發布者：佛山市順德區華源裝備科(ke)技有限公司 時間：2022-8-1 13:43:12
步(bu)進(jin)(jin)電機(ji)(ji)又(you)稱脈沖(chong)電動(dong)機(ji)(ji)，它是一種將電脈沖(chong)信(xin)號(hao)轉(zhuan)變為角(jiao)位(wei)(wei)移(yi)或(huo)線位(wei)(wei)移(yi)的(de)(de)(de)執行電動(dong)機(ji)(ji)，它一般用(yong)(yong)作于(yu)開環(huan)控(kong)(kong)制(zhi)系統(tong)的(de)(de)(de)執行裝置(zhi)。近年來(lai)由于(yu)計算(suan)機(ji)(ji)應(ying)用(yong)(yong)技術的(de)(de)(de)迅速(su)發展，步(bu)進(jin)(jin)電機(ji)(ji)常用(yong)(yong)于(yu)和計算(suan)機(ji)(ji)組成高(gao)精(jing)度(du)的(de)(de)(de)數(shu)字控(kong)(kong)制(zhi)系統(tong)。在非超載的(de)(de)(de)情況(kuang)下(xia)，步(bu)進(jin)(jin)電機(ji)(ji)的(de)(de)(de)轉(zhuan)速(su)、停止(zhi)的(de)(de)(de)位(wei)(wei)置(zhi)等只(zhi)取決(jue)于(yu)脈沖(chong)信(xin)號(hao)的(de)(de)(de)頻率(lv)和脈沖(chong)數(shu)，而不受負載變化的(de)(de)(de)影響(xiang)，即給其(qi)(qi)加一個脈沖(chong)信(xin)號(hao)，其(qi)(qi)就會轉(zhuan)動(dong)一個步(bu)距角(jiao)，這一線性關系的(de)(de)(de)存在，與(yu)其(qi)(qi)只(zhi)有周期性誤差而無累積誤差的(de)(de)(de)特(te)點，使其(qi)(qi)在速(su)度(du)、位(wei)(wei)置(zhi)等控(kong)(kong)制(zhi)領域中(zhong)得到(dao)了廣泛(fan)地應(ying)用(yong)(yong)。
目(mu)(mu)前(qian)，生(sheng)產(chan)步進電機的(de)廠(chang)商(shang)有(you)很(hen)多，但具有(you)專業(ye)技術人(ren)員能(neng)自(zi)行開發研制的(de)廠(chang)商(shang)卻很(hen)少，大多數廠(chang)商(shang)只是處于(yu)盲目(mu)(mu)的(de)仿制階段，其辦廠(chang)規模不(bu)是很(hen)大，甚至(zhi)連最基本(ben)的(de)專業(ye)設備都不(bu)具備，這就給(gei)我們在產(chan)品的(de)選(xuan)擇(ze)上帶來了一些困惑。基于(yu)這種原因，本(ben)人(ren)結合實際工作情況所(suo)積累(lei)的(de)理(li)論知識與(yu)實踐(jian)經(jing)驗，以目(mu)(mu)前(qian)最常用(yong)(yong)的(de)反(fan)應式步進電機為例，主要闡述了其工作原理(li)、機械特性、實際應用(yong)(yong)中的(de)選(xuan)擇(ze)和使用(yong)(yong)，希(xi)望對廣大用(yong)(yong)戶在產(chan)品的(de)選(xuan)擇(ze)上能(neng)夠有(you)所(suo)幫助。
一、反應式步進電機的工作原理
以三(san)相反應式(shi)步進(jin)電機(ji)為(wei)例。三(san)相反應式(shi)步進(jin)電機(ji)由定子(zi)和轉子(zi)兩大部分(fen)(fen)組(zu)成。在(zai)定子(zi)上(shang)有(you)三(san)對磁(ci)極，磁(ci)極上(shang)裝有(you)勵磁(ci)繞組(zu)，勵磁(ci)繞組(zu)分(fen)(fen)成三(san)相，即A、B、C。在(zai)轉子(zi)上(shang)均勻(yun)分(fen)(fen)布著四個相位差為(wei)90°的轉子(zi)齒(chi)，轉子(zi)上(shang)不裝設繞組(zu)，為(wei)硅鋼(gang)片或軟(ruan)磁(ci)性鋼(gang)片疊(die)成的鐵(tie)心。
當步進(jin)(jin)電機A相(xiang)(xiang)通(tong)電，B和C相(xiang)(xiang)不(bu)(bu)通(tong)電時，由(you)(you)于(yu)A相(xiang)(xiang)繞組(zu)產(chan)生(sheng)的磁(ci)(ci)通(tong)要(yao)經過(guo)(guo)磁(ci)(ci)阻最(zui)小的路徑(jing)(jing)形(xing)(xing)成(cheng)閉(bi)合磁(ci)(ci)路，這樣將(jiang)使轉(zhuan)(zhuan)子(zi)(zi)齒(chi)1、3和定(ding)(ding)子(zi)(zi)的A相(xiang)(xiang)對齊(qi)。