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size=3>一、前言</FONT></STRONG></FONT></P>
<P><FONT color=#0000ff size=3> <FONT
color=#000000>步进电机是将电脉冲信号转变为角位移或线位移的开环控制元件。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，即给电机加一个脉冲信号，电机则转过一个步距角。这一线性关系的存在，加上步进电机只有周期性的误差而无累积误差等特点。使得在速度、位置等控制领域用步进电机来控制变的非常的简单。</FONT></FONT></P>
<P align=left><FONT color=#000000 size=3></FONT><FONT color=#0000ff
size=3> <FONT color=#000000></FONT></FONT><FONT
color=#000000
size=3>虽然步进电机已被广泛地应用，但步进电机并不能象普通的直流电机，交流电机在常规下使用。</FONT><FONT
color=#000000
size=3>它必须由双环形脉冲信号、功率驱动电路等组成控制系统方可使用。因此用好步进电机却非易事，它涉及到机械、电机、电子及计算机等许多专业知识。</FONT>
</P>
<P><FONT color=#0000ff size=3> </FONT><FONT
color=#000000
size=3>目前,生产步进电机的厂家的确不少，但具有专业技术人员，能够自行开发，研制的厂家却非常少，大部分的厂家只一、二十人，连最基本的设备都没有。仅仅处于一种盲目的仿制阶段。这就给用户在产品选型、使用中造成许多麻烦。签于上述情况，我们决定以广泛的感应子式步进电机为例。叙述其基本工作原理。望能对广大用户在选型、使用、及整机改进时有所帮助。</FONT></P>
<P><FONT color=#ff0000 size=4><STRONG>二、感应子式步进电机工作原理</STRONG></FONT></P>
<P><FONT color=#000000 size=3>（一）反应式步进电机原理</FONT></P>
<P><FONT color=#000000
size=3>由于反应式步进电机工作原理比较简单。下面先叙述三相反应式步进电机原理。</FONT></P>
<P><FONT color=#000000 size=3>1、结构：</FONT></P>
<P><FONT color=#000000 size=3>
电机转子均匀分布着很多小齿，定子齿有三个励磁绕阻，其几何轴线依次分别与转子齿轴线错开。</FONT></P>
<P><FONT color=#000000 size=3>0、1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>、2/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>,（相邻两转子齿轴线间的距离为齿距以<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>表示），即A与齿1相对齐，B与齿2向右错开1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>，C与齿3向右错开2/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>，A'与齿5相对齐，（A'就是A，齿5就是齿1）下面是定转子的展开图：</FONT></P>
<P align=center><IMG height=139 src="金坛四海电机电器厂_步进电机原理及使用说明.files/A%27.gif"
width=285></P>
<P align=center> </P>
<P><FONT color=#000000 size=3>2、旋转：</FONT></P>
<P><FONT color=#000000
size=3> 如A相通电，B，C相不通电时，由于磁场作用，齿1与A对齐，（转子不受任何力以下均同）。</FONT></P>
<P><FONT color=#000000 size=3>
如B相通电，A，C相不通电时，齿2应与B对齐，此时转子向右移过1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>，此时齿3与C偏移为1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>，齿4与A偏移（<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>-1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>）=2/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>。</FONT></P>
<P><FONT color=#000000 size=3>如C相通电，A，B相不通电，齿3应与C对齐，此时转子又向右移过1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>，此时齿4与A偏移为1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>对齐。</FONT></P>
<P> <FONT size=3> 如A相通电，B，C相不通电，齿4与A对齐，转子又向右移过1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN></FONT></P>
<P><FONT color=#000000 size=3>
这样经过A、B、C、A分别通电状态，齿4（即齿1前一齿）移到A相，电机转子向右转过一个齿距，如果不断地按A，B，C，A……通电，电机就每步（每脉冲）1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て,向右旋转</SPAN>。如按A，C，B，A……通电，电机就反转。</FONT></P>
<P><FONT color=#000000 size=3>
由此可见：电机的位置和速度由导电次数（脉冲数）和频率成一一对应关系。而方向由导电顺序决定。</FONT></P>
<P><FONT color=#000000 size=3>
不过，出于对力矩、平稳、噪音及减少角度等方面考虑。往往采用A-AB-B-BC－C-CA-A这种导电状态，这样将原来每步1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>改变为1/6<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て。</SPAN>甚至于通过二相电流不同的组合，使其1/3<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>变为1/12<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て，</SPAN>1/24<SPAN
style="FONT-SIZE: 10.5pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">て</SPAN>，这就是电机细分驱动的基本理论依据。</FONT></P>
<P><FONT color=#000000 size=3>
不难推出：电机定子上有m相励磁绕阻，其轴线分别与转子齿轴线偏移1/m,2/m……(m-1)/m,1。并且导电按一定的相序电机就能正反转被控制——这是步进电机旋转的物理条件。只要符合这一条件我们理论上可以制造任何相的步进电机，出于成本等多方面考虑，市场上一般以二、三、四、五相为多。
</FONT></P>
<P><FONT color=#000000 size=3>3、力矩：</FONT></P>
<P><FONT color=#000000 size=3>
电机一旦通电，在定转子间将产生磁场（磁通量<SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">Ф</SPAN>）当转子与定子错开一定角度产生力</FONT></P>
<P align=center><FONT color=#000000><FONT size=3>F与（d<SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">Ф/d<SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">θ）成正比</SPAN></SPAN></FONT></FONT>
</P>
<P align=center><FONT color=#000000><FONT size=3><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><IMG
height=163 src="金坛四海电机电器厂_步进电机原理及使用说明.files/B%27.gif"
width=58>S</SPAN></SPAN></SPAN></FONT></FONT> </P>
<P><FONT color=#000000><FONT size=3><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">其磁通量<SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">Ф=Br*S </SPAN></SPAN></SPAN></FONT></FONT></P>
<P><FONT color=#000000 size=3><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">Br为磁密，S为导磁面积
</SPAN></SPAN></SPAN></FONT></P>
<P><FONT color=#000000 size=3><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">
F与L*D*Br成正比</SPAN></SPAN></SPAN></FONT></P>
<P><FONT color=#000000 size=3><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">
L为铁芯有效长度，D为转子直径</SPAN></SPAN></SPAN></FONT></P>
<P><FONT color=#000000 size=3><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA"><SPAN
style="FONT-SIZE: 14pt; FONT-FAMILY: 宋体; mso-bidi-font-size: 12.0pt; mso-bidi-font-family: 'Times New Roman'; mso-font-kerning: 1.0pt; mso-ansi-language: EN-US; mso-fareast-language: ZH-CN; mso-bidi-language: AR-SA">
Br=N<SPAN
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