Single chip microcomputer STM32L151CCU6

Mobile phone crystal 3.2*2.5mm 3225 26M (26.000MHZ) 7.5PF 10PPM 20PPM 30PPM

SMD aluminum electrolytic capacitor

Probe domestic switch needle KG-300K needle head diameter is 3.0mm normally open switch needle

Photocoupler

As an open-loop control system, stepper motors are intrinsically linked to modern digital control technology. In the current domestic digital control system, the application of stepper motors is very extensive. With the advent of all-digital AC servo systems, AC servo motors are increasingly being used in digital control systems. In order to adapt to the development trend of digital control, stepping motor or all-digital AC servo motor is mostly used as the execution motor in the motion control system. Although the two are similar in control mode (burst and direction signals), there are large differences in performance and application. Now compare the performance of the two.
First, the control precision is different. The two-phase hybrid stepping motor step angle is generally 1.8 °, 0.9 °, and the five-phase hybrid stepping motor step angle is generally 0.72 °, 0.36 °. There are also some high performance stepper motors that have smaller step angles after subdivision. For example, the two-phase hybrid stepping motor produced by SANYODENKI can be set to 1.8°, 0.9°, 0.72°, 0.36°, 0.18°, 0.09°, 0.072°, 0.036° through the DIP switch. Compatible with the step angle of two-phase and five-phase hybrid stepping motors.
The control accuracy of the AC servo motor is guaranteed by the rotary encoder at the rear of the motor shaft. Taking Sanyo's all-digital AC servo motor as an example, for a motor with a standard 2000-line encoder, the pulse equivalent is 360°/8000=0.045° due to the quadruple frequency technology inside the driver. For a motor with a 17-bit encoder, the drive receives one revolution of 131072 pulse motors, ie its pulse equivalent is 360°/131072=0.0027466°, which is the pulse equivalent of a stepper motor with a step angle of 1.8°. 1/655.
Second, low-frequency characteristics Different stepper motors are prone to low-frequency vibration at low speeds. The vibration frequency is related to the load condition and the performance of the driver. It is generally considered that the vibration frequency is half of the take-off frequency of the motor no-load. This low frequency vibration phenomenon, which is determined by the working principle of the stepper motor, is very detrimental to the normal operation of the machine. When the stepper motor works at low speed, damping technology should generally be used to overcome the low frequency vibration phenomenon, such as adding a damper to the motor or using subdivision technology on the drive.
The AC servo motor runs very smoothly, and vibration does not occur even at low speeds. The AC servo system has a resonance suppression function, which can cover the rigidity of the machine, and has a frequency analysis function (FFT) inside the system, which can detect the resonance point of the machine and facilitate system adjustment.
Third, the moment frequency characteristics of the stepper motor output torque decreases with the increase of the speed, and will drop sharply at higher speeds, so its maximum working speed is generally 300 ~ 600RPM. The AC servo motor is a constant torque output, that is, it can output the rated torque within its rated speed (generally 2000RPM or 3000RPM), and it is a constant power output above the rated speed.
Fourth, the overload capacity of different stepper motors generally do not have overload capability. The AC servo motor has a strong overload capability. Take the Sanyo AC servo system as an example, it has speed overload and torque overload capability. Its maximum torque is two to three times the rated torque and can be used to overcome the moment of inertia of the inertial load at the moment of starting. Because there is no such overload capability in the stepping motor, in order to overcome this moment of inertia during the selection, it is often necessary to select a motor with a large torque, and the machine does not need such a large torque during normal operation, and a torque appears. The phenomenon of waste.
V. Operational performance The control of the stepping motor is open-loop control. If the starting frequency is too high or the load is too large, it may be lost or blocked. When the speed is too high, the overshoot may occur, so to ensure its control. Accuracy should deal with the problem of rising and falling speed. The AC servo drive system is closed-loop control. The drive can directly sample the feedback signal of the motor encoder. The internal position loop and speed loop are formed. Generally, the stepless motor is lost or overshooted, and the control performance is more reliable.
Sixth, the speed response performance of the stepper motor from static acceleration to working speed (generally several hundred revolutions per minute) requires 200 to 400 milliseconds. The AC servo system has better acceleration performance. Taking the Shanyang 400W AC servo motor as an example, it takes only a few milliseconds to accelerate from standstill to its rated speed of 3000RPM, which can be used in control situations requiring fast start and stop.
In summary, the AC servo system is superior to the stepper motor in many performance aspects. However, in some occasions where the requirements are not high, stepper motors are often used to perform the motor. Therefore, in the design process of the control system, it is necessary to comprehensively consider the control requirements, cost and other factors, and select the appropriate control motor.