Zero-finding control method and device of stepper motor, computer device and storage medium

Abstract

The application relates to a zero-finding control method and device of a stepping motor, computer equipment and a storage medium, and the method comprises the following steps: when the stepping motor is in a position mode, controlling the stepping motor to move according to an initial signal of a reference induction signal and a preset motor movement strategy; and during the movement of the stepping motor, controlling the stepping motor to find zero according to signal change in the reference induction signal. Through the application, the influence of speed information on zero finding is avoided when the stepping motor is in the position mode, and zero finding is realized according to the signal change in the reference induction signal, so that the precision and efficiency of zero finding of the stepping motor are improved.

Description

Technical Field

[0001] This application relates to the field of stepper motor control technology, and in particular to a method, apparatus, computer equipment, and storage medium for zeroing control of stepper motors. Background Technology

[0002] A stepper motor is an electric motor that converts electrical pulse signals into corresponding angular or linear displacement. It is widely used in medical instruments and equipment, computer peripherals and storage devices, precision instruments, industrial control systems, and robotics. In practical applications, stepper motors are frequently used to drive the movement of mechanisms. To ensure the accuracy of each movement, the mechanism generally needs to be reset to its initial zero position before each movement. This means that the stepper motor must start moving from the initial zero position as required before each movement. Therefore, when resetting, the stepper motor needs to find its initial zero position.

[0003] Traditional stepper motor zeroing control involves repeatedly detecting the zero position by combining the stepper motor's position and speed information in both forward and reverse directions. However, this control scheme requires real-time reading of the motor's position and speed information, and is susceptible to errors due to the influence of speed information on zeroing.

[0004] There is currently no effective solution to the problem that speed information affects zero finding in related technologies, leading to large errors. Summary of the Invention

[0005] This embodiment provides a stepper motor zero-finding control method, device, computer equipment, and storage medium to solve the problem in related technologies where the influence of speed information on zero-finding leads to large errors.

[0006] Firstly, this embodiment provides a stepper motor zero-finding control method, applied in a stepper motor zero-finding control system. The zero-finding control system includes a stepper motor, a marker disposed on the shaft of the stepper motor, and a reference sensing signal for indicating the zero position of the stepper motor. When the marker passes the zero position of the motor, the reference sensing signal is triggered to undergo a preset signal change. The method includes:

[0007] When the stepper motor is in position mode, the stepper motor is controlled to move according to the initial signal of the reference sensing signal and the preset motor motion strategy;

[0008] During the movement of the stepper motor, the stepper motor is controlled to find the zero position based on the signal changes in the reference sensing signal.

[0009] In some embodiments, the zero-finding control system is provided with a first movement area and a second movement area; the first movement area is the movement area where the marker moves to a first extreme position; the second movement area is the movement area where the marker moves to a second extreme position.

[0010] In some embodiments, the motion segment length of the first motion region is equal to or less than the target detection segment of the marker, and the motion segment length of the second motion region is greater than twice the target detection segment of the marker;

[0011] The stepper motor movement control method, when the stepper motor is in position mode, based on the initial signal of the reference sensing signal and a preset motor movement strategy, includes:

[0012] When the stepper motor is in position mode, determine whether the initial signal of the reference sensing signal is an obstruction signal;

[0013] When the initial signal is an obstruction signal, the marker on the stepper motor is controlled to move towards the second motion area based on the motor motion strategy;

[0014] When the initial signal is an unobstructed signal, the marker on the stepper motor is controlled to move toward the first motion area based on the motor motion strategy.

[0015] In some embodiments, controlling the stepper motor to find the zero position based on signal changes in the reference sensing signal during the movement of the stepper motor includes:

[0016] As the marker on the stepper motor moves toward the second motion area, when the reference sensing signal changes, the stepper motor is controlled to stop moving.

[0017] After the stepper motor stops, the stepper motor is controlled to move the marker towards the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0018] In some embodiments, controlling the stepper motor to find the zero position based on signal changes in the reference sensing signal during the movement of the stepper motor includes:

[0019] As the marker on the stepper motor moves toward the first motion area, when the reference sensing signal changes, the stepper motor is controlled to stop moving.

[0020] After the stepper motor stops, the stepper motor is controlled to move the marker towards the second motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0021] In some of these embodiments, the motion segment length of the first motion region is greater than the target detection segment of the marker, the motion segment length of the second motion region is greater than the target detection segment of the marker, and the first motion region and the second motion region are symmetrical based on the zero position;

[0022] The stepper motor movement control method, when the stepper motor is in position mode, based on the initial signal of the reference sensing signal and a preset motor movement strategy, includes:

[0023] When the stepper motor is in position mode, determine whether the initial signal of the reference sensing signal is an obstruction signal;

[0024] When the initial signal is an obstruction signal, the marker on the stepper motor is controlled to move toward the second motion area based on the first motion angle information in the motor motion strategy.

[0025] When the initial signal is an unobstructed signal, the marker on the stepper motor is controlled to move toward the second motion area based on the first motion angle information in the motor motion strategy.

[0026] In some embodiments, controlling the stepper motor to find the zero position based on signal changes in the reference sensing signal during the movement of the stepper motor includes:

[0027] When the initial signal is an obstruction signal and the marker on the stepper motor moves toward the second motion area, the stepper motor is controlled to stop moving when the reference sensing signal changes.

[0028] After the stepper motor stops, the stepper motor is controlled to move the marker towards the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0029] In some embodiments, controlling the stepper motor to find the zero position based on signal changes in the reference sensing signal during the movement of the stepper motor includes:

[0030] When the initial signal is an unobstructed signal and the marker on the stepper motor moves toward the second motion area, the stepper motor is controlled to stop moving when the reference sensing signal changes.

[0031] After the stepper motor stops, the stepper motor is controlled to move the marker towards the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0032] In some embodiments, controlling the stepper motor to find the zero position based on signal changes in the reference sensing signal during the movement of the stepper motor includes:

[0033] If the reference sensing signal does not change during the process of the initial signal being an unobstructed signal and the marker on the stepper motor moving towards the second motion area, then the marker on the stepper motor is controlled to move towards the first motion area based on the second motion angle information in the motor motion strategy.