當步進(jin)(jin)電機B相(xiang)(xiang)通(tong)電，A和C相(xiang)(xiang)不(bu)(bu)通(tong)電時，由(you)(you)于(yu)B相(xiang)(xiang)繞組(zu)產(chan)生(sheng)的磁(ci)(ci)通(tong)要(yao)經過(guo)(guo)磁(ci)(ci)阻最(zui)小的路徑(jing)(jing)形(xing)(xing)成(cheng)閉(bi)合磁(ci)(ci)路，這樣將(jiang)使轉(zhuan)(zhuan)子(zi)(zi)齒(chi)2、4和定(ding)(ding)子(zi)(zi)的B相(xiang)(xiang)對齊(qi)。當步進(jin)(jin)電機C相(xiang)(xiang)通(tong)電，A和B相(xiang)(xiang)不(bu)(bu)通(tong)電時，由(you)(you)于(yu)C相(xiang)(xiang)繞組(zu)產(chan)生(sheng)的磁(ci)(ci)通(tong)要(yao)經過(guo)(guo)磁(ci)(ci)阻最(zui)小的路徑(jing)(jing)形(xing)(xing)成(cheng)閉(bi)合磁(ci)(ci)路，這樣將(jiang)使轉(zhuan)(zhuan)子(zi)(zi)齒(chi)1、3和定(ding)(ding)子(zi)(zi)的C相(xiang)(xiang)對齊(qi)。
按照A-B-C-A的通(tong)電(dian)(dian)(dian)順序往復(fu)下(xia)去(qu)(qu)，則(ze)步(bu)進電(dian)(dian)(dian)機的轉(zhuan)(zhuan)(zhuan)子將按一定(ding)速度沿逆時(shi)針方(fang)向旋轉(zhuan)(zhuan)(zhuan)。反(fan)之，若按照A-C-B-A的通(tong)電(dian)(dian)(dian)順序往復(fu)下(xia)去(qu)(qu)，則(ze)步(bu)進電(dian)(dian)(dian)機的轉(zhuan)(zhuan)(zhuan)子將反(fan)方(fang)向轉(zhuan)(zhuan)(zhuan)動。這種通(tong)電(dian)(dian)(dian)方(fang)式，稱為(wei)三相(xiang)單(dan)三拍方(fang)式。步(bu)進電(dian)(dian)(dian)機還可以使用三相(xiang)雙(shuang)(shuang)三拍（即AB-BC-CA-AB和AC-CB-BA-AC）和三相(xiang)單(dan)、雙(shuang)(shuang)六(liu)拍（即A-AB-B-BC-C-CA-A和A-AC-C-CB-B-BA-A）的通(tong)電(dian)(dian)(dian)方(fang)式。
由(you)此可見，步進電(dian)(dian)機(ji)轉(zhuan)(zhuan)速大小(xiao)取決(jue)于三相(xiang)控(kong)制繞(rao)組通(tong)、斷電(dian)(dian)源的頻率，方(fang)向取決(jue)于其(qi)(qi)通(tong)電(dian)(dian)順(shun)序(xu)。當其(qi)(qi)定(ding)子上有m相(xiang)勵(li)磁(ci)繞(rao)組時，其(qi)(qi)軸(zhou)線分別(bie)與轉(zhuan)(zhuan)子齒(chi)的軸(zhou)線偏移1/m、2/m……（m-1）/m、1，其(qi)(qi)通(tong)電(dian)(dian)順(shun)序(xu)按照一定(ding)相(xiang)序(xu)，步進電(dian)(dian)機(ji)就(jiu)能(neng)實現正反轉(zhuan)(zhuan)運行，基于這種(zhong)原理，我們就(jiu)可以(yi)生產出各種(zhong)相(xiang)數的步進電(dian)(dian)機(ji)。
二、反應式步進電機的機械特性
1、步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)及步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)精(jing)度(du)。步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)是(shi)指(zhi)給(gei)步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)輸入一個脈沖(chong)后其(qi)所轉過的角(jiao)(jiao)(jiao)度(du)，即Ψ=360°/（KmZ），其(qi)中m為相數；Z為轉子齒數；K為通電(dian)(dian)方(fang)式，全(quan)步(bu)(bu)方(fang)式K=1，半步(bu)(bu)方(fang)式K=2，通常在步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)的參數表中給(gei)出兩個步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)。與工(gong)作原理(li)相對應的步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)全(quan)步(bu)(bu)方(fang)式時(shi)，其(qi)步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)為30°；半步(bu)(bu)方(fang)式時(shi)，其(qi)步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)為15°。