摘要
为实现对直径在5 mm左右的永磁式爪极步进电机的驱动控制。基于STM32F103C8T6主控芯片和TMC2660驱动芯片,设计了一套针对该电机的运动控制系统。控制芯片和驱动芯片之间利用SPI通信,实现对步进电机驱动电流、运动方向以及细分的设置。上位机基于CAN2.0通信协议完成对驱动器的参数修改配置,并且实现正反转、停车、定位以及回零等功能。利用S曲线控制算法,在细分的基础上对步进电机运动进行控制,实现电机的平滑启动与停止。经过实验验证该控制系统能够实现对微型爪极永磁式步进电机的运动控制,细分驱动可有效提升电机电流的正弦性。
In order to achieve drive control of permanent magnet claw pole stepper motor with diameter of 5 mm or so.Based on STM32F103C8T6 master chip and TMC2660 driver chip,a motion control system for the motor was designed.SPI communication was used between the control chip and the driver chip to set the driving current,motion direction and subdivision of the stepper motor.The upper computer can modify and configure the parameters of the driver based on the CAN2.0 communication protocol,and realize the functions of forward and reverse rotation,parking,positioning and zeroing.Using s-curve control algorithm,on the basis of subdivision,the stepper motor was controlled to realize the smooth start and stop of the motor.The experiment proves that the control system can realize the motion control of the micro-claw pole permanent magnet stepping motor,and the subdivision drive can effectively improve the sinusoidal current of the motor.
作者
习晓飞
汪旭东
孙彦
张恒琦
杨勇
辛沅栩
XI Xiaofei;WANG Xudong;SUN Yan;ZHANG Hengqi;YANG Yong;XIN Yuanxu(School of Electrical Engineering,Shanghai Dianji University,Shanghai 201306,China)
出处
《微电机》
2023年第4期63-67,72,共6页
Micromotors
