CN101867340A - Method for controlling stepping motor of desktop type intelligent digital control process system - Google Patents
Method for controlling stepping motor of desktop type intelligent digital control process system Download PDFInfo
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- CN101867340A CN101867340A CN 201010166425 CN201010166425A CN101867340A CN 101867340 A CN101867340 A CN 101867340A CN 201010166425 CN201010166425 CN 201010166425 CN 201010166425 A CN201010166425 A CN 201010166425A CN 101867340 A CN101867340 A CN 101867340A
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Abstract
The invention discloses a method for controlling a stepping motor of a desktop type intelligent digital control process system. In the method, the operation of the stepping motor is controlled by outputting pulses in real time based on an ARM chip and the operating process of the stepping motor is divided into three stages of acceleration, constant speed and deceleration, wherein the stepping motor is accelerated from a first speed to the maximum speed of the stepping motor at the acceleration stage; then the stepping motor operates at the maximum constant speed at the constant speed stage; and the stepping motor enters a deceleration stage and the speed of the stepping motor is reduced to be a second speed. The method has the advantages of improving the efficiency of a multi-shaft linked sculpturing machine, increasing the moving speed of a sculpturing machine tool and improving the stability of the sculpturing machine tool.
Description
Technical field
The present invention relates to a kind of control method, particularly relate to a kind of method for controlling stepping motor of desktop type intelligent digital control process system.
Background technology
The multi-axis linkage numerical control system is widely used in fields such as engraving, Digit Control Machine Tool, medicine equipment.Multi-shaft interlocked numerical controlled engraving is carved machine as a kind of mechanical, electrical, high-tech product of combining, can be applicable to industries such as jade carving, stone carving, carpenter, mould, advertisement, seal, making, has market value widely.Multi-shaft interlocked numerical controlled engraving machine at quarter adopts stepping motor to drive the running of whole engraving machine, and the characteristics of stepping motor are to locate quickly and accurately, is not losing the step, is not having accumulated error under the situation of superledge.But because the variation of traffic direction and the variation of the speed of service, stepping motor may occur step-out owing to frequency is too high when starting, and when stopping owing to inertia generation superledge, for fear of losing the step, carry out the control of science to the acceleration and deceleration of stepping motor.Acceleration and deceleration control is one of important component part of multi-axis linkage numerical control machine tool system interpolation, be the key technology of digital control system, the multi-shaft interlocked numerical controlled engraving etching system after the improvement can be used widely in high accuracy, modern times engraving field high-speed and high stability.
Miniature numerical control lathe and machining center are owing to be subjected to the volume and weight restriction, mechanical structure is comparatively thin, when adopting existing digital control system to control, if acceleration-deceleration is too fast or start-stop is frequent, can have a strong impact on traveling comfort and machining accuracy, even shorten the useful life of lathe.In order to guarantee machining accuracy and lathe life-span, the miniature numerical control lathe often adopts the way that reduces the speed of service to improve traveling comfort, so working (machining) efficiency is compared with Large Machining Center and differed greatly.
Summary of the invention
Technical problem to be solved by this invention provides a kind of method for controlling stepping motor of desktop type intelligent digital control process system, and it has improved the efficient of multi-shaft interlocked engraving machine, has accelerated the movement velocity and the stability of engraving lathe.
The present invention solves above-mentioned technical problem by following technical proposals: a kind of method for controlling stepping motor of desktop type intelligent digital control process system, it is characterized in that, the operation that the method for controlling stepping motor of desktop type intelligent digital control process system comes the control step motor based on the ARM chip by real-time output pulse, the running of stepping motor is divided into acceleration, at the uniform velocity, the deceleration three phases, the speed of stepping motor is in the maximal rate that accelerates to stepping motor from first speed at boost phase, then in second time period with maximal rate in that at the uniform velocity the stage travels at the uniform speed, enter the decelerating phase at last, the speed of stepping motor is reduced to second speed.
Preferably, described boost phase is a very first time section, and the described at the uniform velocity stage was second time period, and the described decelerating phase is the decelerating phase.
