CN101034866A - Step motor acceleration system - Google Patents
Step motor acceleration system Download PDFInfo
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- CN101034866A CN101034866A CN 200710090514 CN200710090514A CN101034866A CN 101034866 A CN101034866 A CN 101034866A CN 200710090514 CN200710090514 CN 200710090514 CN 200710090514 A CN200710090514 A CN 200710090514A CN 101034866 A CN101034866 A CN 101034866A
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Abstract
The invention relates to a stepping motor acceleration method, which is used for accelerating a stepping motor from a present rotational speed to the prearrange rotational speed, the stepping motor has a characteristic curve to define the relation between stepping motor output moment and the input pulse signal, the characteristic curve includes induct torque curve and emerge torque curve, the acceleration method of the stepping motor including: using a collector to define a safety acceleration curve under the characterisric curve; defining a present rotate speed corresponding point on the safety acceleration curve; defining a prearrange rotate speed corresponding point on the safety acceleration curve; based on the present rotate speed corresponding point, prearrange rotate speed corresponding point and the safety acceleration curve, produces a prearrange acceleration curve; and based on the prearrange acceleration curve the stepping motor accelerated to the prearrange rotate speed.
Description
The application is that the application number submitted on October 20th, 2004 is dividing an application of 200410086411.3 patent application " step motor accelerating system ".
Technical field
The invention relates to a kind of step motor accelerating system and method, particularly relevant for a kind of step motor accelerating system and method for utilizing a safe acceleration curve close as acceleration curve with the characteristic curve of stepper motor.
Background technology
Stepper motor is controlled by microcomputer controller, after the output of control signal self-controller, by driver signal is amplified immediately, reaches the purpose of control motor running.Controller is the rotating speed that comes the control step motor by the frequency of pulse signal, and for example per second 200 pulses can cause stepper motor to rotate a circle.Therefore the umber of pulse of controller per second input is high more, represents the rotating speed of stepper motor fast more.But because the pass of stepper motor output torque and rotating speed is exponential inverse ratio, just torque is more little when rotating speed is big more, and the more little then torque of opposite rotating speed is big more, thus the necessary significant care of the acceleration of stepper motor, to avoid taking place the problem of stall or step-out.
See also Fig. 1, Fig. 1 is the characteristic curve chart of stepper motor.Abscissa is the pulse number (pulses per second) that the stepper motor per second is accepted among the figure, and ordinate then is the output torque of stepper motor.With the difference of general motor characteristics curve maximum be that stepper motor has two characteristic curves, two characteristic curves shown in Fig. 1 will be described below respectively:
A, introduce torque (pull-in torque) curve: introduce torque be meant stepper motor can with input signal synchronous initiation, breakdown torque when stopping, therefore motor can be done synchronous initiation along with input signal, stop and rotating in the zone below introducing torque, and this zone just is called self-starting district (start-stop region).
B, deviate from torque (pull-out torque) curve: deviate from torque be meant stepper motor can with input signal run-in synchronism, but can't transient starting, the breakdown torque when stopping, therefore surpass to deviate from torque then motor can't turn round, simultaneously between deviate from below the torque with introduce more than the torque the zone then motor can't transient starting, stop, this zone is called sliding area (slew region), if desire starting in sliding area, stop then must earlier motor being returned to the self-starting district, otherwise have the generation of step-out phenomenon.
So-called stall is meant when the rotary speed of motor rotor can't be caught up with the excitatory speed of stator, causes motor rotor to stop operating.Various motors all have the possibility that stall takes place, on general motor applications, when taking place, stall tends to the consequence that causes winding coil to burn, but only can cause motor static during stepper motor generation stall, though coil is still in excitatory, but, therefore can not burn coil because stepper motor is by pulse signal control.
The origin cause of formation of step-out then is because when moment is improved rotating speed in the motor running, because of the output torque is inversely proportional to rotating speed, and the load of stepper motor so torque decline can't be loaded, and cause the slippage of stepper motor.