[0034] When a stall signal is detected, the marker on the stepper motor is controlled to move towards the second motion area based on the second motion angle information in the motor motion strategy; and when the reference sensing signal changes, the stepper motor is controlled to stop moving; the stall signal is generated when the marker moves to the first limit position;

[0035] After the stepper motor stops, the stepper motor is controlled to move the marker towards the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0036] In some embodiments, controlling the stepper motor to find the zero position based on signal changes in the reference sensing signal during the movement of the stepper motor includes:

[0037] If a stall signal is detected or the reference sensing signal does not change during the process of the marker on the stepper motor moving towards the second motion area when the initial signal is an unobstructed signal and the marker on the stepper motor moves towards the first motion area based on the second motion angle information in the motor motion strategy;

[0038] When the reference sensing signal changes, the stepper motor is controlled to stop moving;

[0039] After the stepper motor stops, the stepper motor is controlled to move the marker towards the second motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0040] In some embodiments, the method further includes:

[0041] The stepper motor is configured to be in position mode, and the motion angle information in the motor motion strategy is converted into microstep information; the microstep information is used to control the marker to move to a specified position.

[0042] In some embodiments, the reference sensing signal is generated by a reference sensing signal generator; the position of the reference sensing signal generator corresponds to the zero position of the stepper motor.

[0043] In some embodiments, controlling the stepper motor to find the zero position based on signal changes in the reference sensing signal during the movement of the stepper motor includes:

[0044] During the movement of the stepper motor, a corresponding sensing curve is generated based on the reference sensing signal;

[0045] Based on the signal changes in the sensing curve, the stepper motor is controlled to find the zero position.

[0046] Secondly, this embodiment provides a stepper motor zero-finding control device, comprising: a zero-finding control system applied to a stepper motor, the zero-finding control system including a stepper motor, a marker disposed on the rotating shaft of the stepper motor, and a reference sensing signal for indicating the zero position of the stepper motor; when the marker passes the zero position of the motor, the reference sensing signal is triggered to undergo a preset signal change; the device includes: a control unit and a processing unit;

[0047] The control unit is used to control the stepper motor to move according to the initial signal of the reference sensing signal and the preset motor motion strategy when the stepper motor is in position mode.

[0048] The processing unit is used to control the stepper motor to find the zero position based on the signal changes in the reference sensing signal during the movement of the stepper motor.

[0049] Thirdly, this embodiment provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the stepper motor zero-finding control method described in the first aspect above.

[0050] Fourthly, this embodiment provides a storage medium storing a computer program that, when executed by a processor, implements the stepper motor zero-finding control method described in the first aspect above.

[0051] Compared with related technologies, the stepper motor zero-finding control method, device, computer equipment, and storage medium provided in this embodiment are characterized in that, applied to the stepper motor zero-finding control system, the zero-finding control system includes a stepper motor, a marker disposed on the rotating shaft of the stepper motor, and a reference sensing signal for indicating the zero position of the stepper motor; when the marker passes the zero position of the motor, a preset signal change is triggered in the reference sensing signal; by controlling the stepper motor to move according to the initial signal of the reference sensing signal and a preset motor motion strategy when the stepper motor is in position mode; during the movement of the stepper motor, the stepper motor is controlled to find the zero position according to the signal change in the reference sensing signal, thus solving the problem of the influence of speed information on zero-finding in related technologies. When the stepper motor is in position mode, the influence of speed information on zero-finding is avoided, and zero-finding is achieved according to the signal change in the reference sensing signal, thereby improving the accuracy and efficiency of the stepper motor zero-finding.

[0052] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0053] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0054] Figure 1 This is a structural block diagram of a stepper motor zero-finding control system provided in an embodiment of this application;

[0055] Figure 2 This is a flowchart of a stepper motor zero-finding control method provided in an embodiment of this application;

[0056] Figure 3 This is a structural block diagram of a stepper motor zero-finding control system provided in another embodiment of this application;

[0057] Figure 4 This is an embodiment provided by this application. Figure 2 Flowchart of step S210;

[0058] Figure 5 This is a structural block diagram of a stepper motor zero-finding control system provided in another embodiment of this application;

[0059] Figure 6 This is provided by another embodiment of the present application. Figure 2 Flowchart of step S210;

[0060] Figure 7 This is a schematic diagram of the signal change of the reference sensing signal provided in the first embodiment;

[0061] Figure 8 This is a schematic diagram of the signal change of the reference sensing signal provided in the second embodiment;

[0062] Figure 9 This is a schematic diagram of the signal change of the reference sensing signal provided in the third embodiment;

[0063] Figure 10 This is a schematic diagram of the signal change of the reference sensing signal provided in the fourth embodiment;

[0064] Figure 11 This is a structural block diagram of a stepper motor zero-finding control device provided in an embodiment of this application. Detailed Implementation

[0065] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0066] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0067] The following embodiments can all be applied to Figure 1 In the stepper motor zero-finding control system shown, Figure 1The zero-finding control system shown includes a stepper motor 10, a marker 20, and a reference sensing signal; the marker 20 is disposed on the rotating shaft of the stepper motor 10; the reference sensing signal is used to indicate the zero position of the stepper motor 10; when the marker 20 passes the zero position of the motor, it triggers a preset signal change in the reference sensing signal.

[0068] The marker 20 is mounted on the shaft of the stepper motor 10 and moves along with the shaft. For example, if the shaft moves clockwise, the marker 20 also moves clockwise; if the shaft moves counterclockwise, the marker 20 also moves counterclockwise. The marker 20 may include, but is not limited to, objects such as baffles or markers, as long as they can trigger a preset signal change in the reference sensing signal when passing through the zero position of the motor. The baffle can be a rectangular baffle, a fan-shaped baffle, or an irregularly shaped baffle; the marker can be a marking point, a marking line, etc.

[0069] The zero position of the stepper motor 10 is the pre-designated initial zero position, which needs to be found when the stepper motor 10 resets. A reference sensing signal is used to indicate the zero position of the stepper motor 10. It can be generated by a reference sensing signal generator 30 mounted on the peripheral limiting member. The reference sensing signal generator 30 includes, but is not limited to, sensors, detectors, etc. The position of the reference sensing signal generator 30 corresponds to the zero position of the stepper motor 10.

[0070] For example, the reference sensing signal can be generated by the sensor as a laser beam, which indicates the zero position of the motor; when the baffle touches the laser beam, it triggers a preset signal change in the reference sensing signal output by the sensor.

[0071] For example, the reference sensing signal can be generated by the detector as a detection area, and this laser area indicates the zero position of the motor. When the marked point invades the detection area, it is detected by the detector, triggering a preset signal change in the reference sensing signal output by the sensor.

