摘要
提出了一种对反应式步进电机控制的新方法。该方法采用单片机+FPGA实现了双正弦驱动可变细分三相反应式步进电机新型驱动器。实验证明该驱动器细分精度高、可靠稳定、可维护性强,具有很好的应用前景。设计了基于该驱动器的机器人多自由度关节实时控制系统。该系统结构简单,控制精度高。
A novel controller design method for reactive stepping motor using single chip processor and EDA technique is put forward. A micro-stepping driver which subdivides the current according to double sine wave for VR step motor is designed using single chip processor and FPGA. The instrument has features of high precision, efficiency, explicit structure,better maintainability and it has broad prospect in application. Moreover a control system for the robot joint with multi-DOF driven by stepping motor is designed and made, to realize the real-time control to the joint with hign precision.
出处
《电机与控制应用》
北大核心
2006年第9期20-25,共6页
Electric machines & control application
基金
南通市工业科技创新计划基金项目(A4032)
关键词
反应式步进电机
双正弦驱动电流
细分驱动
多自由度关节控制
reactive type stepping motor
double sine wave driving current
micro-stepping driver
joint with mulit-degrees of freedom control
