请教关于单片机控制步进电机高速旋转的问题
中电感应2011/12/18电子技术 IP:浙江
我用单片机控制步进电机,单片机输出20KHz的信号到驱动器,细分0.9°每步,转速每秒钟才2转,我将频率提高到50KHz后会卡死,我也试过逐渐提高脉冲频率,也会卡死。要求达到10转/秒啊,哪位高手做过啊,请问是什么原因啊,如何提速啊。
来自:电子信息 / 电子技术
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dd
12年5个月前 IP:未同步
345359
以前曾经把VEXTA的步进电机驱动到30,000转/min...

5相,无细分,0.72度/步,从2kHz开始一直加到250kHz...

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54fbb2fb43166d2252283bd6462309f79052d210.jpg
+1
科创币
jrcsh
2011-12-18
利害
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10班陈大葱22号
12年5个月前 IP:未同步
345363
加速曲线没做好
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中电感应作者
12年5个月前 IP:未同步
345367
是慢慢提高频率的吧,很多网上的论文都是这么说的,我这几天被这个电机弄的头痛死了,老是转不快,晕。可能细节上出了,问题。我怀疑是单片机P1.0管脚驱动力太小所致,因为我用P1.0直接驱动到驱动器内部CP光耦,过会试一下加一级非门阻抗变换一下,看看。谢谢高手指教。
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中电感应作者
12年5个月前 IP:未同步
345368
回 2楼(10班陈大葱22号) 的帖子
加速曲线我是,每MS对定时器初值加一实现的,我也试过几十MS加一好像都一样啊。高手们都是怎么做的啊,救命啊。。。。。。。
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squzero
12年5个月前 IP:未同步
345385
话说你用的是什么电机。。
不会是那种5块钱一个的28BYJ。。。
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ehco
12年5个月前 IP:未同步
345387
加速曲线要正确,当然高频驱动下必须要提高供电电压,否则强大的感抗将限制励磁电流的上升。
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量子隧道
12年5个月前 IP:未同步
345444
引用第1楼dd于2011-12-18 14:01发表的  :
以前曾经把VEXTA的步进电机驱动到30,000转/min...

请考察是否多写了个0。
步进电机正如ehco所说,要设计好加速曲线。启动速度不能高于某值。加速曲线斜率不能大于某值。
楼主用的是商用驱动器芯片吧。
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jrcsh
12年5个月前 IP:未同步
345445
引用第2楼10班陈大葱22号于2011-12-18 14:16发表的 :
加速曲线没做好  



曲线是其中一个条件
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10班陈大葱22号
12年5个月前 IP:未同步
345953
每ms加一只会使速度上升速度越来越高,不能这么做,要用matlab按照矩频特性生成一个加速曲线表。
生成的原理是,转一个角度提供的能量是相同的,加速时每步的动能增量相同(供电电压足够的情况下);速度再高是由于反电势接近电源电压就不能再这么算,只能近似把每步动能增量降下来。
然后就算得以下这样的速表:
#ifndef _STEPACCPERIOD_V2_H_
#define _STEPACCPERIOD_V2_H_

