课程设计步进电机控制步进电机转速实时控制.doc

目 录一、任务与要求3二、设计方案3三、硬件设计原理4四、软件设计7五、调试9六、收获和体会9七、参考文献9步进电机转速实时控制一、任务与要求步进电机转速实时控制要求控制步进电机正转、反转，以及对步进电机的转速进行实时控制。1，用8086处理器和可编程并行接口芯片8255组成控制系统，掌握步进电机与8255的接口电路原理；2，理解步进电机正、反转工作原理和转速控制原理3，能编制出步进电机正、反转运行程序（以3种不同速度）；低速正转和高速反转程序，并写出较完整的设计程序二、设计方案根据课题要求，用8086处理器和可编程并行接口芯片8255组成控制系统，控制步进电机正转、反转以及转速控制，步进电机不能直接由8255驱动，而需要用相应的驱动芯片，因此，控制系统直接控制电机驱动即可控制步进电机。设计流程图如下：8086CPU8255步进电机步进电机驱动三、硬件原理与设计1、 系统硬件子系统的构成：本设计采用的步进电机为35BYJ46型四相八拍电机，电压为DC12V，其励磁线圈及其励磁顺序如下图及下表所示：123456785+4-3-2-1-2、步进电机工作原理以及与8255接口的关系：实验线路图3、工作原理：四相步进电机示意图见下左图，转子由一个永久磁铁构成，定子分别由4组绕组构成电机定子和转子示意图电气连接示意图 当S1连通电源后，定子磁场将产生一个靠近转子为N极，远离转子为S极才磁场，这样的定子磁场和转子的固有磁场发生作用，转子就会转动，正确地S1、S4的送电次序，就能控制转子旋转的方向。 例如：若送电的顺序为S1闭合断开S2闭合断开S3闭合断开S4闭合断开，周而复始的循环，在定子和转子共同作用下，电机就瞬时针旋转： 若送电的顺序为S4闭合断开S3闭合断开S2闭合断开S1闭合断开，周而复始的循环，则电机就逆时针旋转，原理同理。 8255A向步进电机发出的控制脉冲4、8255工作方式选择： 8255有三个数据端口（A口、B口、C口），8255有三种基本的工作方式，分别为：方式一（基本输入/输出方式），方式二（选通输入/输出方式），方式三（双向总线I/O方式）。其中A口可选择三种方式中的任意一种，B口只能选择方式0或方式1，C口常用作两个4为端口，若工作于方式0，其高四位工作方式与A端口一致，低四位与工作方式与端口B一致；若工作于其余两种方式，端口的部分信号作为A口和B口的控制联络信号。其方式选择控制字如图所示：四、软件设计DATA SEGMENTTABLE1 DB 01H,03H,02H,06H,04H,0CH,08H,09H TABLE2 DB 08H,0CH,04H,06H,02H,03H,01H,09HDATA ENDSCODE SEGMENT ASSUME CS:CODE,DS:DATASTART: MOV AX,DATA MOV DS,AXMAIN: MOV AL,90H OUT 63H,ALMOVDX,0005HA1:MOV BX,OFFSET TABLE1 ；中速正转程序 MOV CX,0008H MOVDI,2000H A2: MOVAL,BX OUT61H,ALCALLDALLY INCBX LOOPA2 DECDXJNZA1MOVDX,0008HA3:MOV BX,OFFSET TABLE1 ；高速正转程序 MOV CX,0008H MOVDI,1000H A4: MOVAL,BX OUT61H,ALCALLDALLY INCBX LOOPA4 DECDXJNZA3待添加的隐藏文字内容2 MOVDX,0005HA5:MOV BX,OFFSET TABLE1 ；低速正转程序 MOV CX,0008H MOVDI,5000H A6: MOVAL,BX OUT61H,ALCALLDALLY INCBX LOOPA6 DECDXJNZA5MOVDX,0005HB1:MOV BX,OFFSET TABLE2 ;低速反转程序 MOV CX,0008H MOVDI,5000H B2: MOVAL,BX OUT61H,ALCALLDALLY INCBX LOOPB2 DECDXJNZB1MOVDX,0008HB3:MOV BX,OFFSET TABLE2 ;高速反转程序 MOV CX,0008H MOVDI,1000H B4: MOVAL,BX OUT61H,ALCALLDALLY INCBX LOOPB4 DECDXJNZB3 DALLY:PUSHCX MOV CX,DIC1:PUSHAXPOPAXLOOPA3POPCXRETCODEENDSEND START五、调试控制程序编写好后，首先进行查错、编译，然后下载到实验系统里面运行，观察步进电机的运行情况是否与预期一致，也就是观察步进电机能否实现正转、反转以及变速；如果都能实现，还可以修改程序，实现速度的任意调整，以及正转、反转步数或圈数的控制。六、收获和体会通过本学期对微型计算机控制技术课程学习以及这次课程设计的实践锻炼，首先我对微型计算机控制技术这门课程涉及到的理论知识有一定认识和了解，对计算机的工作原理以及内部结构都有一定了解；其次我也掌握了计算机的一些基本操作步骤和基本编程方法，对一些生活中常见的简单运用进行编程设计，通过这次课程设计锻炼，将书本上的编程理论应用到实际编程控制中，对编程技术的提升有很大帮助，同时也让我深刻体会得到程序对整个系统运行的作用；这次课程设计让我从对书面上的理论知识迈向实践操作，让我懂得如何让将计算机原理融合到实际应用中。在这个过程中，我自己经历了一次从课题要求到电路设计再到程序编写以及由编程再到程序运行到最后步进电机的正反转旋转的完整过程，对动手锻炼和实践操作都有很大帮助，让我对计算机控制方面的东西产生了浓厚的兴趣，让我在以后的生活以及工作中给予很大的帮助。七、参考文献1、潘新民 张燕芳：微型计算机控制技术，高等教育出版社；Employment tribunals sort out disagreements between employers and employees.You may need to make a claim to an employment tribunal if:· you don't agree with the disciplinary action your employer has taken against you· your employer dismisses you and you think that you have been dismissed unfairly.For more information about dismissal and unfair dismissal, see Dismissal.You can make a claim to an employment tribunal, even if you haven't appealed against the disciplinary action your employer has taken against you. However, if you win your case, the tribunal may reduce any compensation awarded to you as a result of your failure to appeal.Remember that in most cases you must make an application to an employment tribunal within three months of the date when the event you are complaining about happened. If your application is received after this time limit, the tribunal will not usually accept it.If you are worried about how the time limits apply to you, take advice from one of the organisations listed under Further help.Employment tribunals