请教一下，我淘宝买57电机2A配上驱动器，最高速度只能到300转左右，超过了就会失步，有时还
如题，知道的进来指点一下，谢谢 这个感觉应该是驱动器的原因 都有可能 可能是驱动器设置，MACH3电机设置的不适合。加速度调整一下，用梯形加速。 不知道你是怎么测试的，如果速度是慢慢加上去的，不失步的频率就可以取得比较高，而如果频率是一下加上去或者增长速度比较快，电机就会在较低频率下失步，这是由步进电机的性质决定的。建议考虑这个问题。 显然是驱动器问题了我用三相57在3.5A时能跑到四千多转...雷赛的驱动器，但低频下振动还是比较大 有没有装雕刻机上。。。如果有那有可能轴的阻力比较大
如果没有。。。那驱动器的原因最大 电机振荡 晕，4000多转，我的是空转，就只有300，57雷赛的驱动器什么价啊？ 查了一下，雷赛的价格一个要200左右，有点太高了， 应该是驱动的问题,57电机2.0A转那么慢力量应该很大的起码你手是捏不住的. 四千转…太不可思议啦，我的400都到不了啊…步进电机能那么快吗，阿莫的电机也就300多转啊…你都用什么电机啊，大哥！ 是不是启动的时候没做加速处理呀 4K的步进没见识过，力够不够大 驱动电流没调好？ 人家能上4k的电机是三相步进的好伐？ 雷赛的3DM系列驱动器...3相的57才跑到4000转的..再套上个5000线编码器相当帅...
但24V供电时4000转的时候力矩也没多少了，手使劲捏一下就转不动了，把电压提到40V这4000转可能才能有实际作用
加速曲线是自己用matlab根据矩频特性算的，矩频特性也只是参考南京步进电机厂那个三相步进电机矩频特性曲线，没有雷赛官方的。
关于加速曲线的计算，我说说我思路吧
根据第k步的频率得到第k步的转速
根据第k步的转速，对照矩频函数得出第k步时的扭矩
根据第k步扭矩算出第k步能增加的动能
从而得到第k+1步的动能
从而得到第k+1步的转速
从而得到第k+1步的频率
用matlab算for循环算10000次，得到一个双精度浮点的频率数组，再换算成定时器定时周期，再用int32()取整，再用fprintf输出成.txt格式，打开，自行在数组两端加上 const acc_list[] = { };，做成一个.h文件就行了。 传一个我算的数组，这个计算参数比较保守从0加速到最高需要近0.3秒...
用stm32的定时器，启动频率665Hz，最高频率73.77kHz，u32太占flash了我用的时候把前面两个108282,76567给去掉，整个数组定义为u16,但程序编译出来这部分也占了60+kbyte...驱动器设2000步/转时就能跑到4000转了，像我一样闲的蛋疼的同志可以试试...
24V供电3.5A电流真正能用的也就2000转，勉强把减速比180:1的转台做到老大要求的5秒一圈
matlab计算步骤，欢迎拍砖:
e1 = 0.375e-3 : 0.375e-3 : 0.603145; %%该力矩下能提供的动能
w1 = (2*e1/0.00011);
for j = 1:1608
w1(j) = w1(j)^0.5;
end
w1_get = w1;%%第一加速阶段，力矩为常量
e2 = ones(1,10000)*0.60315;
w2 = ones(1,10000)* 104.72;
for j=1:9999
e2(j+1) = e2(j) + (-2.50668 * 0.001 * w2(j) + 0.6375)*0.001;%%第二加速阶段，把力矩看作转速的一次函数
w2(j+1) = (2*e2(j+1)/0.00011)^0.5;
end
w2_get = w2(1:8842);
e3_2 = 785.3982^2*1.1e-4*0.5;
e3_1 = w2(8842)^2*1.1e-4*0.5;
e3 = e3_1 : 0.1125e-3 : e3_2;
w3 = (2*e3/0.00011);
for j = 1:280126
w3(j) = w3(j)^0.5; %%加速第三阶段，把力矩再看成常量，实际这是不对的但没办法得到真实矩频曲线只能这么算了
end
w_total=cat(2,w1,w2_get,w3);
T_total = ones(1,290576);
for j = 1:290576
T_total(j) = 2*pi*0.225 /360 / w_total(j);
end
T_mcu = T_total * 72*1000*1000;
T_mcu_string = int32(T_mcu);
T_mcu_string2 = int2str(T_mcu_string(1));
mid2 = ',';
for j=2:30000
mid1 = int2str(T_mcu_string(j));
T_mcu_string2 = cat(2,T_mcu_string2,mid2);
T_mcu_string2 = cat(2,T_mcu_string2,mid1);
end
txt_fileid = fopen('result.txt','w')
fprintf(txt_fileid,'%s',T_mcu_string2);
fclose(txt_fileid); 奇怪了文件传不上来，压缩了成.rar也说格式错误
直接贴上来试试看：
#ifndef _STEPACCPERIOD_V2_H_
#define _STEPACCPERIOD_V2_H_
const u32 stepaccperiod[] = {
