Vacuum butterfly valve stepper motor micro-step switching control method and system, and medium

Abstract

The application relates to the technical field of stepping motor control, and provides a micro-step switching control method and system for a vacuum butterfly valve stepping motor and a medium. The stepping motor is arranged in a vacuum butterfly valve and comprises the following steps: collecting motor parameters and current micro-step information of the stepping motor according to a preset fixed period; calculating a current tracking factor and a rotating speed fluctuation of the stepping motor according to the motor parameters; obtaining load state information of the stepping motor according to the current tracking factor and the rotating speed fluctuation; determining target micro-step information of the stepping motor according to the load state information; and adjusting the current micro-step information according to the target micro-step information to complete micro-step switching control of the stepping motor. The motor rotating speed, operating current and current micro-step information are synchronously collected according to the fixed period, comprehensive operating data collection is realized, and an accurate data basis is provided for subsequent control logic.

Description

Technical Field

[0001] This application relates to the field of stepper motor control technology, and in particular to a micro-step switching control method, system and medium for a vacuum butterfly valve stepper motor. Background Technology

[0002] Currently, most stepper motors used with vacuum butterfly valves operate continuously in a fixed microstep subdivision mode. A small number of traditional control schemes with microstep switching functions rely solely on setting a simple threshold for a single operating parameter to complete the switching judgment, resulting in poor stability of the vacuum butterfly valve during high-speed / low-speed operation switching. Summary of the Invention

[0003] This application provides a micro-step switching control method, system, and medium for a stepper motor of a vacuum butterfly valve, aiming to solve the problem of poor stability of the vacuum butterfly valve during high-speed / low-speed operation switching.

[0004] In a first aspect, embodiments of this application provide a micro-step switching control method for a stepper motor in a vacuum butterfly valve. The stepper motor is disposed in the vacuum butterfly valve, and the vacuum pipeline corresponding to the vacuum butterfly valve further includes multiple additional vacuum butterfly valves and corresponding additional stepper motors; including: Obtain the motor parameters of the stepper motor; the motor parameters include at least the operating current and the motor speed; Send a parameter read command to the drive module of the stepper motor, receive the drive register value returned by the drive module, and parse the current microstep information according to the correspondence between the register value and the microstep level. Calculate the current tracking factor and speed fluctuation of the stepper motor based on the motor parameters; The load status information of the stepper motor is obtained based on the current tracking factor and the speed fluctuation. The target microstep information of the stepper motor is determined based on the load status information; the target microstep information includes at least the target microstep level and the corresponding switching conditions; vibration data during the operation of the vacuum butterfly valve is collected, the vibration data is compared with a preset vibration reference range, the vibration comparison result is obtained, and the target microstep level is adjusted according to the vibration comparison result; The current microstep information is adjusted according to the target microstep information to complete the microstep switching control of the stepper motor; The system receives the operating status signal of each of the additional vacuum butterfly valves, determines the switching sequence based on the operating rhythm of the stepper motor and the additional stepper motor, and executes the micro-step switching action of the stepper motor according to the switching sequence.

[0005] Secondly, this application provides a micro-step switching control system, which includes a vacuum butterfly valve, a stepper motor, and a controller; The controller includes a memory and a processor; the memory is used to store computer programs; the processor is used to execute the computer programs and, when executing the computer programs, implement the methods provided in the first aspect.

[0006] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the method provided in the first aspect.

[0007] This application achieves comprehensive data acquisition by synchronously collecting motor speed, operating current, and current microstep information at fixed intervals, providing an accurate data foundation for subsequent control logic. By comprehensively determining the load state using current tracking factors and speed fluctuations, it overcomes the limitations of single-parameter judgment, accurately identifies dynamic load changes in the motor, and improves the ability to identify operating conditions.

[0008] By matching the target microstepping level with the corresponding switching conditions according to the load status, the microstepping mode can be adaptively switched. Vibration and noise can be reduced under low-speed conditions, and output torque can be guaranteed under high-speed conditions, effectively reducing motor step loss.

[0009] Meanwhile, by relying on exclusive switching conditions to constrain micro-step adjustment actions, frequent switching of subdivided modes is avoided, improving the overall stability and reliability of vacuum butterfly valve operation, and adapting to the usage needs of different operating stages throughout the valve's entire stroke.

[0010] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic flowchart illustrating the steps of a micro-step switching control method for a stepper motor of a vacuum butterfly valve according to an embodiment of this application; Figure 2 This is a schematic block diagram of a microstep switching control system provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the principle of a micro-step switching control method for a stepper motor of a vacuum butterfly valve according to an embodiment of this application; Figure 4 This is a schematic block diagram of another microstep switching control system provided in an embodiment of this application; Figure 5 This is a schematic block diagram of the structure of a computer device provided in an embodiment of this application.

[0013] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0016] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0017] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0018] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0019] Please refer to Figure 1 This application provides a micro-step switching control method for a stepper motor of a vacuum butterfly valve, applicable to applications such as... Figure 2 The microstep switching control system 100 shown includes a controller 20. The microstep switching control system also includes a vacuum butterfly valve 10 and a stepper motor 30. Both the controller 20 and the stepper motor 30 are located in the vacuum butterfly valve 10.

[0020] The provided micro-step switching control method for the stepper motor of the vacuum butterfly valve includes steps S101 to S106. Details are as follows: Step S101. Obtain the motor parameters of the stepper motor; the motor parameters include at least the operating current and the motor speed.

[0021] Specifically, this step is executed by the controller in a cyclical manner according to a preset period. The acquisition period can be configured to be from 1 millisecond to 10 milliseconds according to the control accuracy requirements. In this embodiment, 5 milliseconds is used as the standard acquisition period to balance real-time performance and computational load. The motor parameters include at least the motor speed and the operating current.

[0022] For example, the controller synchronously triggers two acquisition channels at the beginning of each acquisition cycle. The first channel is the current acquisition channel, which acquires the real-time operating current of the two-phase windings of the stepper motor through the sampling resistor and differential amplifier circuit in the drive circuit, and obtains the digital value of the operating current after analog-to-digital conversion; the second channel is the speed acquisition channel, which counts the number of step pulses output per unit time through the counting unit, and calculates the real-time speed of the motor by combining the inherent step angle of the stepper motor and the current microstep level.

[0023] Step S102. Send a parameter read command to the stepper motor drive module, receive the drive register value returned by the drive module, and parse the current microstep information according to the correspondence between the register value and the microstep level.

[0024] Specifically, the current microstep information is the microstep subdivision level currently in effect by the driving module, which is used to characterize the number of subdivision steps corresponding to a single full step.