const u16 stepaccperiod[] = {62517,54141,48425,44206,40927,38284,36094,34242,32648,31258,30032,28940,27958,27071,26262,25522,24842,24213,23629,23086,22578,22103,21656,21236,20839,20463,20108,19770,19448,19142,18850,18570,18303,18047,17802,17566,17339,17121,16911,16708,16513,16324,16142,15965,15795,15629,15469,15313,15163,15016,14874,14735,14601,14470,14342,14218,14097,13979,13864,13752,13642,13535,13431,13329,13229,13131,13036,12942,12851,12761,12674,12588,12503,12421,12340,12261,12183,12106,12031,11958,11886,11815,11745,11676,11609,11543,11478,11414,11351,11289,11228,11168,11110,11052,10994,10938,10883,10828,10775,10722,10669,10618,10567,10517,10468,10419,10372,10324,10278,10232,10186,10142,10097,10054,10011,9968,9926,9885,9844,9803,9764,9724,9685,9647,9609,9571,9534,9497,9461,9425,9389,9354,9319,9285,9251,9218,9184,9152,9119,9087,9055,9024,8992,8962,8931,8901,8871,8841,8812,8783,8754,8726,8697,8670,8642,8614,8587,8560,8534,8507,8481,8455,8430,8404,8379,8354,8329,8305,8281,8256,8233,8209,8185,8162,8139,8116,8093,8071,8049,8026,8004,7983,7961,7940,7918,7897,7876,7856,7835,7815,7794,7774,7754,7734,7715,7695,7676,7657,7638,7619,7600,7581,7563,7544,7526,7508,7490,7472,7454,7437,7419,7402,7385,7368,7351,7334,7317,7300,7284,7267,7251,7235,7219,7203,7187,7171,7156,7140,7124,7109,7094,7079,7064,7049,7034,7019,7004,6990,6975,6961,6946,6932,6918,6904,6890,6876,6862,6848,6835,6821,6808,6794,6781,6768,6754,6741,6728,6715,6703,6690,6677,6664,6652,6639,6627,6614,6602,6590,6578,6566,6554,6542,6530,6518,6506,6494,6483,6471,6460,6448,6437,6425,6414,6403,6392,6381,6370,6359,6348,6337,6326,6315,6304,6294,6283,6273,6262,6252,6241,6231,6221,6210,6200,6190,6180,6170,6160,6150,6140,6130,6120,6111,6101,6091,6082,6072,6063,6053,6044,6034,6025,6016,6006,5997,5988,5979,5970,5961,5952,5943,5934,5925,5916,5907,5899,5890,5881,5872,5864,5855,5847,5838,5830,5821,5813,5805,5796,5788,5780,5771,5763,5755,5747,5739,5731,5723,5715,5707,5699,5691,5683,5676,5668,5660,5652,5645,5637,5629,5622,5614,5607,5599,5592,5584,5577,5569,5562,5555,5547,5540,5533,5526,5519,5511,5504,5497,5490,5483,5476,5469,5462,5455,5448,5441,5435,5428,5421,5414,5407,5401,5394,5387,5381,5374,5367,5361,5354,5348,5341,5335,5328,5322,5315,5309,5303,5296,5290,5284,5277,5271,5265,5259,5252,5246,5240,5234,5228,5222,5216,5210,5204,5198,5192,5186,5180,5174,5168,5162,5156,5150,5145,5139,5133,5127,5122,5116,5110,5104,5099,5093,5088,5082,5076,5071,5065,5060,5054,5049,5043,5038,5032,5027,5021,5016,5011,5005,5000,4995,4989,4984,4979,4974,4968,4963,4958,4953,4948,4942,4937,4932,4927,4922,4917,4912,4907,4902,4897,4892,4887,4882,4877,4872,4867,4862,4857,4852,4847,4843,4838,4833,4828,4823,4819,4814,4809,4804,4800,4795,4790,4785,4781,4776,4771,4767,4762,4758,4753,4748,4744,4739,4735,4730,4726,4721,4717,4712,4708,4703,4699,4695,4690,4686,4681,4677,4673,4668,4664,4660,4655,4651,4647,4643,4638,4634,4630,4626,4621,4617,4613,4609,4605,4600,4596,4592,4588,4584,4580,4576,4572,4568,4564,4560,4555,4551,4547,4543,4539,4535,4531,4528,4524,4520,4516,4512,4508,4504,4500,4496,4492,4488,4485,4481,4477,4473,4469,4465,4462,4458,4454,4450,4447,4443,4439,4435,4432,4428,4424,4421,4417,4413,4410,4406,4402,4399,4395,4391,4388,4384,4381,4377,4373,4370,4366,4363,4359,4356,4352,4349,4345,4342,4338,4335,4331,4328,4324,4321,4318,4314,4311,4307,4304,4300,4297,4294,4290,4287,4284,4280,4277,4274,4270,4267,4264,4260,4257,4254,4250,4247,4244,4241,4237,4234,4231,4228,4225,4221,4218,4215,4212,4209,4205,4202,4199,4196,4193,4190,4186,4183,4180,4177,4174,4171,4168,4165,4162,4159,4155,4152,4149,4146,4143,4140,4137,4134,4131,4128,4125,4122,4119,4116,4113,4110,4107,4104,4101,4099,4096,4093,4090,4087,4084,4081,4078,4075,4072,4070,4067,4064,4061,4058,4055,4052,4050,4047,4044,4041,4038,4035,4033,4030,4027,4024,4022,4019,4016,4013,4010,4008,4005,4002,4000,3997,3994,3991,3989,3986,3983,3981,3978,3975,3972,3970,3967,3965,3962,3959,3957,3954,3951,3949,3946,3943,3941,3938,3936,3933,3930,3928,3925,3923,3920,3918,3915,3912,3910,3907,3905,3902,3900,3897,3895,3892,3890,3887,3885,3882,3880,3877,3875,3872,3870,3867,3865,3862,3860,3857,3855,3853,3850,3848,3845,3843,3840,3838,3836,3833,3831,3828,3826,3824,3821,3819,3816,3814,3812,3809,3807,3805,3802,3800,3798,3795,3793,3791,3788,3786,3784,3781,3779,3777,3774,3772,3770,3768,3765,3763,3761,3759,3756,3754,3752,3750,3747,3745,3743,3741,3738,3736,3734,3732,3729,3727,3725,3723,3721,3718,3716,3714,3712,3710,3708,3705,3703,3701,3699,3697,3695,3692,3690,3688,3686,3684,3682,3680,3677,3675,3673,3671,3669,3667,3665,3663,3661,3659,3656,3654,3652,3650,3648,3646,3644,3642,3640,3638,3636,3634,3632,3630,3628,3626,3624,3622,3619,3617,3615,3613,3611,3609,3607,3605,3603,3601,3599,3597,3595,3593,3592,3590,3588,3586,3584,3582,3580,3578,3576,3574,3572,3570,3568,3566,3564,3562,3560,3558,3556,3555,3553,3551,3549,3547,3545,3543,3541,3539,3537,3536,3534,3532,3530,3528,3526,3524,3522,3521,3519,3517,3515,3513,3511,3509,3508,3506,3504,3502,3500,3498,3497,3495,3493,3491,3489,3488,3486,3484,3482,3480,3479,3477,3475,3473,3471,3470,3468,3466,3464,3462,3461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10班陈大葱22号
12年5个月前 IP:未同步
345956
我用的是STM32,定时器是16位的。这个表塞在flash里面有三十多k字节... 其实这只是表的前半部分,最高频率到58.7kHz,后半部分还有,加速到73.8kHz但整个表塞进STM32就要65k字节,c8t6塞不进...

