A four-closed-loop stepping servo control method
A servo control and four-closed-loop technology, applied in the control system, motor generator control, electrical components, etc., can solve problems such as lost steps, achieve the effects of reducing reactive power loss, small heat generation, and solving low-speed vibration problems
Active Publication Date: 2018-06-19
深圳市妙能科技有限公司
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[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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[0015] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0016] The stepping servo system provided by the embodiment of the present invention can be widely used in fields such as mechanical arms, medical instruments, numerical control machine tools, laser cutting machines, precision turntables, and the like.
[0017] The embodiment of the present invention provides a stepping servo control method that can servo the torque, speed, and position of a stepping motor. The servo system based on the control method includes a stepping motor equipped with a position / speed feedback device and a motor coil. Current detection feedback inverter circuit, single-c...
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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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IPC IPC(8): H02P8/12
Inventor 李鹏高涛高超京
Owner 深圳市妙能科技有限公司