[0025] At the start of each acquisition cycle, the controller triggers the microstep information acquisition channel, interacts with the driver module via the serial communication bus, reads the current configuration parameters of the driver module, and parses to obtain the current microstep level.

[0026] The current microstepping information is obtained by reading and parsing the register. The controller sends a read instruction containing the target register address to the driver module through the serial communication bus. After receiving the instruction, the driver module reads the register value at the corresponding address and returns it. The controller queries the internal preset register value and microstepping level mapping table to obtain the microstepping level currently in effect for the driver module.

[0027] By collecting motor parameters and current microstep information, a unified time-series data source is provided for subsequent load estimation and microstep decision-making, avoiding judgment errors caused by data time differences.

[0028] Step S103. Calculate the current tracking factor and speed fluctuation of the stepper motor based on the motor parameters.

[0029] Specifically, this step calculates two standardized feature quantities for load determination based on the raw data collected in steps S101 and S102: the current tracking factor and the speed fluctuation.

[0030] The current tracking factor characterizes the degree to which the actual motor current follows the set target current, reflecting the matching state between the motor's current build-up capability and the load torque. The specific calculation process is as follows: The pre-stored target current setting value is retrieved, and the effective value of the actual operating current in the current acquisition cycle is compared with the target current setting value. The resulting value is the current tracking factor for the current cycle. When the load increases, the motor's back electromotive force rises, the winding current build-up speed slows down, the actual current is lower than the target current, and the current tracking factor value decreases accordingly. When the load decreases, the actual current gets closer to the target current, and the current tracking factor value increases accordingly.

[0031] Speed ​​fluctuation is used to characterize the stability of motor speed and reflect sudden changes in external load. The specific calculation process is as follows: Speed ​​values ​​from the most recent eight consecutive data collection cycles are retrieved from the storage unit. The absolute value of the difference between speeds in adjacent cycles is calculated sequentially. Then, the arithmetic mean of all the absolute values ​​of the differences is obtained. The average value is the speed fluctuation at the current moment. A larger speed fluctuation indicates more drastic speed fluctuations and a more significant change in the corresponding load; a smaller speed fluctuation indicates smoother operation and a more stable load condition.

[0032] This step converts the original analog quantities into standardized characteristic quantities, eliminating parameter differences between motors of different specifications and providing a quantitative basis for subsequent unified load determination.

[0033] Step S104. Obtain the load status information of the stepper motor based on the current tracking factor and speed fluctuation.

[0034] Specifically, this step combines two-dimensional feature quantities to comprehensively determine the motor load status and outputs the corresponding load status information, avoiding misjudgments caused by a single parameter.

[0035] This step pre-sets two sets of hierarchical judgment thresholds: a first current threshold and a second current threshold, and a first fluctuation threshold and a second fluctuation threshold. The first current threshold is lower than the second current threshold, and the first fluctuation threshold is lower than the second fluctuation threshold. All thresholds can be configured according to the motor's rated parameters and operating conditions. The specific judgment process includes: 1. Determine the motor current establishment status by comparing the current current tracking factor with two current thresholds. If the current tracking factor is less than the first current threshold, it is determined that the current establishment is insufficient, corresponding to an overloaded motor and insufficient torque margin. If the current tracking factor is greater than the second current threshold, it is determined that the current establishment has a margin, corresponding to an underloaded motor and sufficient torque margin. If the current tracking factor is between the first and second current thresholds, it is determined that the current establishment is normal, corresponding to a motor load within a reasonable range.

[0036] 2. Determine the change in motor load by comparing the current speed fluctuation with two fluctuation thresholds. If the speed fluctuation is greater than the second fluctuation threshold, it is determined that the load has changed abruptly, and the corresponding external resistance has changed significantly. If the speed fluctuation is between the first and second fluctuation thresholds, it is determined that the load has fluctuated slightly, and the corresponding external resistance has changed normally. If the speed fluctuation is less than the first fluctuation threshold, it is determined that the load is stable, and the corresponding external resistance has not changed significantly.

[0037] Finally, the load status information is generated by combining the two judgment results: when the current is insufficient and the load changes abruptly, it is judged as a heavy load condition; when the current is normal and the load fluctuates slightly, it is judged as a medium load condition; when the current has a margin and the load is stable, it is judged as a light load condition; all other combinations of states are classified as medium load conditions to avoid abrupt changes in the judgment boundary.

[0038] Step S105. Determine the target microstep information of the stepper motor based on the load status information; the target microstep information includes at least the target microstep level and the corresponding switching conditions; collect vibration data during the operation of the vacuum butterfly valve; compare the vibration data with the preset vibration reference range to obtain the vibration comparison result; adjust the target microstep level according to the vibration comparison result.

[0039] Specifically, this step combines the load status and motor speed to obtain the optimal target microstep information, which includes at least the target microstep level and the corresponding switching conditions.

[0040] The controller has a pre-stored microstepping level reference table, which sets recommended microstepping levels according to different speed ranges and load conditions. The microstepping level has multiple levels. The higher the level value, the higher the degree of subdivision, the smaller the single-step angle, and the better the running stability, but the lower the high-speed torque. The lower the level value, the lower the degree of subdivision, the larger the single-step angle, the higher the high-speed torque, but the worse the running stability.

[0041] The specific matching process is as follows: First, read the current motor speed to determine the speed range; then, combine the current load status information and look up the matching in the gear lookup table to obtain the corresponding target microstepping level. High-level microstepping is matched in the low-speed range to reduce vibration and noise; low-level microstepping is matched in the high-speed range to increase output torque and reduce the risk of step loss; and medium-level microstepping is matched in the medium-speed range to balance stability and operating efficiency.

[0042] Simultaneously, the controller retrieves the corresponding switching conditions based on the relationship between the target microstep level and the current microstep level. These switching conditions include hysteresis interval parameters and continuous confirmation duration parameters, used to avoid frequent microstep level switching. When switching from high to low subdivision, the first set of hysteresis parameters and confirmation duration is used; when switching from low to high subdivision, the second set of hysteresis parameters and confirmation duration is used.

[0043] Meanwhile, vibration data is collected by a vibration sensor installed on the vacuum butterfly valve body, and the controller collects the vibration acceleration value and calculates the vibration amplitude.

[0044] The vibration reference range is preset based on the allowable vibration index of the valve body, and is divided into an upper limit and a lower limit. When the vibration data exceeds the upper limit, it indicates that the current operating vibration is too large; when the vibration data is below the lower limit, it indicates that the current operating vibration margin is sufficient.

