Stepper Motor Bao Cao

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)


5/26

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.


6/26

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.


7/26

CCH IU KHIN

Tnh ton in trRBmc vo cc Bca D468 sao chodng I

CE

qua n tgi tr ph hp:

IA+ IB= Im


8/26

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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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)


10/26


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


11/26


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


12/26


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


15/26

CH HALF-STEP 1


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CH OCT-STEP


17/26

LU GII THUT CH OCT-STEP


18/26

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


19/26

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


20/26

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


22/26

THIT K PHN CNG

Ktquboard

cng

sut


23/26

THIT K PHN CNG

ng dng mch KIT Atmega8

LU GII THUT CHO


24/26

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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Documents

Stepper Motor Bao Cao