Known stepper motor is applied in the field of low speed more, and therefore known stepper motor accelerated method is adopted linear the acceleration more.See also Fig. 2, Fig. 2 is the used acceleration curve curve chart of known stepper motor.Abscissa is the pulse number (pulses per second) that the stepper motor per second is received among the figure, and ordinate then is the output torque of stepper motor.The utilization of known stepper motor is linear to be quickened, if in the interval of low speed because acceleration curve still the position in the self-activation district, so accelerator can not have problems.When having arrived at a high speed regional, linearly quicken to have entered sliding area, known techniques is that the torque curve of deviating from of hypothesis stepper motor is to be straight line, but from Fig. 1 or Fig. 2 as can be known, deviate from torque curve and should be curve and non-rectilinear.Thus,, then exceed to deviate from easily outside the torque curve, make motor produce the phenomenon (as the C line among Fig. 2) of stall if still utilize straight line to quicken.Or, make stepper motor can't drive the thing of institute's load because used the non-existent output torque of stepper motor, and produce step-out.
Summary of the invention
Therefore, a purpose of the present invention provides a kind of step motor accelerating system and method, adopts a safe acceleration curve, to prevent exceeding the to deviate from situation of torque in the motor accelerator.
Another object of the present invention provides a kind of step motor accelerating system and method, still has enough torques when high rotating speed, to prevent motor generation step-out.
The present invention is a kind of step motor accelerating system, and in order to a stepper motor is accelerated to a desired speed from a present rotating speed, this step motor accelerating system comprises a controller, a pulse generator and a driver.
Store a safe acceleration curve in the controller,, produce corresponding one predetermined acceleration curve in order to according to this present rotating speed and this desired speed corresponding position in this safe acceleration curve.Wherein safe acceleration curve is a characteristic curve that is positioned at this stepper motor, and the profile amplitude of this safe acceleration curve meets this characteristic profile amplitude.Pulse generator then is scheduled to acceleration curve in order to accept to be somebody's turn to do, and is converted into a pulse signal according to this.Driver is in order to receiving this pulse signal, and according to and drive this stepper motor.
Step motor accelerating system provided by the present invention, this characteristic curve that its safe acceleration curve is this stepper motor deduct a safe spacing (safety margin) gained.
Step motor accelerating system provided by the present invention, its characteristic curve are that one of this stepper motor is deviate from torque curve (pull-out torque).
Step motor accelerating system provided by the present invention, its safe acceleration curve are the quadratic equations by the pulses per second of relative this stepper motor of torque of this stepper motor.
Step motor accelerating system provided by the present invention, its predetermined acceleration curve are with the acceleration curve of this safe acceleration curve as this stepper motor, and with the starting point of this present rotating speed as acceleration, this desired speed is as the terminal point that quickens.
Step motor accelerating system provided by the present invention, its predetermined acceleration curve is an acceleration straight line, and be with this present rotating speed on this safe acceleration curve corresponding position as the starting point of quickening, with this desired speed on this safe acceleration curve corresponding position as the terminal point that quickens.
The present invention also provides a kind of stepper motor accelerated method, in order to a stepper motor is accelerated to a desired speed from a present rotating speed, this stepper motor has the characteristic curve that the output torque of this stepper motor and input pulse signal relation are between the two defined, wherein this characteristic curve comprises the introducing torque curve and deviates from torque curve, this stepper motor accelerated method comprises: use a controller to define a safe acceleration curve under this characteristic curve, this safe acceleration curve is to deviate from torque curve by this to deduct a safe spacing gained; The corresponding points of definition one present rotating speed on this safe acceleration curve; The corresponding points of definition one desired speed on this safe acceleration curve; According to the corresponding points of this present rotating speed, corresponding points and this safe acceleration curve of this desired speed, produce predetermined (real) acceleration curve; And this stepper motor is accelerated to this desired speed according to this predetermined acceleration curve.
According to stepper motor accelerated method provided by the present invention, further comprising the steps of: as should to be scheduled to acceleration curve and to be converted into a pulse signal; And this stepper motor is accelerated to this desired speed according to this predetermined acceleration curve.
