[open source tutorial] DIY tutorial of step-by-step electric adjustment [Author: I love Laurie, Laurie]

Preface ：
common The motor There are three kinds of ： Brush motors 、 No brush motor 、 Stepper motor . There is a brush 、 Brushless Electrical regulation There are many , It seems that the electric adjustment of the stepping motor is really not . The step-by-step electrical adjustment is made by the landlord , It can be regarded as the first ！

But on the contrary , Why doesn't anyone do step-by-step electrical regulation , It may also be that the stepper motor is difficult to do anything on the aircraft model , Small torque , The speed is slow , Do not drive the propeller .
Therefore, the direct drive stepping motor is definitely not needed . This post is mainly aimed at those micro stepping motors with reduction gears or screw rods , What is it used for , It depends on your brain holes .

 

Introduction to stepping electric regulator ：
It is similar to the ordinary brush two-way electric regulator , Input the throttle signal of the receiver , Speed of stepping motor 、 Forward and reverse adjustment .
Support common two-phase four wire 、 Four phase five wire stepping motor .（ Short the two pins to select the motor type , The default mode of no short circuit is two-phase four wire ）
Use 2A Motor drive module , Common stepper motors are less than 1A, Sufficient current .
According to the test , Large volumes are common （25/35） The maximum frequency of the stepping motor does not exceed 1KHz, Considering the reduction ratio of gears , The speed should not be too slow , Therefore, the speed regulation range of the electric commutation time is 11ms ~ 1ms.（ The micro screw motor can reach up to 0.4ms, Please change the program by yourself ）

Voltage range ： Those made according to the tutorial only support 2S voltage ！ If you want to support 1S voltage , It is necessary to stabilize the voltage for the single-chip microcomputer independently ; If you want to support 3S, Need replacement support 3S Voltage motor drive module .



Stepping The steering gear brief introduction ：

All things are short and good , The stepper motor can only move forward step by step , Instead, it is widely used in printers 、 Engraving machine and other high-end instruments . Naturally, it can also be used in steering gear .
And the stepping motor can calculate the characteristics of walking distance by counting steps , The step-by-step actuator is very simple and can be realized without potentiometer ！
The only problem that hinders the stepper actuator is centering ： Because there is no position feedback , I don't know my position when the steering gear is powered on .
Lucky to get the imagination of friends Max Your move ： Just make a detent at the maximum stroke of the steering gear , When the power is on, the steering gear first turns to the detent and does not move , I know indirectly that my position is the farthest ！ Then the program will automatically return to the center . A genius idea .

（PS： In terms of performance, the step-by-step steering gear can not be compared with 6 Huisheng steering gear for one yuan , Only useful for special applications , Please measure yourself ）
Pay attention to the use of step steering gear ：
       Load resistance shall not be greater than the maximum torque , Do not jam the rudder , Otherwise you will lose your step .
       The maximum travel detent must be made, or it will not be able to return to the center correctly .
       The reduction ratio of asynchronous motor may be different , If your motor is different from the owner , The stroke is too large or too small , Follow the tutorial to modify the program .
One 、 Material preparation


1,STC15W104 Single chip microcomputer （ No longer recommended 15F104W, Although compatible . Many people have the problem of switching out electricity , After questioning, I found that they were all used 15F104W. The chipbook is right , But many people don't do well in power supply , It will make the single chip computer restart frequently . Therefore, only wide voltage ones are recommended in the future 15W） 

2, Dual motor drive module
 

Two 、 Welding fabrication


1, The simplest electric regulator in history was made , There are only two components ！（ It is more convenient to brush the firmware for the single chip microcomputer in advance ）

2、 On module IN1、IN2 And IN3、IN4 They are the control ports of two motor drives , It is welded with the single chip microcomputer

 3、 SCM also needs power supply , Fly two wires as shown in the figure ： Black is the ground , Red is 5V（ Here, the module is cleverly used 5V Zener diode , The voltage stabilizing chip of the single chip microcomputer is omitted ）

 

4、OK, That's all. So easy The production of is finished .
After welding the wire, it can be used .
 

  3、 ... and 、 Firmware and updates

Usage flow ：
The power on meeting played three times , Wait for the throttle signal ……
Detect the middle position of the throttle and play three more times , Push the oil valve to turn .


Calibrate the travel ：（ After downloading the firmware, it comes with a standard trip , Use directly without calibration ）
If the travel is wrong , The throttle is at the highest power on position , Wait for the music to play twice , The program automatically records the maximum throttle signal ; Throttle return , Wait for the music to play twice , Program to record the throttle center position . Complete calibration . （ Manual squint ： Do you feel so familiar ,, And brush PN The use method of electric regulator is exactly the same ）




to update ： Stepper actuator fixings
The circuit does not change , A deceleration stepping motor can be turned into a steering gear by using the steering gear fastener .

Modify the stroke of the stepping actuator by yourself ：
Because different stepping motors have different reduction ratios , Maybe you use different motors with different stroke , You can modify the code and compile the new firmware .（ Will not compile reference 《 SCM class 》 Lesson 12 ）


To facilitate modification , It is defined in the program ：
// Parameter configuration
#define MAX 1000    // Maximum travel steps Corresponding rotation angle
#define Phase_Time 1200   // Commutation time 1.2ms The longer the time, the slower the speed






Some people don't know how to connect the five wire stepping motor , Take this motor for example , Generally, red is the common positive pole ,ABCD Just count down in order