四自由度机械手多细分步进电机驱动器的设计

The design of robot with multi subdivision stepper motor drives

为了使两相混合式步进电机能在低速运行平稳,在高速运行转矩恒定,设计了一种以STM32F103为核心的步进电机多细分驱动系统.根据分析电流矢量多细分控制方式与步进电机电流环的PI控制方式,制定硬件和软件设计方案.该系统采用RS485总线与上位机通信,实现了恒流控制、正反转运行和多档细分的功能,使得步进电机在低速平稳运行,在高速时恒转矩运行.文中给出了测试结果,并对所测波形进行分析.实验结果表明系统设计合理可靠.

In order to make the two-phase hybrid stepper motor run smoothly at low speed, the torque run constantly at high speed, a core step in STM32F103 multi-motor drive system is de- signed. The current vector multi subdivision control and stepper motor current loop PI control mode are analyzed. Based on the analysis, a hardware and software design solution is devel- oped, thus achieving smooth running of stepper motor at low speed, and constant torque at high speed. The system uses the RS485 communications bus and PC system to achieve the function of a constant current control, reversing operation and the multi-position breakdown. This pa- per presents the test results and analyzes the measured waveform. The results show that the system design is reasonable and reliable.