[0045] The target microstepping level adjustment rule is as follows: when vibration is excessive, appropriately increase the target microstepping level to improve subdivision and reduce operating vibration; when vibration margin is sufficient, appropriately decrease the target microstepping level to improve torque performance within the allowable vibration range. Through vibration closed-loop feedback, a dynamic balance between stability and torque performance is achieved.

[0046] Step S106. Adjust the current microstep information according to the target microstep information to complete the microstep switching control of the stepper motor.

[0047] Specifically, this step performs a microstep level switching operation to achieve a smooth transition without impact or loss of steps.

[0048] The specific execution process is as follows: First, compare the current microstep level with the target microstep level. If they are the same, do not perform the switching action and maintain the current operating state. If they are different, further verify whether the motor operating state meets the switching conditions. The verification content includes whether the speed is continuously in the corresponding range, whether the load state is stable, and whether the duration meets the confirmation requirements.

[0049] After verification, the controller sends a microstep level switching command to the drive module and performs a phase mapping operation. Based on the phase angle under the current microstep level, it calculates the corresponding microstep count under the target microstep level to ensure that the direction of the motor current vector is consistent before and after the switch, thus avoiding mechanical angle jumps. At the same time, a compensation pulse is injected to eliminate the counting deviation before and after the switch, ensuring position continuity.

[0050] During the switching process, a current ramp transition method is adopted, gradually adjusting the phase current amplitude within a preset transition time. The transition time can be configured from 5 milliseconds to 20 milliseconds; this embodiment uses a standard transition time of 10 milliseconds to avoid mechanical shock and operating noise caused by sudden current changes. After the switching is completed, the controller updates the current microstep information and enters the next acquisition and control cycle.

[0051] Step S107. Receive the operating status signal of each additional vacuum butterfly valve; determine the switching sequence by combining the operating rhythm of the stepper motor and the additional stepper motor; execute the micro-step switching action of the stepper motor according to the switching sequence.

[0052] Specifically, the vacuum pipeline corresponding to the vacuum butterfly valve also includes multiple additional vacuum butterfly valves and corresponding additional stepper motors. The operating status signal is transmitted through the field communication bus. The local controller communicates with the controllers of other vacuum butterfly valves in the same pipeline to obtain the operating status, action plan and micro-step switching timing of each valve in real time.

[0053] The switching sequence is planned according to the principle of staggered execution. Only one valve is allowed to perform micro-step switching at the same time, and a fixed interval is set between two adjacent switching to avoid large fluctuations in pipeline pressure caused by multiple valves switching at the same time.

[0054] The machine controller performs micro-step switching operations according to the planned switching time points to ensure the pressure stability of the entire vacuum system.

[0055] In some embodiments, obtaining the motor parameters of a stepper motor includes: obtaining the operating current of the stepper motor; and converting the stepping pulse signal of the stepper motor to obtain the motor speed.

[0056] The operating current is acquired using differential sampling. Sampling resistors are set on the high and low sides of the motor windings, and the two voltage signals are collected and then input into a differential amplifier circuit to suppress common-mode noise interference and improve the accuracy of current acquisition. The motor speed is obtained by pulse counting. An independent pulse counting unit is set up inside the controller. The total number of step pulses output in each acquisition cycle is counted using an edge-triggered method. Combined with the inherent step angle of the stepper motor and the current microstep level, the real-time rotational angular velocity of the motor is obtained through a fixed conversion relationship.

[0057] In some embodiments, calculating the current tracking factor and speed fluctuation of a stepper motor based on motor parameters includes: comparing the actual operating current of the motor with a preset target current to obtain the current tracking factor; and performing difference calculations on the motor speeds of multiple consecutive acquisition cycles to obtain the speed fluctuation.

[0058] The current tracking factor is calculated using an effective value comparison method. First, the effective values ​​of the current samples from multiple points within a single acquisition cycle are obtained. Then, the effective current values ​​are compared with the pre-stored target current setting value. The result is the current tracking factor for the current cycle. The target current setting value matches the rated parameters of the motor and can be configured and adjusted according to different motor specifications.

[0059] The calculation of rotational speed fluctuation adopts a multi-period moving average method. Rotational speed values ​​from the most recent eight consecutive acquisition periods are retrieved from the storage area. The absolute value of the difference between rotational speeds in adjacent periods is calculated sequentially, and then the arithmetic mean of all the absolute values ​​of the differences is obtained. The average value is the rotational speed fluctuation at the current moment. The number of periods involved in the calculation can be adjusted according to the response speed requirements; the more periods, the more stable the fluctuation; the fewer periods, the faster the response speed.

[0060] In some embodiments, obtaining the load status information of the stepper motor based on the current tracking factor and the speed fluctuation includes: comparing the current tracking factor with a preset first current threshold and a preset second current threshold respectively to determine the motor current establishment state of the stepper motor; comparing the speed fluctuation with a preset first fluctuation threshold and a preset second fluctuation threshold respectively to determine the motor load change of the stepper motor; and obtaining the load status information of the stepper motor based on the motor current establishment state and the motor load change.

[0061] The first and second current thresholds are set based on the motor's rated current and drive characteristics. The first current threshold corresponds to the boundary for determining insufficient current establishment, while the second current threshold corresponds to the boundary for determining sufficient current establishment. When the current tracking factor is lower than the first current threshold, it indicates that the winding current cannot follow the set value, and the motor torque output is limited; when the current tracking factor is higher than the second current threshold, it indicates that the current follows sufficiently, and the motor torque has a margin.

[0062] The first and second fluctuation thresholds are set based on the speed fluctuation range during stable motor operation. The first fluctuation threshold corresponds to the judgment boundary of load stability, and the second fluctuation threshold corresponds to the judgment boundary of load abrupt change. When the speed fluctuation is higher than the second fluctuation threshold, it indicates that there is a step change in external resistance; when the speed fluctuation is lower than the first fluctuation threshold, it indicates that the external resistance is stable with no significant change.

[0063] The final generated load status information includes load level identifiers, which are divided into three categories: heavy load, medium load, and light load. These are directly used as input parameters for subsequent micro-step decisions.

[0064] In some embodiments, adjusting the current microstep information according to the target microstep information to complete the microstep switching control of the stepper motor includes: comparing the current microstep level corresponding to the current microstep information with the target microstep level; obtaining the motor operating status of the stepper motor; performing a phase mapping operation after the motor operating status meets the switching conditions; injecting compensation pulses into the stepper motor and using a current ramp method to complete the current smooth transition of the stepper motor, thereby completing the microstep switching control of the stepper motor.

[0065] The execution process of phase mapping operation includes: first, calculating the current phase angle under the current microstep level, and then, according to the principle of complete consistency of phase angle, converting to obtain the target microstep count corresponding to the target microstep level, ensuring that the direction of the motor current vector is completely consistent before and after switching, and avoiding torque mutation caused by angle jump.

