通信工程文献翻译——摘要：

本文介绍了一个精密步进电机控制器，该控制器可以独立并同步控制多个步进电机。该控制器内置围绕一个16位微处理器，提供快捷可靠的控制操作。此外，使用的微技术可以达到电子级的高分辨率并防止机械共振。该控制器还包括6个输入/输出端口。这种控制器在制造业广泛应用。例如，它可以用来控制多达6个自由度的机器人。该控制器已经过同时控制6个步进马达（同步的）的高精度轨迹应用测试。

1 介绍

传统的步进电机驱动器允许的发动机允许马达工作在整步模式或半步模式。这种驱动系统的性能通常受限于步进电机的机械共振。微步驱动系统通过适当的控制每个阶段的电流克服了这一问题[1,6]。这种驱动器通过一种等同于整数中的分数的因素改进电机的分辨率。举例来说，每转用200步的电动机变成一个每转2000步的电动机分辨率提高了10倍。这种分辨率的提高使其位置精度也有所改善[5,6,7]。

虽然开环控制通常在位置精度方面有令人满意的表现。但如果电动机运行在高负荷，高加速状态可能会出现一些问题。电机可能会跳步骤或冲出。这些状况可以通过闭环控制的使用来克服[2,3,6]。在闭环控制中脉冲序列的产生和开环系统是一样的[8]。唯一的区别是，一个光电编码器的输出是用来递减步骤计数器的。

本文介绍了一种闭环的微步进电机控制器，克服了不稳定的问题同时可以具有高精度。这项技术提高电子步进的分辨率并抑制列振荡。另一个关键特点是控制器可以控制多个步进电机（独立或者同步）。这大大提高了它在现代控制应用中的作用。此控制器控制六自由度的应用是其中一个例子。受控制的机器人能非常准确的点到点的轨迹控制。基本上，这种控制器和标准步进电机驱动器（如......

The objective of this paper is to develop a precision stepper motor controller capable of both independent and synchronized control of multiple number of stepper motors. The controller is built 

around a 16-bit microprocessor to provide fast and reliable control operations. In addition, microstepping techniques are used to achieve high resolution electronically and to suppress mechanical resonance. The controller also includes six input/output ports. Such controllers have wide applications in manufacturing industry. 

For instance, it can be used to control a robot having up to six degrees of freedom. The controller has been tested with a simultaneous control (synchronous) of six stepper motors for a precision trajectory control applications.  

Conventional stepper motor drives allow the motors to be driven in either the full step mode or half step mode. The performance of such drive systems are usually limited by the mechanical resonance of the stepper motor. Microstepping drive systems overcome this problem by proper control of current in each phase [l. 61. Such drives improve the resolution of the motors by a factor equal to the 

number of sub-steps in a full step. For instance, a 200 steps per revolution motor turns into a 2.000 steps per revolution has a improved resolution by a factor of 10. The positional accuracy is also improved as a result of improved resolution [5. 6. 71. Although the open loop control normally produces satisfactory performance as far as position accuracy is concerned. some problems may arise if the motor is operating under high load and high acceleration condition. The motor may lose steps or overshoot. These conditions can be overcome with the use of closed loop control [2. 3. 61. In close loop control. the generation of the pulse train is identical to the open loop system [SI. The only difference is that the output of an optical encoder is used to decrement the step 

counter. This paper presents a closed loop microstepping stepper motor controller which overcomes the problem fo instability and at the same time provides for high accuracy. This technique improves electronically the resolution of stepper motors and suppresses oscillations. Another key feature is the capability of the controller to control multiple number of stepper motors for simultaneous operations (indpendent andlor......