摘  要：在分析步进电机数学模型和细分原理基础上, 对自适应控制技术在步进电机中的应用进行了研究，设计了以PIC16F877单片机和L6219驱动芯片为核心的控制与驱动单元，采用自适应细分控制算法的多轴运动控制系统，解决步进电机在低频运行时转矩脉动、细分切换引起速度突变和宽广范围内速度平滑控制问题。给出了控制系统的主要硬件电路以及软件设计方案和相应的流程图,最后在实际控制步进电机运行的基础上给出了步进电机运行时的细分控制电流的波形和电机绕组电流的波形。实验表明电流波形合理，步进电机宽广运行平滑且噪音低，性能良好。

Abstract: By analyzed the mathematical model of step motor and principle of subdivision, the paper studied the application of step motor control with self-adaptable control method. the paper designed and advanced a multi step motor control system based on self-adaptable subdivision and use PIC16F877, L6219 as control and driving unit. surging with running low frequency and sudden change speed while swtiching subdividion, wide range speed smoothly control been sloved. the paper gave the main design of hardware and software including flow charts, and actually subdivision current wave and winding current of step motor. The test result indicates current wave is reasonably, the step motor runs smoothly in wide range speed, low noise and high performance.
Key words: self-adaptable; subdivision control; step motor; PIC16F877