| 刘慧英， 范宝山 |
（西北工业大学 自动化学院，陕西 西安 710129） |
 摘要：在很多应用场合中，要求多台步进电机在运行目标距离不同的情况下，能同时启动、加速、高速、减速、制动停止。首先搭建了系统的主要硬件模块，在分析STM32产生PWM脉冲控制步进电机原理的前提下，提出了一种通过程序按照设定要求不断自动改变STM32中TIM预分频值的方法，实现多步进电机同步协调工作。然后对整个系统建立数学模型，通过理论分析和仿真验证，证明该系统能够满足所要求的性能指标。最后把该系统应用到实际环境中，通过对测量数据的分析，进一步验证了系统具有良好的稳态性能和动态性能。 |
| 关键词：多步进电机；STM32；预分频值；同步协调；控制系统模型 |
| TP273；TM301.2文献标识码：A文章编号：1000-8829(2010)06-0054-04 |
| Study of Control System of Multiple Step Motors Based on STM32 |
| LIU Hui-ying, FAN Bao-shan |
| (School of Automation,Northwestern Polytechnical University,Xi’an 710129,China) |
| Abstract：In many applications,under the circumstances of different target distances,more than one step motor are required to start,accelerate,high speed,decelerate,brake to stop simultaneously.Firstly,major hardware modules of the system are built.Under the premise of analyzing the theory of step motor control by PWM produced by STM32,a method solving the problem of multiple step motors operating synchronously and coordinately,that continually and automatically changes the prescaler value of STM32 TIM according to the settings by program,is raised.Then,the whole system mathematical model was established.The system can meet the required property indicators by demonstration of theoretical analysis and simulation.Finally,the system was applied to physical environment.The steady-state and dynamic properties are further proved to be good through analysis of the measured data. |
| Key words：multiple step motors;STM32;prescaler value;synchronously and coordinately;model of control system |
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