外文翻译--步进电机的工作原理

毕业设计(论文)外文资料翻译系部： 机械工程 专 业： 机械工程及自动化 姓 名： 学 号： 外文出处： Nikravesh P E/ Mechanical Engineering Design/ McGraw-Hill，2006 附 件： 1/外文资料翻译译文；2/外文原文。 指导教师评语：该该篇外文资料内容与课题有一定的相关性，翻译与外文资料的内容基本相符，结构基本完整，语言也比较通顺。成绩评定为中 签名： 年 月 日注：请将该封面与附件装订成册。附件1：外文资料翻译译文步进电机的工作原理步进电机是将电脉冲信号转变为角位移或线位移的开环控制元件。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，即给电机加一个脉冲信号，电机则转过一个步距角。这一线性关系的存在，加上步进电机只有周期性的误差而无累积误差等特点。使得在速度、位置等控制领域用步进电机来控制变的非常的简单。虽然步进电机已被广泛地应用，但步进电机并不能象普通的直流电机，交流电机在常规下使用。它必须由双环形脉冲信号、功率驱动电路等组成控制系统方可使用。因此用好步进电机却非易事，它涉及到机械、电机、电子及计算机等许多专业知识。 目前/生产步进电机的厂家的确不少，但具有专业技术人员，能够自行开发，研制的厂家却非常少，大部分的厂家只一、二十人，连最基本的设备都没有。仅仅处于一种盲目的仿制阶段。这就给用户在产品选型、使用中造成许多麻烦。签于上述情况，我们决定以广泛的感应子式步进电机为例。叙述其基本工作原理。望能对广大用户在选型、使用、及整机改进时有所帮助。二、感应子式步进电机工作原理（一）反应式步进电机原理由于反应式步进电机工作原理比较简单。下面先叙述三相反应式步进电机原理。1、结构：电机转子均匀分布着很多小齿，定子齿有三个励磁绕阻，其几何轴线依次分别与转子齿轴线错开。0、1/3、2/3/（相邻两转子齿轴线间的距离为齿距以表示），即A与齿1相对齐，B与齿2向右错开1/3，C与齿3向右错开2/3，A与齿5相对齐，（A就是A，齿5就是齿1）2、旋转：如A相通电，B，C相不通电时，由于磁场作用，齿1与A对齐，（转子不受任何力以下均同）。如B相通电，A，C相不通电时，齿2应与B对齐，此时转子向右移过1/3，此时齿3与C偏移为1/3，齿4与A偏移（-1/3）=2/3。如C相通电，A，B相不通电，齿3应与C对齐，此时转子又向右移过1/3，此时齿4与A偏移为1/3对齐。如A相通电，B，C相不通电，齿4与A对齐，转子又向右移过1/3这样经过A、B、C、A分别通电状态，齿4（即齿1前一齿）移到A相，电机转子向右转过一个齿距，如果不断地按A，B，C，A通电，电机就每步（每脉冲）1/3/向右旋转。如按A，C，B，A通电，电机就反转。由此可见：电机的位置和速度由导电次数（脉冲数）和频率成一一对应关系。而方向由导电顺序决定。不过，出于对力矩、平稳、噪音及减少角度等方面考虑。往往采用A-AB-B-BCC-CA-A这种导电状态，这样将原来每步1/3改变为1/6。甚至于通过二相电流不同的组合，使其1/3变为1/12，1/24，这就是电机细分驱动的基本理论依据。不难推出：电机定子上有m相励磁绕阻，其轴线分别与转子齿轴线偏移1/m/2/m(m-1)/m/1。并且导电按一定的相序电机就能正反转被控制这是步进电机旋转的物理条件。只要符合这一条件我们理论上可以制造任何相的步进电机，出于成本等多方面考虑，市场上一般以二、三、四、五相为多。 3、力矩：电机一旦通电，在定转子间将产生磁场（磁通量）当转子与定子错开一定角度产生力F与（d/d）成正比 S 其磁通量=Br*S Br为磁密，S为导磁面积 F与L*D*Br成正比L为铁芯有效长度，D为转子直径 Br=NI/R NI为励磁绕阻安匝数（电流乘匝数）R为磁阻。力矩=力*半径力矩与电机有效体积*安匝数*磁密 成正比（只考虑线性状态）因此，电机有效体积越大，励磁安匝数越大，定转子间气隙越小，电机力矩越大，反之亦然。（二）感应子式步进电机1、特点：感应子式步进电机与传统的反应式步进电机相比，结构上转子加有永磁体，以提供软磁材料的工作点，而定子激磁只需提供变化的磁场而不必提供磁材料工作点的耗能，因此该电机效率高，电流小，发热低。因永磁体的存在，该电机具有较强的反电势，其自身阻尼作用比较好，使其在运转过程中比较平稳、噪音低、低频振动小。感应子式步进电机某种程度上可以看作是低速同步电机。一个四相电机可以作四相运行，也可以作二相运行。（必须采用双极电压驱动），而反应式电机则不能如此。例如：四相，八相运行（A-AB-B-BC-C-CD-D-DA-A）完全可以采用二相八拍运行方式/不难发现其条件为C=/D=/ 一个二相电机的内部绕组与四相电机完全一致，小功率电机一般直接接为二相，而功率大一点的电机，为了方便使用，灵活改变电机的动态特点，往往将其外部接线为八根引线（四相），这样使用时，既可以作四相电机使用，可以作二相电机绕组串联或并联使用。2、 分类感应子式步进电机以相数可分为：二相电机、三相电机、四相电机、五相电机等。以机座号（电机外径）可分为：42BYG(BYG为感应子式步进电机代号)、57BYG、86BYG、110BYG、（国际标准），而像70BYG、90BYG、130BYG等均为国内标准。3、电机的静态指标术语相数：产生不同对极N、S磁场的激磁线圈对数。常用m表示。拍数：完成一个磁场周期性变化所需脉冲数或导电状态用n表示，或指电机转过一个齿距角所需脉冲数，以四相电机为例，有四相四拍运行方式即AB-BC-CD-DA-AB，四相八拍运行方式即 A-AB-B-BC-C-CD-D-DA-A/步距角：对应一个脉冲信号，电机转子转过的角位移用表示。=360度（转子齿数J*运行拍数），以常规二、四相，转子齿为50齿电机为例。四拍运行时步距角为=360度/（50*4）=1/8度（俗称整步），八拍运行时步距角为=360度/（50*8）=0/9度（俗称半步）。定位转矩：电机在不通电状态下，电机转子自身的锁定力矩（由磁场齿形的谐波以及机械误差造成的）静转矩：电机在额定静态电作用下，电机不作旋转运动时，电机转轴的锁定力矩。此力矩是衡量电机体积（几何尺寸）的标准，与驱动电压及驱动电源等无关。虽然静转矩与电磁激磁安匝数成正比，与定齿转子间的气隙有关，但过份采用减小气隙，增加激磁安匝来提高静力矩是不可取的，这样会造成电机的发热及机械噪音。4、 步进电机动态指标及术语：4/1、步距角精度：步进电机每转过一个步距角的实际值与理论值的误差。用百分比表示：误差/步距角*100%。不同运行拍数其值不同，四拍运行时应在5%之内，八拍运行时应在15%以内。4/2、失步：电机运转时运转的步数，不等于理论上的步数。称之为失步。4/3、失调角：转子齿轴线偏移定子齿轴线的角度，电机运转必存在失调角，由失调角产生的误差，采用细分驱动是不能解决的。