外文翻译。步进电机和伺服电机的系统控制

附录2：英文资料及其中文翻译Stepper motor is an electrical pulse will be converted into angular displacement of the implem enting agencies. Put it in simple language-speaking: When the stepper drive pulse signal to a r eceiver, it drives stepper motor rotation direction by setting a fixed point of view (and the ste p angle). You can control the number of pulses to control the amount of angular displacement, so as to achieve the purpose of accurate positioning; At the same time, you can by controllin g the pulse frequency to control the motor rotation speed and acceleration, so as to achieve th e purpose of speed.Stepper motor directly from the AC-DC power supply, and must use special equipment - stepp er motor drive. Stepper motor drive system performance, in addition to their own performance with the motor on the outside, but also to a large extent depend on the drive is good or bad.A typical stepper motor drive system is operated by the stepper motor controller, stepper mot or drives and stepper motor body is composed of three parts. Stepper motor controller stepper pulse and direction signal, each made of a pulse, stepper motor-driven stepper motor drives a rotor rotating step angle, that is, step-by-step further. High or low speed stepper motor, or spe ed, or deceleration, start or stop pulses are entirely dependent on whether the level or frequenc y. Decide the direction of the signal controller stepper motor clockwise or counterclockwise rot ation. Typically, the stepper motor drive circuit from the logic control, power driver circuit, pr otection circuit and power components. Stepper motor drive controller, once received from the direction of the signal and step pulse, the control circuit on a pre-determined way of the electr ical power-phase stepper motor excitation windings of the conduction or cut-off signal. Control circuit output signal power is low, can not provide the necessary stepping motor output powe r, the need for power amplifier, which is stepper motor driven power drive part. Power stepper motor drive circuit to control the input current winding to form a space for rotating magnetic field excitation, the rotor-driven movement. Protection circuit in the event of short circuit, ove rload, overheating, such as failure to stop the rapid drive and motor.Motor is usually for the permanent magnet rotor, when the current flows through the stator wi ndings, the stator windings produce a magnetic field vector. The magnetic field will lead to a rotor angle of rotation, making a pair of rotor and stator magnetic field direction of the magne tic field direction. When the stator rotating magnetic field vector from a different angle. Also as the rotor magnetic field to a point of view. An electrical pulse for each input, the motor r otation angle step. Its output and input of the angular displacement is proportional to the pulse s, with pulse frequency proportional to speed. Power to change the order of winding, the elect rical will be reversed. We can, therefore, control the pulse number, frequency and electrical po wer windings of each phase to control the order of rotation of stepper motor.Stepper motor types:Permanent magnet (PM). Magnetic generally two-phase stepper, torque and are smaller and gen erally stepping angle of 7.5 degrees or 15 degrees; put more wind for air-conditioning. Reactive (VR), the domestic general called BF, have a common three-phase reaction, step angl e of 1.5 degrees; also have five-phase reaction. Noise, no torque has been set at a large numb er of out.Hybrid (HB), common two-phase hybrid, five-phase hybrid, three-phase hybrid, four-phase hybri d, two-phase can be common with the four-phase drive, five-phase three-phase must be used w ith their drives;Two-phase, four-phase hybrid step angle is 1.8 degrees more than a small size, great distance, and low noise;Five-phase hybrid stepping motor is generally 0.72, the motor step angle small, high resolution, but the complexity of drive circuits, wiring problems, such as the 5-phase system of 10 lines. Three-phase hybrid stepping motor step angle of 1.2 degrees, but according to the use of 1.8 degrees, the three-phase hybrid stepping motor has a two-phase mixed than the five-phase hybr id more pole will help electric folder symmetric angle, it can be more than two-phase, five-ph ase high accuracy, the error even smaller, run more smoothly.Stepper motor to maintain torque: stepper motor power means no rotation, the stator locked rot or torque. It is a stepper motor, one of the most important parameters, usually in the low-spee d stepper motor torque at the time of close to maintain the torque. As the stepper motor outp ut torque increases with the speed of constant attenuation, the output power also increases with the speed of change, so as to maintain torque on the stepper motor to measure the parameter s of one of the most important. For example, when people say that the stepper motor 2N.m, i n the absence of special circumstances that means for maintaining the torque of the stepper m otor 2N.m.Precision stepper motors: stepper motor step angle accuracy of 3-5%, not cumulative.Start frequency of no-load: the stepper motor in case of no-load to the normal start of the pul se frequency, if the pulse frequency is higher than the value of motor does not start, possible to lose steps or blocking. In the case of the load, start frequency should be lower. If you wa nt to achieve high-speed rotation motor, pulse frequency should be to accelerate the process, th at is, the lower frequency to start, and then rose to a certain acceleration of the desired freque ncy (motor speed from low rise to high-speed).Step angle: that is to send a pulse, the electrical angle corresponding to rotation.Torque positioning: positioning torque stepper motor does not refer to the case of electricity, l ocked rotor torque stator.Operating frequency: step-by-step stepper motor can run without losing the highest frequency. Subdivision Drive: stepper motor drives the main aim is to weaken or eliminate low-frequency vibration of the stepper motor to improve the accuracy of the motor running. Reduce noise. I f the step angle is 1.8 °(full step) the two-phase hybrid stepping motor, if the breakdown of the breakdown of the number of drives for the 8, then the operation of the electrical pulse for each resolution of 0.072 °, the precision of motor can reach or close to 0.225 °, also depend s on the breakdown of the breakdown of the drive current control accuracy and other factors, the breakdown of the number of the more difficult the greater the precision of control.步进电机是一种将电脉冲转化为角位移的执行机构。

步进电机和伺服电机的英语Stepper Motors and Servo MotorsThe realm of electric motors encompasses a diverse range of devices, each with its own unique characteristics and applications. Among the most notable are stepper motors and servo motors, which have become increasingly prevalent in various industries and technological applications. These two types of motors offer distinct advantages and are often chosen based on the specific requirements of the task at hand.Stepper motors, also known as step motors, are a type of brushless DC electric motor that can divide a full rotation into a large number of steps. These motors are designed to move in discrete steps, with each step corresponding to a specific angular displacement. This precision and the ability to control the angular position of the motor shaft make stepper motors a popular choice for applications that require accurate positioning, such as in 3D printers, CNC machines, and robotic systems.One of the key features of stepper motors is their ability to operate in an open-loop control system. This means that the motor can bedriven without the need for feedback from a sensor, as the control system can accurately predict the position of the motor shaft based on the number of steps taken. This simplicity in design and control makes stepper motors a cost-effective and reliable option for many applications.Stepper motors are typically classified based on their step angle, which determines the resolution of the motor. The smaller the step angle, the higher the resolution and the more precise the positioning. Common step angles for stepper motors range from 0.9 degrees to 1.8 degrees, with some specialized models offering even smaller step angles.Another important aspect of stepper motors is their holding torque, which refers to the amount of torque the motor can apply while holding a position without moving. This holding torque is crucial for applications where the motor needs to maintain a specific position, such as in positioning systems or robotic arms.In contrast, servo motors are a type of rotary actuator that uses feedback to control their position, speed, or acceleration. These motors are equipped with a feedback mechanism, typically a potentiometer or an encoder, which provides the control system with information about the current position of the motor shaft. This closed-loop control system allows servo motors to achieve a highdegree of precision and responsiveness, making them ideal for applications that require accurate and dynamic control, such as in robotics, CNC machines, and industrial automation.One of the key advantages of servo motors is their ability to provide a high torque-to-size ratio, which means they can generate a significant amount of torque in a compact package. This makes them well-suited for applications where space and weight are critical factors, such as in flight control systems or small-scale robotic manipulators.Servo motors also offer a wide range of operating speeds, from slow and precise movements to high-speed, high-torque applications. This versatility allows them to be used in a variety of scenarios, from precise positioning tasks to high-performance motion control.While both stepper motors and servo motors have their own strengths and applications, the choice between the two ultimately depends on the specific requirements of the task at hand. Factors such as accuracy, speed, torque, and cost-effectiveness all play a role in determining which motor type is the most suitable for a particular application.In conclusion, stepper motors and servo motors are two distinct and essential components in the world of electric motors. Each offersunique capabilities and advantages, making them valuable tools in a wide range of industries and applications. Understanding the characteristics and differences between these motor types is crucial for designers, engineers, and technicians to make informed decisions and optimize the performance of their systems.。

