Arduino中手写脉冲控制步进电机-2

1、前言

2、时间-位移关系计算

3、Matlab计算时间和位置数据

(1)Matlab程序

（2）Arduino程序

4、Matlab生成Arduino电机正反转程序语句

（1）Arduino程序

（2）Matlab 命令行方式生成Arduino步进电机正反转程序语句

①正转命令行

②反转命令行

（3）Matlab GUI方式生成Arduino步进电机正反转程序语句

5、下载链接

1、前言

Arduino中手写脉冲控制步进电机-1-CSDN博客接上一节继续。上一节是实现步进电机恒速运转，要实现电机变速运动需要对脉冲延时函数进行调整。本节主要讲解电机固定位置往复运动、速度以曲线方式运行。

2、时间-位移关系计算

步进电机时间-位移关系拟合三角函数。从Cos函数曲线上采样、取很多个点，取样点越细电机运行就越圆滑。

思路：对于一个时间-位移三角函数，每隔相同的时长（称为单元时长）取一次位移值，计算相邻

两次位移的距离(的绝对值)，再计算对应的脉冲步数的delay时长

1、距离固定后，脉冲步数固定。

2、由于单元时长固定，因此每步的脉冲时长(脉冲频率)也是固定的。但是不同单元的脉冲频率不同

3、即固定单元时长，但不固定单元内步数，因此单元的脉冲频率也不固定

类似于这样，然后使电机的时间-位移关系，满足相邻红星的时间-位移关系即可。

3、Matlab计算时间和位置数据

(1)Matlab程序

运行的.m脚本程序

%% 1.步进电机PWM计算代码
clc
clear
close all
%% 原始值
A=40.64;                    %振幅*2，两倍振幅，即伸缩杆的移动范围。电机1600脉冲转一圈，40.64=1600*。0.254
MBJL=0.0254;                %每步距离,电机固定参数(与细分数有关)
T=2;                        %三角函数的周期2秒，即2秒执行完给定的脉冲数
T=T*1000*1000;              %换算为微秒
SN=A/MBJL;                  %StepNumber，三角函数一个周期内的脉冲步数,振幅固定后SN即固定
TPSN=T/SN;                  %TimePerStep，每步的时长的平均值
UN=20;                      %UnitNumber，一个周期平均分割的单元总数
%函数
x=2*pi/SN:2*pi/SN:2*pi;     %自变量
y=func(x,A);                %函数% %函数：脉冲数-位移图
% figure(1)
% plot(1:SN,y,'b.','markersize',15,'LineWidth',1)
% xlabel('脉冲数')
% ylabel('位移/mm')
% ZT=30;%字体30号
% set(gca,'FontSize',ZT);
% aaa=2;
% set(gcf,'unit','centimeters','position',[2 2 16*aaa 9*aaa]);
% set(gca,"FontName","宋体","FontSize",ZT,"LineWidth",2);
% 
% %目标函数图（理想函数图）
% figure(2)
% plot((1:SN)*TPSN,y,'b.','markersize',15,'LineWidth',1)
% xlabel('时间/微秒')
% ylabel('位移/mm')
% ZT=30;%字体30号
% set(gca,'FontSize',ZT);
% aaa=2;
% set(gcf,'unit','centimeters','position',[2 2 16*aaa 9*aaa]);
% set(gca,"FontName","宋体","FontSize",ZT,"LineWidth",2);%%
NN=1:SN/UN:SN;                  %平均分割的脉冲坐标
NN(length(NN)+1)=SN;
x0=zeros(1,length(NN));
for i=1:length(NN)x0(1,i)=x(NN(1,i));         %平均分割的脉冲坐标对应的x坐标
end
y0=func(x0,A);                  %x坐标对应的位移
y01=y0(1:(length(NN)-1));
y02=y0(2:(length(NN)));
y00=y02-y01;
%求解
MCZS=abs(y00/0.0254);            %一个单元内的脉冲总数
MCZS=round(MCZS);
PJBC=(T/UN)./MCZS;               %每单元的平均步长，微秒,脉冲总数需要四舍五入
PJBC=round(PJBC);%结果
Result_mc=MCZS;
Result_bc=PJBC;
%% 还原函数图
MCZS000=y00/0.0254;             %一个单元内的脉冲总数
MCZS000=round(MCZS000);
x1=MCZS000*MBJL;
JLJL=zeros(1,UN);               %积累距离，mm
for i=1:UNJLJL(i)=sum(x1(1:i));
endx2=MCZS.*PJBC;
JLSJ=zeros(1,UN);               %积累时间，微秒
for i=1:UNJLSJ(i)=sum(x2(1:i));
endfigure(3)
plot((1:SN)*TPSN,y,'b.-','markersize',5,'LineWidth',5)
hold on
plot(JLSJ,JLJL+abs(min(JLJL)),'r*-','markersize',10,'LineWidth',2)
xlabel('时间/微秒')
ylabel('位移/mm')
legend('理想时间位移函数','还原时间位移关系')ZT=30;%字体30号
set(gca,'FontSize',ZT);
aaa=2;
set(gcf,'unit','centimeters','position',[2 2 16*aaa 9*aaa]);
set(gca,"FontName","宋体","FontSize",ZT,"LineWidth",2);