4/4、载起动频率：电机在某种驱动形式、电压及额定电流下，在不加负载的情况下，能够直接起动的最大频率。4/5、大空载的运行频率：电机在某种驱动形式，电压及额定电流下，电机不带负载的最高转速频率。4/6、运行矩频特性：电机在某种测试条件下测得运行中输出力矩与频率关系的曲线称为运行矩频特性，这是电机诸多动态曲线中最重要的，也是电机选择的根本依据。如下图所示：4/7、其它特性还有惯频特性、起动频率特性等。电机一旦选定，电机的静力矩确定，而动态力矩却不然，电机的动态力矩取决于电机运行时的平均电流（而非静态电流），平均电流越大，电机输出力矩越大，即电机的频率特性越硬。其中，曲线3电流最大、或电压最高/曲线1电流最小、或电压最低，曲线与负载的交点为负载的最大速度点。 要使平均电流大，尽可能提高驱动电压，使采用小电感大电流的电机。4/8、电机的共振点：步进电机均有固定的共振区域，二、四相感应子式步进电机的共振区一般在180-250pps之间（步距角1/8度）或在400pps左右（步距角为0/9度），电机驱动电压越高，电机电流越大，负载越轻，电机体积越小，则共振区向上偏移，反之亦然，为使电机输出电矩大，不失步和整个系统的噪音降低，一般工作点均应偏移共振区较多。4/9、电机正反转控制：当电机绕组通电时序为AB-BC-CD-DA或()时为正转，通电时序为DA-CA-BC-AB或()时为反转。一、 驱动控制系统组成使用、控制步进电机必须由环形脉冲，功率放大等组成的控制系统，其方框图如下：1、 脉冲信号的产生。脉冲信号一般由单片机或CPU产生，一般脉冲信号的占空比为0/3-0/4左右，电机转速越高，占空比则越大。2、 信号分配我厂生产的感应子式步进电机以二、四相电机为主，二相电机工作方式有二相四拍和二相八拍二种，具体分配如下：二相四拍为/步距角为1/8度；二相八拍为/步距角为0/9度。四相电机工作方式也有二种，四相四拍为AB-BC-CD-DA-AB/步距角为1/8度；四相八拍为AB-B-BC-C-CD-D-AB/(步距角为0/9度)。3、 功率放大功率放大是驱动系统最为重要的部分。步进电机在一定转速下的转矩取决于它的动态平均电流而非静态电流（而样本上的电流均为静态电流）。平均电流越大电机力矩越大，要达到平均电流大这就需要驱动系统尽量克服电机的反电势。因而不同的场合采取不同的的驱动方式，到目前为止，驱动方式一般有以下几种：恒压、恒压串电阻、高低压驱动、恒流、细分数等。为尽量提高电机的动态性能，将信号分配、功率放大组成步进电机的驱动电源。我厂生产的SH系列二相恒流斩波驱动电源与单片机及电机接线图如下：说明：CP 接CPU脉冲信号（负信号，低电平有效）OPTO 接CPU+5VFREE 脱机，与CPU地线相接，驱动电源不工作DIR 方向控制，与CPU地线相接，电机反转VCC 直流电源正端GND 直流电源负端 A 接电机引出线红线接电机引出线绿线 B 接电机引出线黄线接电机引出线蓝线 步进电机一经定型，其性能取决于电机的驱动电源。步进电机转速越高，力距越大则要求电机的电流越大，驱动电源的电压越高。电压对力矩影响如下：4、 细分驱动器在步进电机步距角不能满足使用的条件下，可采用细分驱动器来驱动步进电机，细分驱动器的原理是通过改变相邻（A，B）电流的大小，以改变合成磁场的夹角来控制步进电机运转的。二、 步进电机的应用（一）步进电机的选择步进电机有步距角（涉及到相数）、静转矩、及电流三大要素组成。一旦三大要素确定，步进电机的型号便确定下来了。1、步距角的选择电机的步距角取决于负载精度的要求，将负载的最小分辨率（当量）换算到电机轴上，每个当量电机应走多少角度（包括减速）。电机的步距角应等于或小于此角度。目前市场上步进电机的步距角一般有0/36度/0/72度（五相电机）、0/9度/1/8度（二、四相电机）、1/5度/3度 （三相电机）等。2 力矩的选择步进电机的动态力矩一下子很难确定，我们往往先确定电机的静力矩。静力矩选择的依据是电机工作的负载，而负载可分为惯性负载和摩擦负载二种。单一的惯性负载和单一的摩擦负载是不存在的。直接起动时（一般由低速）时二种负载均要考虑，加速起动时主要考虑惯性负载，恒速运行进只要考虑摩擦负载。一般情况下，静力矩应为摩擦负载的2-3倍内好，静力矩一旦选定，电机的机座及长度便能确定下来（几何尺寸）3 电流的选择静力矩一样的电机，由于电流参数不同，其运行特性差别很大，可依据矩频特性曲线图，判断电机的电流（参考驱动电源、及驱动电压）4 力矩与功率换算步进电机一般在较大范围内调速使用、其功率是变化的，一般只用力矩来衡量，力矩与功率换算如下：P= M =2n/60 P=2nM/60其P为功率单位为瓦，为每秒角速度，单位为弧度，n为每分钟转速，M为力矩单位为牛顿米P=2fM/400(半步工作)其中f为每秒脉冲数（简称PPS）(二)、应用中的注意点1、步进电机应用于低速场合-每分钟转速不超过1000转，（0/9度时6666PPS），最好在1000-3000PPS(0/9度)间使用，可通过减速装置使其在此间工作，此时电机工作效率高，噪音低。2、步进电机最好不使用整步状态，整步状态时振动大。3、由于历史原因，只有标称为12V电压的电机使用12V外，其他电机的电压值不是驱动电压伏值 ，可根据驱动器选择驱动电压（建议：57BYG采用直流24V-36V，86BYG采用直流50V/110BYG采用高于直流80V），当然12伏的电压除12V恒压驱动外也可以采用其他驱动电源， 不过要考虑温升。4、转动惯量大的负载应选择大机座号电机。5、电机在较高速或大惯量负载时，一般不在工作速度起动，而采用逐渐升频提速，一电机不失步，二可以减少噪音同时可以提高停止的定位精度。 6、高精度时，应通过机械减速、提高电机速度/或采用高细分数的驱动器来解决，也可以采用5相电机，不过其整个系统的价格较贵，生产厂家少，其被淘汰的说法是外行话。7、电机不应在振动区内工作，如若必须可通过改变电压、电流或加一些阻尼的解决。8、电机在600PPS（0/9度）以下工作，应采用小电流、大电感、低电压来驱动。9、应遵循先选电机后选驱动的原则。