武汉轻工大学毕业设计（论文）外文参考文献译文本2014届原文出处指导老师给出毕业设计(论文)题目PMSM伺服系统---MATLAB仿真设计院（系）电气与电子工程学院专业名称自动化学生姓名陈思明学生学号100408903指导教师高峰译文要求：1、译文内容须与课题（或专业）有联系；2、外文翻译不少于4000汉字。

SERVO CONTROL SYSTEMS 1: DC ServomechanismsElke Laubwald: Visiting Consultant, control systems ABSTRACT: This is one of a series of white papers on systems modelling, analysis and control, prepared by Control Systems to give insights into important principles and processes in control. In control systems there are a number of generic systems and methods which are encountered in all areas of industry antechnology. These white papers aim to explain these important systems and methodsinstraightforward terms.The white papers describe what makes a particular type of system/method important, how it works and then demonstrates how to control it. The control demonstrations is performed using models of real systems designed by our founder - Peter Wellstead, and developed for manufacture by TQ Education and Training Ltd in their CE range of equipment. Where possible results from the real system are shown. This white paper is about the universally used ‘work horse’ of electro-mechanical systems– the DC servo control system or servomechanism.1. What is a Servo Control System and servo motor?A servo control system is one of the most important and widely used forms of control system. Any machine or piece of equipment that has rotating parts will contain one or more servo control systems. The job of the control system may include:Maintaining the speed of a motor within certain limits, even when the load on the output of the motormight vary. This is called regulation.Varying the speed of a motor and load according to an externally set programme of values. This is called set point (or reference) tracking.Our daily lives depend upon servo controllers. Anywhere that there is an electric motor there will be a servo control system to control it. Servo control is very important. The economy of the world dependsupon servo control (there are other things to be sure – but stay with me on the control theme). Manufacturing industry would cease without servo systems because factory production lines could not becontrolled, transportation would halt because electric traction units would fail, computers would cease because disk drives would not work properly and communications networks would fail because network servers use hard disk drives. Young people would become even more unbearable and they would complain more than they do now, because their music and games systems will not work without servo control.Servo control systems are that important and it is vital to know about them. So pay attention and sit up straight – you are not on holiday and I am not writingthis for the good of my health.Also known as the implementation of the motor servo motor, the automatic control system for the implementation of components to convert signals received from the motor shaft angular displacement or angular velocity output.DC and AC servo motor is divided into two categories, the main feature is that when the signal voltage is zero, no rotation of the phenomenon, the increasing speed with uniform torque decreased.Servo motors to control mechanical servo system in the operation of the engine components. Is a servomotors device.Servo motor can control the speed, position accuracy is very accurate.The voltage signal into a torque and speed to drive the control object.Rotor speed by the input signal control, and can respond rapidly, in the automatic control system for the implementation of components, and has electrical and mechanical time constant, linear and high initiating voltage low.2. Modelling a Simple Servo SystemBefore we can control a system we must understand in mathematical terms how the system behaves without control. This is system modelling and it is a fundamental part of our work in control systems analysis. This white paper is about the simplest form of servo – the direct current (DC) position control servomechanism. It is important because, although it is the simplest form of servomechanism, it is usedas the starting point for understanding all other servo systems The basic form of a DC servo system is made of an electric motor with an output shaft that has an inertialload J on it, and friction in the bearings of the motor and load (represented by the constant b). There will be an electric drive circuit where an input voltage u(t) is transformed by the motor into a torque T(t) inthe motor output shaft. Using systems modelling ideas for mechanical systems a torque balance can bewritten between the input torque from the motor and the torque required to accelerate the load and overcome friction. This is shown in the equation()J b T t θθ+=Where θ is the angular position of the servo output shaft. The control objective is to control the shaft Position or the shaft velocity to be some desire value . The input voltage u(t) is related to the torque T(t) a gain K and the inertia divided by the friction coefficient is referred to as the system time constant ⎜ , where τ=J/b So the system model becomes:+()Ku t τθθ=In a practical servo system there will be additional components of the model which are important. Many of these are to do with the nonlinearities in the drive amplifier and friction in the mechanical components. The most important nonlinearities are the saturation voltage of the motor drive amplifier, the deadband in the amplifier, the so-called Coulomb friction in the rotating mechanical components andhysteresis (backlash) in any gearboxes that might be between the motor and the load. A good control system must include features to deal with these nonlinear features.In this white paper we will concentrate on the linear parts of the servo system and only show some hints of non-linear issues. The linear part of the servo system model can be put in the transfer function form:()()()1K Y s U s s s τ=+ Where y(s ) is the output shaft position and u(s) is the motor input. K is the system gain and τ is tthe time constant.An important job for the control systems analyst is to know how to measure the values of the gains K and the time constant . To make it easier to follow in this case we can say that for example, the CE110 Servo Trainer has been designed to give a gain of one between the motor input and the motor speed, and anapproximate gain of K = 2 between the measured speed and the measured shaft position. The nominal value of the time constant is 1.5. So the transfer function model can be decomposed into the transfer function from the motor input to the motor speed v(s), an d the transfer function from the motor speed to the output shaft position.()1()(s)1()()v s U s kU s Y s s τ=+=Many control systems design tools use a state space representation of the system model. In servo systems the states are the velocity and position of the servo system output shaft. Rearranging the system transfer model gives the state space form:Also note that the servo system measured variables in the state model are the position of the shaft y (using a position encoder or potentiometer) and the velocity v (using a speed encoder). The linear models given above are the basis of the design of servo controllers. A real servo however has non-linear components that influence its dynamic behaviour. The main nonlinearities are Coulombfriction in the moving parts and the dead zone and saturation in the motor input amplifier. This is advanced control and we will not cover it in this white paper.Servo mainly rely on impulse to locate, basically can be understood, the servo motor receives a pulse, a pulse will rotate the corresponding point of view, in order to achieve the displacement, because the servo motor itself has issued a pulse function, so the servoEach motor to rotate a point of view, is issued by the corresponding number of pulses, so that the pulse and servo motors to accept the formation of the echo, or called closed-loop, this way, the system will know the number of pulses sent to the servo motor, while the number of receivedpulse came back, so that we can very accurately control the motor rotation, in order to achieve accurate positioning, can reach 0.001mm.DC servo motor into brush and brushless motors.Brush motor low cost, simple structure, starting torque, wide speed range, easy control, need to maintain, but easy to maintain (replacement carbon brushes), generate electromagnetic interference, the environment requirements.So it can be used for cost-sensitive general industrial and civil applications.Brushless motor, small size, light weight, large output, fast response, high speed, small inertia, rotational smoothness, torque and stability.Control complex, easy to implement intelligent, flexible way of their electronic commutation, the commutation can be square wave or sinusoidal commutation.Motor maintenance-free, high efficiency, low operating temperature, electromagnetic radiation is very small, long-life, can be used for a variety of environments.Brushless AC servo motor is divided into synchronous and asynchronous motors, motion control in the current synchronous motor is generally used, and its power range, can do a lot of rge inertia, the maximum rotation speed is low, and with the power increases rapidly decreased.Thus suitable for applications that run on low speed steady. Servo motor rotor is permanent magnet, the drive control of the U / V / W three-phase power to form fields, the rotor in the magnetic field under the rotation, while the motor comes with encoder feedback signal to the drive, the drive according to the feedback valuecompared with the target value, adjusting the angle of the rotor rotation.Depends on the accuracy of the servo motor encoder accuracy (lines).Question:AC servo motors and brushless DC servo motor function, what is the difference? A: AC servo better because a sine wave control, torque ripple small.DC servo is a trapezoidal wave.But the DC servo is relatively simple, cheap3. Example of a Servo SystemThe figure 1 shows the CE110 Servo Trainer from TQ Education and Training Ltd. This is a classic andcomprehensive representation of the servo control problem. It contains all relevant features that can befound in a practical servo system. The centre section of the system are the main hardware elements, fromthe left they are:1. The inertial load2. The speed sensor3. An active load (in this case a generator, G)4. The servo motor, M5. An electric clutch and gearbox (can you see the picture of a gear system on the right?)6. And under the gear system is the output shaft with a position sensor.The electric clutch allow the position system to be disconnected to study velocity control problems. Thegearbox is included because servo mechanisms for position control very often havegearboxes to reducespeed and increase torque. The generator is included so that control under variable load can beinvestigated.At the top of the front panel are electronic versions of all the nonlinear elements that can be found in realservos – these are used to teach nonlinear compensation and to understand what to look for in practicalsituations. We will be using the linear motor with internal load and position output through a gearbox toillustrate servo control in action. I might show some nonlinear behaviour in this white paper, but thenagain, I might not – it depends on how nice you are to me as I sit on this keyboard, all the time dreamingof my beautiful mountain homeland and mein Verlobter.4. Servo System ControllersThere are many, many alternative controller design theories that can be used to control a servomechanism. Possibly there are too many. Here is a list of most of the techniques:1. Three term (PID) control2. Velocity Feedback Control3. Phase Lead Compensation4. State Feedback Control5. State Observer Implementation and Control6. Linear Quadratic Regulator (LQR)7. Linear Quadratic Gaussian (LQG)8. Robust Control9. Sliding Mode and Variable Structure Control10. Dead Beat ControlEach of the above can be implemented as a continous time method or a digital method based on Ztransforms. Also it is possible to use techniques such as fuzzy control and its variants. A bewilderingchoice is it not? And what is more, all of them can give an acceptable performance if designed with careand by an expert. For example, robust control potentially gives the best technicaland practical results, butan expert is required to select the design factors required and to get a simple implementable controller.5. Introduction permanent magnet AC servo motor80 years since the 20th century, with the integrated circuits, power electronics and AC variable speed drive technology, permanent magnet AC servo drive technology with outstanding development, national electrical manufacturers have launched their own well-known AC servo motor and servo drive seriesand continue to improveand update products.AC servo system has become a contemporary high-performance servo systems the main development direction, so that the original DC servo facing the crisis of being eliminated.90 years later, the world has been commercialized by AC servo digital control system is a sine wave motor servo drive.AC servo drive the rapid development of the field in thetransmission.Permanent magnet AC servo motor compared with DC servo motor, the main advantages are: ⑴without brush and commutator, it is reliable and maintenance requirements for maintenance and low.⑵cooling the stator winding more convenient.⑶inertia is small, easy-to improve the system fast.⑷adapted to high-speed high torque working condition.⑸under the same power, smaller size and weight.Since the German MANNESMANN of Rexroth Indramat division in the company's Hanover Trade Fair 1978 was officially launched MAC permanent magnet AC servo motor and drive system, which marks this new generation of AC servo technology has entered the practical stage.To the late 20th century, 80 years, the company has a complete line of products.The servo-device market are turning to the exchange system.Early analog systems such as zero-drift, interference, reliability, accuracy and flexibility in areas such as lack of motion control is still not fully meet the requirements, in recent years with the microprocessor, the new digital signal processor (DSP) applicationsthe emergence of digital control system, the control section can be carried out entirely by the software, called Jiang hazy or Tuan Shen Jing only fresh coarse hempen fabric, valiant only Shen of the permanent magnet AC servo system.So far, high-performance servo systems mostly use electrical permanent magnet synchronous AC servo motor, control the drive to use more fast, accurate positioning of the all-digital servo system.Typical manufacturers such as Siemens of Germany, the United States and Japan Kollmorgen companies such as Panasonic and Yaskawa.Yaskawa Electric has launched a small-scale production of AC servomotors and drives, in which D series for CNC machine tools (maximum speed of 1000r/min, torque is 0.25 ~ 2.8Nm), R series is suitable for the robot (the highest speed of 3000r/min, torque is 0.016 ~ 0.16Nm).Launched after the M, F, S, H, C, G six series.90 20th century, has introduced a new D-series and Rseries.Rectangular wave drive from the old series, 8051 to control the sine wave drive, 80C, 154CPU and gate array chip control, torque ripple from 24% to 7%, and improved reliability.Thus, the formation of only a few years, eight series (power range of 0.05 ~ 6kW) more complete system to meet the working machinery, transportation agencies, welding robots, assembly robots, electronic components, processing machinery, printing presses, high speed winding machine, winding machines for different C equipment to produce the famous Japanese law that g (Fanuc) company, in the 20th century has introduced the mid-80s S series (13 specifications), and L series (5 specifications) of the permanent magnet AC servo motor.L Series has a smaller moment of inertia and the mechanical time constant, particularly for applications that require fast response servo system.Other Japanese manufacturers, such as: Mitsubishi Motors (HC-KFS, HC-MFS, HC-SFS, HC-RFS and HC-UFS series), Toshiba Seiki (SM series), Okuma Iron Works (BL series), Sanyo Electric(BL series), standing stones motor (S series) and many other manufacturers have entered the permanent magnet AC servo system fray.Germany Rexroth (Rexroth) The MAC Indramat Division Series AC servo motor Total 7 Frame 92 specifications.Germany's Siemens (Siemens)'s IFT5 series three-phase permanent magnet AC servo motor standard and short form is divided into two categories, a total of 98 species of 8 frame size specifications.Allegedly the same series AC servo motor and DC servo motor output torque compared IHU series, which weighs only 1 / 2, supporting the transistor PWM drive 6SC61 series, the most for 6-axis motor control.Bosch (BOSCH) ferrite magnets produced the SD series (17 standard) and rare earth permanent magnet of the SE series (8 specs) AC servo motor and drive controller Servodyn SM series.American production companies Gettys servo device as Gould Electronics, once a division of (Motion Control Division), production ofM600 series A600 series AC servo motor and servo drives.After the merger to the AEG, Gettys name restored, the introduction of A700 all-digital AC servo system.U.S. AB (ALLEN-BRADLEY) 1326-based production company driver division ferrite permanent magnet AC servo motor and servo controller PWM AC 1391.Frame size motors including 3 of 30 specifications.ID (Industrial Drives) is a famous Cole Morgan (Kollmorgen) of industrial drives division, has produced BR-210, BR-310, BR-510 a total of 41 specifications of the three series of brushless servo motor and servo BDS3drive.Since 1989, launched a new series designedsolely doped Jian Pirates (Goldline) permanent magnet AC servo motor, including the B (small inertia), M (Middle Inertia) and EB (explosion proof) three categories, 10,20,40,60,80 five frame sizes, each of 42 categories of specifications, all using NdFeB permanent magnet, torque range of 0.84 ~ 111.2Nm, a power range of 0.54 ~ 15.7kW.Supporting the drive has BDS4 (analog), BDS5 (digital type, with position control) and the Smart Drive (digital type) of three series, the maximum continuous current of 55A.Goldline Series represents contemporary art in permanent magnet AC servo technology.Ireland's Inland formerly a division of Kollmorgen abroad, now merged into the AEG, the production of DC servo motors, DC torque motor and servo amplifier is known.Production BHT1100, 2200,3300 three frame sizes of 17 kinds of specifications of SmCo permanent magnet AC servo motor and eight controllers.French Alsthom Group factory in Paris Parvex LC series (long form) and GC series (short) 14 AC servo motor specifications, and production AXODYN series of drives.The former Soviet Union for the CNC machine tools and robots servo control developed two series of AC servo motor.One ДBy series uses ferrite magnets, there are two frame sizes, frame sizes are 3 for each core length, each with two winding data, a total of 12 specifications, a continuous torqu e range of 7 ~ 35N.m.2ДBy series uses rare earth permanent magnet, 6 frame size 17 specifications, the torque range is 0.1 ~170N.m, supporting the 3ДБ controller.In recent years, Panasonic has introduced the all-digital AC servo system based MINAS series, in which permanent magnet AC servo motor with MSMA series of small inertia-type, power from 0.03 ~ 5kW, a total of 18 kinds of specifications; the inertia type with MDMA, MGMA, MFMA threeseries, the power from 0.75 ~ 4.5kW, 23 kinds of specifications, MHMA series of large inertia motor power range from 0.5 ~ 5kW, 7 kinds of specifications.Samsung developed in recent years, all-digital AC servo motor and drive system, which FAGA AC servo motor series of CSM, CSMG, CSMZ, CSMD, CSMF, CSMS, CSMH, CSMN, CSMX a variety of models, the power from 15W ~ 5kW.Now often used (Powerrate) This comprehensive index as the servo motor quality factor, measuring a variety of AC and DC servo motor contrast and dynamic response performance stepper motor.Continuous motor power, said the rate of change (rated) torque and rotor inertia ratio.Change rate is calculated by power analysis, the permanent magnet AC servo motor technology indicators for the United States ID, Goldline Series is the best, followed by Germany's Siemens in IFT5 series.摘要：这是根据控制系统理论撰写的关与系统模型、分析和控制的一系列白皮书之一，目的在于给出一些重要的控制理论和控制过程。

