參數(shù)資料
型號: MC33976
廠商: 飛思卡爾半導(dǎo)體(中國)有限公司
英文描述: Dual Gauge Driver with Configurable Response Time(帶可設(shè)置響應(yīng)時間的雙標(biāo)尺驅(qū)動器)
中文描述: 雙計驅(qū)動器,可配置的響應(yīng)時間(帶可設(shè)置響應(yīng)時間的雙標(biāo)尺驅(qū)動器)
文件頁數(shù): 26/40頁
文件大?。?/td> 5332K
代理商: MC33976
Analog Integrated Circuit Device Data
Freescale Semiconductor
26
33976
FUNCTIONAL DEVICE OPERATION
STATE MACHINE
The motor is stepped by providing index commands at
intervals. The time between steps defines the motor velocity,
and the changing time defines the motor acceleration.
The state machine uses a table to define the allowed time
and also the maximum velocity. A useful side effect of the
table is that it also allows the direct determination of the
position at which the velocity should reduce to stop the motor
at the desired position.
The motor equations of motion are generated as follows.
(The units of position are steps, and velocity and acceleration
are in steps/second and steps/second2.)
From an initial position of 0 with an initial velocity (
u)
, the
motor position (
s)
at a time (
t)
is:
For unit steps, the time between steps is:
This defines the time increment between steps when the
motor is initially travelling at a velocity u. In the ROM, this time
is quantized to multiples of the system clock by rounding
upwards, ensuring acceleration never exceeds the allowed
value. The actual velocity and acceleration is calculated from
the time step actually used.
Using
v
2
=
u
2
+ 2
as
and
v
=
u
+
at
and solving for
v
in terms of
u
,
s,
and
t
gives:
v
=
2
/
t
-
u
The correct value of
t
to use in this equation is the
quantized value obtained above.
From these equations a set of recursive equations can be
generated to give the allowed time step between motor
indexes when the motor is accelerating from a stop to its
maximum velocity.
Starting from a position
p
of 0 and a velocity
v
of 0, these
equations define the time interval between steps at each
position. To drive the motor at maximum performance, index
commands are given to the motor at these intervals. A table
is generated giving the time step
t
at an index position
n
.
where
indicates rounding up.
P
n
=
n
Note
P
n
=
n
.
This means on the
n
th step the motor has
indexed by
n
positions and has been accelerating steadily at
the maximum allowed rate. This is critical because it also
indicates the minimum distance the motor must travel while
decelerating to a stop. For example, the
stopping distance
is
also equal to the current value of
n
.
The algorithm to drive the motor is similar to:
Table 29. Coil Step Value
Step
Angle
SINE
(Angle)*
COS (Angle)*
PE6 = 0
COS (Angle -
30)*
PE6 = 1
0
0
0
1
0.866
1
15
0.259
0.965
0.966
2
30
0.5
0.866
1
3
45
0.707
0.707
0.966
4
60
0.866
0.5
0.866
5
75
0.966
0.259
0.707
6
90
1
0
0.500
7
105
0.966
-0.259
0.259
8
120
0.866
-0.5
0
9
135
0.707
-0.707
-0.259
10
150
0.5
-0.866
-0.500
11
165
0.259
-0.966
-0.707
12
180
0
-1
-0.866
13
195
-0.259
-0.966
-0.966
14
210
-0.5
-0.867
-1
15
225
-0.707
-0.707
-0.966
16
240
-0.866
-0.5
-0.866
17
255
-0.966
-0.259
-0.707
18
270
-1
0
-0.500
19
285
-0.966
0.259
-0.259
20
300
-0.866
0.5
0
21
315
-0.707
0.707
0.259
22
330
-0.5
0.866
0.500
23
345
-0.259
0.966
0.707
* Denotes normalized values.
2
2
1
at
ut
s
+
=
a
a
u
u
t
2
2
+
+
=
0
0
0
0
=
=
v
p
1
2
=
n
n
n
v
t
v
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