步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)精(jing)度(du)是(shi)指(zhi)步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)在空載狀態(tai)下每步(bu)(bu)轉過角(jiao)(jiao)(jiao)度(du)與理(li)論角(jiao)(jiao)(jiao)度(du)之差(cha)，一般其(qi)步(bu)(bu)距(ju)(ju)角(jiao)(jiao)(jiao)精(jing)度(du)小于10′。
2、靜態(tai)(tai)特(te)性(xing)(xing)。1）矩(ju)角(jiao)特(te)性(xing)(xing)：指在不改(gai)變(bian)通電(dian)(dian)狀態(tai)(tai)的(de)條件下，步進電(dian)(dian)機靜轉(zhuan)矩(ju)與失調(diao)(diao)角(jiao)之間的(de)關系，即T=-kI2sin，其中(zhong)k為轉(zhuan)矩(ju)常數；I為控(kong)制繞組電(dian)(dian)流；為失調(diao)(diao)角(jiao)；2）最(zui)大靜轉(zhuan)矩(ju)：矩(ju)角(jiao)特(te)性(xing)(xing)中(zhong)靜轉(zhuan)矩(ju)的(de)最(zui)大值(zhi)，即Tmax=kI2。
3、動(dong)態特(te)性。1）矩(ju)頻(pin)(pin)(pin)特(te)性：指輸出轉(zhuan)矩(ju)與(yu)輸入(ru)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)的(de)(de)(de)關(guan)系。在(zai)負載轉(zhuan)矩(ju)一定的(de)(de)(de)條件(jian)下，步(bu)進電(dian)(dian)機(ji)(ji)運行(xing)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)必須小于對(dui)應(ying)的(de)(de)(de)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)值(zhi)，否則(ze)就會出現失(shi)步(bu)；2）慣頻(pin)(pin)(pin)特(te)性：指轉(zhuan)動(dong)慣量與(yu)輸入(ru)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)的(de)(de)(de)關(guan)系；3）起(qi)動(dong)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)：指步(bu)進電(dian)(dian)機(ji)(ji)在(zai)帶動(dong)一定負載時，不失(shi)步(bu)起(qi)動(dong)的(de)(de)(de)最(zui)高頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)；4）運行(xing)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)：指步(bu)進電(dian)(dian)機(ji)(ji)不失(shi)步(bu)運行(xing)的(de)(de)(de)最(zui)高頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)。起(qi)動(dong)時，步(bu)進電(dian)(dian)機(ji)(ji)需(xu)要足夠長(chang)的(de)(de)(de)時間加速(su)才能保證不失(shi)步(bu)，因此，在(zai)實際應(ying)用(yong)中選(xuan)用(yong)的(de)(de)(de)運行(xing)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)應(ying)該高于起(qi)動(dong)頻(pin)(pin)(pin)率(lv)(lv)(lv)(lv)。
三、步進電機的(de)選擇
步進電(dian)(dian)機的(de)選擇主要通(tong)過(guo)確定(ding)步距(ju)角、靜(jing)轉(zhuan)矩、電(dian)(dian)流(liu)的(de)大小，就(jiu)能確定(ding)其型號了。
1、步距(ju)角的選擇
步(bu)進電(dian)(dian)機步(bu)距(ju)角(jiao)的(de)選擇取(qu)決于系(xi)統負(fu)載(zai)(zai)分辨率的(de)要求(qiu)，將(jiang)系(xi)統負(fu)載(zai)(zai)所(suo)要求(qiu)的(de)最小分辨率換(huan)算到步(bu)進電(dian)(dian)機的(de)軸上就(jiu)是此時步(bu)進電(dian)(dian)機應(ying)走(zou)過的(de)角(jiao)度(du)，步(bu)進電(dian)(dian)機的(de)步(bu)距(ju)角(jiao)應(ying)該等(deng)于或(huo)小于該角(jiao)度(du)。在實際應(ying)用中，步(bu)進電(dian)(dian)機的(de)步(bu)距(ju)角(jiao)一般(ban)有1.5°/3°（三相）、0.9°/1.8°（二相或(huo)四相）、0.36°/0.72°（五相）等(deng)等(deng)。