单片机控制步进电机外文原文Stepping motor application and controlstepper motor is an electrical pulse will be conv erted into an gular displaceme nt of the implementing agencies. Put it in simple Ianguage-speaking: When the stepper drive pulse sig nal to a receiver, it drives stepper motor rotati on directi on by sett ing a fixed point of view (and the step angle). You can control the number of pulses to con trol the amount of an gular displaceme nt, so as to achieve the purpose of accurate positioning; At the same time, you can by controlling the pulse frequency to control the motor rotati on speed and accelerati on, so as to achieve the purpose of speed.Stepper motor directly from the AC-DC power supply, and must use special equipme nt - stepper motor drive. Stepper motor drive system performa nee, in additi on to their own performa nee with the motor on the outside, but also to a large exte nt depe nd on the drive is good or bad. A typical stepper motor drive system is operated by the stepper motor controller, stepper motor drives and stepper motor body is composed of three parts. Stepper motor con troller stepper pulse and direct ion sig nal, each made of a pulse, stepper motor-drive n stepper motor drives a rotor rotati ng step angle, that is, step-by-step further. High or low speed stepper motor, or speed, or deceleration, start or stop pulses are entirely dependent on whether the level or freque ncy. Decide the directi on of the sig nal con troller stepper motor clockwise or counterclockwise rotation. Typically, the stepper motor drive circuit from the logic con trol, power driver circuit, protect ion circuit and power comp onen ts. Stepper motor drive con troller, once received from the directi on of the sig nal and step pulse, the con trol circuit on a pre-determ ined way of the electrical power-phase stepper motor excitation windings of the conduction or cut-off signal. Control circuit output signal power is low, can not provide the n ecessary stepp ing motor output power, the n eed for power amplifier, which is stepper motor driven power drive part. Power stepper motor drive circuit to con trol the in put curre nt winding to form a space for rotat ing magn etic field excitatio n, the rotor-drive n moveme nt. Protect ion circuit in the eve nt of short circuit, overload, overheating, suchas failure to stop the rapid drive and motor.Motor is usually for the permanent magnet rotor, when the current flows through the stator windings, the stator windings produce a magnetic field vector. The magnetic field will lead to a rotor angle of rotation, making a pair of rotor and stator magnetic field direction of the magnetic field direction. When the stator rotating magnetic field vector from a different angle. Also as the rotor magnetic field to a point of view. An electrical pulse for each input, the motor rotation angle step. Its output and input of the angular displacement is proportional to the pulses, with pulse frequency proportional to speed. Power to change the order of winding, the electrical will be reversed. We can, therefore, control the pulse number, frequency and electrical power windings of each phase to control the order of rotation of stepper motor.Stepper motor types:Permanent magnet (PM). Magnetic generally two-phase stepper, torque and are smaller and generally stepping angle of 7.5 degrees or 15 degrees; put more wind for air-conditioning.Reactive (VR), the domestic general called BF, have a common three-phase reaction, step angle of 1.5 degrees; also have five-phase reaction. Noise, no torque has been set at a large number of out.Hybrid (HB), common two-phase hybrid, five-phase hybrid, three-phase hybrid, four-phase hybrid, two-phase can be common with the four-phase drive, five-phase three-phase must be used with their drives;Two-phase, four-phase hybrid step angle is 1.8 degrees more than a small size, great distance, and low noise;Five-phase hybrid stepping motor is generally 0.72, the motor step angle small, high resolution, but the complexity of drive circuits, wiring problems, such as the 5-phase system of 10 lines.Three-phase hybrid stepping motor step angle of 1.2 degrees, but according to the use of 1.8 degrees, the three-phase hybrid stepping motor has a two-phase mixed than the five-phase hybrid more pole will help electric folder symmetric angle, it can be more than two-phase, five-phase high accuracy, the error even smaller, run moresmoothly.Stepper motor to maintain torque: stepper motor power means no rotation, the stator locked rotor torque. It is a stepper motor, one of the most important parameters, usually in the low-speed stepper motor torque at the time of close to maintain the torque. As the stepper motor output torque increases with the speed of constant attenuation, the output power also increases with the speed of change, so as to maintain torque on the stepper motor to measure the parameters of one of the most important. For example, when people say that the stepper motor 2N.m, in the absence of special circumstances that means for maintaining the torque of the stepper motor 2N.m.Precision stepper motors: stepper motor step angle accuracy of 3-5%, not cumulative.Stepper motor to allow the minimum amount of surface temperature：Stepper motor causesthe motor temperatureis too high the first magnetic demagnetization, resulting in loss of torque down even further, so the motor surface temperature should be the maximum allowed depending on the motor demagnetization of magnetic material points; Generally speaking, the magnetic demagnetization points are above 130 degrees Celsius, and some even as high as 200 degrees Celsius, so the stepper motor surface temperature of 80-90 degrees Celsius is normal.Start frequency of no-load: the stepper motor in case of no-load to the normal start of the pulse frequency, if the pulse frequency is higher than the value of motor does not start, possible to lose steps or blocking. In the case of the load, start frequency should be lower. If you want to achieve high-speed rotation motor, pulse frequency should be to accelerate the process, that is, the lower frequency to start, and then rose to a certain acceleration of the desired frequency (motor speed from low rise to high-speed).Step angle: that is to send a pulse, the electrical angle corresponding to rotation.Torque positioning: positioning torque stepper motor does not refer to the case of electricity, locked rotor torque stator.Operating frequency: step-by-step stepper motor can run without losing thehighest frequency.Subdivision Drive: stepper motor drives the main aim is to weaken or eliminate low-frequency vibration of the stepper motor to improve the accuracy of the motor running. Reduce noise. If the step angle is 1.8 °(full step) the two-phase hybrid stepping motor, if the breakdown of the breakdown of the number of drives for the 8, then the operation of the electrical pulse for each resolution of 0.072 , the precision of motor can reach or close to 0.225 °, also depends on the breakdown of the breakdown of the drive current control accuracy and other factors, the breakdown of the number of the more difficult the greater the precision of control.How to determine the stepper motor driver DC power supply：A. Determination of the voltage: Hybrid stepping motor driver power supply voltage is generally a wide range (such as the IM483 supply voltage of 12 ~ 48VDC), the supply voltage is usually based on the work of the motor speed and response to the request to choose. If the motor operating speed higher or faster response to the request, then the voltage value is high, but note that the ripple voltage can not exceed the maximum input voltage of the drive, or it may damage the drive.B. Determination of CurrentPower supply current is generally based on the output phase current drive I to determine. If a linear power supply, power supply current is generally preferable 1.1 to 1.3 times the I; if we adopt the switching power supply, power supply current is generally preferable to I, 1.5 to 2.0 times.The main characteristics of stepping moto：r1. A stepper motor drive can be added operate pulse drive signal must be no pulse when the stepper motor at rest, such as If adding the appropriate pulse signal, it will to a certain angle (called the step angle) rotation. Rotation speed and pulse frequency is proportional to.2. permanent magnet step angle stepper motor version is 7.5 degrees, 360 degrees around, takes 48 pulses to complete.3. stepper motor has instant start and rapid cessation of superior characteristics. Change the order of the pulse4．you can easily change the direction of rotation.Therefore, the current printers, plotters, robotics, and so devices are the core of the stepper motor as the driving force.Stepper motors have the following benefits: （1）Low cost （2）Ruggedness （3）Simplicity in construction （4）High reliability （5）No maintenance （6）Wide acceptance（7）No tweaking to stabilize （8）No feedback components are needed They work in just about any environment Inherently more failsafe than servo motors. There isvirtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error.Stepper Motor Disadvantage：sStepper motors have the following disadvantages:1. Resonance effects and relatively long settling times .2. Rough performance at low speed unless a microstep drive is used .3. Liability to undetected position loss as a result of operating open-loop .4. They consume current regardless of load conditions and therefore tend to run hot5. Losses at speed are relatively high and can cause excessive heating, and they are frequently noisy （especially at high speeds）.6. They can exhibit lag-lead oscillation, which is difficult to damp.There is a limit to their available size, and positioning accuracy relies on the mechanics （e.g., ballscrew accuracy）.Many of these drawbacks can be overcome by the use of a closed-loop control scheme.外文资料翻译译文步进电机应用和控制步进电机是将电脉冲转换成角位移的执行机构。