are less formal than some other courts, but it is still a legal process and you will need to give evidence under an oath or affirmation.Most people find making a claim to an employment tribunal challenging. If you are thinking about making a claim to an employment tribunal, you should get help straight away from one of the organisations listed under Further help.If you are being represented by a solicitor at the tribunal, they may ask you to sign an agreement where you pay their fee out of your compensation if you win the case. This is known as a damages-based agreement. In England and Wales, your solicitor can't charge you more than 35% of your compensation  if you win the case.If you are thinking about signing up for  a damages-based agreement, you should make sure you're clear about the terms of the agreement. It might be best to get advice from an experienced adviser, for example, at a Citizens Advice Bureau.  To find your nearest CAB, including those that give advice by e-mail, click on nearest CAB.For more information about making a claim to an employment tribunal, see Employment tribunals.The (lack of) air up there Watch mCayman Islands-based Webb, the head of Fifa's anti-racism taskforce, is in London for the Football Association's 150th anniversary celebrations and will attend City's Premier League match at Chelsea on Sunday."I am going to be at the match tomorrow and I have asked to meet Yaya Toure," he told BBC Sport."For me it's about how he felt and I would like to speak to him first to find out what his experience was."Uefa has opened disciplinary proceedings against CSKA for the "racist behaviour of their fans" during City's 2-1 win.Michel Platini, president of European football's governing body, has also ordered an immediate investigation into the referee's actions.CSKA said they were "surprised and disappointed" by Toure's complaint. In a statement the Russian side added: "We found no racist insults from fans of CSKA."Age has reached the end of the beginning of a word. May be guilty in his seems to passing a lot of different life became the appearance of the same day; May be back in the past, to oneself the paranoid weird belief disillusionment, these days, my mind has been very messy, in my mind constantly. Always feel oneself should go to do something, or write something. Twenty years of life trajectory deeply shallow, suddenly feel something, do it.一字开头的年龄已经到了尾声。或许是愧疚于自己似乎把转瞬即逝的很多个不同的日子过成了同一天的样子；或许是追溯过去，对自己那些近乎偏执的怪异信念的醒悟，这些天以来，思绪一直很凌乱，在脑海中不断纠缠。总觉得自己自己似乎应该去做点什么，或者写点什么。二十年的人生轨迹深深浅浅，突然就感觉到有些事情，非做不可了。The end of our life, and can meet many things really do?而穷尽我们的一生，又能遇到多少事情是真正地非做不可？During my childhood, think lucky money and new clothes are necessary for New Year, but as the advance of the age, will be more and more found that those things are optional; Junior high school, thought to have a crush on just means that the real growth, but over the past three years later, his writing of alumni in peace, suddenly found that isn't really grow up, it seems is not so important; Then in high school, think don't want to give vent to out your inner voice can be in the high school children of the feelings in a period, but was eventually infarction when graduation party in the throat, later again stood on the pitch he has sweat profusely, looked at his thrown a basketball hoops, suddenly found himself has already can't remember his appearance.