附件2：外文原文（复印件）Electrical work principles one stepFirst PrefaceWalk into the working principle step of generator to enter generator is will electrical pulse signal the open loop that changes angular displacement or displacement of the lines into control element/ Under not overloaded condition the rotational speed of generator / the location that stops depend on pulse number and the frequency of pulse signal/ and the influence that does not get load change gives generator to add a pulse signal/ generator has turned a angle of step pitch/ The existence of this linear relation/ add step into generator to have only the error of periodicity and wait for characteristic without accumulated error/ Make enter generator in the control fields such as speed and location with step to control change very simple/ Though/ step had been applied into generator extensively/ but walk into generator and can not resemble the ordinary machine of direct current/ the machine of alternating current is used under routine/ It must drive from double-loop shape pulse signal and power the composition control systematic sides such as circuit can use/ Therefore enter generator with good step but is not easy matter/ it is concerned with a lot of professional knowledges such as machinery/ generator/ electron and computer/ Now/ the production manufacturer that walks into generator is really a lot of/ but have professional technology people/ the manufacturer that can develop independently and develops is very few / the most of manufacturers a/ 20 persons/ most basic equipment of company has no/ Is in only a kind of blindly copy stage/ This gives user/ cause a lot of troubles in product type selecting and use/ Sign in above-mentioned condition/ we decide to enter generator with extensive inductor type step/ is regular/ Narrate its basically working principle/ Look over can for masses of user in type selecting and use/ and overall improvement help from time to tome/ Second Inductor type step enter generator working principle (1) reaction type step enter generator principle because of reaction type step enter generator working principle comparison simple/ Downstairs/ narrate three-phase reaction type step into generator principle first/ 1 / structure/ Generator rotor even distribution a lot little tooth/ stator tooth has 3 excitations to wind hindrance/ its geometry axis is differentiated in proper order with rotor tooth axis stagger/ 0 1/3 / 2/3 / ( the distance between adjacent two rotor tooth anises is pitch with show )/ A and tooth 1 are relatively even/ B and tooth 2 stagger towards the right 1/3 / C and tooth 3 stagger towards the right 2/3 / A Yu Chi 5Xiang Dui Qi / ( A is A / tooth 5 is tooth 1 ) Downstairs decide rotor spread out picture/2 / spin/ If A is interlinked/ is electrical/ B/ C appearance do not start electricity/ because of the role of magnetic field tooth 1 and A for even/ (rotor do not get any force below with)/ If B is interlinked / is electrical / A/ C appearance do not start electricity / tooth 2 should with B for even/ right now rotor have moved towards the right 1/3 / right now tooth 3 and C deflection is 1/3 / tooth 4 and A deflection ( - 1/3 ) = 2/3 / If C is interlinked / is electrical / A/ B appearance do not start electricity / tooth 3 should with C for even/ right now rotor have again moved towards the right 1/3 / right now tooth 4 and A deflection is 1/3 for even/ If A is interlinked / is electrical / B/ C appearance do not start electricity / tooth 4 and A for even/ rotor have again moved towards the right 1/3 such process A/ B/ C and A difference start electricity state/ tooth 4 ( former tooth 1 a toothed ) move A appearance/ generator rotor has turned a pitch towards the right/ if press A/ B/ C and A continuously start electricity / generator is each to walk ( each pulse ) 1/3 / spin towards the right/ If press A/ C/ B and A start electricity/ generator turns on the contrary/ Thus it can be seen/ Speed and the location of generator from conductive frequency (pulse number) with frequency become 11 corresponding relation/ And direction is decided by conductive order/ However stem from for moment/ steady/ noise and decreasing the aspect considerations such as angle/ Often adopt A-AB-B-BC C-CA-A this kind of conductive state/ so will originally each step 1/3 change is 1/6 / Pass through the different combination of 2 phase currents even/ make it 1/3 change is 1/12 / 1/24 / this is the basically theoretical basis that generator divides into drive carefully/ Do not not put to the market/ On generator stator have m appearance excitation wind hinderance/ its axis is differentiated with rotor tooth axis deflection 1/m/ 2/m ( m-1 )/m/ 1/ And conduct electricity press certain appearance order generator for can pros and cons turn controlled - - this is step the physical condition that spins into generator/ So long as according with this condition/ we can make any step of appearance into generator theoretically/ wait for various consideration in view of cost/ on market normally with 2/ 3/ 4 and 5 appearance is/ 3 / moment/ Generator once start eclectricity / between deciding rotor will produce magnetic field ( magnetic flux quantity ) to pawn rotor and stator stagger certain angle produce force F with ( d / d ) its S magnetic flux of direct ratio quantity = Br * S Br is magnetism dense/ S is Dao magnetic area F and L * D * Br L of direct ratio is core effective length/ D is rotor diameter Br = N*I/R N*I installs circle several( current multiply circle number) R for excitation to wind hinderance/ is magnetoresistive/ Moment = force * radius moment and generator effective volume * install circle number * magnetism dense become direct ratio ( consideration linear state ) therefore/ generator effective volume is the more big/ it is big that excitation install circle to count/ decide rotor between air gap the more little/ generator moment is the more big/ otherwise also Ran/ ( 2 ) inductor type step enter generator 1 / characteristic/ Inductor type step is compared with into the reaction type step of generator and tradition into