【关键字】资料SELECTING THE MOTOR THAT SUITS YOUR APPLICATION Motion control, in its widest sense, could relate to anything from a welding robot to the hydraulic system in a mobile crane. In the field of Electronic Motion Control, we are primarily concerned with systems falling within a limited power range, typically up to about 10HP (7KW), and requiring precision in one or more aspects. This may involve accurate control of distance or speed, very often both and sometimes other parameters such as torque or acceleration rate. In the case of the two examples given, the welding robot requires precise control of both speed and distance; the crane hydraulic system uses the driver as the feedback system so its accuracy varies with the skill of the operator. This wouldn’t be considered a motion control system in the strict sense of the term. Our standard motion control system consists of three basic elements:Fig. 1 Elements of motion control systemThe motor，This may be a stepper motor (either rotary or linear), a DC brush motor or a brushless servo motor. The motor needs to be fitted with some kind of feedback device unless it is a stepper motor.Fig. 2 shows a system complete with feedback to control motor speed. Such a system is known as a closed-loop velocity servo system.Fig. 2 Typical closed loop (velocity) servo systemThe drive，this is an electronic power amplifier that delivers the power to operate the motor in response to low-level control signals. In general, the drive will be specifically designed to operate with a particular motor type –you can’t use a stepper drive to operate a DC brush motor, for instance.Application Areas of Motor TypesStepper MotorsStepper Motor BenefitsStepper motors have the following benefits:• Low cost• Ruggedness• Simplicity in construction• High reliability• No maintenance• Wide acceptance• No tweaking to stabilize• No feedback components are needed• They work in just about any environment• Inherently more failsafe than servo motors.There is virtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error.Stepper Motor DisadvantagesStepper motors have the following disadvantages:• Resonance effects and relatively long settling times• Rough performance at low speed unless a micro step drive is used• Liability to undetected position loss as a result of operating open-loop• They consume current regardless of load conditions and therefore tend to run hot• Losses at speed are relatively high and can cause excessive heating, and they are frequently noisy (especially at high speeds).• They can exhibit lag-lead oscillation, which is difficult to damp. There is a limit to their available size, and positioning accuracy relies on the mechanics (e.g., ball screw accuracy). Many of these drawbacks can be overcome by the use of a closed-loop control scheme. Note: The Comp motor Zeta Series minimizes or reduces many of these different stepper motor disadvantages. There are three main stepper motor types:• Permanent Magnet (P.M.) Motors• Variable Reluctance (V.R.) Motors• Hybrid MotorsWhen the motor is driven in its full-step mode, energizing two windings or “phases” at a time (see Fig. 3), the torque available on each step will be the same (subject to very small variations in the motor and drive characteristics). In the half-step mode, we are alternately energizing two phases and then only one as shown in Fig. 4. Assuming the drive delivers the same winding current in each case, this will cause greater torque to be produced when there are two windings energized. In other words, alternate steps will be strong and weak. This does not represent a major deterrent to motor performance—the available torque is obviously limited by the weaker step, but there will be a significant improvement in low-speed smoothness over the full-step mode.Clearly, we would like to produce approximately equal torque on every step, and this torque should be at the level of the stronger step. We can achieve this by using a higher current level when there is only one winding energized. This does not over dissipate the motor because the manufacturer’s current rating assumes two phases to be energized the current rating is based on the allowable case temperature). With only one phase energized, the same total power will be dissipated if the current is increased by 40%. Using this higher current in the one-phase-on state produces approximately equal torque on alternate steps (see Fig. 5).Fig. 3 Full step currentFig. 4 Half step currentFig.5 Half step current, profiledWe have seen that energizing both phases with equal currents produces an intermediate step position half-way between the one-phase-one positions. If the two phase currents are unequal, the rotor position will be shifted towards the stronger pole. This effect is utilized in the micro stepping drive, which subdivides the basic motor step by proportioning the current in the two windings. In this way, the step size is reduced and the low-speed smoothness is dramatically improved. High-resolution micro step drives divide the full motor step into as many as 500 micro steps, giving 100,000 steps per revolution. In this situation, the current pattern in the windings closely resembles two sine waves with a 90°phase shift between them (see Fig. 6). The motor is now being driven very much as though it is a conventional AC synchronous motor. In fact, the stepper motor can be driven in this way from a 60 Hz-US (50Hz-Europe) sine wave source by including a capacitor inseries with one phase. It will rotate at 72 rpm.Fig. 6 Phase currents in micro step modeStandard 200-Step Hybrid MotorThe standard stepper motor operates in the same way as our simple model, but has a greater number of teeth on the rotor and stator, giving a smaller basic step size. The rotor is in two sections as before, but has 50 teeth on each section. The half-tooth displacement between the two sections is retained. The stator has 8 poles each with 5 teeth, making a total of 40 teeth (see Fig. 7).Fig.7 200-step hybrid motorIf we imagine that a tooth is placed in each of the gaps between the stator poles, there would be a total of 48 teeth, two less than the number of rotor teeth. So if rotor and stator teeth are aligned at 12 o’clock, they will also be aligned at 6 o’clock. At 3 o’clock and 9 o’clock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 o’clock and 9 o’clock at the other end of the rotor.The windings are arranged in sets of four, and wound such that diametrically-opposite poles are the same. So referring to Fig. 7, the north poles at 12 and 6 o’clock attract the south-pole teeth at the front of the rotor; the south poles at 3 and 9 o’clock attract the north-pole teeth at the back. By switching current to the second set of c oils, the stator field pattern rotates through 45°. However, to align with this new field, the rotor only has to turn through 1.8°. This is equivalent to one quarter of a tooth pitch on the rotor, giving 200 full steps per revolution.Note that there are as many detent positions as there are full steps per rev, normally 200. The detent positions correspond with rotor teeth being fully aligned with stator teeth. When power is applied to a stepper drive, it is usual for it to energize in the “zero phase” state in which there is current in both sets of windings. The resulting rotor position does not correspond with a natural detent position, so an unloaded motor will always move by at least one half steps at power-on. Of course, if the system was turned off other than in the zero phase state, or the motor is moved in the meantime, a greater movement may be seen at power-up.Another point to remember is that for a given current pattern in the windings, there are as many stable positions as there are rotor teeth (50 for a 200-step motor). If a motor isde-synchronized, the resulting positional error will always be a whole number of rotor teeth or a multiple of 7.2°. A motor cannot “miss” individual steps – position errors of one or two steps must be due to noise, spurious step pulses or a controller fault.Fig. 8 Digital servo driveDigital Servo Drive OperationFig.8 shows the components of a digital drive for a servo motor. All the main control functions are carried out by the microprocessor, which drives a D-to-A converter to produce an analog torque demand signal. From this point on, the drive is very much like an analog servo amplifier.Feedback information is derived from an encoder attached to the motor shaft. The encoder generates a pulse stream from which the processor can determine the distance traveled, and by calculating the pulse frequency it is possible to measure velocity.The digital drive performs the same operations as its analog counterpart, but does so by solving a series of equations. The microprocessor is programmed with a mathematical model (or “algorithm”) of the equivalent analog system. This model predicts the behavior of the system. It also takes into account additional information like the output velocity, the rate of change of the input and the various tuning settings.To solve all the equations takes a finite amount of time, even with a fast processor –this time is typically between 100ms and 2ms. During this time, the torque demand must remain constant at its previously-calculated value and there will be no response to a change at the input or output. This “update time” therefore becomes a critical factor in the performance of a digital servo and in a high-performance system it must be kept to a minimum.The tuning of a digital servo is performed either by pushbuttons or by sending numerical data from a computer or terminal. No potentiometer adjustments are involved. The tuning data is used to set various coefficients in the servo algorithm and hence determines the behavior of the system. Even if the tuning is carried out using pushbuttons, the final values can be uploaded to a terminal to allow easy repetition.Some applications, the load inertia varies between wide limits – think of an arm robot that starts off unloaded and later carries a heavy load at full extension. The change in inertia may well be a factor of 20 or more, and such a change requires that the drive isre-tuned to maintain stable performance. This is simply achieved by sending the new tuning values at the appropriate point in the operating cycle.步进电机和伺服电机的系统控制运动控制，在其最广泛的意义上说，可能与任何移动式起重机中焊接机器人液压系统有关。