[0072] The signal changes can be high / low level changes, distance changes, angle changes, etc. High / low level changes are: a high-level signal changes to a low-level signal; a low-level signal changes to a high-level signal; a high-level signal indicates an unobstructed signal, and a low-level signal indicates an obstructed signal; distance changes are: a distance greater than a preset distance threshold indicates an unobstructed signal, and a distance less than or equal to the preset distance threshold indicates an obstructed signal.

[0073] The sensor can be a photoelectric switch, providing a zero-point low-pulse signal. The photoelectric switch outputs a low-level signal when blocked and a high-level signal when unblocked. The output photoelectric signal can be modified according to actual usage. Other implementation methods are foreseeable and will not be illustrated here.

[0074] In some embodiments, the zero-finding control system is provided with a first motion area and a second motion area; the first motion area is the motion area where the marker 20 moves to a first limit position; the second motion area is the motion area where the marker 20 moves to a second limit position.

[0075] The first and second extreme positions are located on either side of the zero position. A left limiting member is set at the first extreme position; when the marker 20 moves to the first extreme position, it is limited by the left limiting member. A right limiting member is set at the second extreme position; when the marker 20 moves to the second extreme position, it is limited by the right limiting member. Therefore, the first movement area can be considered as the left movement area relative to the zero position; the second movement area can be considered as the right movement area relative to the zero position.

[0076] In this embodiment, the movement range of the stepper motor 10 in zero-finding control is reduced by dividing the movement area, thereby improving the zero-finding efficiency.

[0077] This embodiment provides a zero-finding control method for a stepper motor. Figure 2 This is a flowchart of the stepper motor zero-finding control method in this embodiment, as shown below. Figure 2 As shown, the process includes the following steps:

[0078] Step S210: When the stepper motor is in position mode, control the stepper motor to move according to the initial signal of the reference sensing signal and the preset motor motion strategy.

[0079] Step S220: During the movement of the stepper motor, the stepper motor is controlled to find the zero position based on the signal changes in the reference sensing signal.

[0080] Specifically, stepper motors can have multiple operating modes, which need to be pre-configured. One such mode is position mode, where the stepper motor is specified to move to a given position. The stepper motor controls the shaft, moving a marker on the shaft to the designated position. This eliminates the need to control the stepper motor's speed, thus avoiding the influence of speed information on zeroing as in existing technologies. For example, configuring the stepper motor in position mode converts the motion angle information in the motor's motion strategy into micro-step information; this micro-step information is used to control the marker's movement to the specified position.

[0081] The motor motion strategy is pre-set, including motion angle and direction information. It controls the stepper motor's motion angle and direction based on different reference sensing signals. The initial reference sensing signal is the signal output by the zero-finding control system upon startup. Different initial signals are matched with corresponding motor motion strategies to control the stepper motor's movement. Furthermore, during the stepper motor's movement, the system continuously monitors changes in the reference sensing signal to guide the stepper motor to find the zero position quickly.

[0082] Traditional stepper motor zeroing control schemes rely on repeatedly detecting the zero position by combining the stepper motor's position and speed information in both forward and reverse directions. This method is susceptible to errors due to the influence of speed information on zeroing. This application addresses this issue by controlling the stepper motor's movement in position mode based on the initial signal of the reference sensing signal and a preset motor motion strategy. This avoids the influence of speed information on zeroing and improves the efficiency of finding the zero position. Furthermore, by controlling the stepper motor to quickly find the zero position in real time based on changes in the reference sensing signal, it eliminates the need for repeated zero-position detection, thereby improving control accuracy.

[0083] The following section details the division of different motion zones and the corresponding motor motion strategies to achieve fast and accurate zero finding:

[0084] In some embodiments, the first and second motion regions are of different sizes, and the marker is a fan-shaped baffle or an irregularly shaped baffle.

[0085] In this embodiment, the length of the motion segment of the first motion region is equal to or less than the target detection segment of the marker, and the length of the motion segment of the second motion region is greater than twice the target detection segment of the marker.

[0086] like Figure 3 As shown, the zero-finding control system includes a stepper motor 10 and a marker 20; the movement segment of the first motion region refers to the arc segment x1. The movement segment of the second motion region is the arc segment x2; the target detection segment of the marker 20 is the arc segment j1. When the marker 20 is a fan-shaped baffle, the angle of the fan-shaped baffle is α°; then the movement angle of the marker 20 to the second limit position is greater than α°. The maximum movement angle of the marker 20 to the first limit position is equal to or less than α°; α° is the maximum limit angle for movement into the first motion region.

[0087] Based on the above structure, in this embodiment, as follows: Figure 4 As shown, step S210, when the stepper motor is in position mode, controls the stepper motor to move based on the initial signal of the reference sensing signal and the preset motor motion strategy, including the following steps:

[0088] Step S410: When the stepper motor is in position mode, determine whether the initial signal of the reference sensing signal is an obstruction signal.

[0089] Step S420: When the initial signal is an occlusion signal, the marker on the stepper motor is controlled to move towards the second motion area based on the motor motion strategy.

[0090] In step S430, when the initial signal is an unobstructed signal, the marker on the stepper motor is controlled to move towards the first motion area based on the motor motion strategy.

[0091] Specifically, when the stepper motor is in position mode, it determines whether the initial signal of the reference sensing signal is an obstructed signal or an unobstructed signal. For example, a pre-defined high-level signal of the reference sensing signal is an unobstructed signal, and a low-level signal is an obstructed signal. If the initial signal is low, it means that when the initial signal is obstructed, the marker on the stepper motor is controlled to move towards the second motion area based on the motor motion strategy; if the initial signal is high, it means that when the initial signal is unobstructed, the marker on the stepper motor is controlled to move towards the first motion area based on the motor motion strategy.

[0092] If the first motion area is located to the left of the zero position and the second motion area is located to the right of the zero position, then controlling the marker on the stepper motor to move towards the second motion area can be considered as controlling the marker on the stepper motor to move clockwise; controlling the marker on the stepper motor to move towards the first motion area can be considered as controlling the marker on the stepper motor to move counterclockwise.

[0093] In this embodiment, all subsequent movements of the stepper motor are made effective, thereby reducing the invalid movements during the zeroing process of the stepper motor and improving the zeroing efficiency.

[0094] The motor motion strategy includes matching motion angle information and motion direction information under each reference sensing signal condition; controlling the position of the marker based on the motion angle information; and controlling the direction of the marker's motion based on the motion direction information.

[0095] In some embodiments, step S220, during the movement of the stepper motor, controls the stepper motor to find the zero position based on the signal changes in the reference sensing signal, including the following steps:

[0096] As the marker on the stepper motor moves towards the second motion area, the stepper motor is controlled to stop moving when the reference sensing signal changes.