generator/ on structure rotor add have permanent magnet/ with the working point that offers soft magnetic material / and stator excitation need to offer the magnetic field of change only and need not offer magnetic material work point consume can/ therefore this generator efficiency has little current high/ give out heat to low/ Because of the existence of permanent magnet/ this generator has / is more strong to turn over electromotive force/ its self damping role makes it be being steady in operation course fairly / has low noise / the vibration of low frequency little/ Inductor type step is certain into generator to be able to regard as at low speed synchronous generator on kind level/ A 4 appearance generator can make 4 appearance operation/ can also make 2 appearance operation/ ( must drive with ambipolar voltage )/ and reaction type generator can not be such/ For instance/ 4 appearance/ 8 appearance operation ( A-AB-B-BC-C-CD-D-DA-A ) can adopt 2 completely 8 appearance racket run modes/ Do not not discover its condition is C =/ D =/ A 2 4 and the internal winding of appearance generator appearance generator complete consistent/ small-power generator directly receive normally is 2 appearance/ and the generator of a little bit big power uses to facilitate / is flexible to change the development characteristic of generator/ is often its external wiring 8 leads ( 4 appearance )/ use can make 4 appearance generator use/ can make 2 appearance generator winding series connection or parallel connection use/ 2 Classify Inductor type step can divide into into generator with appearance number/ 2 appearance generator/ three-phase generator and 4 appearance generator and 5 appearance generator/ Can divide into with baseplate number ( generator external diameter )/ 42 BYG ( BYG is inductor type step enter generator code name ) / 57 BYG/ 86 BYG and 110 BYG / ( international standard )/ and like 70 BYG/ 90 BYG and 130 BYG etc/ is domestic standard/ 3 Walk into the index terminology of static quiet of generator Appearance number/ Produce difference for very the excitation coil logarithm of N and S magnetic field/ Show frequently with m/Number of beats/ The pulse number or conductive state needed by a complete periodicity change of magnetic field is expressed with n/ or point at generator to turn a pulse number needed by pitch angle/ with 4 appearance generator is regular/ have 4 4 appearance racket run modes AB-BC-CD-DA-AB/ 4 8 appearance racket run modes A-AB-B-BC-C-CD-D-DA-A/ The angle of step pitch/ In correspondence with a pulse signal the angular displacement that generator rotor has turned use show/ = 360 degrees ( rotor tooth several J * operation number of beats )/ with conventional 2 and 4 appearance and rotor tooth are regular for 50 tooth generators/ When 4 rackets run / the angle of step pitch is = 360 degree /s ( 50 * 4 ) = 1/8 degrees ( coarse name