matlab的计算脚本,一个多月前写的,没注释,现在也不太看得懂了....
e1 = 0.375e-3 : 0.375e-3 : 0.603145;
w1 = (2*e1/0.00011);
for j = 1:1608
w1(j) = w1(j)^0.5;
end
w1_get = w1;

e2 = ones(1,10000)*0.60315;
w2 = ones(1,10000)* 104.72;


for j=1:9999
e2(j+1) = e2(j) + (-2.50668 * 0.001 * w2(j) + 0.6375)*0.001;
w2(j+1) = (2*e2(j+1)/0.00011)^0.5;
end

w2_get = w2(1:8842);

e3_2 = 785.3982^2*1.1e-4*0.5;
e3_1 = w2(8842)^2*1.1e-4*0.5;
e3 = e3_1 : 0.1125e-3 : e3_2;

w3 = (2*e3/0.00011);
for j = 1:280126
w3(j) = w3(j)^0.5;
end

w_total=cat(2,w1,w2_get,w3);

T_total = ones(1,290576);
for j = 1:290576
T_total(j) = 2*pi*0.225 /360 / w_total(j);
end

T_mcu = T_total * 72*1000*1000;

T_mcu_string = int32(T_mcu);
T_mcu_string2 = int2str(T_mcu_string(1));
mid2 = ',';

for j=2:30000
mid1 = int2str(T_mcu_string(j));
T_mcu_string2 = cat(2,T_mcu_string2,mid2);
T_mcu_string2 = cat(2,T_mcu_string2,mid1);
end

txt_fileid = fopen('result.txt','w')
fprintf(txt_fileid,'%s',T_mcu_string2);

fclose(txt_fileid);

算出来的每步周期曲线是这样,y轴是定时器周期,注意x轴是步数,不是时间:
无标题1.png
角速度曲线,同样注意x轴是步数不是时间。
无标题2.png
不过我算的时候留了10倍余量...加速到最高73.8kHz要近两秒 ,可以把雷赛三相步进跑到4k转/s (24V供电),不过在4k转/s情况下反电势太大电机几乎没有什么扭矩了手使劲捏就停了。
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jrcsh
12年5个月前 IP:未同步
345964
我不这么干~~~~~~·  我走的是硬件算法的路线  这么大的代码~~~·真要命了,不过还没彻底完成用硬件这个方法的验证
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电流值
12年5个月前 IP:未同步
345991
大家是不是都在做步进机的实验。我是个新手。
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量子隧道
12年5个月前 IP:未同步
346090
你们都是神,且一个比一个神。一个30000转每分,一个4000转每秒。
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hawkattack
12年5个月前 IP:未同步
346095
我倒是没做转速。。。做的振镜,震的我蛋疼
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mistersheng
12年5个月前 IP:未同步
346099
雕刻机的高速主轴,也就3万转每分!
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10班陈大葱22号
12年5个月前 IP:未同步
346156
说错,4000转/分............
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