步进电机的振荡、不稳定以及控制摘要：本文介绍了一种分析永磁步进电机不稳定性的新颖方法。

结果表明，该种电机有两种类型的不稳定现象：中频振荡和高频不稳定性。

非线性分叉理论是用来说明局部不稳定和中频振荡运动之间的关系。

一种新型的分析介绍了被确定为高频不稳定性的同步损耗现象。

在相间分界线和吸引子的概念被用于导出数量来评估高频不稳定性。

通过使用这个数量就可以很容易地估计高频供应的稳定性。

此外，还介绍了稳定性理论。

广义的方法给出了基于反馈理论的稳定问题的分析。

结果表明，中频稳定度和高频稳定度可以提高状态反馈。

关键词：步进电机，不稳定，非线性，状态反馈。

1. 介绍步进电机是将数字脉冲输入转换为模拟角度输出的电磁增量运动装置。

其内在的步进能力允许没有反馈的精确位置控制。

也就是说，他们可以在开环模式下跟踪任何步阶位置，因此执行位置控制是不需要任何反馈的。

步进电机提供比直流电机每单位更高的峰值扭矩;此外，它们是无电刷电机，因此需要较少的维护。

所有这些特性使得步进电机在许多位置和速度控制系统的选择中非常具有吸引力，例如如在计算机硬盘驱动器和打印机，代理表，机器人中的应用等.尽管步进电机有许多突出的特性，他们仍遭受振荡或不稳定现象。

