DSP-Based Research On Multi-Subdividing Actuator For Two-Phase Hybrid Stepping Motor

Stepping motor has been widely used in several fields such as computer peripheral equipment, modern office equipment, automatic machines, instruments, stuff conveying machinery, NC machine tools and industry robots, etc. Stepping motor subdividing actuating technology is a colligation of NC technology, integrated control and computer technology.This dissertation introduces the working principle of two kinds of composite stepping motors and electromagnetism network mode, induces magnetism chain and electromagnetism torque equations. From subdividing actuating principle and electromagnetism torque equation, the mathematical model of stepping motor during equal subdividing control period. By discussing and analyzing the subdividing actuating technology of pulse modulation, this dissertation puts forward the current self-subdividing actuating scheme based on DSP. The scheme automatically calculates subdividing steps of the stepping motor at different r/m by making full use of the on-off frequency of its actuating chip. Through the subdividing control of the stepping motor, the running characteristics and positioning accuracy of motor system are greatly improved.This dissertation describes the design, develop and realization method of self-subdividing actuating actuator for stepping motor which is based on TMS320LF2407ADSP chip. The content of this dissertation includes the following parts:1.Designing of system hardware electrocircuit, whose control core is DSP-TMS320LF2407A produced by TI Company. L298, a kind of double-H actuating chip is also used in this electrocircuit.2.Through the comparison of r/m of the electro-motor and the optimistic on-off frequency of chip L298, confirm the subdividing number of the angle between steps, so as to optimize the subdividing control of two two-phase stepping motor. The system software program is written in DSP- a special assemble language, and C Language.3.Designing of extended CAN controller interface and SCI series interface to enable the motor control system to intercommunicate and mutual-control with other embedded systems and upper-level computers.4.Accomplished the test of motors and actuators, providing the basic of further practical application.5. Analyzed the result of test, put forward the optimizing conception of this system and the way of research next step.