CN206259951U - A kind of Design of Stepper Motor Subdivision control system - Google Patents
A kind of Design of Stepper Motor Subdivision control system Download PDFInfo
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- CN206259951U CN206259951U CN201621317587.XU CN201621317587U CN206259951U CN 206259951 U CN206259951 U CN 206259951U CN 201621317587 U CN201621317587 U CN 201621317587U CN 206259951 U CN206259951 U CN 206259951U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model belongs to electric machine control system field, a kind of Design of Stepper Motor Subdivision control system, including dsp controller, and dsp controller is provided with PWM and module, bus code module and serial port module occur；Control system also includes serial ports modular converter, bus line module, photoelectric isolation module, motor drive module and stepper motor；There is the input of the output end connection bus code module of module in PWM；The output end of bus code module connects the input of serial port module；The output end connection serial ports modular converter of serial port module；The other end connection bus line module of serial ports modular converter；The output end of bus line module connects the input of photoelectric isolating circuit；Photoelectric isolating circuit is connected with motor drive module；Motor drive module connects stepper motor.Design of Stepper Motor Subdivision control system of the present utility model is stable, and two kinds of different bus protocol modes of Modbus and CAN of support are communicated, and can realize the precisely subdivided of step pitch.
Description
Technical field
The utility model belongs to electric machine control system field, and in particular to a kind of Design of Stepper Motor Subdivision control system.
Background technology
Since modern age, the technology of motor control has obtained swift and violent development.Electric machines control technology greatly improves labor
Dynamic productivity ratio and product quality, have promoted the huge advance of modern industry agricultural.Such as Digit Control Machine Tool, printer, draught machine, machine
Device people controls, and the occasion such as UAV has application.But current many motors are such as walked due to being limited by this body structure
Stepper motor, step angle can not possibly be made thin small, thus concussion is easily produced when low frequency is controlled and is easily lost in high frequency
Step-out phenomenon, and noise of motor is obvious.Then motor subdivision technology is arisen at the historic moment, and uses constant current and the Subdivision driving technology can be with
The step pitch resolution ratio of stepper motor is greatly improved, reduces torque ripple, it is to avoid low-frequency resonance and reduction running noises, improve motor
Operate steadily, increase the flexibility of control.Exactly because the performance of the introducing stepper motor of motor subdivision technology is increased dramatically,
So that stepper motor instead of traditional motor, the promotion of motor subdivision technology causes that stepping motor promotes the use of other and leads
Domain, measuring instrument, optics and Medical Instruments and package packing machine etc. other apply to the field of mechanical movement.
Used as electromagnetic and mechanical device, its resolution ratio depends on Subdivision driving technology to stepper motor.With traditional single-chip microcomputer control
System is compared, and DSP carries out digital subdividing driving, more flexible, general, algorithm optimization is programmed simply, with stronger operational capability
DSP disclosure satisfy that the requirement that electric current loop is controlled in fact so that the cost reduction of stepping Multi-level microstep, efficiency are improved, reliability strengthens,
Want modification also easily to accomplish, be referred to as optimal motor control schemes.Meanwhile, can also solve stepper motor and easily go out in low speed
Existing low-frequency vibration and operating noise etc..But single digital subdividing drives can be contradictory on precision is taken into account with speed,
The step number of subdivision is more, and precision is higher, but the velocity of rotation of stepper motor is reduced；Improve velocity of rotation, the step number of subdivision
Must reduce.Therefore, a kind of system of multistage Multi-level microstep of design, is set by different subdivision gears, different step numbers are realized
Subdivision, using the various different motors of bus marco, while ensureing the electric system of the subdivision mode of different velocities of rotation
Research has very important significance.
Factory automation project technology based on industrial local network technology has obtained significant progress in last decade,
And show good growth momentum.Influenceed by this development trend, new Design of Stepper Motor Subdivision control system is all configured with standard
Serial communication interface or field bus communication mode.CAN as a kind of advanced technology reliability it is high, flexibility is good, function
Perfect and application of the rational remote network control mode of cost in industrial control field is widely.But with regard to current market
Upper most site intelligent instrument and meter, motor control assembly generally employ Modbus serial interface communication agreements.Due to
The definition of application layer in Modbus protocol realizations OSI Reference Model, usually as instrumentation network service.
But Modbus agreements and CANopen bus protocols are incompatible.Therefore motor micro-stepping control system can always
Line is compatible particularly important.