这种现象严重地限制其开环的动态性能和需要高速运作的适用领域。

这种振荡通常在步进率低于1000脉冲/秒的时候发生，并已被确认为中频不稳定或局部不稳定[1]，或者动态不稳定[2]。

此外，步进电机还有另一种不稳定现象，也就是在步进率较高时，即使负荷扭矩小于其牵出扭矩，电动机也常常不同步。

该文中将这种现象确定为高频不稳定性，因为它以比在中频振荡现象中发生的频率更高的频率出现。

高频不稳定性不像中频不稳定性那样被广泛接受，而且还没有一个方法来评估它。

中频振荡已经被广泛地认识了很长一段时间，但是，一个完整的了解还没有牢固确立。

这可以归因于支配振荡现象的非线性是相当困难处理的。

大多数研究人员在线性模型基础上分析它[1]。

外文文献：Knowledge of the stepper motorWhat is a stepper motor：The stepping motor as executing components, electromechanical integration is one of the key products, widely used in a variety of automatic control systems. With the development of microelectronics and computer technology, the stepper motor demand grow with each passing day, has been applied in various fields of the national economy.Stepping motor is a kind of electrical pulses into angular displacement of the implementing agencies. When stepping drive receives a pulse signal, it drives stepper motor rotate in the direction set by a fixed angle ( called the " step " ), it is the rotation at a fixed angle step by step operation. The number of pulses to control the amount of angular displacement through the control, so as to achieve the purpose of accurate positioning; also can control the pulse frequency to control motor rotation speed and acceleration, so as to achieve the purpose of speed. Special motor stepper motor control can be used as a, using its no accumulation of error ( accuracy of 100% ) characteristics, widely used in all kinds of open-loop control.Now more commonly used step motor comprises stepper motor ( VR ), permanent magnet stepper motor ( PM ), hybrid stepping motor ( HB ) and single-phase stepping motor.Permanent magnet stepper motor for general two-phase, torque and small volume, the step angle is 7.5 degree or 15 degree;Reaction stepping motor is generally three-phase, can achieve a high torque output, step angle is 1.5 degrees, but the noise and vibration are great. The rotor magnetic circuit made of soft magnetic material reaction stepper motor, a multi-phase excitation winding stator, using magnetic torque changes.Hybrid stepping motor is mixed the advantages of permanent magnet type andreaction type. It is divided into two phase and five phase: two-phase stepper angle is 1.8 degree and five phase stepper angle is 0.72 degrees. Application of the stepping motor is the most widely, is also this subdivision driving of stepper motor selection scheme.Some of the basic parameters of step motor:The natural step motor:It says every hair a step pulse signal control system, motor rotation angle. Motor factory is a step angle values, such as type 86BYG250A motor is given a value of 0.9°/1.8 °( said a half step of work is 0.9 °, the whole step of work is 1.8 °), this step can be called ' motor fixed step ', it doesn't have to be the actual motor work when the real step angle, angle and drive the real steps.Stepper motor phase number:Is the number of coils inside the motor, commonly used in a two-phase, three-phase, four phase, five phase stepper motor. The number of motor phase is different, the step angle is also different, the general two-phase motor step angle is 0.9°/1.8 °, three-phase 0.75 °/1.5 °, five phase of 0.36 °/0.72 °. In the absence of subdivision drive, users mainly rely on different phases of the stepper motor to meet their own requirements of step angle. If you use a subdivision driver, is ' phase ' will become meaningless, users only need to change the fine fraction in the drive, you can change the step angle.Keep the torque ( HOLDINGTORQUE ):Is the stepper motor power but there is no rotation, the stator locked rotor torque. It is one of the most important parameters of step motor, usually stepper motor in the low-speed torque to keep the torque. Because of the larger output torque stepper motor with speed and continuous decay, increases the output power with the speed of change, so keep the torque becomes one of the most important parameters of step motor. For example, when people say 2N.m stepper motor, in the absence of exceptional circumstances described in that refers to keep the torquemotor for the 2N.m step.DETENTTORQUE:DETENTTORQUE:Refers to the stepper motor is not energized condition, the stator locked rotor torque. DETENTTORQUE does not have a unified way of translation in China, easy to make people misunderstand; as the rotor reaction stepper motor is not permanent magnetic material, so it has no DETENTTORQUE.Some of the characteristic of step motor:The 1 stepper motor step angle accuracy for 3-5%, and no accumulation.2 stepper motor appearance allows the maximum temperature.Stepper motor temperature is too high will first make the motor magnetic material demagnetization, resulting in lower torque and loss, so the highest temperature of motor appearance allows should depend on the different motor demagnetization magnetic materials; generally speaking, demagnetization point magnetic material in 130 degrees Celsius above, some even as high as 200 degrees Celsius stepping motor, so the surface temperature at 80-90 degrees Celsius completely normal.3 stepper motor torque will decrease with the increase of rotational speed.When the stepper motor rotates, the electrical inductance of the winding will form a reverse electromotive force; the higher the frequency, the greater the reverse emf. Under the influence of it, the motor with frequency ( or speed ) increase and the phase current is reduced, resulting in lower torque.4 stepper motor speed can be normal operation, but if it is more than a certain speed will not start, and accompanied by howling.Stepper motor is a technical parameter: no-load start frequency, namely the stepper motor under no-load condition can pulse frequency start, if the pulsefrequency is higher than the value, the motor can not start properly, may have lost step or stall. In under the condition of the load, start frequency should be less. If you want to enable the motor to rotate at high speed, pulse frequency should accelerate the process is started, the lower frequency, and then according to certain acceleration up to high frequency desired ( motor speed from low speed to high speed ).Characteristics of stepper motor with its significant, play an important purpose in the era of digital manufacturing. With the different development of digital technology and stepper motor itself technology improves, the stepper motor will be applied in more fields.How to determine the stepper motor driver DC power supply：A. Determination of the voltageHybrid stepping motor driver power supply voltage is generally a wide range (such as the IM483 supply voltage of 12 ~ 48VDC), the supply voltage is usually based on the work of the motor speed and response to the request to choose. If the motor operating speed higher or faster response to the request, then the voltage value is high, but note that the ripple voltage can not exceed the maximum input voltage of the drive, or it may damage the drive.B. Determination of CurrentPower supply current is generally based on the output phase current drive I to determine. If a linear power supply, power supply current is generally preferable 1.1 to 1.3 times the I; if we adopt the switching power supply, power supply current is generally preferable to I, 1.5 to 2.0 times.The main characteristics of stepping motor：A stepper motor drive can be added operate pulse drive signal must be no pulse when the stepper motor at rest, such asIf adding the appropriate pulse signal, it will to a certain angle (called the step angle) rotation. Rotation speed and pulse frequency is proportional to.2 Dragon step angle stepper motor version is 7.5 degrees, 360 degrees around,takes 48 pulses to complete.3 stepper motor has instant start and rapid cessation of superior characteristics. Change the pulse of the order of 4, you can easily change the direction of rotation. Therefore, the current printers, plotters, robotics, and so devices are the core of the stepper motor as the driving force.Stepper motor control exampleWe use four-phase unipolar stepper motor as an example. The structure shown in Figure 1:Four four-phase winding leads (as opposed to phase A1 A2 B1 phase phase B2) and two public lines (to the power of positive). The windings of one phase to the power of the ground. So that the windings will be inspired. We use four-phase eight-beat control, ie, 1 phase 2 phase alternating turn, would enhance resolution.0.9 °per step can be transferred to control the motor excitation is transferred in order as follows:If the requirements of motor reversal, the transmission excitation signal can be reversed. 2 control schemeControl system block diagram is as followsThe program uses AT89S51 as the main control device. It is compatible with the AT89C51, but also increased the SPI interface and the watchdog module, which not only makes the debugging process becomes easy and also more stable. The microcontroller in the program mainly for field signal acquisition and operation of the stepper motor to calculate the direction and speed information. Then sent to the CPLD.CPLD with EPM7128SLC84-15, EPM7128 programmable logic device of large-scale, for the ALTERA company's MAX7000 family. High impedance, electrically erasable and other characteristics, can be used for the 2500 unit, the working voltage of +5 V. CPLD receives information sent from the microcontroller after converted to the corresponding control signal output to the stepper motor drive. Put the control signal drives the motor windings after the input, to achieve effective control of the motor.2.1 The hardware structure of the motor driveMotor drive using the following circuit:R1-R8 in which the resistance value of 320Ω. R9-R12 resistance value 2.2KΩ. Q1-Q4 as Darlington D401A, Q5-Q8 for the S8550. J1, J2 and the stepper motor connected to the six-lead。