func函数。保存位func.m脚本程序。

function y=func(x,A)
y=A/2*cos(x)+A/2;

（2）计算结果

将计算的数据带到Arduino程序中

（2）Arduino程序

#define STEPPIN 7     //脉冲位为7
#define DIRPIN 6      //方向位为6
#define bushu 1600    //脉冲步数  1600个脉冲转一圈()void setup() {pinMode(STEPPIN, OUTPUT);pinMode(DIRPIN, OUTPUT);Serial.begin(9600);}//循环 
void loop() 
{
//不论电机初始位置如何，使电机超量程运动，以达到复位效果
//1.正转一圈Serial.println("Forward Begins");     //串口监视器输出引号内容digitalWrite(DIRPIN, HIGH);           //方向引脚高电位，正转// 正向转（1001步）for (int x = 0; x < bushu+1; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(500);             //Microseconds是微秒digitalWrite(STEPPIN, LOW);delayMicroseconds(500);             //Microseconds是微秒}Serial.println("Forward Ends");       //串口监视器输出引号内容delay(1000);                          // 暂停1秒//2.逆转1圈 Serial.println("Backward Begins");    //串口监视器输出引号内容digitalWrite(DIRPIN, LOW);            //方向引脚低电位，逆转// 反向转（bushu脉冲）for (int x = 0; x < bushu+1; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(500);             //Microseconds是微秒digitalWrite(STEPPIN, LOW);delayMicroseconds(500);             //Microseconds是微秒}Serial.println("Backward Ends");      //串口监视器输出引号内容delay(1000); //暂停1秒//3.Serial.println("Forward Begins");     //串口监视器输出引号内容digitalWrite(DIRPIN, HIGH);           //方向引脚高电位，正转// 正向转for (int x = 0; x < 40; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(2500);digitalWrite(STEPPIN, LOW);delayMicroseconds(2500);}for (int x = 0; x < 115; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(870);digitalWrite(STEPPIN, LOW);delayMicroseconds(870);}for (int x = 0; x < 178; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(562);digitalWrite(STEPPIN, LOW);delayMicroseconds(562);}for (int x = 0; x < 223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(448);digitalWrite(STEPPIN, LOW);delayMicroseconds(448);}for (int x = 0; x < 247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(405);digitalWrite(STEPPIN, LOW);delayMicroseconds(405);}for (int x = 0; x < 247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(405);digitalWrite(STEPPIN, LOW);delayMicroseconds(405);}for (int x = 0; x < 223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(448);digitalWrite(STEPPIN, LOW);delayMicroseconds(448);}for (int x = 0; x < 176; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(568);digitalWrite(STEPPIN, LOW);delayMicroseconds(568);}for (int x = 0; x < 113; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(885);digitalWrite(STEPPIN, LOW);delayMicroseconds(885);}for (int x = 0; x < 38; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(2632);digitalWrite(STEPPIN, LOW);delayMicroseconds(2632);}delay(1000); //暂停1秒//4.Serial.println("Backward Begins");//串口监视器输出引号内容digitalWrite(DIRPIN, LOW);//方向引脚低电位，逆转// 正向转for (int x = 0; x < 40; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(2500);digitalWrite(STEPPIN, LOW);delayMicroseconds(2500);}for (int x = 0; x < 115; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(870);digitalWrite(STEPPIN, LOW);delayMicroseconds(870);}for (int x = 0; x < 178; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(562);digitalWrite(STEPPIN, LOW);delayMicroseconds(562);}for (int x = 0; x < 223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(448);digitalWrite(STEPPIN, LOW);delayMicroseconds(448);}for (int x = 0; x < 247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(405);digitalWrite(STEPPIN, LOW);delayMicroseconds(405);}for (int x = 0; x < 247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(405);digitalWrite(STEPPIN, LOW);delayMicroseconds(405);}for (int x = 0; x < 223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(448);digitalWrite(STEPPIN, LOW);delayMicroseconds(448);}for (int x = 0; x < 176; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(568);digitalWrite(STEPPIN, LOW);delayMicroseconds(568);}for (int x = 0; x < 113; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(885);digitalWrite(STEPPIN, LOW);delayMicroseconds(885);}for (int x = 0; x < 38; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(2632);digitalWrite(STEPPIN, LOW);delayMicroseconds(2632);}delay(1000); //暂停1秒
}

