用STM32F103精确控制步进电机
一、用到的元器件
STM32F103C8T6
42步进电机(42SHDC4040-17B)
TB6600电机驱动器升级版
二、42步进电机
1.步进电机的基本知识
(1)拍数——每一次循环所包含的通电状态数(电机转过一个齿距角所需脉冲数)
(2)单拍制分配方式——状态数=相数
(3)双拍制分配方式——状态数=相数的两倍
(4)步距角 ——步进机通过一个电脉冲转子转过的角度
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)
N:一个周期的运行拍数
Zr:转子齿数
拍数:N=km
m:相数
k=1单拍制
k=2双拍制
(5)转速
(6)角度细分的原理
电磁力的大小与绕组通电电流的大小有关。
当通电相的电流并不立刻升到位,而断电相的电流也非立即降为0时,它们所产生的磁场合力,会使转子有一个新的平衡位置,这个新的平衡位置是在原来的步距角范围内。
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