Method for driving stepping motor based on smooth self-adaptation
A technology of stepping motors and driving methods, applied in the direction of motor generator control, electrical components, control systems, etc., can solve problems such as improved performance requirements, interference equipment and systems, increased costs, etc., to achieve strong anti-interference ability and smooth motor operation Smooth, vibration-free effect
Active Publication Date: 2013-08-21
SHANGHAI ANPU MINGZHI AUTOMATION EQUIP
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However, with the introduction of subdivision and frequency division, the pulse frequency of the controller is also doubled, which means that the performance requirements of the controller are also correspondingly improved, and the cost is increased.
In addition, with the increase of control pulse frequency, the system is more susceptible to interference, which greatly increases the threshold for anti-interference design of controller and driver hardware. What's more, the introduction of high frequency will also interfere with other equipment and systems. cause fatal problems
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[0038] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0039] Such as figure 1 As shown, the implementation device of the driving method includes a position generator 1, a signal receiving and processing module 2, a smooth adaptive control module 3, a power amplifier 4 and a stepping motor 5 connected in sequence, and the signal receiving and processing module 2 is provided with There are timers.
[0040] Such as figure 2 As shown, the driving method of the present invention comprises the following steps:
[0041] 1) The position generator outputs pulse signals according to the system application;
[0042] 2) The signal receiving and processing module regularly collects and tracks the input pulse signal, and calculates the given speed and acceleration of the motor according to the number of input pulse signals and the given timing time;
[0043] 3) The smooth adaptive control module calculat...
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The invention relates to a method for driving a stepping motor based on smooth self-adaptation. The method comprises the following steps: (1) outputting pulse signals through a position generator according to set information, (2) collecting, tracking and inputting the pulse signals through a signal receiving and processing module at regular time, and calculating a given angular speed and an accelerated speed of the motor according to the number of the input pulse signals and given fixed time, (3) according to the given angular speed, the accelerated speed, and current position information of the motor, calculating position information of the motor at a next moment through a smooth self-adaptation algorithm and filtering the newly-produced position information by a smooth self-adaptation controlling module, and then transforming the newly-produced position information into signals which are needed by a power amplifier and sending the signals to the power amplifier, (4) conducting power amplification on the received signals by the power amplifier and outputting the signals to the stepping motor, and (5) performing motion trails by the stepping motor. Compared with the prior art, under the condition of not changing pulse input of a user driving controller, the method has the advantages of calculating the target motion trails of the stepping motor in an intelligent and self-adaptive mode, and the like.
Description
technical field [0001] The invention relates to a stepper motor drive technology, in particular to a smooth self-adaptive stepper motor drive method. Background technique [0002] A stepper motor is a device that converts a pulse signal into a corresponding mechanical angular displacement or linear displacement. At present, in many industrial control occasions, in order to improve the anti-interference performance of the control signal and save costs, etc., low subdivision or even full-step control is used, which makes the stepping motor run not smooth enough, resulting in many stability requirements. High applications cannot be used. [0003] Although, in order to reduce the low-speed pulsation and obtain smooth and stable motion performance, the current general-purpose drivers on the market adopt subdivision technology, which effectively improves the vibration of the motor, especially the pulsation of low-speed motion. However, with the introduction of subdivision and fr...
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Inventor 沈钢群
Owner SHANGHAI ANPU MINGZHI AUTOMATION EQUIP