4、Matlab生成Arduino电机正反转程序语句

（1）Arduino程序

循环程序中，1和2是恒速方式运行。3和4是曲线方式正反转，使用Matlab生成的语句和数据。Matlab生成的程序语句直接复制到3和4中。

#define STEPPIN 7     //脉冲位为7
#define DIRPIN 6      //方向位为6
#define bushu 1600    //脉冲步数  1600个脉冲转一圈()void setup() {pinMode(STEPPIN, OUTPUT);pinMode(DIRPIN, OUTPUT);Serial.begin(9600);}//循环 
void loop() 
{
//不论电机初始位置如何，使电机超量程运动，以达到复位效果
//1.正转一圈Serial.println("Forward Begins");     //串口监视器输出引号内容digitalWrite(DIRPIN, HIGH);           //方向引脚高电位，正转// 正向转（1001步）for (int x = 0; x < bushu+1; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(500);             //Microseconds是微秒digitalWrite(STEPPIN, LOW);delayMicroseconds(500);             //Microseconds是微秒}Serial.println("Forward Ends");       //串口监视器输出引号内容delay(1000);                          // 暂停1秒//2.逆转1圈 Serial.println("Backward Begins");    //串口监视器输出引号内容digitalWrite(DIRPIN, LOW);            //方向引脚低电位，逆转// 反向转（bushu脉冲）for (int x = 0; x < bushu+1; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(500);             //Microseconds是微秒digitalWrite(STEPPIN, LOW);delayMicroseconds(500);             //Microseconds是微秒}Serial.println("Backward Ends");      //串口监视器输出引号内容delay(1000); //暂停1秒//3、曲线方式正转一圈Serial.println("Forward Begins");     //串口监视器输出引号内容digitalWrite(DIRPIN, HIGH);           //方向引脚高电位，正转// 正向转for (int x = 0; x <40; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(5000);digitalWrite(STEPPIN, LOW);delayMicroseconds(5000);}for (int x = 0; x <115; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1739);digitalWrite(STEPPIN, LOW);delayMicroseconds(1739);}for (int x = 0; x <178; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1124);digitalWrite(STEPPIN, LOW);delayMicroseconds(1124);}for (int x = 0; x <223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(897);digitalWrite(STEPPIN, LOW);delayMicroseconds(897);}for (int x = 0; x <247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(810);digitalWrite(STEPPIN, LOW);delayMicroseconds(810);}for (int x = 0; x <247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(810);digitalWrite(STEPPIN, LOW);delayMicroseconds(810);}for (int x = 0; x <223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(897);digitalWrite(STEPPIN, LOW);delayMicroseconds(897);}for (int x = 0; x <176; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1136);digitalWrite(STEPPIN, LOW);delayMicroseconds(1136);}for (int x = 0; x <113; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1770);digitalWrite(STEPPIN, LOW);delayMicroseconds(1770);}for (int x = 0; x <38; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(5263);digitalWrite(STEPPIN, LOW);delayMicroseconds(5263);}delay(1000); //鏆傚仠1绉?//4、曲线方式正转一圈Serial.println("Backward Begins");//串口监视器输出引号内容digitalWrite(DIRPIN, LOW);//方向引脚低电位，逆转// 反向转for (int x = 0; x <40; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(5000);digitalWrite(STEPPIN, LOW);delayMicroseconds(5000);}for (int x = 0; x <115; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1739);digitalWrite(STEPPIN, LOW);delayMicroseconds(1739);}for (int x = 0; x <178; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1124);digitalWrite(STEPPIN, LOW);delayMicroseconds(1124);}for (int x = 0; x <223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(897);digitalWrite(STEPPIN, LOW);delayMicroseconds(897);}for (int x = 0; x <247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(810);digitalWrite(STEPPIN, LOW);delayMicroseconds(810);}for (int x = 0; x <247; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(810);digitalWrite(STEPPIN, LOW);delayMicroseconds(810);}for (int x = 0; x <223; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(897);digitalWrite(STEPPIN, LOW);delayMicroseconds(897);}for (int x = 0; x <176; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1136);digitalWrite(STEPPIN, LOW);delayMicroseconds(1136);}for (int x = 0; x <113; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(1770);digitalWrite(STEPPIN, LOW);delayMicroseconds(1770);}for (int x = 0; x <38; x ++) {digitalWrite(STEPPIN, HIGH);delayMicroseconds(5263);digitalWrite(STEPPIN, LOW);delayMicroseconds(5263);}delay(1000); //延时1秒?
}

