文章目录
1 简介2 步进电机介绍3 A4988驱动介绍4 电机启动代码5 最后1 简介
Hi，大家好，这里是丹成学长，今天向大家介绍如何使用单片机控制步进电机
大家可用于 课程设计 或 毕业设计
单片机-嵌入式毕设选题大全及项目分享:
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2 步进电机介绍
步进电机是一种将电脉冲转化为角位移的执行机构。通俗一点讲：当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度（即步进角），多用于雕刻机、3D打印机等需要精确控制的设备。本篇使用ULN驱动五线四相减速步进电机。
步进电机每次能转动的最小角度叫做步距角。每当步进电机接收到一个驱动信号后，步进电机将按照一定的方向转动一个固定的角度。通过控制脉冲的个数来精确的控制步进电机的角位移量，通过控制脉冲的频率来控制电机转动的速度及加速度，从而达到调速的目的。步进电机按照相数不同分为单相、双相、多相三种，励磁方式分为1相励磁方式和2相励磁方式。本文使用的步进电机型号为28BYJ-48，1相励磁方式驱动，通过给ABCD四相依次通电来实现转自不停转动。
3 A4988驱动介绍
由于一般的开发板的通用IO驱动能力有限，有些外设不能直接使用IO进行驱动，需要借助一些驱动电路间接控制大功率器件。A4988是大电流驱动阵列，多用于单片机、智能仪表、PLC、数字量输出卡等控制电路中，可直接驱动继电器等负载。
4 电机启动代码
#include "a4988.h"#include "delay.h"/*STEP1 PDout(15)SDIR1 PGout(2) STEP2 PDout(14)SDIR2 PGout(3) STEP3 PDout(13)SDIR3 PGout(4) STEP4 PDout(12)SDIR4 PGout(5) MSTEP PDout(15) //固定芯片步进STEPMDIR PGout(2) //固定芯片步进DIRCSTEP PDout(14) //磁铁步进STEPCDIR PGout(3) //磁铁步进DIRRSTEP PDout(13) //蠕动泵STEPRDIR PGout(4) //蠕动泵DIRUSTEP PDout(12) //超声步进电机STEPUDIR PGout(5) //超声步进电机DIR*///方向脚初始化void Step_DIR_Init(void){GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG, ENABLE); //使能PG端口时钟GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5; //端口配置GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHzGPIO_Init(GPIOG, &GPIO_InitStructure); //根据设定参数初始化GPIO_SetBits(GPIOG,GPIO_Pin_2);GPIO_SetBits(GPIOG,GPIO_Pin_3); GPIO_SetBits(GPIOG,GPIO_Pin_4); GPIO_SetBits(GPIOG,GPIO_Pin_5); }//脉冲初始化，公用定时器4，重映射，4路频率会被一起改变void Step_Pulse_Init(u16 arr,u16 psc){GPIO_InitTypeDef GPIO_InitStructure;TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_OCInitTypeDef TIM_OCInitStructure;RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器4时钟RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD|RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //Timer4重映射 //设置该引脚为复用输出功能,输出TIM4的PWM脉冲波形GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //TIM_CH4GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化GPIO//！！！！！配置完复用功能后，此时输出为低电平，似乎难以修改//初始化TIM4TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_timTIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位//初始化TIM4 Channel_1234 PWM模式TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式1//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable; //关闭比较输出使能TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高TIM_OC1Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM4 OC1//TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM4在CCR1上的预装载寄存器TIM_OC2Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM4 OC2//TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM4在CCR2上的预装载寄存器TIM_OC3Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM4 OC3//TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM4在CCR3上的预装载寄存器TIM_OC4Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM4 