[0097] After the stepper motor stops, control the stepper motor to move the marker to the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0098] In this embodiment, due to the system structure of the motion area and the marker, if the initial signal is an obstruction signal, then the marker must be in the first motion area; therefore, the marker on the stepper motor is controlled to move towards the second motion area; the motion angle information in the motor motion strategy is determined to be θ°; the motion direction information is to move towards the second motion area. To avoid stalling and improve the service life of the stepper motor, θ° can be controlled to be less than or equal to α°.

[0099] As the marker on the stepper motor moves towards the second motion area, the target detection segment of the baffle moves to a position away from the reference sensing signal, inevitably triggering a signal change in the reference sensing signal. At this time, the signal changes from a low level signal to a high level signal; the rising edge of the signal change is detected; and the stepper motor is controlled to stop moving based on the rising edge. At this time, the stepper motor responds to the stop command, but due to the existence of speed and acceleration, the stepper motor does not stop immediately; there is a buffer angle. The position where the stepper motor stops is not zero, so zero compensation must be performed. That is, it is necessary to control the stepper motor to move towards the first motion area in microsteps to ensure the accuracy of the stepper motor zeroing. In other embodiments, the movement is towards the first motion area in motion angle information δ°. Here, δ° is 1 to 50 times the microstep, which ensures the accuracy of the stepper motor zeroing while improving the zeroing efficiency.

[0100] In this embodiment, the specific process of zero-position compensation is as follows: based on the signal change of the reference sensing signal, that is, the high-level signal becomes a low-level signal, this falling edge is detected, and the stepper motor is controlled to stop moving, thus ending the zero-finding process.

[0101] In some embodiments, step S220, during the movement of the stepper motor, controls the stepper motor to find the zero position based on the signal changes in the reference sensing signal, including the following steps:

[0102] As the marker on the stepper motor moves toward the first motion area, the stepper motor is controlled to stop moving when the reference sensing signal changes.

[0103] After the stepper motor stops, control the stepper motor to move the marker to the second motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0104] In this embodiment, due to the system structure of the motion area and the marker, if the initial signal is an unobstructed signal, then the marker must be in the second motion area; therefore, the marker on the stepper motor is controlled to move towards the first motion area; based on the maximum limit angle of the first motion area being α°, the motion angle information in the motor motion strategy at this time is determined to be θ°; the motion direction information is to move towards the first motion area. To avoid stalling and improve the service life of the stepper motor, θ° can be controlled to be less than or equal to α°.

[0105] As the marker on the stepper motor moves towards the first motion area, the target detection segment of the baffle moves to the position of the reference sensing signal, which will inevitably trigger a signal change in the reference sensing signal. At this time, the signal changes from a high level signal to a low level signal; the falling edge of the signal change is detected; and the stepper motor is controlled to stop moving based on the falling edge. At this time, the stepper motor responds to the stop command, but due to the existence of speed and acceleration, the stepper motor does not stop immediately, and there is a buffer angle; the position where the stepper motor stops is not zero, so zero compensation must be performed. That is, it is necessary to control the stepper motor to move towards the second motion area in microsteps to ensure the accuracy of the stepper motor zeroing. In other embodiments, the movement towards the second motion area is in units of motion angle information δ°. Here, δ° is 1 to 50 times the microstep, which ensures the accuracy of the stepper motor zeroing while improving the zeroing efficiency.

[0106] In this embodiment, the specific process of zero-position compensation is as follows: based on the signal change of the reference sensing signal, that is, the low-level signal becomes a high-level signal, this rising edge is detected, and at the same time, the stepper motor is controlled to stop moving, and the zero finding is completed.

[0107] The above embodiments can avoid stalling during the zero-finding process, simplify the zero-finding control process, extend the service life of the system, and ensure that the system can work continuously and stably under high precision conditions.

[0108] In some embodiments, the first and second motion areas are the same size, and the marker is a rectangular baffle or an irregularly shaped baffle.

[0109] In this embodiment, the length of the motion segment in the first motion region is greater than the target detection segment of the marker, the length of the motion segment in the second motion region is greater than the target detection segment of the marker, and the first motion region and the second motion region are based on zero-position symmetry.

[0110] like Figure 5As shown, the zero-finding control system includes a stepper motor 10 and a marker 20; wherein, the movement segment of the first movement area refers to the arc segment x3. The movement segment of the second movement area is the arc segment x4; the target detection segment of the marker 20 is the line segment j2. The marker 20 is a rectangular baffle; the movement angle of the marker 20 to the second limit position is α°. The maximum movement angle of the marker 20 to the first limit position is α°; α° is the maximum limit angle for movement into the first or second movement area.

[0111] Based on the above structure, in this embodiment, as follows: Figure 6 As shown, step S210, when the stepper motor is in position mode, controls the stepper motor to move based on the initial signal of the reference sensing signal and the preset motor motion strategy, including the following steps:

[0112] Step S610: When the stepper motor is in position mode, determine whether the initial signal of the reference sensing signal is an obstruction signal.

[0113] Step S620: When the initial signal is an obstruction signal, the marker on the stepper motor is controlled to move towards the second motion area based on the first motion angle information in the motor motion strategy.

[0114] In step S630, when the initial signal is an unobstructed signal, the marker on the stepper motor is controlled to move towards the second motion area based on the first motion angle information in the motor motion strategy.

[0115] Specifically, when the stepper motor is in position mode, it determines whether the initial signal of the reference sensing signal is an obstructed signal or an unobstructed signal. For example, a pre-defined high-level signal of the reference sensing signal is an unobstructed signal, and a low-level signal is an obstructed signal. If the initial signal is low, it means that when the initial signal is obstructed, the marker on the stepper motor is controlled to move towards the second motion area based on the motor motion strategy, and the motion angle information is the first motion angle information. If the initial signal is high, it means that when the initial signal is unobstructed, the marker on the stepper motor is controlled to move towards the second motion area based on the motor motion strategy, and the motion angle information is the first motion angle information.

[0116] If the first motion area is located to the left of the zero position and the second motion area is located to the right of the zero position, then controlling the marker on the stepper motor to move towards the second motion area can be considered as controlling the marker on the stepper motor to move clockwise.

[0117] In this embodiment, since the target detection segment of the marker is relatively small, regardless of whether the initial signal of the reference sensing signal is an occluded signal or an unoccluded signal, the marker on the stepper motor will be controlled to move towards the second motion area, and the motion angle information is the first motion angle information.

[0118] The following sections explain the specific process of giving change in various scenarios.