108282,76567,62517,54141,48425,44206,40927,38284,36094,34242,32648,31258,30032,28940,27958,27071,26262,25522,24842,24213,23629,23086,22578,22103,21656,21236,20839,20463,20108,19770,19448,19142,18850,18570,18303,18047,17802,17566,17339,17121,16911,16708,16513,16324,16142,15965,15795,15629,15469,15313,15163,15016,14874,14735,14601,14470,14342,14218,14097,13979,13864,13752,13642,13535,13431,13329,13229,13131,13036,12942,12851,12761,12674,12588,12503,12421,12340,12261,12183,12106,12031,11958,11886,11815,11745,11676,11609,11543,11478,11414,11351,11289,11228,11168,11110,11052,10994,10938,10883,10828,10775,10722,10669,10618,10567,10517,10468,10419,10372,10324,10278,10232,10186,10142,10097,10054,10011,9968,9926,9885,9844,9803,9764,9724,9685,9647,9609,9571,9534,9497,9461,9425,9389,9354,9319,9285,9251,9218,9184,9152,9119,9087,9055,9024,8992,8962,8931,8901,8871,8841,8812,8783,8754,8726,8697,8670,8642,8614,8587,8560,8534,8507,8481,8455,8430,8404,8379,8354,8329,8305,8281,8256,8233,8209,8185,8162,8139,8116,8093,8071,8049,8026,8004,7983,7961,7940,7918,7897,7876,7856,7835,7815,7794,7774,7754,7734,7715,7695,7676,7657,7638,7619,7600,7581,7563,7544,7526,7508,7490,7472,7454,7437,7419,7402,7385,7368,7351,7334,7317,7300,7284,7267,7251,7235,7219,7203,7187,7171,7156,7140,7124,7109,7094,7079,7064,7049,7034,7019,7004,6990,6975,6961,6946,6932,6918,6904,6890,6876,6862,6848,6835,6821,6808,6794,6781,6768,6754,6741,6728,6715,6703,6690,6677,6664,6652,6639,6627,6614,6602,6590,6578,6566,6554,6542,6530,6518,6506,6494,6483,6471,6460,6448,6437,6425,6414,6403,6392,6381,6370,6359,6348,6337,6326,6315,6304,6294,6283,6273,6262,6252,6241,6231,6221,6210,6200,6190,6180,6170,6160,6150,6140,6130,6120,6111,6101,6091,6082,6072,6063,6053,6044,6034,6025,6016,6006,5997,5988,5979,5970,5961,5952,5943,5934,5925,5916,5907,5899,5890,5881,5872,5864,5855,5847,5838,5830,5821,5813,5805,5796,5788,5780,5771,5763,5755,5747,5739,5731,5723,5715,5707,5699,5691,5683,5676,5668,5660,5652,5645,5637,5629,5622,5614,5607,5599,5592,5584,5577,5569,5562,5555,5547,5540,5533,5526,5519,5511,5504,5497,5490,5483,5476,5469,5462,5455,5448,5441,5435,5428,5421,5414,5407,5401,5394,5387,5381,5374,5367,5361,5354,5348,5341,5335,5328,5322,5315,5309,5303,5296,5290,5284,5277,5271,5265,5259,5252,5246,5240,5234,5228,5222,5216,5210,5204,5198,5192,5186,5180,5174,5168,5162,5156,5150,5145,5139,5133,5127,5122,5116,5110,5104,5099,5093,5088,5082,5076,5071,5065,5060,5054,5049,5043,5038,5032,5027,5021,5016,5011,5005,5000,4995,4989,4984,4979,4974,4968,4963,4958,4953,4948,4942,4937,4932,4927,4922,4917,4912,4907,4902,4897,4892,4887,4882,4877,4872,4867,4862,4857,4852,4847,4843,4838,4833,4828,4823,4819,4814,4809,4804,4800,4795,4790,4785,4781,4776,