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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" 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title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)" title="步進(jìn)電機(jī)">步進(jìn)電機(jī)">步進(jìn)電機(jī)的調(diào)速和測(cè)速系統(tǒng)一般都采用ARM作為控制器,外加分立的數(shù)字邏輯電路和模擬電路構(gòu)成。該系統(tǒng)以LPC2148作為控制核心,合理選擇電動(dòng)機(jī)的頻率控制和閉環(huán)反饋控制,實(shí)時(shí)檢測(cè)和調(diào)整電機(jī)的轉(zhuǎn)速,使系統(tǒng)既具有良好的穩(wěn)態(tài)性能,又具有良好的動(dòng)態(tài)性能。
1 系統(tǒng)的工作原理
該系統(tǒng)主要由基于LPC2148為核心的主控電路連接電機(jī)驅(qū)動(dòng)電路、通信模塊電路(RS232)、測(cè)速電路(霍爾傳感器" title="霍爾傳感器">霍爾傳感器)、A/D轉(zhuǎn)換電路等其他電路組成,如圖l所示。圖2為ARM主控芯片。LPC2148為核心的主控電路負(fù)責(zé)頻率輸出,通過(guò)改變頻率的大小來(lái)控制電機(jī)的轉(zhuǎn)速,采集電路采集的數(shù)據(jù)可以通過(guò)RS-232接口電路與PC機(jī)實(shí)現(xiàn)通信。同時(shí)LPC2148模塊將采集到的數(shù)據(jù)進(jìn)行處理,根據(jù)偏差值進(jìn)一步修正頻率控制信號(hào)的輸出。
2 硬件設(shè)計(jì)
2.1 調(diào)速模塊設(shè)計(jì)
該系統(tǒng)對(duì)步進(jìn)電機(jī)進(jìn)行調(diào)速通過(guò)調(diào)整頻率的方法。步進(jìn)電機(jī)轉(zhuǎn)速=f×60/200x,其中x是細(xì)分倍數(shù),細(xì)分驅(qū)動(dòng)方式下,由于步距角小,步進(jìn)電機(jī)的控制精度明顯提高,同時(shí)這種驅(qū)動(dòng)方式又可有效抑制低速運(yùn)行中產(chǎn)生的噪聲和振蕩現(xiàn)象。步進(jìn)電機(jī)采用1.8°的二相四拍式,200個(gè)步進(jìn)脈沖可以轉(zhuǎn)一圈。其步進(jìn)動(dòng)作時(shí)受ARM控制,電機(jī)專(zhuān)用驅(qū)動(dòng)器L298對(duì)步進(jìn)電機(jī)進(jìn)行驅(qū)動(dòng),驅(qū)動(dòng)電路如圖3所示。L298內(nèi)部包含4通道邏輯驅(qū)動(dòng)電路,是一種二相和四相電機(jī)的專(zhuān)用驅(qū)動(dòng)器。即內(nèi)含2個(gè)H橋的高電壓大電流雙全橋式驅(qū)動(dòng)器,接收標(biāo)準(zhǔn)TTL邏輯電平信號(hào),可驅(qū)動(dòng)46 V、2 A以下的電機(jī)。ARM主控制器" title="主控制器">主控制器是通過(guò)右端的控制口接入,而M1~M4這4個(gè)端口用于連接電機(jī),通過(guò)右端輸入脈沖信號(hào)的變化對(duì)其控制。
2.2 霍爾傳感器的測(cè)速模塊
2.2.1 霍爾效應(yīng)
一塊長(zhǎng)度為l,寬度為b,厚度為d的半導(dǎo)體薄片,當(dāng)它被置于磁感應(yīng)強(qiáng)度為B的磁場(chǎng)中,如果在其相對(duì)兩邊流通控制電流I,且磁場(chǎng)方向與電流方向正交,則在該半導(dǎo)體另外兩邊將產(chǎn)生一個(gè)與控制電流I和磁感應(yīng)強(qiáng)度B乘積成正比的電勢(shì)UH,即UH=KHIB,其中KH為霍爾元件的靈敏度,該電勢(shì)稱(chēng)為霍爾電勢(shì),該半導(dǎo)體薄片就是霍爾元件,其大小和外磁場(chǎng)及電流成比例。霍爾開(kāi)關(guān)傳感器由于其體積小,無(wú)觸點(diǎn),動(dòng)態(tài)特性好,使用壽命長(zhǎng)等特點(diǎn),廣泛應(yīng)用于測(cè)量轉(zhuǎn)動(dòng)物體旋轉(zhuǎn)速度領(lǐng)域。這里選用SPRAGUE公司生產(chǎn)的霍爾轉(zhuǎn)速傳感器,它是一種硅單片集成電路,其內(nèi)部含有穩(wěn)壓電路、霍爾電勢(shì)發(fā)生器、放大器、史密特觸發(fā)器和集電極開(kāi)路輸出電路,具有工作電壓范圍寬、可靠性高、外電路簡(jiǎn)單、輸出電平可與各種數(shù)字電路兼容等特點(diǎn)。