2、靜轉矩的選擇(ze)
步(bu)進(jin)(jin)電機(ji)靜轉矩(ju)的(de)(de)(de)(de)選擇取(qu)決于系統負(fu)(fu)(fu)載(zai)(zai)種類(lei)(lei)的(de)(de)(de)(de)要求，系統負(fu)(fu)(fu)載(zai)(zai)的(de)(de)(de)(de)種類(lei)(lei)分為(wei)(wei)摩(mo)擦負(fu)(fu)(fu)載(zai)(zai)和慣性(xing)負(fu)(fu)(fu)載(zai)(zai)。步(bu)進(jin)(jin)電機(ji)直接(jie)起(qi)動(dong)(dong)時(shi)(shi)要考(kao)(kao)慮摩(mo)擦負(fu)(fu)(fu)載(zai)(zai)和慣性(xing)負(fu)(fu)(fu)載(zai)(zai)；加速起(qi)動(dong)(dong)時(shi)(shi)主要考(kao)(kao)慮慣性(xing)負(fu)(fu)(fu)載(zai)(zai)；恒速運行時(shi)(shi)主要考(kao)(kao)慮摩(mo)擦負(fu)(fu)(fu)載(zai)(zai)。在(zai)實際應用中，步(bu)進(jin)(jin)電機(ji)的(de)(de)(de)(de)靜轉矩(ju)一(yi)般為(wei)(wei)摩(mo)擦負(fu)(fu)(fu)載(zai)(zai)的(de)(de)(de)(de)2-3倍的(de)(de)(de)(de)范圍內，步(bu)進(jin)(jin)電機(ji)的(de)(de)(de)(de)靜轉矩(ju)一(yi)旦確定(ding)下來，那么步(bu)進(jin)(jin)電機(ji)的(de)(de)(de)(de)幾(ji)何尺寸(cun)，即機(ji)座就能確定(ding)下來了。
3、電流的選擇(ze)
步(bu)(bu)進(jin)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)電(dian)(dian)(dian)(dian)(dian)流的(de)(de)選(xuan)擇(ze)取決于系統的(de)(de)矩(ju)頻特性，步(bu)(bu)進(jin)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)靜轉(zhuan)矩(ju)一定時，電(dian)(dian)(dian)(dian)(dian)流參數(shu)不同，其運行性能也不同。在實際應用(yong)中，步(bu)(bu)進(jin)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)轉(zhuan)速越(yue)(yue)高，力矩(ju)就越(yue)(yue)大(da)，則(ze)要求其電(dian)(dian)(dian)(dian)(dian)流就越(yue)(yue)大(da)，驅動(dong)電(dian)(dian)(dian)(dian)(dian)源的(de)(de)電(dian)(dian)(dian)(dian)(dian)壓就越(yue)(yue)高。要使步(bu)(bu)進(jin)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)電(dian)(dian)(dian)(dian)(dian)流大(da)，盡(jin)可能提高驅動(dong)電(dian)(dian)(dian)(dian)(dian)源的(de)(de)電(dian)(dian)(dian)(dian)(dian)壓，就必須(xu)選(xuan)擇(ze)小電(dian)(dian)(dian)(dian)(dian)感大(da)電(dian)(dian)(dian)(dian)(dian)流的(de)(de)步(bu)(bu)進(jin)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)。
四(si)、步進電機(ji)的使用
1、步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)適(shi)用于低(di)速(su)場合，其(qi)最高工作轉速(su)一般(ban)在300-600r/min，可(ke)通過(guo)減(jian)(jian)速(su)裝置使(shi)其(qi)在此范圍(wei)內進(jin)(jin)(jin)(jin)(jin)行工作，此時(shi)(shi)(shi)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)(de)(de)工作效率較(jiao)高，噪聲較(jiao)低(di)；2、步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