步進電機的plc控制（英漢）

1、<p><b>　　學(xué) 院</b></p><p>　　本科畢業(yè)設(shè)計英文參考資料</p><p>　　題 目 PLC control of the stepper motor</p><p>　　院 系 機械學(xué)院 </p><p>　　專 業(yè) 機械設(shè)

2、計制造及其自動化 </p><p>　　姓 名 </p><p>　　學(xué) 號 </p><p>　　學(xué)習(xí)年限 2011年9月至2015年6月 </p><p>　　指導(dǎo)教師 職稱 高級工程師 </p><p>　　

3、申請學(xué)位 工學(xué) 學(xué)士學(xué)位 </p><p>　　2015年 3月 10 日</p><p>　　英文原文： </p><p>　　PLC control of the stepper motor</p><p>　　Stepper motor is a kind of electrica

4、l pulses into angular displacement of the implementing agency. Popular little lesson: When the driver receives a step pulse signal, it will drive a stepper motor to set the direction of rotation at a fixed angle (and the

5、 step angle). You can control the number of pulses to control the angular displacement, so as to achieve accurate positioning purposes; the same time you can control the pulse frequency to control the motor rotation spee

6、d and acceleration, to a</p><p>　　1. basic introduction</p><p>　　Stepper motors as actuators , is one of the key products of mechatronics , widely used in a variety of automated control systems.

7、 With the development of microelectronics and computer technology, the growing demand for stepper motor , has applications in various fields of national economy .</p><p>　　Although the stepper motor has been

8、 widely used, but the stepper motor does not like an ordinary DC motors, AC motors for use in routine under . It must be by a two- ring pulse signal , power driver circuit composed of the control system can be used. So m

9、ake good use of a stepper motor , but not easy, it involves a lot of expertise in mechanical , electrical , electronics and computers.</p><p>　　Stepper motor is an induction motor.The DC power into power -sh

10、aring , multi-phase timing control current, this current is powered stepper motor , stepper motor to work properly, the stepper motor drive is powered -sharing , multi-phase timing controller .</p><p>　　2. w

11、orking principle</p><p>　　The rotor is a permanent magnet motor typically , when a current flows through the stator windings , the stator winding generates a magnetic field vector . The rotating magnetic fie

12、ld to drive the rotor at an angle such that the magnetic field of the stator is consistent with a direction of the magnetic field of the rotor. When the stator magnetic field vector rotation angle. As the rotors turn a f

13、ield angle . Each input an electrical pulse , the motor rotation angle forward. The number of pulse</p><p>　　3.major tectonic</p><p>　　People as early as the 1920s began to use this motor . As e

14、mbedded systems ( such as printers, disk drives , toys, wipers, pager vibration , mechanical arm and video recorders , etc. ) of the increasingly popular use of the stepper motor also began surge. Whether in industrial,

15、military , medical, automotive or entertainment industry , as long as a piece of the object needs to be moved from one location to another , the stepper motor will certainly come in handy. Stepper motors have many shapes

16、 </p><p>　　Stepping motor is also called a stepper , which uses the principle of electromagnetic , mechanical energy is converted to electrical energy ,A stepper motor is wound on the motor fixing part - the

17、 stator coils driven alveolar . Typically , a ring-shaped metal wire called a solenoid winding , and in the motor , the teeth around the winding wire is called the coil or phase .</p><p>　　4. selection metho

18、d</p><p>　　Stepper motor and drive selection methods :</p><p>　　Select motor installation specifications : as 57,86,110 , the main requirements for the moment .</p><p>　　According t

19、o the motor current , supply voltage breakdown and select the drive .</p><p>　　Determine how much torque is required : static torque stepper motor is to choose one of the main parameters. Load is large, requ

20、ires the use of high torque motor. Indicators big moment , the motor appearance is also large.</p><p>　　Determine motor speed : high speed requirements , should be selected phase current is larger , smaller

21、inductor motors to increase power input. And select the drive when using higher supply voltages.</p><p>　　Determine the precision positioning requirements and vibration aspects of the case : to determine whe

22、ther the required segments, the number of segments required .</p><p>　　5.major categories</p><p>　　There are four main types of stepper motors in the structure :Reaction (Variable Reluctance, VR

23、).permanent magnet (Permanent Magnet, PM) .hybrid (Hybrid Stepping, HS).single-phase stepping motor. </p><p>　　Press the stator windings to points , a total of two-phase , three-phase and five equal series.

