步进电机新型控制器设计及其在机器人多自由度关节中的应用  

Novel Controller Design for Stepping Motor and Its Application in Robot Joint with Multi-dof

作　　者：华亮[1] 包志华[2] 高明[1] 陆国平[1] 

机构地区：[1]南通大学电气工程学院 [2]南通大学电子信息学院,南通226007

出　　处：《电机与控制应用》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)

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.

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 

分 类 号：TP301.2[自动化与计算机技术—计算机系统结构] TM383.6[自动化与计算机技术—计算机科学与技术]