[0066] The execution process of compensation pulse injection is as follows: if there is a deviation in the microstep count before and after the switch, the controller injects a corresponding number of compensation pulses in the first few step cycles after the switch to eliminate the position deviation and ensure the continuous position of the valve plate.

[0067] The current ramp transition process is as follows: the controller gradually adjusts the current reference value, linearly changing it to the target current amplitude within a preset transition time, avoiding mechanical shock and operating noise caused by abrupt current changes. The transition time can be configured according to the requirements of operational stability. In this embodiment, the standard transition time is 10 milliseconds, and the transition time can be appropriately extended under heavy load conditions.

[0068] In some embodiments, before adjusting the current microstep information according to the target microstep information, the method further includes: collecting medium pressure data in the vacuum pipeline corresponding to the vacuum butterfly valve and the motor operating status of the stepper motor; determining the current operating condition type of the vacuum butterfly valve by combining the medium pressure data and the motor operating status; and correcting the switching conditions according to the current operating condition type.

[0069] The medium pressure data is acquired by a pressure sensor installed on the vacuum pipeline. The controller reads the pressure value output by the pressure sensor through the analog acquisition channel and calculates the rate of pressure change.

[0070] Operating conditions are categorized into three types: low-pressure light-load, medium-pressure normal operating, and high-pressure heavy-load. The higher the pipeline pressure, the greater the force between the valve sealing surface and the medium, resulting in greater resistance to valve opening and closing, and consequently, a heavier motor load.

[0071] The switching condition correction rule is as follows: Under high-pressure heavy-load conditions, the switching speed threshold is appropriately lowered to switch to a lower microstep level in advance, thereby increasing the torque margin; under low-pressure light-load conditions, the switching speed threshold is appropriately increased to delay the switch to a lower microstep level, thereby extending the high-microstep operation time and reducing operating noise. Through operating condition correction, the microstep switching strategy is made more suitable for the actual working scenarios of vacuum butterfly valves.

[0072] In some embodiments, this embodiment applies to the electric actuator of a vacuum butterfly valve. The driven object is a two-phase hybrid stepper motor with an inherent step angle of 1.8 degrees, a rated current of 1.8 amps, and a winding rated voltage of approximately 2 volts. The matching drive module supports constant current chopper drive and multi-level microstepping mode switching.

[0073] After the system is powered on, the main controller performs initial parameter configuration on the stepper drive module. The configuration parameters include: initial microstepping level Mint, which is set to medium microstepping by default to ensure smooth operation during startup; initial settings for motor running current IRUN and holding current IHOLD, with the initial running current matching the motor's rated parameters and the initial holding current set to a preset ratio of the rated current; a microstepping switching threshold parameter table, containing multiple sets of speed thresholds and load thresholds, corresponding to the switching boundaries of different microstepping levels; speed hysteresis interval Δω and load hysteresis interval ΔL, used to suppress frequent switching near the thresholds; switching confirmation time Tconfirm, used to verify that the operating conditions are stable before performing the switching action; and phase mapping compensation coefficient Kcomp, used to correct phase deviations during the switching process.

[0074] In some embodiments, the method further includes: dividing the entire stroke of the valve plate of the vacuum butterfly valve into an initial friction-breaking section, a middle rapid operation section, and an end precision positioning section; increasing the operating current amplitude of the stepper motor in the initial friction-breaking section; increasing the target speed of the stepper motor in the middle rapid operation section; and reducing the operating current and motion acceleration of the stepper motor in the end precision positioning section.

[0075] The controller cyclically collects motor operating parameters at a fixed acquisition period Ts. The acquisition period Ts can be configured within the range of 1 millisecond to 10 milliseconds; in this embodiment, Ts is set to 5 milliseconds. The parameters acquired in each acquisition period include: The current rotational speed ω is obtained by converting the STEP pulse frequency per unit time, or by calculating it from the speed estimation module inside the controller. The current actual current sampling value Iactual is obtained through the sampling resistor and differential amplifier circuit of the drive circuit, and is the real-time effective value of the phase current of the motor winding. The target current setpoint Iref is the current reference command value currently output by the controller; The driver temperature information T is acquired by the temperature detection circuit built into the driver module. The valve position and remaining stroke (Dremain) can be calculated by accumulating pulse counts, or directly acquired by an external position sensor.

[0076] The estimated load Lload is calculated based on the collected operating parameters. The specific calculation process is as follows: First, the current tracking factor η is defined, and its calculation formula is: η = Iactual / Iref; where Iactual is the current actual current sampling value, and Iref is the target current setting value. The current tracking factor is used to characterize the degree to which the actual motor current follows the set current, reflecting the matching state between the motor's current build-up capability and the load torque. Under normal load, the nominal value of η is approximately 1; as the load increases, the winding back electromotive force increases, the current build-up speed slows down, and the value of η decreases accordingly. Value boundaries and abnormal handling logic are set for the current tracking factor: the theoretical minimum value of η is 0. When η is detected to be in the range of 0 to the lower normal limit or greater than the upper normal limit, it is judged as an abnormal value; the system presets two levels of abnormal thresholds: a warning upper limit and a danger upper limit, corresponding to different early warning and protection measures.

[0077] The load index Lload is further defined and calculated as follows: Lload = K1(1-η) + K2|ΔΩ|; where K1 and K2 are preset weighting coefficients, which are fixed configuration parameters; Δω is the speed fluctuation over a short period of time, calculated from the speed difference over multiple consecutive acquisition cycles. When the current tracking factor η is too low or the speed fluctuation Δω is too large, the load index Lload increases, indicating that the motor load is too high or the current build-up is insufficient, posing a risk of loss of synchronization.

[0078] The system has a preset set of subdivision levels. The subdivision level M has a range of 9 levels, including full step, 2 subdivisions, 4 subdivisions, 8 subdivisions, 16 subdivisions, 32 subdivisions, 64 subdivisions, 128 subdivisions, and 256 subdivisions, with corresponding M values ​​from 1 to 256. M=1 represents full step mode, and M=256 represents 1 / 256 subdivision mode.

[0079] Select the target sub-level Mtarget based on the matching of the current rotational speed ω and the load index Lload. The matching rules may include: Low-speed noise reduction zone (precise positioning zone): When ω≤ω1 and Lload≤L1, the target subdivision level Mtarget is selected as 128 subdivisions or 256 subdivisions to ensure smooth low-speed operation and low noise. Medium-speed operation zone: When ω1<ω≤ω2, the target subdivision level Mtarget is selected as 32 subdivisions or 64 subdivisions to balance operation stability and motion efficiency; High-speed and fast zone: When ω>ω2, the target subdivision level Mtarget is selected as 8 subdivision, 4 subdivision, 2 subdivision or full step mode to increase the output torque per unit step distance and reduce the risk of losing steps at high speed.