24、Most popular is the two-phase hybrid stepping motor , accounting for more than 97 % market share , the reason is the high cost , coupled with good results after the breakdown of the drive. This kind of basic step angle o

25、f the motor 1.8 ° / step , half step back coupled with the drive to reduce the step angle of 0.9 °, coupled with sub-drive after its step angle can be broken up to 256 -fold (0.007 ° /</p><p>

26、　　6.features characteristic</p><p>　　The main features：</p><p>　　(1) the general accuracy of the stepper motor step angle of 3-5 % , and does not accumulate.</p><p>　　(2) the appear

27、ance of the stepper motor maximum temperature allowed .First, make a stepper motor temperature magnetic motor demagnetization ,Resulting in the loss of torque down even further , so the maximum temperature of the motor s

28、hould be allowed depending on the appearance of magnetic motor demagnetization points ; generally speaking, magnetic demagnetization points above 130 degrees Celsius , and some even as high as 200 degrees Celsius above ,

29、 so the stepper motor surface temperature at 8</p><p>　　(3) stepper motor torque will increase with the speed of decline .When the stepping motor rotates , the inductance of the motor windings of each phase

30、will form a counter electromotive force ; the higher the frequency, the greater the back EMF . In its role, the motor with frequency ( or speed ) increases the phase current is reduced , resulting in decreased torque .&l

31、t;/p><p>　　(4) the stepper motor can operate normally at low , but if more than a certain speed will not start , accompanied by howling.Stepper motor has a technical parameter : load starting frequency , ie ste

32、pper motor under no-load conditions to start the normal pulse frequency , if the pulse frequency is higher than this value, the motor does not start properly , you may lose steps or stall . Under a load , the starting fr

33、equency should be lower . If you want the motor to achieve high-speed rotation , </p><p>　　Key Features：</p><p>　　(1) phase stepper motor step angle of 7.5 degrees, 360 degrees around , you need

34、 to complete the 48 pulses .</p><p>　　(2) A stepping motor can be operated must be added before the drive , the drive signal is a pulse signal to be no pulse when the stepping motor is stationary, if the add

35、ition of a suitable pulse signal will at a certain angle ( called a step angle ) is rotated. Rotational speed and the pulse frequency is proportional to .</p><p>　　(3) change the order of the pulse , you can

36、 easily change the direction of rotation .</p><p>　　(4) stepper motor with instant start and stop the rapid superior characteristics .</p><p>　　Therefore , printers , plotters , robotics and oth

37、er equipment to the stepper motor driven core .</p><p>　　7. advantages and defects</p><p>　　Advantage:</p><p>　　(1) excellent response from the stop and reverse ;</p><p&g

38、t;　　(2) the angle of rotation of the motor is proportional to the number of pulses ;</p><p>　　(3) when the motor is stopped with a maximum torque ( when winding excitation time ) ;</p><p>　　(4)

39、since the speed is proportional to the pulse frequency , and thus a relatively wide speed range.</p><p>　　(5) only the load can be connected directly to a very low speed synchronous rotation on the shaft of

40、the motor ;</p><p>　　(6) the accuracy of each step in the three percent to five percent , but the error will not accumulate to the next step and thus a better position accuracy and repeatability movement ;&l

41、t;/p><p>　　(7) since there is no brush , high reliability, and therefore the life of the motor depends only on bearing life ;</p><p>　　(8) only the response of the motor is determined by the digita

42、l input pulse , which can be open-loop control, which makes the structure of the motor can be relatively simple and cost control ;</p><p><b>　　Defect:</b></p><p>　　(1) it is difficul

43、t to obtain a large torque ;</p><p>　　(2) the high speed operation is difficult ;</p><p>　　(3) if not properly controlled prone resonance ;</p><p>　　(4) there is no advantage, low e

44、nergy efficiency in terms of volume and weight ;</p><p>　　(5) more than the load will destroy the synchronization , will be issued when the high speed vibration and noise .</p><p>　　8.The defini

45、tion of PLC</p><p>　　PLC Introduce plc Introduction Programmable controller is the first in the late 1960s in the United States, then called Plc programmable logic controller (Programmable Logic Controller)

46、is used to replace relays. For the implementation of the logical judgment, timing, sequence number, and other control functions. The concept is presented Plc General Motors Corporation. Plc and the basic design is the co

47、mputer functional improvements, flexible, generic and other advantages and relay control syste</p><p>　　Programmable controller is a digital electronic computers operating system. It adopts a kind of program

