摘要：文章介紹了步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" 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title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" 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title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機" title="步進(jìn)電機">步進(jìn)電機">步進(jìn)電機的速度控制方案。在分析步進(jìn)電機動態(tài)特性的基礎(chǔ)上，推導(dǎo)了步進(jìn) 電動機理想的升降速控制曲線，實現(xiàn)了指數(shù)規(guī)律的升降速控制，用離散法對步進(jìn)電機升降速的過程 進(jìn)行了處理，并用C語言編程實現(xiàn)了單片機對步進(jìn)電機升降速的離散控制。，使系統(tǒng)具有良好的動 態(tài)特性。

0 引言 對步進(jìn)電機的控制是經(jīng)濟(jì)型數(shù)控系統(tǒng)開發(fā)時的一項重要內(nèi)容，其中對步進(jìn)電機運動過程中的升 降速控制是重點。在實際的步進(jìn)電機應(yīng)用中，尤其在要求快速響應(yīng)的控制系統(tǒng)中，其關(guān)鍵問題是如 何保證步進(jìn)電機在頻繁啟停、頻率發(fā)生突變的高速運轉(zhuǎn)過程中不發(fā)生堵轉(zhuǎn)和失步。而且堵轉(zhuǎn)和失步 的發(fā)生，與步進(jìn)電機的變速特性，即與步進(jìn)電機運行速度的變化規(guī)律有關(guān)。 步進(jìn)電機升降速控制目的是防止電機在速度突變時發(fā)生“失步”，使運行平穩(wěn)。實現(xiàn)升降速控 制的方法很多。由理論推導(dǎo)可知，指數(shù)規(guī)律的升降速曲線更能使步進(jìn)電機轉(zhuǎn)子的角加速度的變化與 其輸出轉(zhuǎn)矩的變化相適應(yīng)。實驗證明這樣將能夠大大提高微機控制下步進(jìn)電機的最高工作頻率，大 大縮短升速時間。

1 步進(jìn)電機動態(tài)特性分析

由于步進(jìn)電機的輸出轉(zhuǎn)矩隨步進(jìn)頻率的增加而減少，根據(jù)步進(jìn)電機的動態(tài)特性，可以通過其動 力模型(二階微分)描述： 式中：J—系統(tǒng)的總轉(zhuǎn)動慣量 θ—轉(zhuǎn)子的轉(zhuǎn)角 β—阻尼系數(shù) k—與θ成某種函數(shù)關(guān)系的比例因子 Tz—摩擦阻力矩及其它與β無關(guān)的阻力矩之和 Td—步進(jìn)電機所產(chǎn)生的電磁驅(qū)動轉(zhuǎn)矩 式中， —慣性扭矩 —角加速度 顯然，慣性扭矩 應(yīng)小于最大電磁轉(zhuǎn)矩Td，在升速階段角加速度 越大越好，使得到達(dá)勻 速的時間越短，但在加速階段為了減小對系統(tǒng)的沖擊 不應(yīng)該突變，上式實際上反映了矩頻特性， 即脈沖頻率越高轉(zhuǎn)矩越小。故在不失步的前提之下，在加速階段 應(yīng)正比于頻率f對時間的微分。故 可以表示為： 式中：A和B是兩個特定的時間常數(shù)。 假設(shè)在升速階段的啟動頻率為 ，則對（3）式進(jìn)行拉氏變換得： 對（4）式整理得： 再次對（5）式進(jìn)行拉氏反變換整理得： 式（6）中，， 為時間常數(shù)，反映上升速度的快慢，式（7）中，。設(shè)步進(jìn)電 機在升速過程中啟動頻率為，運行最高頻率為，當(dāng)運行足夠的時間后（用表示），有 ，根據(jù)式（7）得： 由（8）式整理，并且由于遠(yuǎn)大于，故： 將（9）式代入（7）式中得： 式（10）中 為時間常數(shù)，該式就是普通的指數(shù)加減速的數(shù)學(xué)模型。

2 步進(jìn)電機的升降速曲線

由步進(jìn)電機動態(tài)特性的理論推導(dǎo)可知，指數(shù)規(guī)律的升降速曲線更能使步進(jìn)電機轉(zhuǎn)子的角加速度 的變化與其輸出轉(zhuǎn)矩的變化相適應(yīng)，指數(shù)曲線能更充分反應(yīng)步進(jìn)電機速度特性。因此用指數(shù)曲線來 分析步進(jìn)電機加減速。由指數(shù)曲線方程繪制出電機升降速曲線如下圖1所示： 如圖1所示，縱坐標(biāo)為頻率，單位是步／秒，其實反映了轉(zhuǎn)速的高低。橫坐標(biāo)為時間，各段時間內(nèi)走 過的步數(shù)用N來表示，步數(shù)其實反映了行程。圖中標(biāo)出理想升速曲線和實際升速曲線。

