uln2003驱动28BYJ-48步进电机

欢迎入群共同学习交流
时间记录：2024/11/2

一、模块解析

1.uln2003

E脚：接GND
COM脚：接VCC外部电源
1-7B：输入引脚
1-7C：输出引脚，输入与输出反向
    无法输出高电平，外围电路需要接上拉电路输出高电平，是一种反向达林顿管，用于高电流高电压器件控制
2.28BYJ-48步进电机

四相八步示意图，正为公共端接5V，然后A-D端低电平线圈会通电产生电磁推动转子转动，由于步进电机内部是由多个齿轮组成的，根据手册控制齿轮转1圈360°外部转子齿轮转动5.625°，8拍(步)减速比为64，即1步的步距角为5.625°/64。

转动顺序A->AB->B->BC->C->CD->D->DA
四步转动顺序A->B->C->D或者AB->BC->CD->DA，减速比为32

二、STM32单片机示例程序

头文件

#ifndef __STEPMOTOR_H__
#define __STEPMOTOR_H__

#include "stm32f10x.h"

typedef enum __STEPMOTOR_ROTATION
{
    STEPMOTORGO = 0,
    STEPMOTORBACK
}STEPMOTORDIR;

#define STEPMOTORMAXSPEED 0.9
#define STEPMOTORMINSPEED 4.5

void stepmotorInit(void);
void stepmotorRotate(float angle, STEPMOTORDIR dir, float speed);

#endif

源程序

#include "stepmotor.h"
#include "delay.h"
#include "math.h"

#define IN1A(bit) GPIO_WriteBit(GPIOA, GPIO_Pin_0, bit)
#define IN2B(bit) GPIO_WriteBit(GPIOA, GPIO_Pin_1, bit)
#define IN3C(bit) GPIO_WriteBit(GPIOA, GPIO_Pin_2, bit)
#define IN4D(bit) GPIO_WriteBit(GPIOA, GPIO_Pin_3, bit)

static void stepmotorSetDuty(u8 step, u8 direction); // A->AB->B->BC->C->CD->D->DA

void stepmotorInit(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
}

static void stepmotorSetDuty(u8 step, u8 direction)
{
    u8 tempStep = step; // 1个脉冲对应5.625/64°
    if(direction == STEPMOTORBACK)
        tempStep = 7-step;

    switch(tempStep)
    {
        case 0:
            IN1A(Bit_SET);IN2B(Bit_RESET);IN3C(Bit_RESET);IN4D(Bit_RESET);break;
        case 1:
            IN1A(Bit_SET);IN2B(Bit_SET);IN3C(Bit_RESET);IN4D(Bit_RESET);break;
        case 2:
            IN1A(Bit_RESET);IN2B(Bit_SET);IN3C(Bit_RESET);IN4D(Bit_RESET);break;
        case 3:
            IN1A(Bit_RESET);IN2B(Bit_SET);IN3C(Bit_SET);IN4D(Bit_RESET);break;
        case 4:
            IN1A(Bit_RESET);IN2B(Bit_RESET);IN3C(Bit_SET);IN4D(Bit_RESET);break;
        case 5:
            IN1A(Bit_RESET);IN2B(Bit_RESET);IN3C(Bit_SET);IN4D(Bit_SET);break;
        case 6:
            IN1A(Bit_RESET);IN2B(Bit_RESET);IN3C(Bit_RESET);IN4D(Bit_SET);break;
        case 7:
            IN1A(Bit_SET);IN2B(Bit_RESET);IN3C(Bit_RESET);IN4D(Bit_SET);break;
    }
}

void stepmotorRotate(float angle, STEPMOTORDIR dir, float speed)
{
    int stepNum = (int)round(angle*64/5.625);

    for(int i=0;i<stepNum;i++)
    {
        stepmotorSetDuty(i%8, dir);
        delayUs(speed*1000);
    }
}

主程序

#include "stm32f10x.h"
#include "delay.h"
#include "stepmotor.h"

int main()
{
    delayInit();
    stepmotorInit();
    stepmotorRotate(360.0f, STEPMOTORBACK, STEPMOTORMINSPEED);

    while(1)
    {
    }
}