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Ultra-low-speed predictor control algorithm for closed-loop stepper motor

A stepper motor and control algorithm technology, applied in the electrical field, can solve problems such as poor low-speed performance, speed detection stagnation, low-speed oscillation, etc., to achieve the effect of improving extremely low-speed performance, reducing low-speed vibration, and avoiding speed out of control

Active Publication Date: 2020-01-31
摩川技术(深圳)有限公司
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Problems solved by technology

However, in the case of ultra-low speed, the encoder pulse interval time exceeds the speed sampling period, and the number of encoder pulses obtained in each speed sampling period is very small, even less than one pulse, and the speed detection stagnates at a certain speed value. , leading to problems such as speed out of control, low-speed oscillation, and poor low-speed performance

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  • Ultra-low-speed predictor control algorithm for closed-loop stepper motor
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specific Embodiment approach

[0018] The M / T speed measurement method is one of the most basic requirements in industrial control systems. The most commonly used method is to measure the speed of a certain shaft with digital pulses, and then convert it into linear speed according to the mechanical ratio and diameter. The most typical methods of pulse velocity measurement are frequency measurement (M method) and period measurement (T method).

[0019] The M method is to convert the number of pulses per unit time into frequency. Due to the problem of half pulses at the beginning and end of the measurement time, there may be an error of 2 pulses. When the speed is low, because the number of pulses in the measurement time decreases, the proportion of the error will increase, so the M method is suitable for measuring high speed. If you want to reduce the lower limit of the measurement speed, you can increase the number of encoder lines or increase the unit time of measurement, and use as many pulses as possible...

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Abstract

The invention discloses a superlow-speed pre-estimator control algorithm for a closed-loop stepping motor, and relates to the field of the electrical technology. A counter is added to controller software on the basis of a conventional M / T speed measurement method, and whether the rotating speed decreases in each speed loop sampling period or not is judged, thereby achieving the updating of the rotating speed in a compensation pre-estimation mode. When the motor operates at a superlow speed, the method can achieve the minimizing of the speed detection dead time through the rotating speed pre-estimator of the software algorithm under the condition that the coder cost is not improved. The algorithm prevents the speed from being out of control, reduces the low-speed vibration, and improves the superlow-speed performances of a closed-loop stepping driver.

Description

technical field [0001] The invention relates to the field of electrical technology, in particular to an ultra-low-speed predictor control algorithm for a closed-loop stepping motor. Background technique [0002] The two-phase closed-loop stepper motor uses the feedback information of the incremental encoder installed on the motor shaft to perform vector control on it. The speed feedback obtained by the encoder has a great impact on the performance of the entire control system. The general method of speed measurement is M method, T method, M / T method. The M method is to count the number of encoder pulses within a fixed time. Since the number of pulses in the measurement time decreases at low speeds and the quantization error becomes larger, the speed measurement accuracy of the M method is low at low speeds. The T method is to measure the time interval between two pulses of the encoder. Since the measured time interval becomes smaller at high speed and the quantization error...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P8/14H02P8/32H02P8/02
CPCH02P8/02H02P8/14H02P8/32
Inventor 肖宏忠林韦松
Owner 摩川技术(深圳)有限公司
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