■ 为什么要测量？
步进电机作为机械臂关节的执行机构，它的旋转角度空间分辨率确定了机械臂终端的机械定位精度。虽然可以通过 步进电机细分控制 来增加步进电机转动角度的分辨率，但实际细分的线性关系究竟是否满足应用要求，则需要进行测量。
使用 BH60绝对位置编码器 来测量每一步步进电机旋转角度，可以评估步进电机运行的线性度。BH60可以提供高达8192（手边的BH60传感器的角度分辨率为4096/T），对于原本一周400不，通过细分到40000步（或者51200步）的步进电机可以对其每一周期的细分步骤进行大约10个数字的量化记录点，并可以进行评估。
本实验中的电机购买淘宝链接： 购买电机的淘宝链接。
电机的相关信息：
▲ 电机的基本参数
前期的工作包括：
01测量方案
1.测量角度传感器
测量传感器使用 BH60 。相应的读取角度软件方案参见： BH60绝对位置编码器测试 中的方案。制作 基于STC8H1K28的BH60的角度读写模块 来直接读取步进电机的转动角度。
2.步进电机驱动
使用 STC8K28步进电机ULC2003触发器 的方案驱动步进电机。
3.实验机械框架
通过软连接将步进电机的输出轴与BH60的（直径10mm）连接在一起。
▲ 步进电机驱动BH60角度传感器
4.测量软件
利用在ISPHUB的硬件框架下，通过Python编程驱动步进电机运动并测量输出的转角。
#!/usr/local/bin/python
# -*- coding: gbk -*-
#============================================================
# TEST1.PY -- by Dr. ZhuoQing 2020-07-15
#
# Note:
#============================================================
from headm import *
from tsmodule.tsstm32 import *
stm32cmd('bh60clear')
time.sleep(.5)
stm32cmd('CLEAR')
stm32cmd('ps 20000 1')
while True:
key = stm32val()
if key[12] != 0: break
time.sleep(.5)
stm32cmd('COPY')
angle = [int(t) for t in clipboard.paste().strip('\r\n').split(' ') if len(t) > 0]
tspsavenew('angle', angle=angle)
plt.plot(angle)
plt.xlabel("Steps")
plt.ylabel("Angle")
plt.grid(True)
plt.tight_layout()
plt.show()
#------------------------------------------------------------
# END OF FILE : TEST1.PY
#============================================================
▲ 在步进电机带动下BH60读取的旋转角度
02实验结果分析
下面通过不同范围的旋转分析步进电机运动的精度和线性性。
步进电机参数：
- 拨码开关：OFF，OFF，OFF，OFF：对应每周40000步
- 每次步数：400
证明驱动器旋转一周大约40000步。
▲ 输出40000步BH60读出的数据
- 每次步长10
▲ 输出1000步BH60读出的数据
▲ 输出1000步BH60读出的数据
- 每次步长5
▲ 输出500步BH60读出的数据
▲ 输出2500步BH60读出的数据
-
每次步长1:
▲ 输出100步BH60读出的数据 -
测量结果
▲ 每次步进1，总步数1000的数据
▲ 每次步进1，总步数4000的数据
▲ 每次步进1，总步数20000的数据
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※ 结论
本文得到了相关的测量结果。对应的分析方法另行进行。
相关应用：