比具有易于开环精确控制、无积累误差等优点，在众多领域中获得了广泛的应用。步进电机细分驱动技术是七十年代中期发展起来的一种可以显著改善步进电机综合使用性能的驱动控制技术。细分驱动技术进一步提高了步进电机转角精度和运行平稳性。 随着计算机技术的发展，特别是DSP（Digital Signal Processor）的出现，开创了步进电机细分驱动技术的新局面。用DSP控制的步进电机细分驱动电路不仅减小了控制系统的体积、简化了电路，同时进一步提高了细分精度和控制系统的智能化，从而使细分驱动技术得到了推广。国内步进电机细分驱动技术在九十年代中期得到了较大发展，主要应用在工业、航天、机器人、精密测量等领域，如数控机床、跟踪卫星用光电经纬仪中采用了步进电机细分驱动技术，大大提高了控制与测量精度。 本文介绍了两相混合式步进电机的工作原理，推导了步进电机的动态方程，分析了细分驱动方法，提出了基于DSP控制的PWM电流矢量恒幅均匀旋转法的细分驱动技术，实现了步进电机32细分驱动。为了检测细分后的步距角，采用了光电编码器来检测，并给出了系统的仿真结果。 关键词是为了文献标引工作从论文中选取出来用以表示全文主题内容信息款目的单词或术语。如有可能，应尽量用《汉语主题词表》等词表提供的规范词。 关键词是为了文献标引工作从论文中选取出来用以表示全文主题内容信息款目的单词或术语。如有可能，应尽量用《汉语主题词表》等词表提供的规范词。不用此信息时，删除此框。 关键词：DSP；步进电机；细分驱动；伺服系统 Abstract Step motor is a kind of electrical and mechanical component which is driven by electrical pulse controlling the winding current to achieve the rotation angle. Compared with other types of motor ,it is easy for open-loop precision control and has no accumulation error . So it has been applied in many fields. Step motor breakdown-drive technology has been developed in the mid of 1970s. It can significantly improve the performance of the integrated use of motor-driven control technology. Breakdown-drive technology improves the accuracy and the smooth running of the step motor corner to the further.  With the development of computer technology, especially the the appearance of DSP (Digital Signal Processor), step motor breakdown-driven technology developed greatly. The step motor breakdown-drive circuit of the control system controlled by DSP not only reduce the size of the system and simplify the circuit, but enhance the accuracy and intelligence of control system, so that breakdown-drive technology got promoted quickly. Domestic step motor breakdown-driven technology has been greatly developed in the mid-1990s, mainly used in industrial, aerospace, robotics, precision measurement, and other areas. For example, the electro-optical theodolite in CNC machi