童年时，觉得压岁钱和新衣服是过年必备，但是随着年龄的推进，会越来越发现，那些东西根本就可有可无；初中时，以为要有一场暗恋才意味着真正的成长，但三年过去后，自己心平气和的写同学录的时候，突然就发现是不是真正的成长了，好像并没有那么重要了；然后到了高中，觉得非要吐露出自己的心声才能为高中生涯里的懵懂情愫划上一个句点，但毕业晚会的时候最终还是被梗塞在了咽喉，后来再次站在他曾经挥汗如雨的球场，看着他投过篮球的球框时，突然间发现自己已经想不起他的容颜。Originally, this world, can produce a chemical reaction to an event, in addition to resolutely, have to do, and time.原来，这个世界上，对某个事件能产生化学反应的，除了非做不可的坚决，还有，时间。A person's time, your ideas are always special to clear. Want, want, line is clear, as if nothing could shake his. Also once seemed to be determined to do something, but more often is he backed out at last. Dislike his cowardice, finally found that there are a lot of love, there are a lot of miss, like shadow really have been doomed. Those who do, just green years oneself give oneself an arm injection, or is a self-righteous spiritual.一个人的时候，自己的想法总是特别地清晰。想要的，不想要的，界限明确，好像没有什么可以撼动自己。也曾经好像已经下定了决心去做某件事，但更多的时候是最后又打起了退堂鼓。嫌恶过自己的怯懦，最终却发现有很多缘分，有很多错过，好像冥冥之中真的已经注定。那些曾经所谓的非做不可，只是青葱年华里自己给自己注射的一支强心剂，或者说，是自以为是的精神寄托罢了。At the moment, the sky is dark, the air is fresh factor after just rained. Suddenly thought of blue plaid shirt; Those were broken into various shapes of stationery; From the corner at the beginning of deep friendship; Have declared the end of the encounter that haven't start planning. Those years, those days of do, finally, like youth, will end in our life.此刻，天空是阴暗的，空气里有着刚下过雨之后的清新因子。突然想到那件蓝格子衬衫；那些被折成各种各样形状的信纸；那段从街角深巷伊始的友谊；还有那场还没有开始就宣告了终结的邂逅计划那些年那些天的非做不可，终于和青春一样，都将在我们的人生中谢幕。Baumgartner the disappointing news: Mission aborted. r plays an important role in this mission. Starting at the ground, conditions have to be very calm - winds less than 2 mph, with no precipitation or humidity and limited cloud cover. The balloon, with capsule attached, will move through the lower level of the atmosphere (the troposphere) where our day-to-day weather lives. It will climb higher than the tip of Mount Everest (5.5 miles/8.85 kilometers), drifting even higher than the cruising altitude of commercial airliners (5.6 miles/9.17 kilometers) and into the stratosphere. As he crosses the boundary layer (called the tropopause),e can expect a lot of turbulence.The supersonic descent could happen as early as Sunda.The weatheThe balloon will slowly drift to the edge of space at 120,000 feet ( Then, I would assume, he will slowly step out onto something resembling an Olympic diving platform.Below, the Earth becomes the concrete bottom of a swimming pool that he wants to land on, but not too hard. Still, he'll be traveling fast, so despite the distance, it will not be like diving into the deep end of a pool. It will be like he is diving into the shallow end. Skydiver preps for the big jumpWhen he jumps, he is expected to reach the speed of sound - 690 mph (1,110 kph) - in less than 40 seconds. Like hitting the top of the water, he will begin to slow as he approaches the more dense air closer to Earth. But this will not be enough to stop him completely.If he goes too fast or spins out of control, he has a stabilization parachute that can be deployed to slow him down. His team hopes it's not needed. Instead, he plans to deploy his 270-square-foot (25-square-meter) main chute at an altitude of around 5,000 feet (1,524 meters).In order to deploy this chute successfully, he will have to slow to 172 mph (277 kph). He will have a reserve parachute that will open automatically if he loses consciousness at mach speeds.Even if everything goes as planned, it won't. Baumgartner still will free fall at a speed that would cause you and me to pass out, and no parachute is guaranteed to work higher than 25,000 feet (7,620 meters).cause there