48、mable memory, for its internal storage procedures, the implementation of logical, sequential control, timing, counting and arithmetic operations such as user-oriented instructions, and through digital or analog input con

49、trol various types of machinery or production process. </p><p>　　9.PLC applications need to pay attention to the problems</p><p>　　PLC is an automation controls for industrial equipment, general

50、ly do not need to take measures, it can be directly used in industrial environments. However, despite the high reliability as mentioned above, strong anti-interference ability, but when the production environment is too

51、harsh, especially strong electromagnetic interference, or installed incorrectly, it may cause error or operator error, resulting in incorrect nput and of the wrong output, this will result in loss of control and malfu<

52、;/p><p>　　中文譯文： </p><p>　　步進電機的PLC控制</p><p>　　步進電機是一種將電脈沖信號轉(zhuǎn)化為角位移的執(zhí)行機構(gòu)。通俗的來講：當(dāng)驅(qū)動程序接收到一個步進脈沖信號時，把驅(qū)動步進電機的軸旋轉(zhuǎn)為一個固定的角度（步進角）?？梢酝ㄟ^控制脈沖的個數(shù)來進行控制角位移，從而實現(xiàn)準(zhǔn)確定位的目的;于此同時，也可以

53、通過控制脈沖頻率來控制電機的旋轉(zhuǎn)速度和加速度來實現(xiàn)速度控制的目的。</p><p><b>　　1.基本介紹</b></p><p>　　步進電機作為執(zhí)行元件是機電一體化的關(guān)鍵產(chǎn)品之一，廣泛的應(yīng)用于各種自動化控制系統(tǒng)中。隨著微電子和計算機技術(shù)的發(fā)展，步進電機的需求量開始增長，在各種國民經(jīng)濟領(lǐng)域中都有應(yīng)用。</p><p>　　雖然步進電機已經(jīng)被

54、廣泛地應(yīng)用，但步進電機并不能像普通的直流電機以及交流電機那樣在常規(guī)下使用。它必須由雙環(huán)形脈沖信號、功率驅(qū)動電路等組成控制系統(tǒng)方可使用。因此用好步進電機卻并不是容易的，它涉及到機械、電機、電子及計算機等許多專業(yè)知識。</p><p>　　步進電機是一種感應(yīng)電機.將直流電變成分時供電，多相時序控制電流，用這種電流為步進電機供電，步進電機才可以正常的工作，驅(qū)動器就是為步進電機分時供電的，多相時序控制器。</p&g

55、t;<p><b>　　2.工作原理</b></p><p>　　電機的轉(zhuǎn)子通常是永磁體，當(dāng)電流流過定子繞組的時候，定子繞組會產(chǎn)生一個矢量磁場。磁場會帶動轉(zhuǎn)子旋轉(zhuǎn)一個角度以使得轉(zhuǎn)子的磁場方向一至于定子的磁場方向。當(dāng)定子的矢量磁場旋轉(zhuǎn)了一角度時轉(zhuǎn)子也隨著磁場轉(zhuǎn)一角度。每輸進一個電脈沖時，電動機會轉(zhuǎn)動一個角度并且向前進一步。其輸出的角位移正比于輸入的脈沖數(shù)、轉(zhuǎn)速正比于脈沖頻率。只要

56、改變繞組通電順序電機就會反轉(zhuǎn)。因此，使用控制脈沖數(shù)量、頻率及電機各相繞組的通電順序來進行控制步進電機的轉(zhuǎn)動。步進電機通常追求定位的精度和力矩的輸出，效率較低下，電流通常會比較大，并且諧波的成分比較高，其電流交變的頻率也會隨著轉(zhuǎn)速而改變，因此步進電機普遍存在發(fā)熱甚至于情況比一般的交流電機嚴(yán)重。</p><p><b>　　3.主要構(gòu)造</b></p><p>　　早在1

57、920年時人們就已經(jīng)開始使用這種電機。隨著嵌入式系統(tǒng)(例如打印機、磁盤驅(qū)動器、玩具、雨刷、震動尋呼機、機械手臂和錄像機等)的逐漸流行，步進電機的使用也開始增加。不管是在工業(yè)、軍事、醫(yī)療、汽車或者娛樂業(yè)中，只要把一件物品從一個位置移到另一個位置時，步進電機就將能被派上用場。步進電機存在著許多種形狀和尺寸，但是不管形狀和尺寸如何，它們都可以被類為兩種：可變磁阻步進電機和永磁步進電機。</p><p>　　步進電機也被