[0080] Simultaneously, an adaptive correction rule is introduced to dynamically adjust the target subdivision level based on the load status: If Lload > L2 or η < ηth, it indicates that the load is too heavy or the current build-up is insufficient. Prioritize reducing the microstepping level to increase the torque increment per unit step. For example, when η is less than 0.75, lower the target microstepping level by one or more levels. If η is greater than 1.25 and the current speed is in the low-speed range, it means that there is sufficient torque margin. The target subdivision level is then increased by one level to further reduce operating noise.

[0081] To avoid frequent switching of subdivision levels due to fluctuations in speed or load near the threshold, a dual mechanism of bidirectional asymmetric hysteresis interval and time confirmation is introduced, including: When switching from a high subdivision level to a low subdivision level, the following conditions must be met simultaneously: (Ω>Ωth+ΔΩ) and the duration of this state must be greater than or equal to the switching confirmation time Tconfirm; at the same time, a load hysteresis condition is introduced, and the subdivision reduction action is triggered only if Lload>Lth+ΔL is met.

[0082] When switching from a lower subdivision level to a higher subdivision level, the following conditions must be met simultaneously: (Ω < Ωth - △Ω) and the duration of this state must be greater than or equal to the switching confirmation time Tconfirm.

[0083] Through the aforementioned dual mechanism of bidirectional asymmetric hysteresis interval and duration confirmation, the phenomenon of frequent switching of subdivision levels caused by operating condition fluctuations can be effectively eliminated, thereby improving the stability of system operation.

[0084] When the target subdivision level Mtarget is determined to be inconsistent with the current subdivision level Mcurrent, a micro-step switching operation is performed. Multiple strategies, including phase mapping, pulse compensation, synchronization point selection, and current ramp transition, ensure continuous switching without mechanical shock. The specific execution process is as follows: The phase mapping calculation assumes the current subdivision level is Mc, the target subdivision level is Mt, and the current microstep count is kc (ranging from 0 to Mc-1). The current phase angle calculation formula is: φc=2πkc / Mc; The target microstep count kt after switching is calculated using the following formula: kt = round(kc × Mt / Mc); where round represents rounding to the nearest integer. Phase mapping ensures that the direction of the motor current vector is consistent before and after switching, avoiding mechanical angle jumps.

[0085] When the drive module cannot directly configure the internal microstep count, a pulse compensation strategy is used to ensure consistent pulse counts before and after switching. The number of compensation pulses, Ncomp, satisfies the following relationship: Ncomp = kt - kt0; where kt0 is the initial microstep count of the drive module after switching. By injecting the corresponding number of compensation pulses, the positional deviation before and after switching is eliminated, ensuring continuous valve plate position.

[0086] The synchronization point selection prioritizes triggering the switch at a position close to the full-step boundary in the micro-step count, such as kc=0, kc=Mc / 4, kc=Mc / 2, kc=3Mc / 4, etc., to minimize the sudden current change during switching and reduce switching impact. Under normal operating conditions, switching at the full-step boundary can avoid the accumulation of phase error. If phase error accumulation occurs under extreme abnormal operating conditions, the system performs a zero-synchronization operation to recalibrate the phase reference.

[0087] Before and after the current reference ramp transition, the phase current reference value adopts a linear or exponential ramp transition method. The current amplitude is gradually adjusted within the preset transition time Tramp to avoid the impact and noise caused by instantaneous current change.

[0088] The operating current IRUN and holding current IHOLD are dynamically adjusted based on the motor's operating status to reduce motor and driver heating and energy consumption while ensuring torque requirements are met. The current configuration rules for each operating stage are as follows: High-speed and fast-speed range: The operating current is set to 80% to 100% of the rated current to ensure the output torque in the high-speed range; Medium-speed operating range: The operating current is set to 60% to 90% of the rated current, balancing performance and temperature rise; Low-speed precision positioning zone: The operating current is set to 40% to 70% of the rated current to reduce heat generation in the low-speed range. Position holding phase: The holding current is set to 20% to 50% of the rated current, which only maintains the position of the valve plate, greatly reducing standby power consumption and temperature rise.

[0089] When the remaining valve stroke Drem is less than the set fine positioning threshold Dfine, the system is forced to switch to a high fine subdivision mode (such as 128 or 256 subdivisions), while reducing the running acceleration and target speed. A smooth deceleration curve is used to approach the target position, achieving a low-noise, impact-free, and smooth end-positioning, avoiding valve plate impact and sealing surface damage.

[0090] By combining the full-stroke operation characteristics of the vacuum butterfly valve, the valve opening and closing process is divided into three stages, and differentiated segmentation and current strategies are matched accordingly: Initial break-in friction stage: Corresponding to the initial opening and closing stage of the valve, at this time, the friction force of the sealing surface is large and the load is relatively heavy. In this stage, medium subdivision gears (such as 16 subdivision or 32 subdivision) are adopted and the operating current is appropriately increased to ensure sufficient torque in the starting stage and avoid out-of-step.

[0091] Middle rapid operation stage: Corresponding to the stable movement range of the valve, at this time, the load is relatively stable. In this stage, low subdivision gears (such as 4 subdivision, 2 subdivision or full-step mode) are adopted and the operating speed is increased to realize the rapid opening and closing of the valve and shorten the full-stroke action time.

[0092] Final precise positioning stage: Corresponding to the stage when the valve is close to the fully open or fully closed position, at this time, smooth and shock-free operation is required. In this stage, it is forced to switch to a high subdivision gear (such as 128 subdivision or 256 subdivision) and the operating current is reduced to achieve smooth and low-noise positioning, and improve the positioning accuracy and sealing reliability.

[0093] Through the above full-process control in this embodiment, the comprehensive effects of low-speed high-subdivision noise reduction, high-speed low-subdivision torque increase, smooth switching process without shock, and dynamic adjustment of operating current are achieved, effectively solving the technical problems of high-low speed performance contradiction, large switching shock, serious heating, and easy out-of-step in the prior art, and significantly improving the operating stability, control accuracy and service life of the vacuum butterfly valve actuator.