Utility model content
The utility model overcomes the shortcoming of above-mentioned technical problem, there is provided a kind of Design of Stepper Motor Subdivision control system, this
The Design of Stepper Motor Subdivision control system of utility model supports that two kinds of different bus protocol modes of Modbus and CAN are communicated,
Can realize that step pitch is precisely subdivided.
In order to solve the above-mentioned technical problem, the utility model provides following technical scheme：It is described including dsp controller
Dsp controller is provided with PWM and module, bus code module and serial port module occurs；The control system is also changed including serial ports
Module, bus line module, photoelectric isolation module, motor drive module and stepper motor；There is the output end of module in the PWM
Connect the input of the bus code module；The output end of the bus code module connects the input of the serial port module
End；The output end of the serial port module connects one end of the serial ports modular converter；The other end of the serial ports modular converter connects
Connect the input of the bus line module；And by serial ports modular converter export Modbus bus protocols or CAN protocol data
It is sent to the bus line module；The output end of the bus line module connects the input of the photoelectric isolating circuit；
The photoelectric isolating circuit receives the protocol data, and the control signal in the protocol data is amplified；The photoelectricity every
Output end from circuit connects the motor drive module；The motor drive module connects the stepper motor.
Further, the Design of Stepper Motor Subdivision control system also includes protection circuit, and the motor drive module passes through
The protection circuit connects the embedded middle fracture of the dsp controller.
Further, Design of Stepper Motor Subdivision control system also includes display module, and the display module is controlled by the DSP
Embedded I/O mouthfuls of device processed is connected with the DSP control module.
Further, Design of Stepper Motor Subdivision control system also includes power module of voltage regulation, the power module of voltage regulation connection
The motor drive module.
Further, Modbus data buffer zones and CAN data buffer areas are provided with the embedded RAM of the dsp controller；
The bus line module includes Modbus bus lines and CAN circuit；The dsp controller and Modbus bus lines
Communication data be stored in the Modbus data buffer zones；The dsp controller is deposited with the communication data of the CAN circuit
Enter the CAN data buffer areas.
Further, the model TMS320F2812DSP controllers that the dsp controller is used.
Further, the motor drive module of the model THB6064AH that the motor drive module is used.
Further, the Design of Stepper Motor Subdivision control system also includes one-chip computer module, the one-chip computer module connection
The bus code module, the model AT89S52 single-chip microcomputers that the one-chip computer module is used.
After being designed more than, the utility model has the advantages that compared with prior art：
Design of Stepper Motor Subdivision control system of the present utility model, has compared with traditional Design of Stepper Motor Subdivision control system
More preferable versatility, system by the equipment or the equipment access system of CANopen of supporting Modbus, and can realize that stepper motor is thin
Sub-control system, the general line system of system transmits the equipment of causing has more selections to carry out communications, allows the equipment can be Modbus's
Selected between transmission range reliability and the high-speed transfer of CAN, further speeded up communication speed between each equipment with
Reliability, meets the growth requirement of current controller network, the need for having catered to market.
Brief description of the drawings
Fig. 1 is a kind of composition frame chart of Design of Stepper Motor Subdivision control system of the utility model；
Fig. 2 is a kind of Modbus bus line schematic diagrams of Design of Stepper Motor Subdivision control system of the utility model；
Fig. 3 is a kind of CAN schematic circuit of Design of Stepper Motor Subdivision control system of the utility model；
The schematic diagram of the THB6064AH chips that Fig. 4 the utility model motor drive module is used；
Fig. 5 is DSP control algolithm of the utility model according to voltage sinusoidal PWM, the SPWM calculated values drawn using Excel
Curve map；
Fig. 6 is the flow path switch figure between the utility model CAN agreement and Modbus bus protocols；
Fig. 7 is a kind of general flow chart of Design of Stepper Motor Subdivision control system of the utility model.
Specific embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.It should be appreciated that described herein
Preferred embodiment be merely to illustrate and explain the utility model, be not used to limit the utility model.