58、稱為步進器，它利用電磁學(xué)原理，把電能轉(zhuǎn)變?yōu)闄C械能。步進電機是由一組纏繞在電機固定部件--定子齒槽上的線圈驅(qū)動的。通常情況下，一個被繞成圈狀的金屬絲稱為螺線管，并且在電機中，繞在齒上的金屬絲被叫做線圈、或相。</p><p><b>　　4.選擇方法</b></p><p>　　驅(qū)動器步進電機和驅(qū)動器的選擇方法：</p><p>　　選擇電機的安

59、裝規(guī)格：例如57、86、110，主要與力矩要求相關(guān)。</p><p>　　根據(jù)電機的電流、供電電壓來選擇驅(qū)動器。</p><p>　　判斷所需多大的力矩：選擇步進電機的主要參數(shù)之一是靜扭矩。當(dāng)負載大時，需使用大力矩電動機。而當(dāng)力矩指標(biāo)大時，電機的外形也會變大。</p><p>　　判斷電機的運轉(zhuǎn)速度：轉(zhuǎn)速要求較高時，應(yīng)選擇相電流較大、電感較小的電機來增加功率輸入。并

60、且在選擇驅(qū)動器的時候采用高的供電電壓。</p><p>　　確定定位精度和振動方面的要求情況：判斷是細分需否，細分需多少。</p><p><b>　　5.主要分類</b></p><p>　　步進電機在構(gòu)造上有4種主要類型：反應(yīng)式（Variable Reluctance，VR）、永磁式（Permanent Magnet,PM）混合式（Hybr

61、id Stepping,HS）.單相式步進電機</p><p>　　按照定子上繞組來分類，共有二相、三相和五相等系列。受歡迎最多的是兩相混合式步進電機，大約占據(jù)超過97%的市場份額，其原因是性價比高，配上細分驅(qū)動器后效果良好。這種類型的電機基本步距角是1.8°/步，搭配上半步驅(qū)動器之后，步距角減少為0.9°，配上細分驅(qū)動器后步距角可以細分達到256倍（0.007°/微步）。由于摩擦力

62、和制造精度等其它原因，實際控制精度較低。同一種步進電機可搭配不同細分的驅(qū)動器來改變精度和效果。</p><p><b>　　特點特性</b></p><p><b>　　主要特點：</b></p><p>　　（1）一般步進電機的精度是步進角的3-5%，而且不會累積。</p><p>　　（2）步進

63、電機外表允許的最高溫度。首先，其會造成電機的磁性材料退磁，從而導(dǎo)致力矩下降甚至?xí)Р剑噪姍C外表所允許的最高溫度應(yīng)該取決于不同的電機磁性材料的退磁點；一般的來說，磁性材料的退磁點大概在攝氏130度之上，甚至?xí)哌_攝氏200度乃至以上，所以步進電機外表的溫度在攝氏80-90度之間是完全正常的。</p><p>　?。?）步進電機的力矩會隨著轉(zhuǎn)速的增加而減少。當(dāng)步進電機轉(zhuǎn)動時，電機的各相繞組的電感會形成一個反向的電

64、動勢；其頻率越高，反向電動勢越大。在其作用下，電機會隨著頻率（或速度）的增大而使相電流減小，從而導(dǎo)致力矩下降。</p><p>　?。?）步進電機可以正常的運轉(zhuǎn)在低速的情況下,但如果高于一定的速度將無法啟動,并伴有嘯叫聲的出現(xiàn)。步進電機有一個技術(shù)參數(shù)：初始啟動頻率，即步進電機在初始情況下能夠正常啟動的脈沖頻率，如果脈沖頻率比此值高，電機將無法正常啟動，可能會產(chǎn)生失步或堵轉(zhuǎn)。在有負載的情況下，啟動頻率應(yīng)該更低。如果

65、想要使電機實現(xiàn)高速轉(zhuǎn)動，脈沖頻率應(yīng)具有加速的過程，也就是啟動頻率較低，并且升到所希望的高頻按一定加速度（電機轉(zhuǎn)速從低速升到高速）。步進電動機隨其顯著的特點在數(shù)字化制造時代發(fā)揮著重大的用途。伴隨著不同的數(shù)字化技術(shù)的發(fā)展和電機本身技術(shù)的提高，步進電機將會應(yīng)用于更多的領(lǐng)域。</p><p><b>　　主要特性：</b></p><p>　?。?）三相步進電機步進角度是7.