步进电机概述中英文资料对照外文翻译文献综述外文文献：Knowledge of the stepper motorWhat is a stepper motor：The stepping motor as executing components, electromechanical integration is one of the key products, widely used in a variety of automatic control systems. With the development of microelectronics and computer technology, the stepper motor demand grow with each passing day, has been applied in various fields of the national economy.Stepping motor is a kind of electrical pulses into angular displacement of the implementing agencies. When stepping drive receives a pulse signal, it drives stepper motor rotate in the direction set by a fixed angle ( called the " step " ), it is the rotation at a fixed angle step by step operation. The number of pulses to control the amount of angular displacement through the control, so as to achieve the purpose of accurate positioning; also can control the pulse frequency to control motor rotation speed and acceleration, so as to achieve the purpose of speed. Special motor stepper motor control can be used as a, using its no accumulation of error ( accuracy of 100% ) characteristics, widely used in all kinds of open-loop control.Now more commonly used step motor comprises stepper motor ( VR ), permanent magnet stepper motor ( PM ), hybrid stepping motor ( HB ) and single-phase stepping motor.Permanent magnet stepper motor for general two-phase, torque and small volume, the step angle is 7.5 degree or 15 degree;Reaction stepping motor is generally three-phase, can achieve a high torque output, step angle is 1.5 degrees, but the noise and vibration are great. The rotor magnetic circuit made of soft magnetic material reaction stepper motor, a multi-phase excitation winding stator, using magnetic torque changes.Hybrid stepping motor is mixed the advantages of permanent magnet type and reaction type. It is divided into two phase and five phase: two-phase stepper angle is 1.8 degree and five phase stepper angle is 0.72 degrees. Application of the stepping motor is the most widely, is also this subdivision driving of stepper motor selection scheme.Some of the basic parameters of step motor:The natural step motor:It says every hair a step pulse signal control system, motor rotation angle. Motor factory is a step angle values, such as type 86BYG250A motor is given a value of 0.9° /1.8 °( said a half step of work is 0.9 °, the whole step of work is 1.8 °), this step can be called ' motor fixed step ', it doesn't have to be the actual motor work when the real step angle, angle and drive the real steps.Stepper motor phase number:Is the number of coils inside the motor, commonly used in a two-phase, three-phase, four phase, five phase stepper motor. The number of motor phase is different, the step angle is also different, the general two-phase motor step angle is 0.9° /1.8 °, three-phase 0.75 ° /1.5 °, five phase of 0.36 ° /0.72 °. In the absence of subdivision drive, users mainly rely on different phases of the stepper motor to meet their own requirements of step angle. If you use a subdivision driver, is ' phase ' will become meaningless, users only need to change the fine fraction in the drive, you can change the step angle.Keep the torque ( HOLDINGTORQUE ):Is the stepper motor power but there is no rotation, the stator locked rotor torque. It is one of the most important parameters of step motor, usually steppermotor in the low-speed torque to keep the torque. Because of the larger output torque stepper motor with speed and continuous decay, increases the output power with the speed of change, so keep the torque becomes one of the most important parameters of step motor. For example, when people say 2N.m stepper motor, in the absence of exceptional circumstances described in that refers to keep the torque motor for the 2N.m step.DETENTTORQUE:DETENTTORQUE:Refers to the stepper motor is not energized condition, the stator locked rotor torque. DETENTTORQUE does not have a unified way of translation in China, easy to make people misunderstand; as the rotor reaction stepper motor is not permanent magnetic material, so it has no DETENTTORQUE.Some of the characteristic of step motor:The 1 stepper motor step angle accuracy for 3-5%, and no accumulation.2 stepper motor appearance allows the maximum temperature.Stepper motor temperature is too high will first make the motor magnetic material demagnetization, resulting in lower torque and loss, so the highest temperature of motor appearance allows should depend on the different motor demagnetization magnetic materials; generally speaking, demagnetization point magnetic material in 130 degrees Celsius above, some even as high as 200 degrees Celsius stepping motor, so the surface temperature at 80-90 degrees Celsius completely normal.3 stepper motor torque will decrease with the increase of rotational speed.When the stepper motor rotates, the electrical inductance of the winding will form a reverse electromotive force; the higher the frequency, the greater the reverse emf. Under the influence of it, the motor with frequency ( or speed ) increase and the phase current is reduced, resulting in lower torque.4 stepper motor speed can be normal operation, but if it is more than a certain speed will not start, and accompanied by howling.Stepper motor is a technical parameter: no-load start frequency, namely the stepper motor under no-load condition can pulse frequency start, if the pulse frequency is higher than the value, the motor can not start properly, may have lost step or stall. In under the condition of the load, start frequency should be less. If you want to enable the motor to rotate at high speed, pulse frequency should accelerate the process is started, the lower frequency, and then according to certain acceleration up to high frequency desired ( motor speed from low speed to high speed ).Characteristics of stepper motor with its significant, play an important purpose in the era of digital manufacturing. With the different development of digital technology and stepper motor itself technology improves, the stepper motor will be applied in more fields.How to determine the stepper motor driver DC power supply：A. Determination of the voltageHybrid stepping motor driver power supply voltage is generally a wide range (such as the IM483 supply voltage of 12 ~ 48VDC), the supply voltage is usually based on the work of the motor speed and response to the request to choose. If the motor operating speed higher or faster response to the request, then the voltage value is high, but note that the ripple voltage can not exceed the maximum input voltage of the drive, or it may damage the drive.B. Determination of CurrentPower supply current is generally based on the output phase current drive I to determine. If a linear power supply, power supply current is generally preferable 1.1 to 1.3 times the I; if we adopt the switching power supply, power supply current is generally preferable to I, 1.5 to 2.0 times.The main characteristics of stepping motor：A stepper motor drive can be added operate pulse drive signal must be no pulse when the stepper motor at rest, such asIf adding the appropriate pulse signal, it will to a certain angle (called the step angle) rotation. Rotation speed and pulse frequency is proportional to.2 Dragon step angle stepper motor version is 7.5 degrees, 360 degrees around, takes 48 pulses to complete.3 stepper motor has instant start and rapid cessation of superior characteristics.Change the pulse of the order of 4, you can easily change the direction of rotation. Therefore, the current printers, plotters, robotics, and so devices are the core of the stepper motor as the driving force.Stepper motor control exampleWe use four-phase unipolar stepper motor as an example. The structure shown in Figure 1:Four four-phase winding leads (as opposed to phase A1 A2 B1 phase phase B2) and two public lines (to the power of positive). The windings of one phase to the power of the ground. So that the windings will be inspired. We use four-phase eight-beat control, ie, 1 phase 2 phase alter nating turn, would enhance resolution. 0.9 ° per step can be transferred to control the motor excitation is transferred in order as follows:If the requirements of motor reversal, the transmission excitation signal can be reversed. 2 control schemeControl system block diagram is as followsThe program uses AT89S51 as the main control device. It is compatible with the AT89C51, but also increased the SPI interface and the watchdog module, which not only makes the debugging process becomes easy and also more stable. The microcontroller in the program mainly for field signal acquisition and operation of the stepper motor to calculate the direction and speed information. Then sent to the CPLD.CPLD with EPM7128SLC84-15, EPM7128 programmable logic device of large-scale, forthe ALTERA company's MAX7000 family. High impedance, electrically erasable and other characteristics, can be used for the 2500 unit, the working voltage of +5 V. CPLD receives information sent from the microcontroller after converted to the corresponding control signal output to the stepper motor drive. Put the control signal drives the motor windings after the input, to achieve effective control of the motor. 2.1 The hardware structure of the motor driveMotor drive using the following circuit:R1-R8 in which the resistance value of 320Ω. R9-R12 resistance value 2.2KΩ. Q1-Q4 as Darlington D401A, Q5-Q8 for the S8550. J1, J2 and the stepper motor connected to the six-lead。