（2）Matlab 命令行方式生成Arduino步进电机正反转程序语句

在前面Matlab程序计算出来时间、脉冲步数数据后，将计算结果一个一个写到程序语句中。这样操作非常的慢和低效，可以使用Matlab命令行来操作。

①正转命令行

%% 2.自动化语句生成代码（1）正向转
clc
Result_bc_str=num2str(Result_bc(1));
Result_mc_str=num2str(Result_mc(1));
%% 正向转
for iii=1:length(Result_bc)/2%记录步数s11='  for (int x = 0; x <';s21=num2str(Result_mc(iii));s31='; x ++) {';s1 = strcat(s11,s21,s31);%记录delay时长s12='    delayMicroseconds(';s22=num2str(Result_bc(iii));s32=');';s2 = strcat(s12,s22,s32);%合成语句disp([s1 newline '    digitalWrite(STEPPIN, HIGH);' newline s2 newline '    digitalWrite(STEPPIN, LOW);' newline s2 newline '  }'])
end
disp(['  delay(1000); //暂停1秒' newline

生成程序语句替换到Arduino第三段正转控制中

②反转命令行

%% 2.自动化语句生成代码（2）逆向转
clc
Result_bc_str=num2str(Result_bc(1));
Result_mc_str=num2str(Result_mc(1));
%% 正向转
for iii=length(Result_bc)/2+1:length(Result_bc)%记录步数s11='  for (int x = 0; x <';s21=num2str(Result_mc(iii));s31='; x ++) {';s1 = strcat(s11,s21,s31);%记录delay时长s12='    delayMicroseconds(';s22=num2str(Result_bc(iii));s32=');';s2 = strcat(s12,s22,s32);%合成语句disp([s1 newline '    digitalWrite(STEPPIN, HIGH);' newline s2 newline '    digitalWrite(STEPPIN, LOW);' newline s2 newline '  }'])
end
disp(['  delay(1000); //暂停1秒' newline])