摘要：仿生眼需要4个自由度的步进电机驱动，这一驱动控制系统的基本要求有二：体积小、系统运行平稳。本文对这一系统进行了研究开发，首先为保证系统运行的平稳性，对步进电机的恒频脉宽调制型微步驱动控制方法进行了研究与实施，其次采用Atmega16单片机作为主控制器，采用Drv8834为驱动芯片，实现了较小体积的驱动控制系统，最后进行了系统软硬件设计及样机制作，实验结果表明，所研究开发的驱动控制系统能够满足仿生眼用4自由度步进电机驱动控制的性能要求和结构要求。

关键词：仿生眼；步进电机；恒频脉宽调制型微步驱动控制方法；样机实验
Abstract: Biomimetic eye needs four degrees-of-freedom drives by stepping motors with the essential requirements of small size and stable operation. The driving and controlling system based above requirements was developed in the paper. The constant frequency chopping subdivision driving method of stepping motor was studied and employed in order to satisfy the stable operation and then Atmega16 microcontroller and Drv8834 driver were adopted to realize the driving and controlling system with the aim of small size. The hardware and software designs were presented in detail and the prototype experiment verified a good performance to be used in biomimetic eye drive.

Key words: Biomimetic eye; stepping motor; constant frequency chopping subdivision drive; prototype experiment