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Motor motion control method

A motion control, motion technology, applied in the field of control, can solve the problems of limiting the total number of steps, acceleration, lack of flexibility, etc.

Active Publication Date: 2020-06-09
MACCURA MEDICAL INSTR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method limits the total number of steps, acceleration, etc. in the acceleration and deceleration process of the stepper motor, and the use lacks flexibility

Method used

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  • Motor motion control method
  • Motor motion control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Embodiment 1: Taking the trapezoidal acceleration and deceleration curve as an example

[0042] Figure 4 It shows a flow chart of realizing stepper motor trapezoidal curve acceleration and deceleration control according to one embodiment of the present invention; Figure 5 A schematic diagram of the trapezoidal acceleration and deceleration curve of the stepping motor realized according to this embodiment is shown.

[0043] As mentioned earlier, the rotation of the stepper motor is to move step by step at a fixed angle by applying control pulses of appropriate frequency and sequence to the stepper motor. The angular displacement can be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning; at the same time, the speed of motor rotation can be controlled by controlling the pulse frequency, so as to achieve the purpose of speed regulation.

[0044] In the start-up phase of the stepper motor, due to the mechanical inertia of...

Embodiment 2

[0079] Embodiment 2: Take the S-shaped acceleration and deceleration curve as an example

[0080] Trapezoidal curve control effectively improves the stability, precision, and efficiency of stepping motor control. However, when the trapezoidal curve transitions between different motion states, due to the sudden change in acceleration, there will still be a slight impact, that is, a soft impact. Flex shocks also affect the speed and precision of motor control to a certain extent.

[0081] In order to improve the speed and precision of motor movement and reduce flexible impact, the acceleration and deceleration process of the motor does not have to be set in a straight line, such as a trapezoidal curve, but can also be set in a curved form, such as an S-shaped curve, an exponential curve, etc. Wait.

[0082] Figure 6 A flow chart showing the S-shaped curve acceleration and deceleration control of the stepping motor according to another embodiment of the present invention is s...

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Abstract

The invention provides a motor motion control method. The speed single-step frequency conversion of a motor is realized through a curve control mode. The method comprises the following steps that: ina calculation period, the speed at the current moment is automatically accumulated according to an acceleration value, and the displacement at the current moment is automatically accumulated accordingto a current speed value; and when the current displacement accumulates and overflows, a control pulse is generated to control the motor to move, and an overflow value is set to be equal to a calculation frequency value.

Description

technical field [0001] The invention relates to the field of control technology, in particular to a motor motion control method in a control system, and more particularly, the invention relates to an acceleration and deceleration control method used in stepping motor driving. Background technique [0002] Stepper motors, servo motors, brushless motors, linear motors, etc. are often used as actuators in control and inspection systems and equipment. Moreover, in general control and detection inspection systems and equipment, there are often multiple such actuators, and it is usually necessary to simultaneously control multiple such actuators to drive different structural components to perform various complex movements. [0003] Taking the stepper motor as an example, the rotation of the stepper motor is to move step by step at a fixed angle by applying control pulses of appropriate frequency and sequence to the stepper motor. The angular displacement can be controlled by cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P8/14H02P8/04H02P8/36H02P8/38
CPCH02P8/14H02P8/04H02P8/36H02P8/38
Inventor 丁伟王卫佳
Owner MACCURA MEDICAL INSTR CO LTD