Four-closed-loop stepping servo control method

Abstract

The invention discloses a four-closed-loop stepping servo control method. The four-closed-loop stepping servo control method comprises the step 1: acquiring a position signal to be executed of the current period by adding a position command signal and a position feedback signal, and acquiring the position signal deviation by subtracting the position signal to be executed of the current period from the position signal to be executed of the previous period; the step 2: acquiring a position signal output value by multiplying the position signal deviation with a proportion adjusting coefficient; the step 3: performing filtering processing of the position signal output value; the step 4: acquiring a stepping position signal according to the position signal output value after filtering, outputting the current phase value of the current period according to the stepping position signal, and acquiring the current amplitude of the current period by comparing the position signal after filtering with a current set value after multiplying the position signal after filtering with the current amplitude multiplying power; and the step 5: acquiring the phase value in the current output value after performing PI adjustment of the current phase value of the current period and the current phase value of the previous period, and acquiring the amplitude in the current output value after performing PI adjustment of the current amplitude of the current period and the current amplitude of the previous period.

Description

Technical field [0001] The invention belongs to the field of stepper motor control, and more specifically, relates to a four-closed loop stepping servo control method. Background technique [0002] At present, the more advanced stepper motor drive systems on the market include stepper motors and stepper motor drivers, mainly including two-phase stepper motor drive systems and three-phase stepper motor drive systems, among which stepper motor drives are called all-digital Drive, the so-called all-digital means that the input of the control signal adopts digital pulse mode or digital communication mode. The current signal of each phase of the motor is a digital signal after analog-digital conversion. The PWM signal that controls the power device to drive the motor is a digital signal. The calculation and processing of input and output signals are realized by digital methods. [0003] However, the current more advanced all-digital stepper motor drivers cannot avoid the problem of ste...

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Problems solved by technology

[0004] Aiming at the defects of the prior art, the purpose of the present invention is to provide a four-closed-loop stepping servo control method, which aims to solve the technical problem that the stepping motor in the prior art will lose steps when encountering heavy load interference

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