Refer to Fig. 1, a kind of Design of Stepper Motor Subdivision control system of the utility model, including a dsp controller, the DSP
Controller is provided with a PWM and module, a bus code module and a serial port module occurs；The control system also includes a serial ports
Modular converter, a bus line module, a photoelectric isolation module, a motor drive module and a stepper motor；The PWM occurs
The output end of module connects the input of the bus code module；The output end of the bus code module connects the serial ports
The input of module；The output end of the serial port module connects one end of the serial ports modular converter；The serial ports modular converter
The other end connect the input of the bus line module；And by serial ports modular converter export Modbus bus protocols or
CAN protocol data is activation gives the bus line module；The output end of the bus line module connects the Phototube Coupling electricity
The input on road；The photoelectric isolating circuit receives the protocol data, and the control signal in the protocol data is amplified；
The output end of the photoelectric isolating circuit connects the motor drive module；The motor drive module connects the stepping electricity
Machine.
Design of Stepper Motor Subdivision control system of the present utility model can will support that the equipment of Modbus or the equipment of CANopen connect
Enter system.Wherein, serial interface switching circuit of the present utility model is network interface card change-over circuit, and its function is to realize that RS485 buses are assisted
View is in communication with each other with CAN agreement.The Modbus bus lines applied in the utility model are difference with CAN circuit
RS485 circuit networks and CAN network are depended on, therefore the conversion of two kinds of transmission means is also to be in communication with each other in physical layer
Emphasis.Possess the interface chip of CAN and RS485 on the dsp controller, when need by Design of Stepper Motor Subdivision control be
When system accesses corresponding network, access the corresponding interface is directly selected.Corresponding bus line schematic diagram is referred to shown in Fig. 2 and Fig. 3.
Fig. 2 is referred to, the Modbus bus lines include Max485 transceivers and RS485 buses, Max485 transceivers
Including pin A and pin B, the RS485 bus lines include pin 1 and pin 2；The pin 1 connects the pin B, institute
State pin 2 and connect the pin A.The Max485 transceivers are worked using single power supply+5V, and rated current is 300 μ A, is used
Half duplex communication mode.It completes that Transistor-Transistor Logic level is converted to the function of RS485 level.The structure of the chip of MAX485 transceivers
All very simple with pin, a driver and receiver are contained in MAX485 transceivers inside.RO and DI ends are respectively receiver
Output and driver input, only need to be connected i.e. with the RXD and TXD of dsp controller respectively when being connected with dsp controller
Can；The Enable Pin for receiving and sending is respectively with DE ends, whenDuring for logical zero, MAX485 transceivers are in reception state；When
When DE is logic 1, MAX485 transceivers are in transmission state, because MAX485 transceivers are operated in half-duplex state, only
The two pins need to be controlled with dsp controller pin；Side a and b is respectively the differential signal for receiving and sending
End, when the level of A pins is higher than B, it is 1 to represent the data for sending；When A level be less than B ends when, represents transmission data as
0.When being connected with dsp controller, wiring is very simple.Only need to a reception and transmission of signal control MAX485.Together
When will between A and B ends plus 120 Ω build-out resistor, increase load, reduce echo reflection, make signal reach line end after
Do not reflect.
Fig. 3 is referred to, the CAN circuit includes SN65HVD230 transceivers and CAN；The SN65HVD230
Transceiver includes pin CANH and pin CANL, and the CAN circuit includes pin 1 and pin 2, the connection of the pin 1 institute
Pin CANH is stated, the pin 2 connects the pin CANL.SN65HVD230 transceivers can be used under higher interference environment, its
Signal transmission rate reaches as high as 1Mb/s.SN65HVD230 transceivers have high speed, slope and wait 3 kinds of different Working moulds
Formula.The control of its mode of operation can be realized by RS controlling switch.The output pin TX of CAN controller is connected to SN65HVD230 receipts
The data input pin D of device is sent out, in the data transfer that this CAN node can be sent to CAN；And the output of CAN controller is drawn
Pin RX is connected with the data output end R of SN65HVD230 transceivers, for receiving data.SN65HVD230 transceiver modes are selected
Port RS is connected by the slope resistance device that wire jumper and one end are grounded, and 3 kinds of selections of mode of operation can be realized by hardware mode,
Wherein, the slope resistance device that the utility model is used is 10k Ω, while the terminal resistance that 120 Ω will be added between A and B ends, with
Improve the anti-interference and reliability of digital communication.
Further, the Design of Stepper Motor Subdivision control system also includes protection circuit, and the motor drive module passes through
The protection circuit connects the embedded middle fracture of the dsp controller.
Further, Design of Stepper Motor Subdivision control system also includes power module of voltage regulation, the power module of voltage regulation connection
The motor drive module and be its power supply.