[0094] In some embodiments, referring to Figure 2 , the microstep switching control system 100 as a whole includes a vacuum butterfly valve 10, a stepper motor 30 and a controller 20. The controller is electrically connected to the stepper motor through a drive module. The output shaft of the stepper motor is传动连接 with the valve plate of the vacuum butterfly valve and is used to drive the valve plate to rotate to adjust the on-off and opening degree of the vacuum pipeline. The controller internally has a memory and a processor. The memory is used to store control programs, preset parameters and operation data, and the processor is used to execute the control program and implement all the control logics of the foregoing step S101 to step S106.

[0095] Referring to Figure 3 , the microstep switching control system is divided into four-layer architectures: a controlled object layer, a collection layer, an operation decision layer and an execution output layer according to functions. Signal transmission is realized through electrical connection between each layer. The controlled object layer includes a vacuum butterfly valve and a stepper motor. The stepper motor is a two-phase hybrid stepper motor and is fixedly installed at the actuator end cover of the vacuum butterfly valve. The output shaft of the stepper motor is connected to the valve plate transmission shaft through a reducer to convert the rotational motion into the angular adjustment action of the valve plate. The two ends of the winding of the stepper motor are led out and connected to the drive module, and the drive module provides drive current; the position detection element supporting the stepper motor outputs a position signal and accesses the collection layer to feedback the actual rotation state.

[0096] The acquisition layer includes a status acquisition unit, which integrates multiple signal acquisition channels: a current acquisition channel, a pulse acquisition channel, and a parameter reading channel. The current acquisition channel connects to the sampling resistor in the drive circuit, acquiring the stepper motor's operating current signal through a differential amplifier and analog-to-digital converter. The pulse acquisition channel connects to the controller's pulse output and position feedback terminals, used to count the number of stepper pulses and calculate the motor speed. The parameter reading channel connects to the drive module's communication interface via a serial communication bus, used to read the current microstep level parameters from the drive register. The output of the status acquisition unit is connected to the computation and decision layer, which synchronizes the acquired raw data before transmitting it to the computation unit.

[0097] The computational decision-making layer consists of a feature calculation unit, a load determination unit, a microstep decision-making unit, and an execution adjustment unit, connected in series. The output of the preceding unit serves as the input of the following unit. The feature calculation unit receives the operating current and speed data transmitted from the acquisition layer and calculates two feature parameters: the current tracking factor and the speed fluctuation. The load determination unit receives the feature parameters and outputs the motor's load status information through a preset hierarchical threshold comparison logic. The microstep decision-making unit receives the load status information and the current speed data, queries a preset microstep level lookup table, and matches the target microstep level with the corresponding switching conditions. The execution adjustment unit receives the target microstep information, verifies the switching conditions, and generates the final switching control command.

[0098] The output layer is configured with a drive module. The control signal input of the drive module is connected to the output of the adjustment unit, and the power output of the drive module is connected to the windings of the stepper motor. After receiving the switching control command, the drive module performs phase mapping, pulse compensation, and current ramp transition operations to adjust the microstepping mode of the drive current output to the stepper motor, ultimately achieving smooth switching of microstep levels.

[0099] When this system is working, the status acquisition unit completes the parameter acquisition function of step S101 at a fixed cycle, the feature calculation unit completes the feature quantity calculation function of step S103, the load determination unit completes the load status identification function of step S104, the microstep decision unit completes the target microstep determination function of step S105, and the execution adjustment unit and the drive module jointly complete the microstep switching execution function of step S106. The collaborative work of each level forms a complete closed-loop control loop.

[0100] In some embodiments, the method further includes: collecting the winding temperature of the stepper motor and the chip temperature of the drive module, and taking the higher temperature level between the winding temperature and the chip temperature as the system temperature level; obtaining a preset first temperature threshold and a second temperature threshold, wherein the second temperature threshold is higher than the first temperature threshold; if the system temperature level is between the first temperature threshold and the second temperature threshold, reducing the operating current amplitude; if the system temperature level is higher than the second temperature threshold, reducing the operating current amplitude and limiting the maximum speed of the motor; and when the system temperature falls below the corresponding threshold and remains below it for a preset duration, removing the derating restriction and restoring to the preset normal control strategy.

[0101] By adding a collaborative derating control function with dual temperature feedback for the motor and driver, it is suitable for long-term continuous operation of vacuum equipment, which can effectively suppress the temperature rise of the motor and driver and improve the long-term reliability of the system.

[0102] During the parameter acquisition process in step S101, the winding temperature of the stepper motor and the chip temperature of the drive module are acquired simultaneously. The motor winding temperature is acquired by a thermistor embedded at the end of the winding, and the drive chip temperature is acquired by the temperature detection circuit built into the drive module. Both temperature signals are input to the controller after analog-to-digital conversion.

[0103] After generating load status information in step S104 and before determining target microstep information in step S105, a temperature status determination step is added. The specific determination rule is as follows: a first temperature threshold and a second temperature threshold are preset, and the second temperature threshold is higher than the first temperature threshold; the currently collected motor temperature and driver temperature are compared with the two thresholds respectively, and the higher temperature level is taken as the system temperature level.

[0104] If the system temperature is lower than the first temperature threshold, it is determined to be a normal temperature state. The original microstep decision and current setting are not interfered with, and the target microstep level and operating current are matched completely according to the speed and load status.

[0105] If the system temperature is between the first temperature threshold and the second temperature threshold, it is determined to be a state of slight temperature rise, and a first-level derating strategy is executed: the subdivision level is increased by one level on the basis of the original target microstep level to reduce the additional heat generation caused by current fluctuations; at the same time, the motor operating current is reduced by a preset ratio to reduce heat generation while ensuring torque margin.

[0106] If the system temperature exceeds the second temperature threshold, it is determined to be a severe temperature rise state, and a secondary derating strategy is implemented: the subdivision level is increased by two levels based on the original target microstep level to further reduce torque fluctuation; at the same time, the motor operating current is reduced by a larger proportion to limit the maximum output power; and the maximum operating speed of the motor is limited to avoid high-speed operation from aggravating the temperature rise.

[0107] Under temperature derating conditions, a hysteresis recovery mechanism is set up. When the system temperature drops below the corresponding threshold and remains below the preset duration, the derating restriction is gradually lifted, and the system returns to the normal control strategy, thus avoiding frequent switching of control parameters caused by temperature fluctuations near the threshold.

[0108] This embodiment integrates temperature parameters into microstep switching and current regulation logic, achieving active suppression of temperature rise without adding extra heat dissipation hardware, and is especially suitable for application scenarios with poor heat dissipation conditions inside vacuum chambers.

[0109] In some embodiments, by adding a step loss risk prediction and active microstepping degradation function based on speed error closed loop, it is applicable to working conditions such as sudden pressure changes in vacuum pipelines and sudden increases in valve load, which can avoid step loss risk in advance and ensure the pressure stability of vacuum system.

