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雙極性步進電機（兩相四線步進電機），原理的東西就先不講太多了，還沒搞清楚，邊查資料邊寫代碼來理解吧。

此電路使用4片CMS6324去驅動2個H橋，每片CMS6324驅動的橋的同一側，其自帶硬件死區，所以不需要考慮死區插入的問題。如果不是這樣的電路，則需要注意上下橋臂同時導通短路的問題。

一、電機基本原理圖 內部簡化圖

四拍，每個脈沖轉 1.8°

八拍，每個脈沖轉 0.9°

二、簡單的驅動代碼

#define MOTOR_A_P_PORT          PORT1   //P15 A+
#define MOTOR_A_P_PIN           PIN5#define MOTOR_A_N_PORT          PORT1   //P14 A-
#define MOTOR_A_N_PIN           PIN4#define MOTOR_B_P_PORT          PORT1   //P13 B+
#define MOTOR_B_P_PIN           PIN3#define MOTOR_B_N_PORT          PORT1   //P12 B-
#define MOTOR_B_N_PIN           PIN2#define MOTOR_A_P__SET()        PORT_SetBit(MOTOR_A_P_PORT, MOTOR_A_P_PIN)
#define MOTOR_A_P__RESET()      PORT_ClrBit(MOTOR_A_P_PORT, MOTOR_A_P_PIN)#define MOTOR_A_N__SET()        PORT_SetBit(MOTOR_A_N_PORT, MOTOR_A_N_PIN)
#define MOTOR_A_N__RESET()      PORT_ClrBit(MOTOR_A_N_PORT, MOTOR_A_N_PIN)#define MOTOR_B_P__SET()        PORT_SetBit(MOTOR_B_P_PORT, MOTOR_B_P_PIN)
#define MOTOR_B_P__RESET()      PORT_ClrBit(MOTOR_B_P_PORT, MOTOR_B_P_PIN)#define MOTOR_B_N__SET()        PORT_SetBit(MOTOR_B_N_PORT, MOTOR_B_N_PIN)
#define MOTOR_B_N__RESET()      PORT_ClrBit(MOTOR_B_N_PORT, MOTOR_B_N_PIN)PORT_Init(MOTOR_A_P_PORT, MOTOR_A_P_PIN, OUTPUT); //P15 A+PORT_Init(MOTOR_A_N_PORT, MOTOR_A_N_PIN, OUTPUT); //P14 A-PORT_Init(MOTOR_B_P_PORT, MOTOR_B_P_PIN, OUTPUT); //P13 B+PORT_Init(MOTOR_B_N_PORT, MOTOR_B_N_PIN, OUTPUT); //P12 B-PORT_Init(PORT3, PIN0, OUTPUT); //P30 CMS6021 POWER_EN， 使能CMS6324供電PORT_SetBit(PORT3, PIN0);while(1){#if (0) 													//四拍#if (0) 													//四拍正轉//A+MOTOR_A_P__SET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B+MOTOR_A_P__RESET();MOTOR_B_P__SET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__SET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);#else   													//四拍反轉//A+MOTOR_A_P__SET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__SET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B+MOTOR_A_P__RESET();MOTOR_B_P__SET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);#endif#else   													//八拍#if (0) 													//八拍正向//A+MOTOR_A_P__SET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A+ B+MOTOR_A_P__SET();MOTOR_B_P__SET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B+MOTOR_A_P__RESET();MOTOR_B_P__SET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B+ A-MOTOR_A_P__RESET();MOTOR_B_P__SET();MOTOR_A_N__SET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__SET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A- B-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__SET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B- A+MOTOR_A_P__SET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);#else 														//八拍反向//A+MOTOR_A_P__SET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B- A+MOTOR_A_P__SET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__RESET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A- B-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__SET();MOTOR_B_N__SET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A-MOTOR_A_P__RESET();MOTOR_B_P__RESET();MOTOR_A_N__SET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B+ A-MOTOR_A_P__RESET();MOTOR_B_P__SET();MOTOR_A_N__SET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//B+MOTOR_A_P__RESET();MOTOR_B_P__SET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);//A+ B+MOTOR_A_P__SET();MOTOR_B_P__SET();MOTOR_A_N__RESET();MOTOR_B_N__RESET();UserTimer_Reset(&timer_delay);while(UserTimer_Read(&timer_delay) < TIMEOUT_1MS);#endif#endif}

黃波形為 A+

藍波形為 B+

紫波形為 A-

綠波形為 B-

四拍正轉，每個正脈沖轉1.8°，360°/1.8°=200個脈沖轉一圈。一次循環A+ B+ A- B-四個脈沖，循環50次即轉一圈。

四拍反轉。四拍時，1ms切換太快了，會嚴重丟步，轉動非常卡頓，將延時即切換時間適當拉長可獲得較為平順的效果。但導通時間過長會導致總電流很大。

八拍正轉。拍數增加，轉動相較于4拍平順了不少

八拍反轉

三、抓取步進電機驅動芯片/驅動器的四線波形進行對比

正轉。可見，大體思路和上面的是一致的，只不過為了驅動更平順以及功耗的考慮，各線通電時不是恒導通的，而是以PWM的方式進行輸出

反轉

每一相通電時，其正占空比都是先增后減，即電流先增后減

當速度提高，換相頻率變高。一般地，功率也需要提高，速度不變負載增加，功率也需提高（需要接編碼器），所以正占空比(平均)也變大了，電流變大

以上為波形研究，待續