Further, Modbus data buffer zones and CAN data buffer areas are provided with the embedded RAM of the dsp controller；
The bus line module includes Modbus bus lines and CAN circuit；The dsp controller and Modbus bus lines
Communication data be stored in the Modbus data buffer zones；The dsp controller is deposited with the communication data of the CAN circuit
Enter the CAN data buffer areas.
Further, the motor drive module of the model THB6064AH that the motor drive module is used.
THB6064AH is that a integration logic module and power model drive core in the high-performance two-phase hybrid stepping motor of one
Piece.Simple peripheral circuit is coordinated to be capable of achieving high-performance, many subdivisions, the driving stepper motor of high current, using pulsewidth modulation,
Have up to 8 kinds subdivisions it is optional (1/2,1/8,1/10,1/16,1/20,1/32,1/40,1/64) have and drive that noise is low, vibrations
The characteristics of small, dependable performance, cost performance high.The schematic diagram of THB6064AH is as shown in figure 4, when actual industrial plate is fabricated to, be
Its antijamming capability is improved, the uniform decoupling capacitor for placing multiple 0.1uf between various power supplys and ground wire, to improve power supply
Antijamming capability.Signal output interface OUT1A and OUT2A is controlled with toggle switch, the pin of measurement test is left, kept away
Exempt to measure surface mount elements.
Further, the model TMS320F2812DSP controllers that the dsp controller is used.TMS320F2812DSP
The dominant frequency of controller is up in 150MHz, piece the programming FLASH with up to 128K words, is integrated with PWM and module occurs, and carries
Task manager (EV) module of CAP trapping modules, 32 bit timing devices, 12 bit AD sample modules, the defeated people's output of multiple multiplexing can
Customized I/O ports.The display module by the dsp controller embed I/O mouthful with the DSP control module company
Connect.The stepper motor that the present embodiment is used one week is 200 steps, to realize that 128 subdivisions are accomplished by least possessing 200*128
Classification, therefore at least need to possess approximate sine wave near needed for 25600 sampled points could be reduced.
Because the crystal oscillator of TMS320F2812 on dsp controller is 30MHz, after internal 5 frequency multiplication, system clock is 150MHz,
TMS320F2812 provides task manager EVA, and task manager EVA includes that PWM produces circuit, task manager EVA2 points
Timer after frequency, so the optimal counting cycle is T for 13.33nsC=13.33ns, carrier frequency is f=20khz, and k is odd even
Sampled point totally 25600, M multiples take 1.After determining setting value, formula and numerical value are imported using Excel is calculated, part calculates
Value such as table 1.The DSP control algolithms of voltage sinusoidal PWM, are drawn to obtain accompanying drawing 5 gained sine value using Excel.
The SPWM value result of calculations of table 1
Array caching is opened up in TMS320F2812, the value of gained is put into preservation, then with PWM1~3 of dsp controller
Pin exports the waveform of approximate sine wave, then by simple process, it is possible to a Three Phase SPWM Wave for high accuracy is exported,
Controls of the DSP to Multi-level microstep can just be realized.
Further, the Design of Stepper Motor Subdivision control system also includes one-chip computer module, the one-chip computer module connection
The bus code module, the single-chip microcomputer of the model AT89S52 that the one-chip computer module is used.The AT89S52 single-chip microcomputers
Reception data are carried out by Modbus bus lines access device as slave.
It is respectively ASCII (American Standard Code for that the Modbus agreements of standard have two kinds of transmission means
Information Interchange) pattern and RTU (Remote Terminal Unit), the utility model used identical
More multicharacter RTU modes can be transmitted during baud rate.The reading form of typical RTU message frames, including host request and from
Machine response form, must define the data frame of standard agreement, their forms respectively as shown in Table 1 and Table 2 to reach communication
It is defined transmission.Wherein, the dsp controller is main frame, and the AT89S52 single-chip microcomputers are slave.
The request message frame format that the main frame of table 1 sends to slave
The response message frame format that the slave of table 2 sends after being asked to main frame
According to the message frame structure of Tables 1 and 2 RTU patterns, the function code in query messages reports to selected from setting
It is standby which kind of function performed.The customized function code of the utility model is as shown in table 3.