电动机控制中英文对照外文翻译文献(文档含英文原文和中文翻译)原文：Control of Electric winchFor motor control, we know the best way is to use the style buttons to move the many simple manual console. And this console, in some applications may still be a good choice, as some complex control headache can also be used. This article describes in your design, build or purchase winch controller, you have the motor's basic electrical equipment and you will need to address the user interface command addressed.First, the manual should be a manual control console type, so if you remove your finger buttons, hoist will stop. In addition, each control station equipped with an emergency need to brake, hoist the emergency brake to cut off all power, not just the control circuit. Think about it, if the hoist at the stop, it did not stop, you do need a way to cut off the fault line protection power. Set the table in the control of a key operated switch, is also a very good idea, especially in the line leading to theworkstation can not control, you can use the switch.(in the design of the console, even the simplest manual console, but also consider setting by specialized personnel to operate the safe operation of the keys.) Constant speed motor controlFor a fixed speed winch actual control device is a three-phase starter. Turn the motor is reversed, by a simple switch controlled phase transformation sequence from ABC to CBA. These actions are completed by two three-pole contactor-style, and they are interlocked, so that they can not be simultaneously closed. NEC, required in addition to overload and short circuit protection devices. To protect the motor against overload due to mechanical effects caused by overheating in the heat to be installed inside the starter overload delay device. When the heat overload delay device overheating, it has a long double off the metal motor power. In addition In addition, you can also select a thermistor can be installed in the motor winding way, it can be used to monitor motor temperature changes. For the short-circuit protection, we generally used by motor fuses to achieve.A linear current independent contactors, the contactors are configured should be more than the current main circuit contactor, so as to achieve the purpose of redundancy. This sets the current contactor is controlled by the security circuit, such as: emergency brake and the more-way limits.We can use the limit switches to achieve the above operation. When you reach the end of the normal travel limit position, the hoist will stop, and you can only move the winch in the opposite direction (ie, the direction away from the limit position.) There is also need for a more limited way just in case, due to electrical or mechanical problems, leaving the operation of hoist limit bit more than normal. If you run into more limiter, linear contactor will open, therefore, can not be driven winch will exceed this limit position. If this happens, you need to ask a professional technician to check the lead to meet the more specific reasons limiter. Then, you can use thestarter toggle switch inside the elastic recovery process to deal with more problems, rather than tripping device or a hand-off the current contacts.A necessary condition for speedOf course, the simple fixed speed starter is replaced by variable speed drives. This makes things start to get interesting again! At a minimum, you need to add a speed control dial operation platform. Joystick is a better user interface, because it makes you move parts of a more intuitive control.Unfortunately, you can not just from your local console to send commands to control the old variable speed drives, in addition, you can not want it in the initial stages, will be able to enhance the safe and reliable and decentralized facilities. Most of the variable speed drive can not achieve these requirements, because they are not designed to do upgrading work. Drivers need to be set to release the brake before the motor can generate torque, and when parking, that is, before the revocation of torque, the brake will be the first action.For many years, DC motors and drives provide a number of common solutions, such as when they are in a variety of speeds with good torque characteristics. For most of the hoist of the large demand for DC motor is very expensive, and that the same type of AC motor than the much more expensive. Although the early AC drives are not very useful, as they have a very limited scope of application of the speed, but produced only a small low-speed torque. Now, with the DC drives the development of low cost and a large number of available AC motors has led to a communication-driven revolution.Variable speed AC drives in two series. Frequency converter has been widely known and, indeed, easy to use. These drives convert AC into DC, and then, and then convert it back to exchange, the exchange after the conversion is a different frequency. If the drive produced the exchange of 30Hz, 60Hz a normal motor will run at half speed. Theoretically, this is very good, but in practice, this will have a lot of problems. First of all, a typical linear motor 60Hz frequencies below 2Hz 3Hz area or there will be errors, and start cog (that urgent push, yank), or parking. This will limit your speed range lower than 20:1, almost not adapted to the operational phase of the fine adjustment. Second, many low-cost converter is not able to provide the rated torque at low speeds. Use of these drives, will result in the rapid move to upgrade the components or complete failure, precisely, when you try to upgrade a stable scientific instruments, you do not want to see this situation. Some new inverter is a closed-loop system (to get feedback from the motor to provide a more accurate speed control), and the motor will work quite well.Another series of AC drives is the flow vector type drive. These components require installation of the spindle motor encoder, encoder makes use of these drivescan accurately monitor the rotation of the motor armature. Processor accurately measured magnetic flux vector values that are required to make the armature at a given speed rotation. These drives allow infinite speed, so you actually can produce at zero speed to rated torque. These drives provide precise speed and position control, so these drives in high performance applications to be welcomed.(Based on PLC controllers provide system status and control options. This screen shows the operator full access to the nine-story elevator enhance the control panel.) PLC-based systemsIs the full name of a PLC programmable logic controller. First of all, PLC controller developed to replace the fifties and sixties-based industrial control system relay, they work in harsh industrial indoor environments. These are modular systems that have a large variety of I / O modules. The modular system can easily achieve the semi-custom hardware configuration assembled, and the resulting configuration is also very reasonable price. These modules include: position control module, the counter, A / D and D / A converter, and a variety of physical state or physical contact with closed output module. Large number of different types of I / O components and PLC module property makes it an effective way to assemble custom and semi custom control system.The biggest shortcoming of PLC systems is the lack of the real number of display to tell you what is being done and the PLC on the PLC program to help you.T he first is professional entertainment for the large-scale PLC system is one of the original in Las Vegas, MGM (now Bailey Company) of the riding and carriage system. Many manufacturers offer a standard PLC-based semi-automated acoustic systems and a host of signs, set the location of the command line interpreter, and the upgrading of the control system is also available. Using standard modules to set user-defined system configuration capability is based on the PLC controller of the greatest advantage.High-end controllerFor complex transmission, the controller became complex, more than speed, time and location control. They include complex instructions to write and record the movement contour, and the processing can immediately run the ability to multi-point instructions.Many large opera house is toward the direction of point lift system, where each one is equipped with a rope to enhance independent winches, rope equivalent to those of each dimmer circuit. When more than one hoist is used to enhance the individual part, the hoist must be fully synchronous, or the load to shift, so will lead to a separate winch becomes the risk of overload. Control system must be able to be selected to keep pace winch, or a hoist winch is not able to maintain synchronization with the other, can provide the same high-speed parking capacity. For a typical speed of 240 ft / min and a winch to maintain the rate of error of between 1 / 8 points of equipment, you only have less than three microseconds of time to identify problems and try to correct the error The hoist speed, make sure you fail, you start all the winch stop the group. This will require a large amount of computation, fast I / O interface, and easy to use to write software.For large rope control system has two very different solutions. The first is to use a separate console, the problem in general terms, this console should be installed in the appropriate location of the operator perspective. However, this not only from one angle to another angle, but still can not get an instruction to another instruction from the control. These difficulties have been partially resolved. Installed in different locations through the use of video cameras, and these cameras connected to the three-dimensional display graphics, these graphics enables the operator to observe from the perspective of any of the three coordinates in the expected direction of rope movement. These operators can make from a console for him at the actual angle, or closed circuit camera practical perspective, to observe the movement of the rope on the screen. For the complex interrelated moving parts, makes the implementation of the above observation Failure to control and find out easier.Another solution to the problem is a distributed system that uses multiple light console. This will allow the different operators in the same way the different aspects of control gear, we have improved the manual control device. A vivid example is the flower in a vegetable market in central London, the Royal Opera House, the program uses the above, where the control console 240 with ten motors. Each console has five playback device, and has been open, so that each motor has been assigned to a single console. An operator and a console can control all the devices, however, often may be running a console platform screen upgrade, another console is a console on the transmission device, and the third console is used to the necessary backgroundin the background image down.(edge-type portable console allows the operator many advantages from the start to control the movement of the machine, and provide three-dimensional image display.)ConclusionA huge change in the rope control system, a workstation has been developed from a push-button to complex multi-user computerized control system. When the control system to buy rope, you can always find to meet your needs. Control system performance is the most important security and reliability. These are the true value of the property, and you can expect the price to buy a suitable way of security. With a certain product manufacturers to work, he will make you know how to install it. And he will make contact with you and the users, those users have with similar requests.译文：电动卷扬机的控制对于电动机的控制，我们所知道的最好的方式就是使用由许多点动式按钮组成的简单的手工操作台。