According to stepper motor accelerated method provided by the present invention, this predetermined acceleration curve is equal to this safe acceleration curve.
According to stepper motor accelerated method provided by the present invention, this predetermined acceleration curve is the line between the corresponding points of the corresponding points of described present rotating speed and desired speed.
According to stepper motor accelerated method provided by the present invention, this safe acceleration curve comprises a horizontal linear and a conic section, this horizontal linear extends to a intermediate point on this safe acceleration curve from the corresponding points of present rotating speed, and this conic section is from the corresponding points of this intermediate point desired speed that is starting point to this safe acceleration curve.
Whereby, acceleration curve of the present invention is close with the characteristic curve of stepper motor, but keep one section safe spacing with the characteristic curve of stepper motor, make that stepper motor is able to quicken in the zone of safety, the problem that does not have known techniques stall or step-out produces.
Description of drawings
Fig. 1 is the characteristic curve chart of known stepper motor;
Fig. 2 is the used acceleration curve curve chart of known stepper motor;
Fig. 3 is the schematic diagram of step motor accelerating system of the present invention and stepper motor;
Fig. 4 is the characteristic curve of stepper motor among Fig. 3 and the curve chart of safe acceleration curve;
Fig. 5 is the curve chart of the predetermined acceleration curve of the present invention's second specific embodiment;
Fig. 6 is the curve chart of the predetermined acceleration curve of the present invention's the 3rd specific embodiment;
Fig. 7 is the flow chart of stepper motor accelerated method of the present invention.
Symbol description:
10: step motor accelerating system
102: controller
104: pulse generator
106: driver
20: stepper motor
202: characteristic curve
2021: deviate from torque curve
2023: introduce torque curve
204: safe acceleration curve
206,208: predetermined acceleration curve
Embodiment
See also Fig. 3, Fig. 3 is the schematic diagram of step motor accelerating system 10 of the present invention and stepper motor 20.The present invention is a kind of step motor accelerating system 10, and in order to a stepper motor 20 is accelerated to a desired speed from a present rotating speed, step motor accelerating system 10 comprises a controller 102, a pulse generator 104 and a driver 106.
Described in prior art, stepper motor 20 has as the characteristic curve as Fig. 1.But the characteristic curve of stepper motor can't be learnt in advance, must could obtain by test repeatedly, that is the output torque value that produced under a plurality of different per second input pulse number (PPS) situations of test stepper motor 20.In other words, the characteristic curve of stepper motor is actually by many points and is constituted.For example carry out 100 times test, and these test points coupled together, and present the appearance of curve, this curve is the characteristic curve of stepper motor 20.Described in prior art, characteristic curve mainly contains two, and one is called to deviate from commentaries on classics apart from curve, and another then is called to introduce changes apart from curve.
See also Fig. 4, Fig. 4 is the characteristic curve 202 of stepper motor 20 among Fig. 3 and the curve chart of safe acceleration curve 204.Abscissa is the pulse number (pulsesper second) that the stepper motor per second is received among the figure, and ordinate then is the output torque of stepper motor.As previously mentioned, the characteristic curve of stepper motor 20 has two, and one is for deviate from changeing apart from curve 2021, and it two changes apart from curve 2023 for introducing.Owing in curve, operate stepper motor deviate from changeing, just can avoid the step-out or the stall of motor, therefore in the present invention's one specific embodiment, behind the characteristic curve 202 that obtains stepper motor 20, just can with this characteristic curve 2 like in the torque curve 2021 of deviating from deduct a safe spacing (safetymargin), and obtain a safe acceleration curve 204 of stepper motor 20.
In a specific embodiment of the present invention, carry out characteristic curve when adjusting to stepper motor, the first step is by deviating to get a plurality of torque curve points of deviating from the torque curve earlier, producing corresponding a plurality of safety curve point after the adjustment through a safe spacing.Then, again with quadratic equation to the carry out curve fitting calculating of (curve fitting) of these safety curve points, and obtain to represent the quadratic equation of these safety curve points, this quadratic equation can be considered to be a safety curve.