The motor micro-stepping control systemic-function table of the utility model dsp controller of table 3
The utility model also realizes the conversion of Modbus bus protocols and CAN agreement.Because not having in CAN agreement
The application function of data in data frame is defined, and Modbus agreements have the definition of application layer.Therefore, will be by during translation-protocol
The implication of the message data in Modbus agreements is to each data definition facility in CAN message data.Dsp controller from
Equipment receives command message data and is stored in CAN output datas area.Because the data length of CAN transmission is 8 to the maximum
Individual byte, and Modbus agreements need the data length of transmission to be more than 8 bytes.It is right in order to coordinate the transmission means of CAN
Using transmitting by several times in CAN, the first section of data buffer zone is defined the data that Modbus is transferred in CAN message
One variable is used to mark Modbus data sectionals, and variable is the message which time sends for representing message.0 represents Modbus
End of transmission of protocol command byte, 1 represents Modbus protocol commands byte needs end of transmission twice.Dsp controller exists
When receiving data, first have to detect the variable value, the data type of transmission is then judged further according to value, then read data and deposit
In entering CAN data buffer areas.
In order to prevent to be malfunctioned during transmission, a kind of easy mechanism for correcting errors is employed in the utility model data are verified
Error correction.
After once complete Modbus messages reception is completed, the dsp controller just carries out CAN data buffer zones to system
With the data exchange of Modbus data buffer zones.The CRC check code of the frame message is calculated simultaneously, is then written to Modbus data
Buffering area.It is a message content for complete, standard Modbus RTU patterns in Modbus data buffer zones.
Responded and after the exchange data of CAN data buffer zones more than completing, allow the dsp controller from Modbus data
Buffering area takes out Modbus messages, and message data is sent into what is specified by the serial port module of the dsp controller
In Modbus bus lines.Then the reply message of the Modbus bus lines to be received such as dsp controller.And to Modbus buses
Circuit designs a response time of about 400ms.
If transmission instruction exceedes design response time without response after sending, need to resend.All do not connect for continuous three times
Receive response message, then it is assumed that communication failure or device damage occur in Modbus bus lines.The mark of communication failure is eased up
Stroke sequence is written to Modbus data buffer zones.If response message, then after response message is received, be to returning
Answering message carries out CRC check, if CRC check mistake or Modbus bus lines return wrong responses message, mistake is marked
Will data and wrong responses message come into conversion equipment.If reading function, then by number in Success Flag data and reply message
Modbus data buffer zones are written to according to domain content.If writing function.Success Flag data are only then written to Modbus numbers
According to buffering area.After the dsp controller completes a Modbus communications, one is carried out to Modbus and CAN data buffer zones
Secondary data is exchanged.The data of CAN data buffer zones are sent back to CAN circuit by the dsp controller, and CAN circuit will
Error message is processed accordingly, this completes the conversion of CAN protocol to Modbus agreements, and can be realized that mistake is entangled
It is wrong.
Fig. 6 is referred to, the flow path switch figure between CAN agreement and Modbus bus protocols.The program of protocol conversion is compiled
Write it is important that exchanging between CAN and Modbus data.System is initialized to serial port module first, to CAN data bufferings
Area empties with Modbus data buffer zones；Then judge whether serial ports modular converter has data input, if it is defeated to have detected data
Enter, then it is that CAN interface or Modbus EBIs are connect to be scanned detection to the interface of the serial ports modular converter
Enter network, it is determined that after start to receive data, and data are carried out with error checking, whether inspection data complete；When number is transmitted several times
According to, confirm data are stored in corresponding CAN data buffer zones or Modbus data buffer zones after data are complete, and with another mark
A kind of data of bus mode in position are swapped, and are transferred in another data buffer zone；Then data forwarding is sent to another
In the equipment at end and confirmation message is sent, received and reply message in slave unit, if message is answered and correct sent out to dsp controller again
Send data and be back to system, convert, if message is without answer, whether detection data has sent 3 times, if having sent 3
It is secondary then to reset error flag position, if not sent 3 times, return and continue to send confirmation message；If in addition, message is answered not just
Really, it is also desirable to reset error flag position.
Refer to Fig. 7, a kind of control process of Design of Stepper Motor Subdivision control system of the utility model, first by DSP controls
Device is initialized to each module, and enable is provided to dsp controller internal interrupt, task manager EVA is initialized, to serial ports
Module and CAN circuit are initialized, and empty Modbus data buffer zones and CAN data buffer zones, to stepper motor through exercising
Can initialize, the parameter initialization of parameter definition and functional module elements sets Modbus interrupt responses, motor algorithm of subdivision meter
Calculate part etc..After each module of program initialization, the bus mode that serial ports modular converter is accessed is confirmed, read from one-chip computer module
Taking equipment numbering sends message and confirms equipment, then sets electric current, subdivision degree, the rotation side to be exported by dsp controller
To and speed.Activation system exports output control signal to the motor drive module after the completion of setting, drives the step
Stepper motor is moved accordingly.
