Stepper Motors code, circuits,
& construction
摘錄自 http://www.tigoe.net/pcomp/code/circuits/motors/stepper-motors/
Stepper
Motors
A stepper motor
is a motor controlled by a series of electromagnetic coils. The center shaft
has a series of magnets mounted on it, and the coils surrounding the shaft are
alternately given current or not, creating magnetic fields which repulse or
attract the magnets on the shaft, causing the motor to rotate.
This design
allows for very precise control of the motor: by proper pulsing, it can be
turned in very accurate steps of set degree increments (for example, two-degree
increments, half-degree increments, etc.). They are used in printers, disk
drives, and other devices where precise positioning of the motor is necessary.
There are two
basic types of stepper motors, unipolar steppers and bipolar steppers.
Unipolar Stepper
Motors(一般有5或6條接線)
The unipolar
stepper motor has five or six wires and four coils (actually two coils divided
by center connections on each coil). The center connections of the coils are
tied together and used as the power connection. They are called unipolar steppers
because power always comes in on this one pole.
Bipolar stepper
motors(一般僅有4條接線)
The bipolar
stepper motor usually has four wires coming out of it. Unlike unipolar
steppers, bipolar steppers have no common center connection. They have two
independent sets of coils instead. You can distinguish them from unipolar
steppers by measuring the resistance between the wires. You should find two
pairs of wires with equal resistance. If you’ve got the leads of your meter
connected to two wires that are not connected (i.e. not attached to the same
coil), you should see infinite resistance (or no continuity).
Like other
motors, stepper motors require more power than a microcontroller can give them,
so you’ll need a separate power supply for it. Ideally you’ll know the voltage
from the manufacturer, but if not, get a variable DC power supply, apply the
minimum voltage (hopefully 3V or so), apply voltage across two wires of a coil
(e.g. 1 to 2 or 3 to 4) and slowly raise the voltage until the motor is
difficult to turn. It is possible to damage a motor this way, so don’t go too
far. Typical voltages for a stepper might be 5V, 9V, 12V, 24V. Higher than 24V
is less common for small steppers, and frankly, above that level it’s best not
to guess.
To control the stepper, apply voltage
to each of the coils in a specific sequence. The sequence would go like this:
|
Step
|
wire 1
|
wire 2
|
wire 3
|
wire 4
|
|
1
|
High
|
low
|
high
|
low
|
|
2
|
low
|
high
|
high
|
low
|
|
3
|
low
|
high
|
low
|
high
|
|
4
|
high
|
low
|
low
|
high
|
To control a
unipolar stepper, you use a Darlington Transistor Array. The stepping sequence
is as shown above. Wires 5 and 6 are wired to the supply voltage.
To control a
bipolar stepper motor, you give the coils current using to the same steps as
for a unipolar stepper motor. However, instead of using four coils, you use the
both poles of the two coils, and reverse the polarity of the current.
The easiest way
to reverse the polarity in the coils is to use a pair of H-bridges. The L293D
dual H-bridge has two H-bridges in the chip, so it will work nicely for this
purpose.
Once you have the
motor stepping in one direction, stepping in the other direction is simply a
matter of doing the steps in reverse order.
Knowing the
position is a matter of knowing how many degrees per step, and counting the
steps and multiplying by that many degrees. So for examples, if you have a
1.8-degree stepper, and it’s turned 200 steps, then it’s turned 1.8 x 200
degrees, or 360 degrees, or one full revolution.
Two-Wire Control
Thanks to
Sebastian Gassner for ideas on how to do this.
In every step of the sequence, two
wires are always set to opposite polarities. Because of this, it’s possible to
control steppers with only two wires instead of four, with a slightly more
complex circuit. The stepping sequence is the same as it is for the two middle
wires of the sequence above:
|
Step
|
wire 1
|
wire 2
|
|
1
|
low
|
high
|
|
2
|
high
|
high
|
|
3
|
high
|
low
|
|
4
|
low
|
low
|
The circuits for
two-wire stepping are as follows:
Unipolar stepper
two-wire circuit:
Biolar stepper
two-wire circuit:
Programming the
Microcontroller to Control a Stepper
Because both
unipolar and bipolar stepper motors are controlled by the same stepping
sequence, we can use the same microcontroller code to control either one. In
the code examples below, connect either the Darlington transistor array (for
unipolar steppers) or the dual H-bridge (for bipolar steppers) to the pins of
your microcontroller as described in each example. There is a switch attached
to the microcontroller as well. When the switch is high, the motor turns one direction.
When it’s low, it turns the other direction.
The examples
below use the 4-wire stepping sequence. A two-wire control program is shown for
the Wiring/Arduino Stepper library only.
Wire pins 9-12 of
the BX-24 to inputs 1-4 of the Darlington transistor array, respectively. If
you’re using the PicBasic Pro code, it’s designed for a PIC 40-pin PIC such as
the 16F877 or 18F452. Use pins PORTD.0 through PORTD.3, respectively. If you’re
using a smaller PIC, you can swap ports, as long as you use the first four pins
of the port.
Note that the
wires read from left to right. Their numbers don’t correspond with the bit
positions. For example, PORTD.3 would be wire 1, PORTD.2 would be wire 2,
PORTD.1 would be wire 3, and PORTD.0 would be wire 4. On the BX-24, pin 9 is
wire 1, pin 10 is wire 2, and so forth.
Wiring Code (for Arduino board):
This example uses the Stepper
library for Wiring/Arduino. It was tested using the 2-wire circuit.
To change to the 4-wire circuit, just add two more motor pins, and change the
line that initalizes the Stepper library like so:
Stepper myStepper(motorSteps,
motorPin1,motorPin2,motorPin3,motorPin4);
/*
Stepper Motor Controller
language: Wiring/Arduino
This program drives a unipolar or
bipolar stepper motor.
The motor is attached to digital
pins 8 and 9 of the Arduino.
The motor moves 100 steps in one
direction, then 100 in the other.
Created 11 Mar. 2007
Modified 7 Apr. 2007
by Tom Igoe
*/
// define the pins that the motor is attached to. You can use
// any digital I/O pins.
#include <Stepper.h>
#define motorSteps 200 // change
this depending on the number of steps
// per
revolution of your motor
#define motorPin1 8
#define motorPin2 9
#define ledPin 13
// initialize of the Stepper library:
Stepper myStepper(motorSteps, motorPin1,motorPin2);
void setup() {
// set the motor speed at 60 RPMS:
myStepper.setSpeed(60);
// Initialize the Serial port:
Serial.begin(9600);
// set up the LED pin:
pinMode(ledPin, OUTPUT);
// blink the LED:
blink(3);
}
void loop() {
// Step forward 100 steps:
Serial.println("Forward");
myStepper.step(100);
delay(500);
// Step backward 100 steps:
Serial.println("Backward");
myStepper.step(-100);
delay(500);
}
// Blink the reset LED:
void blink(int howManyTimes) {
int i;
for (i=0; i< howManyTimes; i++)
{
digitalWrite(ledPin, HIGH);
delay(200);
digitalWrite(ledPin, LOW);
delay(200);
}
}