[0119] The first scenario is:

[0120] In some embodiments, step S220, during the movement of the stepper motor, controls the stepper motor to find the zero position based on the signal changes in the reference sensing signal, including the following steps:

[0121] When the initial signal is an obstruction signal and the marker on the stepper motor moves towards the second motion area, the stepper motor is controlled to stop moving when the reference sensing signal changes.

[0122] After the stepper motor stops, control the stepper motor to move the marker to the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0123] In this embodiment, the signal change of the reference sensing signal is as follows: Figure 7 As shown, due to the system structure of the motion area and the marker, if the initial signal is an occlusion signal, then the target detection segment of the marker is located below the reference sensing signal generator, controlling the marker on the stepper motor to move towards the second motion area. Based on the maximum limit angle of the second motion area being α°, the first motion angle information in the motor motion strategy is determined to be β°; the motion direction information is towards the second motion area. To avoid stalling and improve the lifespan of the stepper motor, β° can be controlled to be less than or equal to α°.

[0124] As the marker on the stepper motor moves towards the second motion area, the target detection segment of the baffle moves to a position away from the reference sensing signal, inevitably triggering a signal change in the reference sensing signal. At this time, the signal changes from a low level signal to a high level signal; the rising edge of the signal change is detected; and the stepper motor is controlled to stop moving based on the rising edge. At this time, the stepper motor responds to the stop command, but due to the existence of speed and acceleration, the stepper motor does not stop immediately; there is a buffer angle. The position where the stepper motor stops is not zero, so zero compensation must be performed. That is, it is necessary to control the stepper motor to move towards the first motion area in microsteps, controlling the zeroing error of the stepper motor to the microwave level, improving accuracy, and ensuring the stability of subsequent operation. In other embodiments, the movement is towards the first motion area in motion angle information δ°. Here, δ° is 1 to 50 times the microstep, ensuring the accuracy of the stepper motor zeroing while improving zeroing efficiency.

[0125] In this embodiment, the specific process of zero-position compensation is as follows: based on the signal change of the reference sensing signal, that is, the high-level signal becomes a low-level signal, this falling edge is detected, and the stepper motor is controlled to stop moving, thus ending the zero-finding process.

[0126] The second scenario is:

[0127] In some embodiments, step S220, during the movement of the stepper motor, controls the stepper motor to find the zero position based on the signal changes in the reference sensing signal, including the following steps:

[0128] When the initial signal is an unobstructed signal and the marker on the stepper motor moves towards the second motion area, the stepper motor is controlled to stop moving when the reference sensing signal changes.

[0129] After the stepper motor stops, control the stepper motor to move the marker to the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0130] In this embodiment, the signal change of the reference sensing signal is as follows: Figure 8 As shown, due to the system structure of the motion area and the marker, if the initial signal is an unobstructed signal, the marker may be located in the first motion area or the second motion area. In this case, the marker on the stepper motor is controlled to move towards the second motion area. Based on the maximum limit angle of the second motion area being α°, the first motion angle information in the motor motion strategy is determined to be β°; the motion direction information is towards the second motion area. To avoid stalling and improve the lifespan of the stepper motor, β° can be controlled to be less than or equal to α°.

[0131] As the marker on the stepper motor moves towards the second motion area, the target detection segment of the baffle moves to the position of the reference sensing signal, which will inevitably trigger a signal change in the reference sensing signal. At this time, the signal changes from a high level signal to a low level signal; a falling edge of the signal change is detected; this indicates that the original position of the baffle is in the first motion area; the stepper motor is controlled to stop moving based on the falling edge. At this time, the stepper motor responds to the stop command, but due to the existence of speed and acceleration, the stepper motor will not stop immediately, there is a buffer angle; the position where the stepper motor stops is not zero, so zero compensation must be performed. That is, it is necessary to control the stepper motor to move towards the first motion area in microsteps, control the zeroing error of the stepper motor to the microwave level, improve accuracy, and ensure the stability of subsequent operation. In other embodiments, the movement is towards the first motion area in motion angle information δ°. Here, δ° is 1 to 50 times the microstep, which ensures the accuracy of the stepper motor zeroing while improving the zeroing efficiency.

[0132] In this embodiment, the specific process of zero-position compensation is as follows: based on the signal change of the reference sensing signal, that is, the low-level signal becomes a high-level signal, this rising edge is detected, and at the same time, the stepper motor is controlled to stop moving, and the zero finding is completed.

[0133] The third scenario is:

[0134] In some embodiments, step S220, during the movement of the stepper motor, controls the stepper motor to find the zero position based on the signal changes in the reference sensing signal, including the following steps:

[0135] If the reference sensing signal does not change during the process of the initial signal being an unobstructed signal and the marker on the stepper motor moving towards the second motion area, the marker on the stepper motor will be controlled to move towards the first motion area based on the second motion angle information in the motor motion strategy.

[0136] When a stall signal is detected, the marker on the stepper motor is controlled to move towards the second motion area based on the second motion angle information in the motor motion strategy; and when the reference sensing signal changes, the stepper motor is controlled to stop moving; the stall signal is generated when the marker moves to the first limit position;

[0137] After the stepper motor stops, control the stepper motor to move the marker to the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0138] In this embodiment, the signal change of the reference sensing signal is as follows: Figure 9As shown, due to the system structure of the motion area and the marker, if the initial signal is an unobstructed signal, the marker may be located in the first motion area or the second motion area. In this case, the marker on the stepper motor is controlled to move towards the second motion area based on the first motion angle information. Since the maximum limit angle of the second motion area is α°, the first motion angle information in the motor motion strategy is determined to be β°; the motion direction information is towards the second motion area. To avoid stalling and improve the lifespan of the stepper motor, β° can be controlled to be less than or equal to α°.

[0139] Under the first motion angle information, if the reference sensing signal does not change during the movement of the marker on the stepper motor to the second motion area, it means that the target detection segment of the baffle has not moved to the position of the reference sensing signal. At this time, based on the second motion angle information in the motor motion strategy, the marker on the stepper motor is controlled to move to the first motion area. The second motion angle information is the maximum limit angle α° plus the first motion angle information β°.

