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    • 9. 发明授权
    • Method and apparatus for control of stepper motors
    • 用于控制步进电机的方法和装置
    • US5574351A
    • 1996-11-12
    • US327249
    • 1994-10-21
    • Gary S. JacobsonWesley A. KirschnerMicheal J. Ramadei
    • Gary S. JacobsonWesley A. KirschnerMicheal J. Ramadei
    • H02P8/14H02P23/00H02P8/00
    • H02P23/0077H02P8/14
    • A plurality of acceleration tables consisting of a sequence of step times defining intervals between steps and thus an acceleration profile to be executed by a stepper motor is stored in a first memory. A step table defining a sequence of excitation patterns for driving a stepper motor is stored in a second table. Identical DMA channels output the step times to a timer and an exitation pattern to a buffer. The timer measures the duration of the step times and when each step time expires generates a trigger signal which initiates the transfer of the next step time and next excitation pattern through the respective DMA channels. The buffer outputs are inverted to form bipolar signals to drive current drivers in accordance with the excitation pattern. The apparatus is initialized by a data processor to select one of the plurality of excitation tables to drive a selected motor. The DMA channel for outputting the acceleration table is initialized for non-repetitive operation and the DMA channel outputting the step table is initialized for cyclic operation. The direction in which the stepper motor is to be driven is determined by the direction in which the step table is accessed.
    • 由步进时间序列组成的多个加速度表被存储在第一存储器中,所述步骤时间序列确定步骤之间的间隔,从而由步进电机执行的加速度曲线。 定义用于驱动步进电动机的一系列激励模式的步骤表被存储在第二表中。 相同的DMA通道将步进时间输出到定时器,并将退出模式输出到缓冲区。 定时器测量步进时间的持续时间,并且当每个步骤时间到期时,产生触发信号,该触发信号通过相应的DMA通道启动下一个步进时间和下一个激励模式的传送。 缓冲器输出被反相以形成双极信号,以根据激励模式驱动电流驱动器。 该装置由数据处理器初始化以选择多个激励表之一来驱动所选择的电动机。 用于输出加速度表的DMA通道被初始化用于非重复操作,并且对循环操作初始化输出步骤表的DMA通道。 步进电机的驱动方向取决于步进台的访问方向。