In this alleged curve fit is a kind of one group of discrete data to be represented with an approximate curvilinear equation formula.In simple terms, can suppose that safe acceleration curve 204 obtains safe acceleration curve 204 for quadratic equation.At first, can suppose that safe acceleration curve is:
T(f)＝a×f
2+b×f+r。
Wherein: f is a per second input pulse number, and T (f) is the function of output torque T to per second input pulse number f, i.e. the safe acceleration curve that the present invention is alleged, a are the coefficient of quadratic term, and b is once the coefficient of item, and r is a constant term.Therefore, bring a plurality of points in the safe acceleration curve (3 points) into above-mentioned hypothesis quadratic equation, can solve the quadratic equation of the safe acceleration curve of representative.Above-mentioned is the process of simple curve fit, and in the application of reality, curve fit belongs to the technology that has been commonly used, has in the streets had the function that various software can be carried out curve fit.
Because safe acceleration curve 204 is quadratic equations by the pulses per second of the relative stepper motor 20 of the torque of stepper motor 20, therefore can be stored in the controller 102.Controller 102 is the quadratic equations according to the safe acceleration curve of representative, utilizes different rates to rotate with control step motor 20.Between different rotating speeds during conversion, controller 102 can be earlier according to rotating speed and desired speed corresponding positions in this safe acceleration curve at present, produce corresponding one predetermined acceleration curve, as the foundation of quickening.
In first specific embodiment of the present invention, predetermined acceleration curve is with safety acceleration curve 204 direct predetermined acceleration curves as stepper motor 20, and with the starting point of present rotating speed as acceleration, desired speed is as the terminal point of this acceleration.
See also Fig. 5, Fig. 5 is the curve chart of the predetermined acceleration curve of the present invention's second specific embodiment.In the present invention's second specific embodiment, predetermined acceleration curve 206 is straight lines, and be with this present rotating speed on safety acceleration curve 204 corresponding position as the starting point of quickening, corresponding position is as the terminal point that quickens on safety acceleration curve 204 with this desired speed, and predetermined acceleration curve 206 then is these 2 straight lines that defined 206.
See also Fig. 6, Fig. 6 is the curve chart of the predetermined acceleration curve of the present invention's second specific embodiment.In the 3rd specific embodiment of the present invention, predetermined acceleration curve 208 is butt formula curves 208, its be mainly used in when present rotating speed and torque be when being positioned at stepper motor 20 characteristic introducing torque curves 2023 (being the self-starting district).The starting point of predetermined acceleration curve 206 is that the point with present rotating speed place is a starting point, and laterally is linked to this introducing torque curve 2023, then is linked to the point of this desired speed thereafter according to this safe acceleration curve.At this lay special stress on a bit, above-described various embodiment are to be prerequisite to quicken at the safety acceleration curve because embodiment is numerous, in this in statement one by one.Therefore,, have the knack of this skill person, so only want prerequisite according to the invention, all should belong to category of the present invention when simple push in view of the above derives multiple predetermined acceleration curve via detailed description of the present invention.
After controller 102 is determined predetermined acceleration curve, then according to the present situation of stepper motor 20, produce control signal according to predetermined acceleration curve, 104 control signals of pulse generator in order to the predetermined acceleration curve of acceptance representative, and be converted into a pulse signal according to this.106 of drivers receive this pulse signal, and according to and drive stepper motor 20, make stepper motor 20 accelerate to predetermined rotating speed by present rotating speed.
Therefore, under implementation of the present invention, stepper motor 20 can be done the acceleration of full blast, and owing to quicken in deviating from torque, will not have the problem of issuable step-out of known techniques or stall.
See also Fig. 7, Fig. 7 is the flow chart of stepper motor accelerated method of the present invention.In order more clearly to describe operating process of the present invention, next will cooperate flow chart to explain orally the safe and effective rate of the present invention one by one and quicken the step of stepper motor.Operating process of the present invention comprises:
Step 30: carry out test of many times to obtain the characteristic curve 202 of stepper motor 20.