Preferably, described stepping motor is in very first time section, and the acceleration of stepping motor is added to peak acceleration; In second time period, the acceleration of stepping motor is zero; In the 3rd time period, the acceleration of stepping motor reduces.
Preferably, the method for controlling stepping motor of described desktop type intelligent digital control process system adopts the index acceleration and deceleration curves is got the reference speed value of the value of approaching as speed control.
Positive progressive effect of the present invention is: the present invention has improved the efficient of multi-shaft interlocked engraving machine, has accelerated the movement velocity and the stability of engraving lathe.
Description of drawings
Fig. 1 is the schematic diagram of control step motor speed of the present invention.
Fig. 2 is the schematic diagram of control step motor acceleration of the present invention.
Embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail.
The operation that the method for controlling stepping motor of desktop type intelligent digital control process system of the present invention comes the control step motor based on the ARM chip by real-time output pulse, the running of stepping motor is divided into acceleration, at the uniform velocity, the deceleration three phases, experimental results show that, rate curve wants two rank continuous at least, promptly want acceleration will satisfy the boundary condition of appointment continuously simultaneously, could keep the desktop type intelligent digital control process system transition steady, and the index acceleration and deceleration curves is relatively near the operation characteristic of stepping motor, employing is got the reference speed value of the value of approaching as speed control to the index acceleration and deceleration curves, come acceleration and deceleration are predicted by obtaining the acceleration and deceleration value in advance, and the key of control method mainly is the control to acceleration.
At first, moving of each stepping motor all is thought of as a time period, when starting velocity and terminal velocity one timing, if the time period long enough of operation, then general operational mode is divided into three phases: boost phase, stage at the uniform velocity, decelerating phase, as shown in Figure 1, at very first time section Ta, the speed of stepping motor is at the maximal rate Vmax that accelerates to stepping motor from the first speed V1 at boost phase, then at the second time period Tb with this maximal rate Vmax in that at the uniform velocity the stage travels at the uniform speed, enter the decelerating phase at last, at the 3rd time period Tc, the speed of stepping motor is reduced to second speed V2, finish the time period of whole service, and the even running that comes the control step motor by real-time control acceleration A in the time period of this whole service, the acceleration change situation is as shown in Figure 2, at very first time section Ta, the acceleration of stepping motor is added to peak acceleration Amax; At the second time period Tb, the acceleration of stepping motor is zero; At the 3rd time period Tc, the acceleration of stepping motor reduces.
When the operation time period more in short-term, provide following two kinds of situations to handle, according to the length of time period, the process of operation is also different, has two stages or a stage:
Situation 1: accelerate to maximal rate Vmax from the first speed V1, be decelerated to second speed V2 then, just reach home this moment, and this situation is the shortest time.
Situation 2: accelerate to second speed V2 from the first speed V1, the time period that travels at the uniform speed then finishes, and this situation running time is than preceding a kind of length.
Can make the acceleration and deceleration process of stepping motor more level and smooth according to above two kinds of situations, and owing in the interpolation process, need a large amount of function calculation, so before each time period, all calculate and preserve all crucial numerical value in advance, directly read and apply among the stepping motor motion control during real time kinematics afterwards.
Like this, in whole Machine Movement Process, stepping motor can both move stably, makes the speed stationarity of whole desktop type intelligent digital control process system operation reach optimal binding site.The present invention has improved the efficient of multi-shaft interlocked engraving machine, has accelerated the movement velocity and the stability of engraving lathe.
Though more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, under the prerequisite that does not deviate from principle of the present invention and essence, can make numerous variations or modification to these execution modes.Therefore, protection scope of the present invention is limited by appended claims.
Claims (4)
1. the method for controlling stepping motor of a desktop type intelligent digital control process system, it is characterized in that, the operation that the method for controlling stepping motor of desktop type intelligent digital control process system comes the control step motor based on the ARM chip by real-time output pulse, the running of stepping motor is divided into acceleration, at the uniform velocity, the deceleration three phases, the speed of stepping motor is in the maximal rate that accelerates to stepping motor from first speed at boost phase, then in second time period with maximal rate in that at the uniform velocity the stage travels at the uniform speed, enter the decelerating phase at last, the speed of stepping motor is reduced to second speed.
