A Trapezoidal Speed Control Algorithm for Stepping Motor
A stepper motor and control algorithm technology, applied in the direction of motor generator control, control system, electrical components, etc., can solve the problems of incomplete, single trapezoidal algorithm processing, and many imported parameters, achieving simple control, easy implementation, The effect of reducing errors
Active Publication Date: 2020-11-10
GUANGDONG UNIV OF TECH
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[0014] The present invention provides a trapezoidal speed control algorithm for stepping motors in order to overcome the shortcomings of the existing trapezoidal algorithm described in the above prior art that the processing situation is single, incomplete, and introduces many parameters.
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[0049] The accompanying drawings are for illustrative purposes only and cannot be construed as limiting the patent;
[0050] In order to better illustrate this embodiment, some parts in the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product;
[0051] For those skilled in the art, it is understandable that some well-known structures and descriptions thereof may be omitted in the drawings.
[0052] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0053] This embodiment provides a stepper motor trapezoidal speed control algorithm, such as Figure 4 As shown, the algorithm includes the following steps:
[0054] S1: Construct the acceleration and deceleration model of the stepper motor according to the trapezoidal acceleration and deceleration control algorithm, and calculate the number of steps X required for the stepper motor to accele...
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The invention relates to a stepper motor trapezoidal speed regulation control algorithm, which comprises steps: S1, an acceleration / deceleration model of the stepper motor is constructed according toa trapezoidal acceleration / deceleration control algorithm, and the number of steps X required when the stepper motor accelerates to the maximum speed and the number of steps Y required at an acceleration stage at the intersection of acceleration and deceleration of the stepper motor are calculated; S2, according to the size relationship between the parameter X and the parameter Y, conditions included in the acceleration and deceleration model of the stepper motor are analyzed; and S3, different stages of each model speed regulation algorithms of the stepper motor are analyzed. A different algorithm can be selected as long as the sizes of the parameter X and the parameter Y are compared, the control is simple, and the realization is easy; secondly, the entire algorithm only introduces the relevant variables of the stepper motor, the original five-parameter control algorithm is optimized, the errors of the control algorithm are reduced, and the stability of the control algorithm is improved; and only basic operations of addition, subtraction, multiplication, and division exist for the parameter expressions of the entire control algorithm, and thus, the calculation efficiency of the control system is high.
Description
technical field [0001] The invention relates to the field of motor control, in particular to a stepper motor trapezoidal speed regulation control algorithm. Background technique [0002] Because of its unique characteristics, the stepper motor can control the position and speed of the motor without a feedback device, so it is widely used in industrial automation equipment. However, in the motion control of the stepper motor, its speed changes greatly. And the acceleration and deceleration are more frequent. The most important thing is that the maximum operating speed of the control system is often much higher than the maximum starting speed of the stepping motor. If the starting frequency exceeds the limit and cannot be started normally, step loss may occur if it is mild, or it may not start at all, resulting in stalling. As a result, the rotor of the motor will turn over the balance position. If the inertia of the load is large, the stepper motor is prone to overshoot and ...
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IPC IPC(8): H02P8/14
CPCH02P8/14
Inventor 杜文学彭义郑银湖杨晓星王钦若
Owner GUANGDONG UNIV OF TECH