一种基于位置误差的速度规划模糊控制方法
By using a fuzzy control method based on speed planning based on position error, the problem of oscillation and convergence of stepper motors in high-precision control is solved, and smooth operation in structures with gaps or backlashes is achieved. This method is suitable for motion mechanisms with encoders at the load end.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INST OF OPTICS & ELECTRONICS CHINESE ACAD OF SCI
- Filing Date
- 2023-06-27
- Publication Date
- 2026-07-17
AI Technical Summary
Existing stepper motor motion control methods suffer from oscillation and convergence problems in high-precision control applications, and existing speed planning methods based on the number of steps are not applicable to structures with gaps or loops.
A fuzzy control method based on position error is adopted to calculate the running speed of the next cycle by using the running position error, speed, maximum speed and maximum acceleration of the current cycle. Combined with pulse width modulation waveform control of the motor, smooth acceleration and deceleration are achieved.
It reduces oscillation in high-precision control, is suitable for structures with gaps or backlashes, has low computational load, strong versatility, and is suitable for motion mechanisms with encoders at the load end.
Smart Images
Figure CN116780951B_ABST