)最好(hao)(hao)不(bu)使(shi)用整步(bu)(bu)(bu)(bu)(bu)(bu)(bu)狀(zhuang)態，因為整步(bu)(bu)(bu)(bu)(bu)(bu)(bu)狀(zhuang)態時(shi)(shi)(shi)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)(de)(de)振動(dong)較(jiao)大；3、步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)(de)(de)標稱電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)壓值為12V時(shi)(shi)(shi)可(ke)以使(shi)用12V的(de)(de)(de)(de)(de)(de)(de)驅(qu)(qu)動(dong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)源(yuan)，除此之外，其(qi)他步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)(de)(de)驅(qu)(qu)動(dong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)源(yuan)可(ke)以根據驅(qu)(qu)動(dong)器進(jin)(jin)(jin)(jin)(jin)行選(xuan)(xuan)擇(ze)(ze)；4、步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)拖(tuo)動(dong)慣量較(jiao)大的(de)(de)(de)(de)(de)(de)(de)負載時(shi)(shi)(shi)，應(ying)該(gai)(gai)選(xuan)(xuan)擇(ze)(ze)較(jiao)大機(ji)(ji)(ji)(ji)(ji)座號的(de)(de)(de)(de)(de)(de)(de)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)；5、步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)要(yao)求(qiu)較(jiao)高速(su)運行時(shi)(shi)(shi)，應(ying)該(gai)(gai)采用逐漸升頻(pin)提速(su)的(de)(de)(de)(de)(de)(de)(de)方(fang)法。這樣做的(de)(de)(de)(de)(de)(de)(de)好(hao)(hao)處是：一能(neng)夠(gou)使(shi)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)不(bu)失步(bu)(bu)(bu)(bu)(bu)(bu)(bu)；二能(neng)夠(gou)使(shi)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)在運行中(zhong)(zhong)減(jian)(jian)少(shao)噪聲；三能(neng)夠(gou)使(shi)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)提高停車的(de)(de)(de)(de)(de)(de)(de)定位精(jing)度(du)；6、步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)要(yao)求(qiu)較(jiao)高精(jing)度(du)運行時(shi)(shi)(shi)，應(ying)該(gai)(gai)采用機(ji)(ji)(ji)(ji)(ji)械減(jian)(jian)速(su)、提高步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)轉速(su)的(de)(de)(de)(de)(de)(de)(de)方(fang)法，或采用高細(xi)分數的(de)(de)(de)(de)(de)(de)(de)驅(qu)(qu)動(dong)器驅(qu)(qu)動(dong)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)(de)(de)方(fang)法，或采用5相(xiang)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)(de)(de)方(fang)法；7、在實際應(ying)用中(zhong)(zhong)，應(ying)該(gai)(gai)遵(zun)循(xun)先選(xuan)(xuan)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)再選(xuan)(xuan)步(bu)(bu)(bu)(bu)(bu)(bu)(bu)進(jin)(jin)(jin)(jin)(jin)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)驅(qu)(qu)動(dong)器的(de)(de)(de)(de)(de)(de)(de)原(yuan)則(ze)。