[0140] When a stall signal is detected, it indicates that the baffle has reached its first limit position, and its original position was in the first motion area; therefore, the stepper motor is controlled to stop. Based on the second motion angle information in the motor motion strategy, the marker on the stepper motor is controlled to move towards the second motion area. Since the second motion angle information is greater than the maximum limit angle α°, the target detection segment of the baffle moves to the position of the reference sensing signal, which will inevitably trigger a signal change in the reference sensing signal. At this time, the signal changes from a high level signal to a low level signal; the falling edge of the signal change is detected; the stepper motor is controlled to stop based on the falling edge. The stepper motor responds to the stop command, but due to the presence of speed and acceleration, it does not stop immediately; there is a buffer angle. The stopping position of the stepper motor is not zero, so zero-position compensation is necessary. That is, the stepper motor needs to be controlled to move towards the first motion area in microsteps, controlling the zeroing error of the stepper motor to the microwave level to improve accuracy and ensure the stability of subsequent operation. In other embodiments, the movement is in the first motion area using motion angle information δ°. Among them, the microstep δ° ranges from 1 to 50 times, which ensures the accuracy of the stepper motor in zeroing while improving the zeroing efficiency.

[0141] In this embodiment, the specific process of zero-position compensation is as follows: based on the signal change of the reference sensing signal, that is, the low-level signal becomes a high-level signal, this rising edge is detected, and at the same time, the stepper motor is controlled to stop moving, and the zero finding is completed.

[0142] The fourth scenario is:

[0143] In some embodiments, step S220, during the movement of the stepper motor, controls the stepper motor to find the zero position based on the signal changes in the reference sensing signal, including the following steps:

[0144] If a stall signal or a reference sensing signal does not change during the process of the marker on the stepper motor moving towards the second motion area when the initial signal is an unobstructed signal and the marker on the stepper motor moves towards the first motion area based on the second motion angle information in the motor motion strategy;

[0145] When the reference sensing signal changes, the stepper motor is controlled to stop moving;

[0146] After the stepper motor stops, control the stepper motor to move the marker to the second motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0147] In this embodiment, the signal change of the reference sensing signal is as follows: Figure 10 As shown, due to the system structure of the motion area and the marker, if the initial signal is an unobstructed signal, the marker may be located in the first motion area or the second motion area. In this case, the marker on the stepper motor is controlled to move towards the second motion area based on the first motion angle information. Since the maximum limit angle of the second motion area is α°, the first motion angle information in the motor motion strategy is determined to be β°; the motion direction information is towards the second motion area. To avoid stalling and improve the lifespan of the stepper motor, β° can be controlled to be less than or equal to α°.

[0148] Under the first motion angle information, if a stall signal or no change in the reference sensing signal is detected during the movement of the marker on the stepper motor towards the second motion area, it indicates that the baffle has moved to the second limit position, or the target detection segment of the baffle has not moved to the position of the reference sensing signal; the original position of the baffle is located in the second motion area. At this time, based on the second motion angle information in the motor motion strategy, the marker on the stepper motor is controlled to move towards the first motion area; wherein, the second motion angle information is the maximum limit angle α° plus the first motion angle information β°.

[0149] As the marker on the stepper motor moves towards the first motion area, since the second motion angle information is greater than the maximum limit angle α°, the target detection segment of the baffle moves to the position of the reference sensing signal, which will inevitably trigger a signal change in the reference sensing signal. At this time, the signal changes from a high level signal to a low level signal; the falling edge of the signal change is detected; and the stepper motor is controlled to stop moving based on the falling edge. At this time, the stepper motor responds to the stop command, but due to the existence of speed and acceleration, the stepper motor does not stop immediately; there is a buffer angle. The position where the stepper motor stops is not zero, so zero compensation must be performed. That is, it is necessary to control the stepper motor to move towards the second motion area in microsteps, control the zeroing error of the stepper motor to the microwave level, improve accuracy, and ensure the stability of subsequent operation. In other embodiments, the movement is towards the second motion area in motion angle information δ°. Here, δ° is 1 to 50 times the microstep, which ensures the accuracy of the stepper motor zeroing while improving the zeroing efficiency.

[0150] In this embodiment, the specific process of zero-position compensation is as follows: based on the signal change of the reference sensing signal, that is, the low-level signal becomes a high-level signal, this rising edge is detected, and at the same time, the stepper motor is controlled to stop moving, and the zero finding is completed.

[0151] In other embodiments, when a change occurs in the reference sensing signal, the marker is moved towards the first motion area using the second angle information. Then, when the reference sensing signal changes again, the stepper motor is stopped. After the stepper motor stops, it moves the marker towards the second motion area in microsteps until a change occurs in the reference sensing signal, thus compensating for the zero position. Repeated detection further improves the zero-finding accuracy.

[0152] In some embodiments, during the movement of the stepper motor, the stepper motor is controlled to find the zero position based on the signal changes in the reference sensing signal, including the following steps:

[0153] During the movement of the stepper motor, a corresponding induction curve is generated based on the reference induction signal;

[0154] Based on the signal changes in the sensing curve, the stepper motor is controlled to find the zero position.

[0155] Specifically, the sensing curve can be a signal change curve; the sensing curve facilitates the zero-finding control of the stepper motor, and the control process can be traced through the signal changes in the sensing curve.

[0156] In other embodiments, when the stepper motor is in position mode, the stepper motor is controlled to move based on the initial signal of the reference sensing signal and a preset motor motion strategy. Then, during the stepper motor's movement, the stepper motor is controlled to find the zero position based on changes in the signal in the reference sensing signal. This process can be adjusted according to changes in extreme positions, the shape and size of the marker, and the motion direction information in the motor motion strategy. Other implementation methods are also foreseeable and will not be exemplified here.

[0157] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0158] This embodiment also provides a stepper motor zero-finding control device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that implement a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0159] Figure 11 This is a structural block diagram of the stepper motor zero-finding control device in this embodiment, as shown below. Figure 11 As shown, the zero-finding control system for a stepper motor includes a control unit 210 and a processing unit 220.

[0160] The control unit 210 is used to control the movement of the stepper motor in position mode, based on the initial signal of the reference sensing signal and the preset motor movement strategy.

[0161] The processing unit 220 is used to control the stepper motor to find the zero position based on the signal changes in the reference sensing signal during the movement of the stepper motor.

[0162] The above-mentioned device solves the problem of speed information affecting zero finding in related technologies. When the stepper motor is in position mode, it avoids the influence of speed information on zero finding, and then achieves zero finding based on the signal changes in the reference sensing signal, thereby improving the accuracy and efficiency of the stepper motor in finding zero.

[0163] In some embodiments, the zero-finding control system is provided with a first motion area and a second motion area; the first motion area is the motion area where the marker moves to a first limit position; the second motion area is the motion area where the marker moves to a second limit position.