[0110] While calculating the speed fluctuation in step S103, the speed error value is calculated simultaneously. The speed error value is obtained by retrieving the target speed setpoint for the current control cycle, calculating the difference between the target speed and the actual acquired motor speed, and the absolute value of the difference is the current speed error value. The target speed is generated by the speed planning module inside the controller and corresponds to the set speed of the valve in the current operating stage.

[0111] After obtaining the load status information in step S104, a step to determine the risk level of loss of synchronization is added, which is determined by combining the speed error value and the current tracking factor: a first error threshold and a second error threshold are preset, and the second error threshold is greater than the first error threshold.

[0112] If the speed error value is less than the first error threshold and the current tracking factor is in the normal range, it is determined that there is no risk of losing synchronization, and the original microstepping decision logic remains unchanged.

[0113] If the speed error value is between the first error threshold and the second error threshold, or the current tracking factor is close to the current insufficiency judgment boundary, it is judged as a level one step loss risk, and an active early warning strategy is executed: the target microstep level is reduced by one level in advance to increase the output torque per unit step distance; at the same time, the operating current is slightly increased to increase the torque margin; and the speed error change trend is continuously monitored.

[0114] If the speed error value is greater than the second error threshold and the current tracking factor is lower than the first current threshold, it is judged as a level 2 step loss risk, and an emergency degrading strategy is executed: immediately reduce the microstepping level to the lowest microstepping gear corresponding to the current speed to maximize the output torque; at the same time, increase the operating current to the rated value to quickly replenish the torque; and simultaneously reduce the target speed of the speed plan, so as to quickly eliminate the step loss risk by reducing speed and increasing torque.

[0115] After the risk of loss of synchronization is eliminated, a graded recovery mechanism is set up. When the speed error falls back to the normal range and continues for a preset time, the operating current is first restored to the normal value, and then the microstepping level is gradually increased to avoid secondary fluctuations caused by parameter mutations.

[0116] By predicting both speed error and current status, the control parameters are proactively adjusted before the loss of synchronization actually occurs, transforming passive fault handling into proactive risk avoidance, which significantly improves the operational stability of the vacuum butterfly valve under sudden load changes.

[0117] In some embodiments, by adding stroke segment self-learning and load memory functions, the micro-step control parameters of each stroke segment can be automatically calibrated based on the valve's historical operating data, adapting to different installation conditions and aging states, and realizing on-site adaptive optimization of control parameters.

[0118] When the system is powered on for the first time, a full-stroke calibration run is performed. During the operation, according to the logic of steps S101 to S104, data such as valve plate position, motor speed, operating current, and load status are collected throughout the entire process. The entire stroke is divided into multiple stroke segments according to a fixed ratio, and each segment corresponds to a set of average load characteristic data collected.

[0119] After the full-stroke calibration is completed, a local load memory table is generated. The load memory table is indexed by stroke segments, and each segment stores three types of parameters: baseline load level, recommended microstep level, and baseline switching threshold. The baseline load level is determined by the average load state of the segment during calibration, the recommended microstep level is obtained by matching the baseline load level with the normal speed, and the baseline switching threshold is the default microstep switching speed threshold for the segment.

[0120] During subsequent daily operation, after each complete valve opening and closing action, the controller compares the actual load data of each segment of the operation with the reference data in the load memory table and calculates the deviation. If the deviation between the actual load of a certain segment and the reference load continues to exceed the preset range in multiple consecutive operations, the parameter self-optimization of that segment is triggered.

[0121] The parameter self-optimization rules are as follows: if the actual load is consistently higher than the baseline load, the recommended microstep level for that segment is lowered, and the microstep switching speed threshold for that segment is reduced, thus entering the low microstep high torque mode earlier; if the actual load is consistently lower than the baseline load, the recommended microstep level for that segment is raised, and the microstep switching speed threshold for that segment is increased, thus extending the high-resolution stable operation range.

[0122] The optimized parameters need to be verified and confirmed. After verification, they are updated to the load memory table and officially take effect. At the same time, an upper limit for parameter adjustment is set to avoid abnormal operation caused by excessive optimization in a single operation. The load memory table supports manual reset. After reset, the factory default parameters are restored and the calibration process can be re-executed.

[0123] This embodiment realizes on-site self-learning and adaptive calibration of microstep control parameters, which can automatically adapt to actual working conditions with different pipeline pressures and different degrees of seal aging, and can maintain the optimal control effect for a long time without manual on-site debugging.

[0124] In some embodiments, please refer to Figure 4 As shown, Figure 4 This is a schematic diagram of the microstep switching control system 100 provided in this application embodiment. The microstep switching control system 100 is used to execute the steps of the microstep switching control method for the vacuum butterfly valve stepper motor shown in the above embodiments. The microstep switching control system 100 can be a single server or a server cluster, or it can be a terminal, such as a handheld terminal, laptop computer, wearable device, or robot.

[0125] like Figure 4 As shown, the microstepping switching control system 100 includes: The information acquisition unit 201 is used to acquire the motor parameters of the stepper motor; the motor parameters include at least the operating current and the motor speed; it sends a parameter reading instruction to the stepper motor drive module, receives the drive register value returned by the drive module, and parses the current microstep information according to the correspondence between the register value and the microstep level. The parameter calculation unit 202 is used to calculate the current tracking factor and speed fluctuation of the stepper motor based on the motor parameters. The load acquisition unit 203 is used to acquire the load status information of the stepper motor based on the current tracking factor and the speed fluctuation. Information determination unit 204 is used to determine the target microstep information of the stepper motor based on the load status information; the target microstep information includes at least the target microstep level and the corresponding switching conditions; collect vibration data during the operation of the vacuum butterfly valve, compare the vibration data with a preset vibration reference range, obtain the vibration comparison result, and adjust the target microstep level according to the vibration comparison result; The switching control unit 205 is used to adjust the current microstep information according to the target microstep information, thereby completing the microstep switching control of the stepper motor.

[0126] The action execution unit 206 is used to receive the operating status signal of each of the additional vacuum butterfly valves, determine the switching sequence in combination with the operating rhythm of the stepper motor and the additional stepper motor, and execute the micro-step switching action of the stepper motor according to the switching sequence.

[0127] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the micro-step switching control system and each module described above can be referred to the corresponding content in the various embodiments of the micro-step switching control method for the stepper motor of the vacuum butterfly valve, and will not be repeated here.

[0128] The aforementioned micro-step switching control method for the stepper motor of the vacuum butterfly valve can be implemented as a computer program, which can be used in various ways, such as... Figure 4 It runs on the system shown.