3 升速過程的離散處理

由升速算法,在程序運行時，若運行速度為,則可計算出升速時 間為： 由于計算機上無法實現(xiàn)連續(xù)控制，必須將上升時間離散化。若將升速段均勻分為n段，由(11) 式可知上升的時間為,則相鄰兩次速度變化的時間間隔為。 式中：n為階梯的分檔數(shù)。則每一檔的頻率為 由上式可計算出定時器的時間設(shè)定值，即， 各頻率段上脈沖個數(shù)(或運行的步數(shù))Ni為 則升速的總步數(shù)為: 程序執(zhí)行過程中，對每檔速度都要計算在這個臺階應(yīng)走的步數(shù)，然后以遞減方式檢查。當(dāng)減至 零時，表示該檔速度應(yīng)走的步數(shù)已走完,轉(zhuǎn)入下一檔速度，與此同時，還要遞減升速過程總步數(shù)， 直到升速過程走完為止。 以上就是對升速過程的處理，降速過程的處理方法和升速過程相同。 本文所選的步進(jìn)電機為42BYG4501型兩相混合式步進(jìn)電機，該電機的最大空載啟動頻率為 1200步/s, 允許突跳頻率 可由電機的最大空載啟動頻率求得，一般取其1/2～3.結(jié)合本系統(tǒng)對 升降速的具體要求，本文中規(guī)定啟動頻率為500HZ，最高運行頻率為15000HZ，要求在120步之內(nèi)升 速到10000HZ，計算出該步進(jìn)電機的升速過程的脈沖時間間隔。 首先計算出上升時間以及時間常數(shù)的值： 利用matlab計算出： 故升速曲線可以表示為：

4 用單片機實現(xiàn)步進(jìn)電機的速度控制

本文采用C8051F040單片機對步進(jìn)電機進(jìn)行升降速控制，單片機使用定時器中斷方式來控制步 進(jìn)電機的速度，升降速控制實際上是不斷改變定時器初載值的大小。為了少占用CPU資源并提高響 應(yīng)速度，設(shè)計時把各離散點速度所需的定時器裝載值固化在單片機的ROM中，系統(tǒng)運行時用查表法 查出所需的裝載值。升速控制中，需要查各臺階微步數(shù)和對應(yīng)的時間常數(shù)表.減速控制中，無需任 何調(diào)整，等分時間取和加速段相同值。最后一檔速度為加速段的啟動速度。 系統(tǒng)進(jìn)入加減速運行方式后，首先依據(jù)設(shè)定的工作速度，計算加減速過程所需的臺階數(shù)和定時 器時間常數(shù)以及勻速段定時器時間常數(shù)并填表。加減速程序流程圖如下圖2所示，也即查表執(zhí)行加速 各檔，勻速段，減速各檔的過程。 假定將加速和減速段對稱地細(xì)化為255段，使之成為鋸齒狀逐步逼近指數(shù)的曲線進(jìn)行加、減速。 每段定時時間各為20μs, 根據(jù)不同的頻率對應(yīng)不同的速度，而頻率的倒數(shù)也就是對應(yīng)控制驅(qū)動步 進(jìn)電機脈沖的周期，通過設(shè)定單片機定時周期，進(jìn)而控制步進(jìn)電機的加、減速。加速過程流程圖如 下圖3所示。 5 結(jié)語 本文運用指數(shù)加、減速方法實現(xiàn)單片機對步進(jìn)電機的速度控制，利用離散化處理實現(xiàn)了步進(jìn)電 機的速度調(diào)節(jié)，根據(jù)指數(shù)規(guī)律函數(shù)計算各上升和下降階梯時的頻率，通過查表和定時中斷技術(shù)實現(xiàn) 步進(jìn)電機的升降速控制．實驗結(jié)果表明，用上文所述的升降速控制流程圖編寫的程序在實際運用中 電機運行平穩(wěn)，能可靠地沿著所設(shè)計的指數(shù)型曲線運行，該方法簡單實用且效果好。

參考文獻(xiàn)：
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