synchronization )/ when 8 rackets run / the angle of step pitch is = 360 degree /s ( 50 * 8 ) = 0/9 degrees ( coarse name half step )/ Torque positions/ Generator in do not start eclectricity state take off / the locking moment of generator rotor self ( from mechanical error as well as the harmonic of the tooth form of magnetic field cause ) quiet torque/ Generator is under the specified electrical role of static quiet / when generator does not make revolving sport/ the locking moment of generator runner shaft/ This moment is to measure driving voltage and the standard of generator volume (geometry size) and drive power source etc/ is unconcerned/ Though/ quiet torque and electromagnetism excitation install circle to count into direct ratio / are concerning the surely tooth air gap between rotor / but reduce stingy crack after adopting/ increase excitation to install circle raising quiet moment is not desirable/ so can cause generator give out heat and mechanical noise/ 4/ walk into generator development index and terminology/ 1 / the angle precision of step pitch/ Step worths the error with theoretical value into generator per the reality that has turned a angle of step pitch/ Show with percentage/ The error / angle of step pitch * 100%/ Its different operation value of number of beats is different/ when 4 rackets run / should be in 5% / when 8 rackets run / should be within 15%/ 2/ lose step/ The step that generator operation luck turns is counted/ do not be equal to theoretically step number/ Fit Zhi is to lose step/ 3 / imbalance angle/ The rotor tooth angle and generator of axis deflection stator tooth axis operate/ have imbalance angle surely/ by the error that imbalance angle produces/ with thin minute/ drive can not solve/ 4/ year starts frequency/ Generator in certain kind drive form/ voltage and specified current take off/ under the condition of not add load the biggest frequency that can directly start/ 5 / the running frequency of big weight empty/ Generator in certain kind drive form/ under voltage and specified current/ generator does not take the highest frequency of rotational speed of load/ 6 / operation rules frequency property/ Generator measures the curve of export moment and frequency relation in operation under certain kind test condition to be called as operation rules frequency property/ this is generator many development curve in most important/ it is also the basic basis of generator option/ Following picture shows/ Other property still has to spoil frequency property/ starts frequency property/ Generator once choose / the quiet moment of generator determines / and development moment otherwise/ the development moment of generator depends on the average current in generator operation ( instead of the current of static quiet )/ average current is the more big/ generator e

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