[0164] In some of these embodiments, the length of the motion segment in the first motion region is equal to or less than the target detection segment of the marker, and the length of the motion segment in the second motion region is greater than twice the target detection segment of the marker;

[0165] The control unit 210 is also configured to, when the stepper motor is in position mode, determine whether the initial signal of the reference sensing signal is an obstruction signal; when the initial signal is an obstruction signal, control the marker on the stepper motor to move to the second motion area based on the motor motion strategy; when the initial signal is an unobstructed signal, control the marker on the stepper motor to move to the first motion area based on the motor motion strategy.

[0166] In some embodiments, the processing unit 220 is also configured to control the stepper motor to stop moving when a change in the reference sensing signal occurs during the movement of the marker on the stepper motor toward the second motion area.

[0167] After the stepper motor stops, control the stepper motor to move the marker to the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0168] In some embodiments, the processing unit 220 is further configured to control the stepper motor to stop moving when a change in the reference sensing signal occurs during the movement of the marker on the stepper motor toward the first motion area; and after the stepper motor stops, control the stepper motor to move the marker toward the second motion area in microsteps until a change in the reference sensing signal occurs to compensate for the zero position.

[0169] In some of these embodiments, the length of the motion segment of the first motion region is greater than the target detection segment of the marker, the length of the motion segment of the second motion region is greater than the target detection segment of the marker, and the first motion region and the second motion region are symmetrical about zero position.

[0170] The control unit 210 is also configured to, when the stepper motor is in position mode, determine whether the initial signal of the reference sensing signal is an obstruction signal; when the initial signal is an obstruction signal, control the marker on the stepper motor to move to the second motion area based on the first motion angle information in the motor motion strategy; when the initial signal is an unobstructed signal, control the marker on the stepper motor to move to the second motion area based on the first motion angle information in the motor motion strategy.

[0171] In some embodiments, the processing unit 220 is further configured to, when the initial signal is an obstruction signal and the marker on the stepper motor moves toward the second motion area, control the stepper motor to stop moving when a signal change occurs in the reference sensing signal; after the stepper motor stops, control the stepper motor to move the marker toward the first motion area in microsteps until a signal change occurs in the reference sensing signal to compensate for the zero position.

[0172] In some embodiments, the processing unit 220 is further configured to control the stepper motor to stop moving when the reference sensing signal changes during the process of the initial signal being an unobstructed signal and the marker on the stepper motor moving towards the second motion area; after the stepper motor stops, the processing unit 220 controls the stepper motor to move the marker towards the first motion area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0173] In some embodiments, the processing unit 220 is further configured to, when the initial signal is an unobstructed signal and the marker on the stepper motor is moving towards the second movement area, if the reference sensing signal does not change, control the marker on the stepper motor to move towards the first movement area based on the second movement angle information in the motor movement strategy; when a stall signal is detected, control the marker on the stepper motor to move towards the second movement area based on the second movement angle information in the motor movement strategy; and control the stepper motor to stop moving when the reference sensing signal changes; the stall signal is generated when the marker moves to the first limit position; after the stepper motor stops, control the stepper motor to move the marker towards the first movement area in microsteps until the reference sensing signal changes to compensate for the zero position.

[0174] In some embodiments, the processing unit 220 is further configured to, when the initial signal is an unobstructed signal and the marker on the stepper motor is moving towards the second motion area, if a stall signal is detected or the reference sensing signal does not change, control the marker on the stepper motor to move towards the first motion area based on the second motion angle information in the motor motion strategy; control the stepper motor to stop moving when the reference sensing signal changes; and control the stepper motor to move towards the second motion area in microsteps after the stepper motor stops, until the reference sensing signal changes to compensate for the zero position.

[0175] In some embodiments, a configuration module is also included;

[0176] The configuration module is used to configure the stepper motor to be in position mode and convert the motion angle information in the motor motion strategy into microstep information; the microstep information is used to control the marker to move to the specified position.

[0177] In some embodiments, the reference sensing signal is generated by a reference sensing signal generator; the position of the reference sensing signal generator corresponds to the zero position of the stepper motor.

[0178] In some embodiments, the processing unit 220 is also configured to generate a corresponding sensing curve based on a reference sensing signal during the movement of the stepper motor; and control the stepper motor to find the zero position based on the signal changes in the sensing curve.

[0179] In another embodiment, the zero-finding control device may include: a photoelectric detection unit, a stepper motor control unit, a communication unit, and an embedded control and data processing unit;

[0180] The photoelectric detection unit, connected to both the communication unit and the stepper motor control unit, provides signal edge detection. The stepper motor control unit enhances the motor's motion strategy, controlling its direction and angle of movement. The communication unit provides uplink and downlink communication channels between the photoelectric detection unit, the stepper motor control unit, and the embedded control and data processing unit. The embedded control and data processing unit encapsulates all stepper motor zeroing steps into instructions, configuring stepper motor control based on signal changes to achieve automated zeroing and normal motion control. This includes execution steps S210 and S220 and related steps.

[0181] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0182] This embodiment also provides a computer device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0183] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0184] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0185] S1, when the stepper motor is in position mode, control the stepper motor to move according to the initial signal of the reference sensing signal and the preset motor motion strategy;

[0186] S2, during the movement of the stepper motor, controls the stepper motor to find the zero position based on the signal changes in the reference sensing signal.

[0187] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0188] Furthermore, in conjunction with the stepper motor zero-finding control method provided in the above embodiments, this embodiment can also provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the stepper motor zero-finding control methods described in the above embodiments.

[0189] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0190] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0191] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A zero-finding control method for a stepper motor, characterized by comprising: The application is applied to a zero-finding control system of a stepper motor, the zero-finding control system comprises a stepper motor, a marker arranged on a rotating shaft of the stepper motor, and a reference induction signal for indicating a zero position of the stepper motor; when the marker passes the zero position of the motor, the reference induction signal triggers a preset signal change; the zero-finding control system is provided with a first movement area and a second movement area; the first movement area is a movement area of the marker moving to a first limit position; The second movement area is a movement area of the marker moving to a second limit position; the method comprises: controlling the stepper motor to move according to an initial signal of the reference induction signal and a preset motor movement strategy when the stepper motor is in a position mode; controlling the stepper motor to find the zero position according to a signal change condition in the reference induction signal during the movement of the stepper motor; the signal change condition is a change between an occluded signal and a non-occluded signal; wherein a movement segment length of the first movement area is equal to or less than a target detection segment of the marker, and a movement segment length of the second movement area is greater than twice the target detection segment of the marker; the controlling the stepper motor to move according to the initial signal of the reference induction signal and the preset motor movement strategy when the stepper motor is in the position mode comprises: judging whether the initial signal of the reference induction signal is an occluded signal when the stepper motor is in the position mode; controlling the marker on the stepper motor to move to the second movement area based on the motor movement strategy when the initial signal is an occluded signal; controlling the marker on the stepper motor to move to the first movement area based on the motor movement strategy when the initial signal is a non-occluded signal.

