C2000 for Camera Dome Control.pdf

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1、C2000forCameraDomeControlYanmingLuoC2000FAETexasInstrumentsAgenda°SteppingMotorsOverview°TypesofSteppingMotors°SteppingMotorConstructionandOperatingTheory°SteppingMotorsBasicControlTheory°Current&MicrosteppingControl°SteppingMotorControlbasedonC2000WhySteppers°Easytogetg

2、oing°SimpleHardware°SimpleSoftware°OpenLoop°EasymechanicsStepMotorAdvantages°Accuracy&Repeatability–Abilitytopositionaccurately.°Responsiveness&QuickAcceleration–Stepmotorshavelowrotorinertia,allowingthemtogetuptospeedquickly.°Excellenttorquefortheirsize–Stepmotorshaveth

3、ehighesttorquepercubicinchofanymotor.°PositioningStability–Canbeheldcompletelymotionlessintheirstoppedposition.°OpenLoopControl–Openloopcontrolissimpler,morereliableandlessexpensivethanfeedbackbased(closedloop)control.°CostandReliability–Stepmotortechnologyisreliableandp

4、roven.ConstructionandOperatingTheory--HybridMotor°ContentSteppingMotorsTypes&ExcitationModes°SteppingMotorTypes°VariableReluctanceMotors°PermanentMagnetStepMotors°HybridStepMotors°SteppingMotorModesofExcitation°FullStepOperation°HalfStepOperation°MicroStepOperationVariab

5、le-reluctance(VR)steppermotors-Variable-reluctance(VR)steppermotorsconsistofasoftironmulti-toothedrotorandawoundstator-EnergizingthestatorwindingswithDCcurrentscausesthepolestobemagnetized-RotationoccurswhentherotorteethareattractedtotheenergizedstatorpolesPermanent-Magn

6、et(PM)steppermotors-Permanent-Magnet(PM)steppermotorsarelowcostandlowresolutiontypemotors–typicalstepanglesrangefrom7.5°to15°-Therotornolongerhasteeth(cf.VRmotor),butismagnetizedwithalternatingnorthandsouthpoles-TheincreasedmagneticfluxintensitygivesthePMmotoranimprovedt

7、orquecharacteristicHybrid(HB)steppermotors-Hybrid(HB)steppermotorscombinethebestfeaturesofPMandVRtypesteppermotors;stepanglesvaryfrom3.6°to0.9°(100–400stepsperrevolution)-Therotoristeethedwithanaxiallymagnetizedconcentricmagnetaroundtheshaft-Theteethontherotorhelpguiding

8、themagneticflux;thisleadstoincreasedperformanceStepperMotorExcitationModesOnePhaseTwoPhaseOne-TwoPhaseI