2.2.2 工作原理
霍爾傳感器信號(hào)放大器將霍爾電勢(shì)UH放大后再經(jīng)整形、放大,輸出幅值相等、頻率變化的方波信號(hào),該霍爾電勢(shì)的幅值隨磁場(chǎng)強(qiáng)度變化而變化。
轉(zhuǎn)速的測(cè)量方法有很多種,根據(jù)脈沖計(jì)數(shù)實(shí)現(xiàn)轉(zhuǎn)速測(cè)量的方法主要有M法(測(cè)頻法)、T法(測(cè)周期法)和MPT法(頻率周期法)。該系統(tǒng)采用M法(測(cè)頻法),霍爾傳感器的測(cè)速電路,如圖4所示。
2.3 其他電路模塊
2.3.1 電源模塊
電源模塊供電時(shí)先經(jīng)過(guò)二極管VD1,可防止提供極性相反的電源燒壞硬件,并采用SPXlll7M3-3.3型三端穩(wěn)壓器為微控制器、RS232、霍爾傳感器提供電源,同時(shí)也為CAT8llR供電。CAT811R微控制器監(jiān)控電路(3.3 V電壓時(shí),誤差±5%)用來(lái)監(jiān)控?cái)?shù)字系統(tǒng)的電源,它可以產(chǎn)生一個(gè)復(fù)位信號(hào),該信號(hào)在電源電壓低干預(yù)置的閾值時(shí)和電源電壓上升到該閾值后的140 ms內(nèi)有效,K1為手動(dòng)復(fù)位按鍵。
2.3.2 RS232接電電路
RS232接口實(shí)現(xiàn)與上位機(jī)" title="上位機(jī)">上位機(jī)通信,如:向上位機(jī)(主機(jī))發(fā)送測(cè)量到的數(shù)據(jù),接收上位機(jī)發(fā)來(lái)的控制指令,進(jìn)行參數(shù)設(shè)置及校準(zhǔn)操作。與上位機(jī)的通信指令采用不定長(zhǎng)的ASC代碼指令,用不同的信令頭(SOT)代表不同的控制,并有CRC糾錯(cuò)以保證數(shù)據(jù)正確傳輸,信令有統(tǒng)一的結(jié)束碼(EOT)。
2.3.3 LCD顯示電路
采用TCM24064B完成圖形顯示、文本顯示以及圖形與文本混合顯示,內(nèi)置128種5×8點(diǎn)陣的ASCI字符字模庫(kù)CGROM,字符代碼為00H~07 H。對(duì)液晶顯示器的軟件設(shè)計(jì)實(shí)際是對(duì)控制器T6963C的指令操作,T6963C最大的特點(diǎn)是具有獨(dú)特的硬件初始值設(shè)置功能,顯示驅(qū)動(dòng)所需的參數(shù)如占空比、驅(qū)動(dòng)傳輸?shù)淖止?jié)數(shù)/行及字符的字體都有引腳電平設(shè)置數(shù),初始化在上電時(shí)已基本完成。
3 系統(tǒng)軟件設(shè)計(jì)
圖5(a)為步進(jìn)電機(jī)的調(diào)速系統(tǒng)軟件設(shè)計(jì)流程圖,主要實(shí)現(xiàn)接收主控制器的頻率,圖5(a)為測(cè)速系統(tǒng)軟件設(shè)計(jì)流程圖,用于實(shí)現(xiàn)采集實(shí)際速度m,并對(duì)比輸人速度n,得到是否有偏差(m-n),把偏差值通過(guò)A/D轉(zhuǎn)換電路反饋給主控制器,最后通過(guò)PC機(jī)調(diào)整輸出頻率,從而實(shí)現(xiàn)對(duì)轉(zhuǎn)速的調(diào)整。
4 結(jié)束語(yǔ)
該系統(tǒng)設(shè)計(jì)采用LPC2148為核心控制器,利用步進(jìn)電機(jī)調(diào)速電路和基于霍爾傳感器的測(cè)速電路,大大提高了轉(zhuǎn)速的穩(wěn)定性和精確性,而實(shí)驗(yàn)結(jié)果也驗(yàn)證了轉(zhuǎn)速誤差可控制在±0.2 m/s之內(nèi)。在調(diào)試過(guò)程中需要注意的問(wèn)題是,如果要使電機(jī)達(dá)到高速轉(zhuǎn)動(dòng),脈沖頻率應(yīng)該有加速過(guò)程,即啟動(dòng)頻率較低,然后按一定加速度上升到所希望的高頻;以及解決驅(qū)動(dòng)器通電以后電機(jī)抖動(dòng)不能轉(zhuǎn)動(dòng)的問(wèn)題,遇到這種情況時(shí),首先檢查電機(jī)與驅(qū)動(dòng)器L298的連接是否正確;如果沒(méi)有接錯(cuò),再檢查輸入頻率是否太高;是否升降頻設(shè)計(jì)不合理;如果以上原因都不是,可能是驅(qū)動(dòng)器被燒毀?;贚PC2148的整個(gè)系統(tǒng)有電壓利用率高,功耗低的特點(diǎn),并且簡(jiǎn)化了外圍接口電路的設(shè)計(jì)。將采集到的信號(hào)進(jìn)行處理,通過(guò)反饋電路把誤差值傳回主控芯片,進(jìn)一步修正輸出頻率,從而提高了轉(zhuǎn)速精度。