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5/25/2018 Stepper Motor Bao Cao
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KHOA C KH CH TO MYB MN C IN T
BO CO MN HCSERVO IN THY - KH
TI:IU KHIN NG C BC
GVHD:PHM BCH DNG
SVTH: H L THIN BNH 06111 006TRN HU PHC 06111078NGUYN NGC TN 06111091
TP. HCM , Thng 42010
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TNG QUAN
i nt v ng cbc
Cch iu khin ng
c bc Cc ch hot ng
Thit k phn cng
Kt qu
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I NT NG C BC
Theo cu to cun dy,c cc loi:
n cc (Uni-polarStepper Motor)
Lng cc (Bi-polarStepper Motor)
a cc (Multi-polarStepper Motor)
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I NT NG C BC
Cc thng s c trng: phn gii
(Resolution):
Re=1.80, 3.60, 7.50
in p nh mc
Dng in nh mc
Tn s p ng cao
nht (fmax)
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CCH IU KHIN
iu khin ng c bc n cc bngcch 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.
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CCH IU KHIN
Chia 1 bc ca ng c ra thnh 8 bcnh ta dng 8 transistors cng sut D468mc song song cp xung cho cho mipha, do phi dng tt c 32 transistorscho 4 pha ca ng c.
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CCH IU KHIN
Tnh ton in trRBmc vo cc Bca D468 sao chodng I
CE
qua n tgi tr ph hp:
IA+ IB= Im
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CCH TNH IN TR IBETRONG MCH
GM CC BC SAU:
Bc 1: Chia full step ca ng c bc ra thnh8 gc bng nhau. Do mi gc l 90/8= 11.25o.
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CCH TNH IN TR IBETRONG 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 8trasistor ngha l tng dng ICE lun lun bng 1. do ta
phi tnh denta sao cho tng cc denta bng 1. dentac tnh nh sau
Denta VBEICE= VBEICE(i ) - ICE(i-1)
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CCH TNH IN TR IBETRONG 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
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CCH TNH IN TR IBETRONG 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
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CCH TNH IN TR IBETRONG 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 RttV in tr c tiu chun ha. Do ta ly gn ngin tr v chp nhn sai s nht nh.T cc bc trn ta tnh c bng gi tr
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CC CH HOT NG
CH FULL-STEP 1 CH HALF-STEP 2
CH OCT-STEP
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CH FULL-STEP 1
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CH HALF-STEP 1
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CH OCT-STEP
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LU GII THUT CH OCT-STEP
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THIT K PHN CNG
C rt nhiu ICdch nh l74HC164,
74HC254,
Dng IC 74HC595
iu khin
y l IC dch bntrong l nhngFlipflop D ni ghp cht d liu
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IC DCH 74HC 595
Chn IC 74HC595 v c nhng u im sovi cc loi IC khc
V chc nng c hai IC u l IC dch
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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 liutrong cc thanh ghi v n nh trng thi logicng ra
Tuy nhin 74HC595 c chn 13 (enable output)
tc ng mc thp, gip cho vic iu khin ddng 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
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THIT K PHN CNG
8 transitor schia dng
IA+ IB= Im
Led c nisong song vitransitor hinth
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THIT K PHN CNG
Ktquboard
cng
sut
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THIT K PHN CNG
ng dng mch KIT Atmega8
LU GII THUT CHO
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LU GII THUT CHOTON CHNG TRNH
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KT QU
Chy c Full-step, Haft-step, Oct-step
C 32 led hin thqu trnh chy
Cc led hin th ch
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