4771,4767,4762,4758,4753,4748,4744,4739,4735,4730,4726,4721,4717,4712,4708,4703,4699,4695,4690,4686,4681,4677,4673,4668,4664,4660,4655,4651,4647,4643,4638,4634,4630,4626,4621,4617,4613,4609,4605,4600,4596,4592,4588,4584,4580,4576,4572,4568,4564,4560,4555,4551,4547,4543,4539,4535,4531,4528,4524,4520,4516,4512,4508,4504,4500,4496,4492,4488,4485,4481,4477,4473,4469,4465,4462,4458,4454,4450,4447,4443,4439,4435,4432,4428,4424,4421,4417,4413,4410,4406,4402,4399,4395,4391,4388,4384,4381,4377,4373,4370,4366,4363,4359,4356,4352,4349,4345,4342,4338,4335,4331,4328,4324,4321,4318,4314,4311,4307,4304,4300,4297,4294,4290,4287,4284,4280,4277,4274,4270,4267,4264,4260,4257,4254,4250,4247,4244,4241,4237,4234,4231,4228,4225,4221,4218,4215,4212,4209,4205,4202,4199,4196,4193,4190,4186,4183,4180,4177,4174,4171,4168,4165,4162,4159,4155,4152,4149,4146,4143,4140,4137,4134,4131,4128,4125,4122,4119,4116,4113,4110,4107,4104,4101,4099,4096,4093,4090,4087,4084,4081,4078,4075,4072,4070,4067,4064,4061,4058,4055,4052,4050,4047,4044,4041,4038,4035,4033,4030,4027,4024,4022,4019,4016,4013,4010,4008,4005,4002,4000,3997,3994,3991,3989,3986,3983,3981,3978,3975,3972,3970,3967,3965,3962,3959,3957,3954,3951,3949,3946,3943,3941,3938,3936,3933,3930,3928,3925,3923,3920,3918,3915,3912,3910,3907,3905,3902,3900,3897,3895,3892,3890,3887,3885,3882,3880,3877,3875,3872,3870,3867,3865,3862,3860,3857,3855,3853,3850,3848,3845,3843,3840,3838,3836,3833,3831,3828,3826,3824,3821,3819,3816,3814,3812,3809,3807,3805,3802,3800,3798,3795,3793,3791,3788,3786,3784,3781,3779,3777,3774,3772,3770,3768,3765,3763,3761,3759,3756,3754,3752,3750,3747,3745,3743,3741,3738,3736,3734,3732,3729,3727,3725,3723,3721,3718,3716,3714,3712,3710,3708,3705,3703,3701,3699,3697,3695,3692,3690,3688,3686,3684,3682,3680,3677,3675,3673,3671,3669,3667,3665,3663,3661,3659,3656,3654,3652,3650,3648,3646,3644,3642,3640,3638,3636,3634,3632,3630,3628,3626,3624,3622,3619,3617,3615,3613,3611,3609,3607,3605,3603,3601,3599,3597,3595,3593,3592,3590,3588,3586,3584,3582,3580,3578,3576,3574,3572,3570,3568,3566,3564,3562,3560,3558,3556,3555,3553,3551,3549,3547,3545,3543
看来只能贴到20kHz... 标记。 这回传上来啦：
上面说错，是1000步/转时跑到4k转。数组很大，方式比较蠢...
点击此处下载 ourdev_690929P4NYHV.rar(文件大小:6K) (原文件名:stepacc.rar) 4k转啊，这么厉害！！！
看来3相还是很有优势的。我测试的2相电机800都不行，600还差不多。要实用就只能是400转以下。 难怪我的24ＢＹＪ也只能跑300－500转而已。 哦，原来2相步进都是这样啊，我以前一直用的伺服，还以为是出问题了，我试过了，300转左右精度还是不错的，不过是空载，我用一个校表，来回走300MM，一共走了3个小时，回到原点，校表还是在0上，用的是C7级的丝杆，居然也能这么准，呵呵，就是G0的速度太慢了，走大行程有点不爽 也有可那个是电压低 mark
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