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
13年1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...

1ad5ad6eddc451da3c9322a9b6fd5266d016320e.jpg

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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
13年1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
13年1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
13年1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
13年1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
13年1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
13年1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
13年1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
13年1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[] = 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10班陈大葱22号
13年1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
13年1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
13年1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
13年1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
13年1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
13年1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
13年1个月前 IP:未同步
346156
说错,4000转/分............
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