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Stepping motor double-closed-loop control method and system based on PID control

A double closed-loop control, stepper motor technology, applied in the control system, motor generator control, electrical components and other directions, can solve the problem of overshoot of the stepper motor, difficult to achieve precise control of the stepper motor, etc., to solve the phenomenon of overshoot Effect

Pending Publication Date: 2021-11-30
SHANDONG NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] According to the inventor's understanding, the traditional proportional-integral-derivative (PID) single closed-loop control has certain defects in the control of the stepper motor: although the speed loop closed-loop control can accurately control the speed of the stepper motor, it is difficult to realize Precise control of the position of the stepper motor; Although the closed-loop control of the position loop can accurately control the rotation angle of the stepper motor, it is necessary to artificially limit the speed to effectively prevent the stalling of the stepper motor
The traditional PID double closed-loop control is easy to cause overshoot of the stepper motor when reaching the set target value

Method used

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  • Stepping motor double-closed-loop control method and system based on PID control
  • Stepping motor double-closed-loop control method and system based on PID control
  • Stepping motor double-closed-loop control method and system based on PID control

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Embodiment 1

[0027] Embodiment 1 of the present disclosure provides a double-closed-loop control system for a stepping motor based on PID control.

[0028] Such as figure 1 Shown a kind of stepper motor double-closed-loop control system based on PID control, comprises PID controller, driver, stepper motor and encoder, and described driver is connected with described PID controller and stepper motor respectively; The encoder is connected with the stepping motor; the PID controller includes a current loop, a speed loop and a position loop respectively connected with the encoder.

[0029] The PID controller calculates based on the total number of pulses of the encoder and the first target value set by the host computer to obtain the expected value of the position loop used to control the direction of the stepping motor; set the control coefficient through the PID controller and combine the obtained position The loop expectation value judges whether to enable the speed loop control, so that t...

Embodiment 2

[0037] Embodiment 2 of the present disclosure provides a double-closed-loop control method for a stepping motor based on PID control, and adopts the double-closed-loop control system for a stepping motor based on PID control provided in Embodiment 1.

[0038] Such as figure 2 A double closed-loop control system of a stepper motor based on PID control is shown, including the following steps:

[0039] Step S01: Calculate the pulse signal collected by the encoder to obtain the total number of pulses and the number of pulses per unit time;

[0040] Step S02: Input the obtained total number of pulses into the position loop as the first actual value and the first target value set in the host computer, and calculate the expected value of the position loop based on the PID algorithm;

[0041] Step S03: Control the rotation direction of the stepper motor according to the expected value of the position loop;

[0042] Step S04: Set the control coefficient based on the PID controller, ...

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Abstract

The invention provides a stepping motor double-closed-loop control method and system based on PID control, the system comprises a PID controller, a driver, a stepping motor and an encoder, and the driver is connected with the PID controller and the stepping motor; the encoder is connected with the stepping motor; the PID controller comprises a speed ring and a position ring which are respectively connected with the encoder; the PID controller performs calculation based on the total pulse number of the encoder and a first target value set by the upper computer to obtain a position loop expected value for controlling the direction of the stepping motor; and a control coefficient is set through a PID controller, and it is judged whether to start speed loop control or not by combining the obtained position loop expected value, so that the stepping motor adopts the speed loop control when being far away from the target value, and adopts the position loop control when being about to reach the target value.

Description

technical field [0001] The disclosure belongs to the technical field of motor control, and in particular relates to a PID control-based double-closed-loop control method and system for a stepping motor. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] A stepper motor is a motor that converts electrical pulse signals into corresponding angular displacement or linear displacement; every time a pulse signal is input, the rotor rotates an angle or advances one step, and the output angular displacement or linear displacement is proportional to the number of input pulses Proportional, the rotational speed is proportional to the pulse frequency. [0004] According to the inventor's understanding, the traditional proportional-integral-derivative (PID) single closed-loop control has certain defects in the control of the stepper motor: although the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P8/32
CPCH02P8/32
Inventor 华庆陈曦童郝新源王寰宇
Owner SHANDONG NORMAL UNIV