Method, system and device for avoiding out-of-step of stepping motor

Abstract

The invention discloses a method, a system and a device for avoiding stepping motor out-of-step. The method comprises the following steps: receiving position information of a stepping motor, a photoelectric switch, a first limiting stopper and a second limiting stopper collected by an upper computer; the processor is used for analyzing the received information and sending a driving instruction containing the number of progresses and the direction to the stepping motor so as to drive the stepping motor to move; monitoring the state of each photoelectric switch, the state of the first limiting stopper, the state of the second limiting stopper and the advancing position of the stepping motor, receiving information fed back by each photoelectric switch, the first limiting stopper and the second limiting stopper, and obtaining the step number of the last section of the stepping motor; whether the step number of the last section of the stepping motor is larger than the minimum step number of acceleration and deceleration is judged, and operation of the last section of the stepping motor is completed. According to the invention, it is ensured that the stepping motor is started and stopped according to acceleration and deceleration, and the phenomenon of out-of-step of the stepping motor is effectively avoided.

Description

technical field [0001] The invention belongs to the field of stepping motor control, and relates to a method, system and device for avoiding stepping motor out of step. Background technique [0002] The stepper motor realizes the open-loop control position and speed of the motor according to the pulse number and pulse frequency, and is more and more widely used in the field of automation control. When working normally, every time a control pulse is received, it moves a step angle, that is, one step forward. If the control pulse is continuously input, the motor will continue to rotate accordingly. However, since the stepper motor is not a closed-loop control, improper selection or use of the stepper motor is also prone to out-of-step. When the step is lost, the number of steps forward by the rotor is less than the number of pulses, and the pulse is missed and the specified position is not moved; The number of steps lost and overstepped at one time is equal to the integral ...

AI Technical Summary

Problems solved by technology

[0005] 1) The working torque of the stepper motor itself is not enough, and it does not have enough ability to drive the load;

[0006] 2) There is inertia in the stepping motor and its load, the acceleration process of starting and stopping is not sufficient, the stepping motor loses steps during the acceleration process, and oversteps during the deceleration process;

[0007] 3) Insufficient power supply of the stepping motor leads to insufficient input power of the stepping motor, causing out of step, insufficient driving voltage or setting of the driving current is too low;

[0008] 4) The driver or controller receives signal interference, and the program is defective, causing the stepping motor to lose step;

[0009] 5) The continuous operation of the motor system causes system resonance, and the dynamic error is the largest near the control pulse and the natural resonance frequency of the stepping motor, which will cause the stepping motor to lose its step;

[0010] 6) The backlash of the synchronous wheel or reducer or the backlash error of back and forth are not compensated in the program or the compensation value is wrong;

[0011] 7) The signals of the driver and the controller do not match

[0015] 3) Signal interference and resonance are unavoidable in the system, and are inherent phenomena that are prone to recurring in long-term work;

[0016] 4) Due to the accuracy problem of using synchronous wheel or gearbox, there will be a certain error accumulation, and reasonable compensation cannot be made in the control program;

[0017] 5) Monitor the working current of the stepping motor, and analyze the abnormal change of the current to cause the stepping motor to lose its step; the phenomenon of stepping out can be monitored but the fault cannot be solved, and the impact caused by the stepping out cannot be quantitatively changed;

[0018] The above solutions such as adjusting the power supply and adding a reducer cannot solve the inherent disadvantages of the stepping motor. Using the current monitoring closed-loop operation can detect the out-of-step phenomenon of the stepping motor. Step count

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