本文介绍控制机的主要功能、硬件结构原理和软件流程。论述主要模块的实现理论、相关算法和编程思想。根据系统的特点定义了特定的通信协议,保证了系统工作的有效性和可靠性。 关键字:控制机;通信协议;步进电机;PWM; Abstracts: The primary function and hardware structure principle as well as software flow are introduced. The realizing theory and relational arithmetic and programming idea of main modules are discussed. The special communication protocol is defined according to the characteristic of the system and it ensures effective and reliable working of the system. Keywords: Controlling computer; Communication protocol; Step motor; PWM