66、5度，一圈360度，需要48個脈沖完成。</p><p>　?。?）步進電機在運轉(zhuǎn)前必須添加驅(qū)動，驅(qū)動信號必須為脈沖信號。沒有脈沖的時候步進電機靜止，如果加入適當(dāng)?shù)拿}沖信號就會以一定的角度（稱為步角）轉(zhuǎn)動。轉(zhuǎn)動的速度正比于脈沖的頻率。</p><p>　?。?）改變脈沖的順序，可以方便的改變轉(zhuǎn)動的方向。</p><p>　　（4）步進電機有著瞬間啟動和急速停止的優(yōu)良

67、特性。</p><p>　　所以，打印機、繪圖儀、機器人等設(shè)備的動力核心都是步進電機。</p><p><b>　　7.優(yōu)缺點</b></p><p><b>　　優(yōu)點：</b></p><p>　?。?）起停和反轉(zhuǎn)響應(yīng)時都比較優(yōu)秀；</p><p>　?。?）電機旋轉(zhuǎn)的角度

68、與脈沖數(shù)成正比；</p><p>　?。?）當(dāng)電機停轉(zhuǎn)時具有最大的轉(zhuǎn)矩（當(dāng)繞組激磁時）；</p><p>　　（4）因為速度正比于脈沖頻率，所以有比較寬的轉(zhuǎn)速范圍。</p><p>　?。?）把負載直接連接到電機的轉(zhuǎn)軸上時也可以非常低速的同步旋轉(zhuǎn)；</p><p>　?。?）每步的精度都在3%—5%，而且不會將這一步的誤差累積到下一步因所以有

69、很好的位置精度和運動重復(fù)性；</p><p>　　（7）由于沒有電刷，而可靠性較高，所以電機的壽命取決于軸承的壽命；</p><p>　?。?）電機的響應(yīng)是由數(shù)字輸入脈沖確定，所以可采用開環(huán)控制，這會使電機的結(jié)構(gòu)比較簡單并且容易控制成本；</p><p><b>　　缺點：</b></p><p>　?。?）難以獲得較大

70、的轉(zhuǎn)矩；</p><p>　?。?）難以運轉(zhuǎn)到較高的轉(zhuǎn)速；</p><p>　　（3）如果控制不適時易產(chǎn)生共振；</p><p>　　（4）在體積重量方面沒有優(yōu)勢且能源的利用率較低；</p><p>　　（5）超過負載時會破壞同步，高速工作時會發(fā)出振動和噪聲。</p><p><b>　　8.PLC的定義&l

71、t;/b></p><p>　　在60年代末的美國首先出現(xiàn)了可編程控制器是，當(dāng)時叫可編程邏輯控制器PLC（Programmable Logic Controller），其作用是用來替代繼電器。以執(zhí)行邏輯判斷、計時、計數(shù)等順序控制功能。提出PLC概念的是美國通用汽車公司。PLC的基本設(shè)計思想是將計算機功能完善、靈活、通用等優(yōu)點和繼電器控制系統(tǒng)的簡單易懂、操作方便、價格便宜等優(yōu)點結(jié)合起來，控制器的硬件是標(biāo)準(zhǔn)的、

72、通用的。根據(jù)實際應(yīng)用對象，把控制內(nèi)容編成軟件寫入控制器的用戶程序存儲器內(nèi),使控制器和被控對象連接方便。</p><p>　　可編程控制器是一種運用數(shù)字運算進行操作的電子系統(tǒng)。其采用一類可編程的存儲器，用于其內(nèi)部存儲程序，執(zhí)行邏輯運算,順序控制，定時，計數(shù)與算術(shù)操作等面向用戶的指令，通過數(shù)字或模擬式輸入/輸出來進行控制各種類型的機械或生產(chǎn)的過程。</p><p>　　9.PLC應(yīng)用中需要注意

73、的問題</p><p>　　PLC是種用于工業(yè)生產(chǎn)自動化控制的設(shè)備,一般不用采取什么措施,它可以在工業(yè)環(huán)境中直接使用。然而,盡管其所描述的可靠性較高,抗干擾能力較強,但是在生產(chǎn)環(huán)境太過于惡劣的時候,電磁干擾尤其強烈,以及安裝不當(dāng)就可能造成程序錯誤或運算錯誤,從而導(dǎo)致誤輸入并且會引起誤輸出,這將會造成設(shè)備的失控和誤動作,不能保證PLC的正常運行,要想提高PLC控制系統(tǒng)可靠性,一方面要求PLC生產(chǎn)廠家提高其設(shè)備的抗干