嵌入式系统的多路步进电机控制系统的设计

Design of multi-step stepper motor control system for embedded system

摘要:

设计并实现了一种基于FreeRTOS的多路步进电机控制系统，运用于小型流水线。系统控制电路采用STM32F4系列的微控制器，结合小功率步进电机驱动器A4984以及嵌入式以太网控制器W5500，完成硬件设计，后对其进行软件开发，设计出可以实时控制并改变电机脉冲起始频率、最大频率、电机转动方向、电机脉冲总数、加速脉冲数以及减速脉冲数等参数的上位机模块。在电机驱动中加入改进型S型算法，有效的优化步进电机初始速率增加过快导致的步进电机失步和过冲现象。在实际项目的验证过程中，证明该系统具有良好的稳定性。

Abstract:

Designs and implements a multi-channel stepper motor control system based on FreeRTOS, which is used in small pipeline. The system control circuit uses STM32F4 series microcontrollers, combined with small power stepper motor driver A4984 and embedded Ethernet controller W5500, completes the hardware design, Design a host computer module that can control and change the motor pulse start frequency, maximum frequency, motor rotation direction, total motor pulse number, acceleration pulse number and deceleration pulse number in real time.. An improved S-type algorithm is added to the motor drive to effectively optimize the phenomenon of step motor out-of-step and overshoot caused by the excessive increase of the initial speed of the stepper motor. In the verification process of the actual project, it is proved that the system has good stability.