OC4//TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM4在CCR4上的预装载寄存器TIM_CCxCmd(TIM4,TIM_Channel_1,TIM_CCx_Disable);//关闭TIM4通道1TIM_CCxCmd(TIM4,TIM_Channel_2,TIM_CCx_Disable);//关闭TIM4通道2TIM_CCxCmd(TIM4,TIM_Channel_3,TIM_CCx_Disable);//关闭TIM4通道3TIM_CCxCmd(TIM4,TIM_Channel_4,TIM_CCx_Disable);//关闭TIM4通道4TIM_Cmd(TIM4, DISABLE); //先不使能TIM4 }//芯片电机运动void Mstep_move(u8 dir,u16 frequency){MDIR = dir;Step_Pulse_Init((u16)(100000/frequency-1),719);TIM_SetCompare4(TIM4,(u16)(50000/frequency));TIM_CCxCmd(TIM4,TIM_Channel_4,TIM_CCx_Enable);//开启TIM4通道4TIM_Cmd(TIM4, ENABLE);//必须放在最后使能}//芯片电机停止void Mstep_stop(void){TIM_SetCompare4(TIM4,0); TIM_CCxCmd(TIM4,TIM_Channel_1,TIM_CCx_Disable);//关闭TIM4通道1TIM_CCxCmd(TIM4,TIM_Channel_2,TIM_CCx_Disable);//关闭TIM4通道2TIM_CCxCmd(TIM4,TIM_Channel_3,TIM_CCx_Disable);//关闭TIM4通道3TIM_CCxCmd(TIM4,TIM_Channel_4,TIM_CCx_Disable);//关闭TIM4通道4TIM_Cmd(TIM4, DISABLE);}//磁铁电机运动void Cstep_move(u8 dir,u16 frequency){CDIR = dir;Step_Pulse_Init((u16)(100000/frequency-1),719);TIM_SetCompare3(TIM4,(u16)(50000/frequency));TIM_CCxCmd(TIM4,TIM_Channel_3,TIM_CCx_Enable);//开启TIM4通道3TIM_Cmd(TIM4, ENABLE);//必须放在最后使能}//磁铁电机停止void Cstep_stop(void){TIM_SetCompare3(TIM4,0);TIM_CCxCmd(TIM4,TIM_Channel_1,TIM_CCx_Disable);//关闭TIM4通道1TIM_CCxCmd(TIM4,TIM_Channel_2,TIM_CCx_Disable);//关闭TIM4通道2TIM_CCxCmd(TIM4,TIM_Channel_3,TIM_CCx_Disable);//关闭TIM4通道3TIM_CCxCmd(TIM4,TIM_Channel_4,TIM_CCx_Disable);//关闭TIM4通道4TIM_Cmd(TIM4, DISABLE);}//超声电机运动void Ustep_move(u8 dir,u16 frequency){UDIR = dir;Step_Pulse_Init((u16)(100000/frequency-1),719);TIM_SetCompare1(TIM4,(u16)(50000/frequency));TIM_CCxCmd(TIM4,TIM_Channel_1,TIM_CCx_Enable);//开启TIM4通道1TIM_Cmd(TIM4, ENABLE);//必须放在最后使能}//超声电机停止void Ustep_stop(void){TIM_SetCompare1(TIM4,0);TIM_CCxCmd(TIM4,TIM_Channel_1,TIM_CCx_Disable);//关闭TIM4通道1TIM_CCxCmd(TIM4,TIM_Channel_2,TIM_CCx_Disable);//关闭TIM4通道2TIM_CCxCmd(TIM4,TIM_Channel_3,TIM_CCx_Disable);//关闭TIM4通道3TIM_CCxCmd(TIM4,TIM_Channel_4,TIM_CCx_Disable);//关闭TIM4通道4TIM_Cmd(TIM4, DISABLE);//USTEP会随波形停在高或低}//蠕动泵抽取void Rstep_move(u8 dir,u16 frequency){RDIR = dir;Step_Pulse_Init((u16)(100000/frequency-1),719);TIM_SetCompare2(TIM4,(u16)(50000/frequency));TIM_CCxCmd(TIM4,TIM_Channel_2,TIM_CCx_Enable);//开启TIM4通道2TIM_Cmd(TIM4, ENABLE);//必须放在最后使能}//蠕动泵停止void Rstep_stop(void){TIM_SetCompare2(TIM4,0);TIM_CCxCmd(TIM4,TIM_Channel_1,TIM_CCx_Disable);//关闭TIM4通道1TIM_CCxCmd(TIM4,TIM_Channel_2,TIM_CCx_Disable);//关闭TIM4通道2TIM_CCxCmd(TIM4,TIM_Channel_3,TIM_CCx_Disable);//关闭TIM4通道3TIM_CCxCmd(TIM4,TIM_Channel_4,TIM_CCx_Disable);//关闭TIM4通道4TIM_Cmd(TIM4, DISABLE);//RSTEP会随波形停在高或低}
单片机-嵌入式毕设选题大全及项目分享:
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5 最后
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