摘要：本節介紹實現步進電機S曲線運動的代碼

一、目標功能

實現步進電機轉動總角度720°，其中加減速各90°

加速段：加速類型：S曲線

加速角度：角度為90°

起步速度：30RPM，

終止速度：500RPM

勻速段：勻速角度：角度為540°

勻速速度：500RPM

減速段：減速類型：S曲線

減速角度：角度為90°

起步速度：500RPM

終止速度：60RPM

二、生成器計算

加速參數計算

勻速參數計算，主要計算電機步數

減速參數計算

三、程序代碼

//加速、勻速、減速步數#define step0 100#define step1 600#define step2 100unsigned int n=0;//步數計數變量unsigned int flag=0;//標志位，0：加速段  1：勻速段   2：減速段//加速段90°，30RPM-500RPMconst unsigned char codeTimeH0[100]={0XEC,0XEC,0XEC,0XED,0XED,0XED,0XEE,0XEE,0XEE,0XEF,0XEF,0XF0,0XF0,0XF1,0XF1,0XF2,0XF2,0XF3,0XF3,0XF4,0XF4,0XF5,0XF5,0XF6,0XF6,0XF7,0XF7,0XF8,0XF8,0XF8,0XF9,0XF9,0XFA,0XFA,0XFA,0XFB,0XFB,0XFB,0XFB,0XFC,0XFC,0XFC,0XFC,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE};const unsigned char codeTimeL0[100]={0X78,0XB4,0XF5,0X3B,0X86,0XD6,0X2A,0X84,0XE4,0X48,0XB1,0X1F,0X92,0X9,0X83,0X1,0X82,0X5,0X8A,0X10,0X96,0X1C,0XA0,0X24,0XA5,0X23,0X9E,0X15,0X88,0XF7,0X61,0XC5,0X25,0X80,0XD5,0X26,0X71,0XB7,0XF9,0X36,0X6E,0XA3,0XD3,0X0,0X29,0X4F,0X71,0X91,0XAE,0XC9,0XE1,0XF8,0XC,0X1F,0X2F,0X3F,0X4D,0X59,0X65,0X6F,0X79,0X82,0X8A,0X91,0X97,0X9D,0XA2,0XA7,0XAB,0XAF,0XB3,0XB6,0XB9,0XBC,0XBE,0XC1,0XC2,0XC4,0XC6,0XC7,0XC9,0XCA,0XCB,0XCC,0XCD,0XCE,0XCE,0XCF,0XD0,0XD0,0XD1,0XD1,0XD2,0XD2,0XD2,0XD3,0XD3,0XD3,0XD3,0XD4};//減速段90°，500RPM-60RPMconst unsigned char code TimeH2[100]={0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFE,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFD,0XFC,0XFC,0XFC,0XFC,0XFC,0XFB,0XFB,0XFB,0XFB,0XFB,0XFA,0XFA,0XFA,0XFA,0XFA,0XF9,0XF9,0XF9,0XF9,0XF8,0XF8,0XF8,0XF8,0XF8,0XF7,0XF7,0XF7,0XF7,0XF7,0XF7,0XF7,0XF6,0XF6,0XF6,0XF6,0XF6,0XF6,0XF6,0XF6,0XF6,0XF6,0XF6};const unsigned char codeTimeL2[100]={0XD4,0XD3,0XD3,0XD3,0XD3,0XD2,0XD2,0XD2,0XD1,0XD1,0XD0,0XD0,0XCF,0XCE,0XCE,0XCD,0XCC,0XCB,0XCA,0XC8,0XC7,0XC6,0XC4,0XC2,0XC0,0XBE,0XBB,0XB9,0XB6,0XB2,0XAF,0XAB,0XA6,0XA1,0X9C,0X96,0X90,0X88,0X81,0X78,0X6F,0X64,0X59,0X4D,0X3F,0X31,0X21,0XF,0XFD,0XE8,0XD2,0XBA,0XA0,0X84,0X66,0X46,0X24,0X0,0XD9,0XB0,0X85,0X58,0X28,0XF7,0XC4,0X8F,0X59,0X21,0XE8,0XAE,0X74,0X3A,0X0,0XC6,0X8D,0X54,0X1D,0XE7,0XB3,0X81,0X50,0X22,0XF6,0XCB,0XA4,0X7E,0X5A,0X39,0X1A,0XFD,0XE2,0XC9,0XB2,0X9D,0X89,0X77,0X66,0X57,0X48,0X3C}; void main(){  while(1) {  }}//定時器0中斷程序void time0_int() interrupt 1{ //產生一個脈沖 PUL=1; _nop_();_nop_();nop_();nop_(); PUL=0;  n++;//步數加1  switch (flag)//判斷運動狀態 {    case0://加速段 { if(n==step0)//加速段完成 { n=0; flag=1; TH0=TimeH2[0];//裝載定時寄存器勻速段初值 TL0=TimeL2[0]; } else { TH0=TimeH0[n];//裝載定時寄存器加速段初值 TL0=TimeL0[n]; } }break;    case1://勻速段 { TH0=TimeH2[0];//裝載定時寄存器勻速段初值 TL0=TimeL2[0]; if(n==step1)//勻速段完成 { n=0; flag=2; TH0=TimeH2[n];//裝載定時寄存器減速段初值 TL0=TimeL2[n]; } }break; case 2://減速段 { if(n==step2)//減速段完成 { n=0; flag=0; TR0=0;   //電機停止 } else { TH0=TimeH2[n];//裝載定時寄存器減速段初值 TL0=TimeL2[n]; } }break;    default:         break; }}

四.總結

通過上述計算，完成S曲線加減速運動。通過調整勻速運動的角度，加減速過程不變，可以實現總轉動角度的變化，適用于總轉角需要變化且需要較高速度的情況，并且滿足總轉角應大于加減速轉角之和。

對于大多數情況，加減速的過程可以合并，即用S加速的逆過程去實現減速，可以實現代碼的簡化。