Described above is directed to the detailed description of the preferable possible embodiments of the utility model, but embodiment is not limited to
Patent claim of the present utility model, the equal change or modification completed under the technical spirit suggested by all the utility model
Change, all should belong to the utility model and cover the scope of the claims.
Claims (8)
1. a kind of Design of Stepper Motor Subdivision control system, it is characterised in that：Including dsp controller, the dsp controller is provided with
There is module, bus code module and serial port module in PWM；The control system also includes serial ports modular converter, bus line mould
Block, photoelectric isolation module, motor drive module and stepper motor；The output end that the PWM occurs module connects the bus volume
The input of code module；The output end of the bus code module connects the input of the serial port module；The serial port module
Output end connect one end of the serial ports modular converter；The other end of the serial ports modular converter connects the bus line mould
The input of block；And the Modbus bus protocols that export serial ports modular converter or CAN protocol data is activation give the Bus Wire
Road module；The output end of the bus line module connects the input of the photoelectric isolating circuit；The photoelectric isolating circuit
The protocol data is received, and the control signal in the protocol data is amplified；The output end of the photoelectric isolating circuit connects
Connect the motor drive module；The motor drive module connects the stepper motor.
2. a kind of Design of Stepper Motor Subdivision control system according to claim 1, it is characterised in that：Also include protection circuit,
The motor drive module connects the embedded middle fracture of the dsp controller by the protection circuit.
3. a kind of Design of Stepper Motor Subdivision control system according to claim 1, it is characterised in that：Also include display module,
The display module by the dsp controller embed I/O mouthfuls be connected with the DSP control module.
4. a kind of Design of Stepper Motor Subdivision control system according to claim 1, it is characterised in that：Also include voltage-stabilized power supply mould
Block, the power module of voltage regulation connects the motor drive module.
5. a kind of Design of Stepper Motor Subdivision control system according to claim 1, it is characterised in that：In the dsp controller
Modbus data buffer zones and CAN data buffer areas are provided with embedding RAM；The bus line module includes Modbus Bus Wires
Road and CAN circuit；The dsp controller is stored in the Modbus data bufferings with the communication data of Modbus bus lines
Area；The dsp controller is stored in the CAN data buffer areas with the communication data of the CAN circuit.
6. a kind of Design of Stepper Motor Subdivision control system according to claim 1, it is characterised in that：The dsp controller is adopted
Model TMS320F2812DSP controllers.
7. a kind of Design of Stepper Motor Subdivision control system according to claim 1, it is characterised in that：The motor drive module
The motor drive module of the model THB6064AH of use.
8. a kind of Design of Stepper Motor Subdivision control system according to claim 1, it is characterised in that：The Design of Stepper Motor Subdivision
Control system also includes one-chip computer module, and the one-chip computer module connects the bus code module, and the one-chip computer module is adopted
Model AT89S52 single-chip microcomputers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621317587.XU CN206259951U (en) | 2016-12-03 | 2016-12-03 | A kind of Design of Stepper Motor Subdivision control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621317587.XU CN206259951U (en) | 2016-12-03 | 2016-12-03 | A kind of Design of Stepper Motor Subdivision control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106656707A (en) * | 2016-12-03 | 2017-05-10 | 河池学院 | Stepping motor subdivision control system |
| CN115290969A (en) * | 2022-10-08 | 2022-11-04 | 成都通用整流电器研究所 | Intelligent power distribution multi-analog sampling device |
-
2016
- 2016-12-03 CN CN201621317587.XU patent/CN206259951U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106656707A (en) * | 2016-12-03 | 2017-05-10 | 河池学院 | Stepping motor subdivision control system |
| CN106656707B (en) * | 2016-12-03 | 2022-10-25 | 河池学院 | Stepping motor subdivision control system |
| CN115290969A (en) * | 2022-10-08 | 2022-11-04 | 成都通用整流电器研究所 | Intelligent power distribution multi-analog sampling device |
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Granted publication date: 20170616 Termination date: 20191203 |