2. the method for controlling stepping motor of desktop type intelligent digital control process system as claimed in claim 1 is characterized in that, described boost phase is a very first time section, and the described at the uniform velocity stage was second time period, and the described decelerating phase is the decelerating phase.
3. the method for controlling stepping motor of desktop type intelligent digital control process system as claimed in claim 2 is characterized in that, described stepping motor is in very first time section, and the acceleration of stepping motor is added to peak acceleration; In second time period, the acceleration of stepping motor is zero; In the 3rd time period, the acceleration of stepping motor reduces.
4. the method for controlling stepping motor of desktop type intelligent digital control process system as claimed in claim 1, it is characterized in that the method for controlling stepping motor of described desktop type intelligent digital control process system adopts the index acceleration and deceleration curves is got the reference speed value of the value of approaching as speed control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010166425 CN101867340A (en) | 2010-04-29 | 2010-04-29 | Method for controlling stepping motor of desktop type intelligent digital control process system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010166425 CN101867340A (en) | 2010-04-29 | 2010-04-29 | Method for controlling stepping motor of desktop type intelligent digital control process system |
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| CN101867340A true CN101867340A (en) | 2010-10-20 |
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| CN 201010166425 Pending CN101867340A (en) | 2010-04-29 | 2010-04-29 | Method for controlling stepping motor of desktop type intelligent digital control process system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102904512A (en) * | 2012-10-30 | 2013-01-30 | 北京信息科技大学 | Control system and control method for step motor |
| CN104852648A (en) * | 2014-08-13 | 2015-08-19 | 北汽福田汽车股份有限公司 | Method and system for driving rotation of stepping motor |
| CN110792303A (en) * | 2019-11-18 | 2020-02-14 | 重庆复融科技有限公司 | Lifting system for realizing unmanned parking |
Citations (5)
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|---|---|---|---|---|
| JPS6359791A (en) * | 1986-08-29 | 1988-03-15 | Canon Inc | Driving method for stepping motor |
| JPS6359797A (en) * | 1986-08-28 | 1988-03-15 | Ricoh Co Ltd | Step motor driving method |
| US4734847A (en) * | 1985-12-16 | 1988-03-29 | Hunter L Wayne | Microstepping motor controller circuit |
| US4890048A (en) * | 1989-01-09 | 1989-12-26 | Hunter L Wayne | Low torque ripple stepping motor controller circuit |
| CN1534860A (en) * | 2003-03-28 | 2004-10-06 | 力捷电脑股份有限公司 | Method of lifting step motor accelration and speed reducing characteristics |
-
2010
- 2010-04-29 CN CN 201010166425 patent/CN101867340A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4734847A (en) * | 1985-12-16 | 1988-03-29 | Hunter L Wayne | Microstepping motor controller circuit |
| JPS6359797A (en) * | 1986-08-28 | 1988-03-15 | Ricoh Co Ltd | Step motor driving method |
| JPS6359791A (en) * | 1986-08-29 | 1988-03-15 | Canon Inc | Driving method for stepping motor |
| US4890048A (en) * | 1989-01-09 | 1989-12-26 | Hunter L Wayne | Low torque ripple stepping motor controller circuit |
| CN1534860A (en) * | 2003-03-28 | 2004-10-06 | 力捷电脑股份有限公司 | Method of lifting step motor accelration and speed reducing characteristics |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102904512A (en) * | 2012-10-30 | 2013-01-30 | 北京信息科技大学 | Control system and control method for step motor |
| CN102904512B (en) * | 2012-10-30 | 2015-03-11 | 北京信息科技大学 | Control system and control method for step motor |
| CN104852648A (en) * | 2014-08-13 | 2015-08-19 | 北汽福田汽车股份有限公司 | Method and system for driving rotation of stepping motor |
| CN104852648B (en) * | 2014-08-13 | 2017-07-11 | 北汽福田汽车股份有限公司 | The method and system that Driving Stepping Motor is rotated |
| CN110792303A (en) * | 2019-11-18 | 2020-02-14 | 重庆复融科技有限公司 | Lifting system for realizing unmanned parking |
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Open date: 20101020 |