[0129] Please see Figure 5 , Figure 5 This is a schematic block diagram of the structure of a computer device provided in an embodiment of this application. The computer device includes a processor, a memory, and a network interface connected via a device bus, wherein the memory may include a storage medium and internal memory.

[0130] The storage medium can store operating devices and computer programs. The computer program includes program instructions that, when executed, cause the processor to perform any micro-step switching control method for the stepper motor of the vacuum butterfly valve.

[0131] The processor provides computing and control capabilities, supporting the operation of the entire computer device.

[0132] The internal memory provides an environment for the execution of computer programs stored in non-volatile storage media. When the computer program is executed by the processor, it enables the processor to execute any micro-step switching control method for the stepper motor of the vacuum butterfly valve.

[0133] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the terminal to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0134] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0135] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps: Obtain the motor parameters of the stepper motor; the motor parameters should include at least the operating current and the motor speed. Send a parameter read command to the stepper motor drive module, receive the drive register value returned by the drive module, and parse the current microstep information according to the correspondence between the register value and the microstep level. Calculate the current tracking factor and speed fluctuation of the stepper motor based on the motor parameters; The load status information of the stepper motor is obtained based on the current tracking factor and the speed fluctuation. The target microstep information of the stepper motor is determined based on the load status information; the target microstep information includes at least the target microstep level and the corresponding switching conditions; vibration data during the operation of the vacuum butterfly valve is collected, the vibration data is compared with a preset vibration reference range, the vibration comparison result is obtained, and the target microstep level is adjusted according to the vibration comparison result; Adjust the current microstep information based on the target microstep information to complete the microstep switching control of the stepper motor.

[0136] The system receives the operating status signal of each of the additional vacuum butterfly valves, determines the switching sequence based on the operating rhythm of the stepper motor and the additional stepper motor, and executes the micro-step switching action of the stepper motor according to the switching sequence.

[0137] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the micro-step switching control method for a vacuum butterfly valve stepper motor as provided in any embodiment of this application.

[0138] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0139] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A micro-step switching control method for a stepper motor in a vacuum butterfly valve, wherein the stepper motor is disposed in the vacuum butterfly valve, and the vacuum pipeline corresponding to the vacuum butterfly valve further includes multiple additional vacuum butterfly valves and corresponding additional stepper motors; characterized in that, include: Obtain the motor parameters of the stepper motor; the motor parameters include at least the operating current and the motor speed; Send a parameter read command to the drive module of the stepper motor, receive the drive register value returned by the drive module, and parse the current microstep information according to the correspondence between the register value and the microstep level. Calculate the current tracking factor and speed fluctuation of the stepper motor based on the motor parameters; The load status information of the stepper motor is obtained based on the current tracking factor and the speed fluctuation. The target microstep information of the stepper motor is determined based on the load status information; the target microstep information includes at least the target microstep level and the corresponding switching conditions; vibration data during the operation of the vacuum butterfly valve is collected, the vibration data is compared with a preset vibration reference range, the vibration comparison result is obtained, and the target microstep level is adjusted according to the vibration comparison result; The current microstep information is adjusted according to the target microstep information to complete the microstep switching control of the stepper motor; The system receives the operating status signal of each of the additional vacuum butterfly valves, determines the switching sequence based on the operating rhythm of the stepper motor and the additional stepper motor, and executes the micro-step switching action of the stepper motor according to the switching sequence.

2. The method according to claim 1, characterized in that, The process of obtaining the motor parameters of the stepper motor includes: Obtain the operating current of the stepper motor; The stepping pulse signal of the stepper motor is converted to obtain the motor speed.

3. The method according to claim 1, characterized in that, The calculation of the current tracking factor and speed fluctuation of the stepper motor based on the motor parameters includes: The current tracking factor is obtained by comparing the actual operating current of the motor with the preset target current. The speed fluctuation is obtained by performing difference calculations on the motor speeds from multiple consecutive acquisition cycles.

4. The method according to claim 1, characterized in that, The stepper motor load status information obtained based on the current tracking factor and speed fluctuation includes: The current tracking factor is compared with a preset first current threshold and a second current threshold to determine the motor current establishment state of the stepper motor. The speed fluctuation is compared with the preset first fluctuation threshold and the second fluctuation threshold to determine the change in the motor load of the stepper motor. The load status information of the stepper motor is obtained based on the motor current establishment state and the motor load change.

5. The method according to claim 1, characterized in that, The step of adjusting the current microstep information based on the target microstep information to complete the microstep switching control of the stepper motor includes: Compare the current microstep level corresponding to the current microstep information with the target microstep level; Obtain the motor operating status of the stepper motor; If the motor operating state meets the switching conditions, a phase mapping operation is performed. A compensation pulse is injected into the stepper motor, and a current ramp method is used to smoothly transition the current of the stepper motor, thereby completing the micro-step switching control of the stepper motor.

6. The method according to claim 1, characterized in that, Before adjusting the current microstep information based on the target microstep information, the method further includes: Collect the medium pressure data in the vacuum pipeline corresponding to the vacuum butterfly valve and the motor operating status of the stepper motor; The current operating condition of the vacuum butterfly valve is determined by combining the medium pressure data with the motor operating status. The switching conditions are adjusted according to the current operating condition type.

7. The micro-step switching control method for the stepper motor of the vacuum butterfly valve according to claim 1, characterized in that, The method further includes: The entire stroke of the vacuum butterfly valve plate is divided into an initial friction-breaking section, a middle rapid operation section, and an end precision positioning section. In the initial friction-breaking section, the operating current amplitude of the stepper motor is increased; During the rapid operation phase in the middle section, the target speed of the stepper motor is increased; In the final precision positioning section, the operating current and acceleration of the stepper motor are reduced.

8. The micro-step switching control method for the stepper motor of the vacuum butterfly valve according to claim 1, characterized in that, The method further includes: Collect the winding temperature of the stepper motor and the chip temperature of the drive module, and take the higher temperature level between the winding temperature and the chip temperature as the system temperature level. Obtain a preset first temperature threshold and a second temperature threshold, wherein the second temperature threshold is higher than the first temperature threshold; If the system temperature level is between the first temperature threshold and the second temperature threshold, reduce the operating current amplitude. If the system temperature level is higher than the second temperature threshold, reduce the operating current amplitude and limit the maximum motor speed; Once the system temperature drops below the corresponding threshold and remains below it for a preset duration, the derating restriction is lifted, and the system reverts to the preset normal control strategy.

9. A microstep switching control system, characterized in that, Includes vacuum butterfly valves, stepper motors, and controllers; The controller includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method as described in any one of claims 1 to 8.

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