Step 32:, deduct a safe spacing and obtain a safe acceleration curve 204 according to deviating from torque curve 2021 in the characteristic curve 202.
Step 34: bring a plurality of points in the safe acceleration curve into quadratic equation T (f)=a * f
2Among+b * f+r, solve a, b, r, and obtain the quadratic equation of the safe acceleration curve 204 of representative.
Step 36: quadratic equation is stored in the controller 102.
Step 38: controller is derived a predetermined acceleration curve according to the present rotating speed and the desired speed of this quadratic equation, stepper motor 20.
Step 40: controller 102 produces and controls signal to pulse generator 104 according to predetermined acceleration curve.
Step 42: pulse generator 104 produces corresponding pulse signal according to control signal.
Step 44: driver drives stepper motor 20 according to pulse signal, makes stepper motor 20 accelerate to desired speed.
Comprehensive the above, the present invention considers known techniques to quicken issuable problem with straight line, is proposed a cover total solution.Because the present invention considers the characteristic of stepper motor, therefore the scope of quickening all is limited in deviating from the torque curve of stepper motor, therefore, known techniques can not take place quicken but to exceed to deviate from the problem of torque.Moreover because the accelerator of stepper motor is the characteristic that meets stepper motor, so acceleration efficiency is also good than known techniques.
Claims (5)
1. stepper motor accelerated method, in order to a stepper motor is accelerated to a desired speed from a present rotating speed, this stepper motor has the characteristic curve that the output torque of this stepper motor and input pulse signal relation are between the two defined, wherein this characteristic curve comprises the introducing torque curve and deviates from torque curve, and this stepper motor accelerated method comprises:
Use a controller to define a safe acceleration curve under this characteristic curve, this safe acceleration curve is to deviate from torque curve by this to deduct a safe spacing gained;
The corresponding points of definition one present rotating speed on this safe acceleration curve;
The corresponding points of definition one desired speed on this safe acceleration curve;
According to the corresponding points of this present rotating speed, corresponding points and this safe acceleration curve of this desired speed, produce predetermined (real) acceleration curve; And
According to this predetermined acceleration curve this stepper motor is accelerated to this desired speed.
2. stepper motor accelerated method according to claim 1, further comprising the steps of:
Should be scheduled to acceleration curve and be converted into a pulse signal; And
According to this predetermined acceleration curve this stepper motor is accelerated to this desired speed.
3. stepper motor accelerated method according to claim 1 is characterized in that: this predetermined acceleration curve is equal to this safe acceleration curve.
4. stepper motor accelerated method according to claim 1 is characterized in that: this predetermined acceleration curve is the line between the corresponding points of the corresponding points of described present rotating speed and desired speed.
5. stepper motor accelerated method according to claim 1, it is characterized in that: this safe acceleration curve comprises a horizontal linear and a conic section, this horizontal linear extends to a intermediate point on this safe acceleration curve from the corresponding points of present rotating speed, and this conic section is from the corresponding points of this intermediate point desired speed that is starting point to this safe acceleration curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710090514 CN101034866A (en) | 2004-10-20 | 2004-10-20 | Step motor acceleration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710090514 CN101034866A (en) | 2004-10-20 | 2004-10-20 | Step motor acceleration system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100864113A Division CN1333519C (en) | 2004-10-20 | 2004-10-20 | Step motor accelerating system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101034866A true CN101034866A (en) | 2007-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710090514 Pending CN101034866A (en) | 2004-10-20 | 2004-10-20 | Step motor acceleration system |
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| CN (1) | CN101034866A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103326646A (en) * | 2013-05-17 | 2013-09-25 | 浙江工业大学 | Method for speed control of motion controller based on stepping motor |
-
2004
- 2004-10-20 CN CN 200710090514 patent/CN101034866A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103326646A (en) * | 2013-05-17 | 2013-09-25 | 浙江工业大学 | Method for speed control of motion controller based on stepping motor |
| CN103326646B (en) * | 2013-05-17 | 2015-06-17 | 浙江工业大学 | Method for speed control of motion controller based on stepping motor |
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