On the basis of researching the principle of micro-step motor drive, the constant torque micro-step motor driving method based on FPGA is proposed.

在研究步进电机细分驱动原理的基础上，提出了一种采用FPGA芯片实现步进电机恒转矩细分驱动的方法。

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With the help of precise driving system of sensor measuring and single chip micro-computer controlled step motor, enabled the cart to move flexibly in narrow aisles of the storehouse.

借助传感器测定和单片机控制步进电机的精密驱动系统，使得自动搬运车能在狭小的仓库过道中灵活行进。

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Present a new method to test the micro step angle of step motor in micro step driving mode. Solve the problem of how to test the micro step angle. This paper provide practical data and curve.

提出了一种新的步进电动机微步驱动方式下步距角的测试方法，较好地解决了微小步距角的测量问题，给出了实验数据和曲线的例子。

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