Method for optimizing control parameters of two-phase stepping motor

Abstract

The invention relates to a two-phase stepping motor control parameter optimization method. The method comprises the following steps: receiving a parameter tuning instruction, controlling a stepping motor to operate, and sampling an actual current IF every preset duration T; when the actual current IF is received, the input voltage UM is updated through PI operation; when the number of sampling times reaches a preset number of sampling times n, sampling is stopped, and IFMAX is compared with X * IR and Y * IR; if IFMAXlt; if X * IR, updating the KP to KP + KP; if IFMAXgt; if Y * IR, updating the KP to KP-KP; repeating the steps until IFMAX is not less than X * IR and not more than Y * IR; if IFMAX is larger than or equal to X * IR and smaller than or equal to Y * IR, the current steady-state value IFV is compared with Z * IR and W * IR; if Z * IR, updating Ki to Ki + Ki, and if IFVgt, updating Ki to Ki + Ki; if W * IR, updating Ki to Ki-Ki; and repeating the steps until IFV is greater than or equal to Z * IR and less than or equal to W * IR, and if KP and Ki both reach optimal values, displaying information of finishing adjustment and optimization. The method has the advantages that optimal KP and Ki are matched for different types of stepping motors, and the control effect on the different types of stepping motors is optimized.

Description

technical field [0001] The present application relates to the field of stepper motor control, in particular to a method for optimizing control parameters of a 2-phase stepper motor. Background technique [0002] The 2-phase hybrid stepping motor is a hybrid motor. The control system of the 2-phase stepping motor is used to control the operation of the 2-phase hybrid stepping motor. When the above control system is used to control the stepping motors of different specifications and models When the actual current I of the stepper motor is prone to appear F (the current collected during the operation of the stepper motor) and the preset control current I R (When the control system passes the preset input voltage U M To control the operation of the stepper motor, the output and input voltage U of the control system M There is a deviation between the corresponding currents); the larger the above deviation value, the worse the control effect of the controller on the stepping mo...

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Problems solved by technology

[0004] For the related technologies mentioned above, the inventors found that there are at least the following problems in this technology: It can be known from the PI calculation formula that K P and K i It will affect the result of each PI operation, and then affect the control voltage U obtained through PI operation R The length of time, when the control system uses the above K P and K i When debugging different series of 2-phase stepper motors, although the control voltage can be finally calculated, the control voltage U R The time spent is different, resulting in different control effects of the stepper motor control system on different stepper motors.

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