2. The zero-searching control method of a stepping motor according to claim 1, characterized by, the controlling the stepper motor to find the zero position according to the signal change condition in the reference induction signal during the movement of the stepper motor comprises: controlling the stepper motor to stop moving when the reference induction signal changes during the movement of the marker on the stepper motor to the second movement area; controlling the stepper motor to move the marker to the first movement area in a micro-step unit after the stepper motor stops until the reference induction signal changes to compensate for the zero position.

3. The zero-searching control method of a stepping motor according to claim 1, wherein the controlling the stepper motor to find the zero position according to the signal change condition in the reference induction signal during the movement of the stepper motor comprises: controlling the stepper motor to stop moving when the reference induction signal changes during the movement of the marker on the stepper motor to the first movement area; controlling the stepper motor to move the marker to the second movement area in a micro-step unit after the stepper motor stops until the reference induction signal changes to compensate for the zero position.

4. The zero-searching control method of a stepping motor according to claim 1, wherein The length of the motion section of the first motion region is greater than the target detection section of the marker, the length of the motion section of the second motion region is greater than the target detection section of the marker, and the first motion region and the second motion region are symmetrical based on the zero position; The step motor is in the position mode, and the initial signal of the reference induction signal and the preset motor motion strategy are used to control the motion of the step motor, including: When the step motor is in the position mode, it is judged whether the initial signal of the reference induction signal is an occlusion signal; When the initial signal is an occlusion signal, the first motion angle information in the motor motion strategy is used to control the marker on the step motor to move to the second motion region; When the initial signal is an unoccluded signal, the first motion angle information in the motor motion strategy is used to control the marker on the step motor to move to the second motion region.

5. The zero-searching control method of a stepping motor according to claim 4, wherein During the motion of the step motor, the signal change in the reference induction signal is used to control the step motor to find the zero position, including: When the initial signal is an occlusion signal, and the marker on the step motor moves to the second motion region, when the reference induction signal changes, the step motor is controlled to stop moving; After the step motor stops, the step motor is controlled to move the marker to the first motion region in units of micro-steps until the reference induction signal changes, so as to compensate for the zero position.

6. The zero-searching control method of a stepping motor according to claim 4, wherein During the motion of the step motor, the signal change in the reference induction signal is used to control the step motor to find the zero position, including: When the initial signal is an unoccluded signal, and the marker on the step motor moves to the second motion region, when the reference induction signal changes, the step motor is controlled to stop moving; After the step motor stops, the step motor is controlled to move the marker to the first motion region in units of micro-steps until the reference induction signal changes, so as to compensate for the zero position.

7. The zero-searching control method of a stepping motor according to claim 4, wherein During the motion of the step motor, the signal change in the reference induction signal is used to control the step motor to find the zero position, including: When the initial signal is an unoccluded signal, and the marker on the step motor moves to the second motion region, if the reference induction signal does not change, the second motion angle information in the motor motion strategy is used to control the marker on the step motor to move to the first motion region; When the locked-rotor signal is detected, the second motion angle information in the motor motion strategy is used to control the marker on the step motor to move to the second motion region; and when the reference induction signal changes, the step motor is controlled to stop moving; the locked-rotor signal is generated when the marker moves to the first limit position. After the step motor stops, the step motor is controlled to move the marker to the first movement area in micro-steps until the reference induction signal changes, to compensate for the zero position.

8. The zero-searching control method of a stepping motor according to claim 4, wherein The step motor is controlled to find the zero position according to the signal change in the reference induction signal during the movement of the step motor, including: If a blocked signal or the reference induction signal does not change during the movement of the marker on the step motor to the second movement area, the marker on the step motor is controlled to move to the first movement area based on the second movement angle information in the motor movement strategy when the initial signal is an unblocked signal. The step motor is controlled to stop moving when the reference induction signal changes. After the step motor stops, the step motor is controlled to move the marker to the second movement area in micro-steps until the reference induction signal changes, to compensate for the zero position.

9. The zero-searching control method of a stepping motor according to claim 1, wherein The method further includes: The step motor is configured in position mode, and the movement angle information in the motor movement strategy is converted into micro-step information; the micro-step information is used to control the movement of the marker to a specified position.

10. The zero-searching control method of a stepping motor according to claim 1, wherein The reference induction signal is generated by a reference induction signal generator; the position of the reference induction signal generator corresponds to the position of the zero position of the step motor.

11. The zero-searching control method of a stepping motor according to claim 1, wherein The step motor is controlled to find the zero position according to the signal change in the reference induction signal during the movement of the step motor, including: During the movement of the step motor, a corresponding induction curve is generated according to the reference induction signal. The step motor is controlled to find the zero position according to the signal change in the induction curve.

12. A zero-finding control for a stepper motor, comprising: Including: The zero finding control system applied to the step motor includes a step motor, a marker arranged on the rotating shaft of the step motor, and a reference induction signal for indicating the zero position of the step motor; when the marker passes through the zero position of the motor, the reference induction signal triggers a preset signal change; the zero finding control system is provided with a first movement area and a second movement area; the first movement area is a movement area of the marker moving to a first limit position; The second movement area is a movement area of the marker moving to a second limit position; the device includes a control unit and a processing unit; The control unit is configured to control the movement of the step motor according to the initial signal of the reference induction signal and a preset motor movement strategy when the step motor is in position mode. The control unit is further configured to: when the length of the movement section of the first movement area is equal to or less than the target detection section of the marker and the length of the movement section of the second movement area is greater than twice the target detection section of the marker, determine whether the initial signal of the reference induction signal is an occlusion signal when the stepping motor is in a position mode; when the initial signal is an occlusion signal, control the marker on the stepping motor to move to the second movement area based on the motor movement strategy; and when the initial signal is an un-occlusion signal, control the marker on the stepping motor to move to the first movement area based on the motor movement strategy. The processing unit is configured to control the stepping motor to find the zero position according to signal changes in the reference induction signal during movement of the stepping motor, wherein the signal changes are changes between occlusion signals and un-occlusion signals.

13. A computer device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the computer program to perform the steps of the zero-finding control method of the stepping motor according to any one of claims 1 to 11.

14. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the zero-finding control method of the stepping motor according to any one of claims 1 to 11.

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