CN101977003A - Stepper motor controller for automatically controlling acceleration and deceleration and method for generating control pulse - Google Patents
Stepper motor controller for automatically controlling acceleration and deceleration and method for generating control pulse Download PDFInfo
- Publication number
- CN101977003A CN101977003A CN 201010544528 CN201010544528A CN101977003A CN 101977003 A CN101977003 A CN 101977003A CN 201010544528 CN201010544528 CN 201010544528 CN 201010544528 A CN201010544528 A CN 201010544528A CN 101977003 A CN101977003 A CN 101977003A
- Authority
- CN
- China
- Prior art keywords
- step number
- comparator
- moved
- selector
- rotation direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a stepper motor controller for automatically controlling acceleration and deceleration and a method for generating a control pulse, which belong to the technical field of automatic control. The stepper motor controller comprises a total operation step register, an operation step counter, a rotation direction register, a subtractor, a comparator A, a selector, a comparator B, an address generator, an acceleration and deceleration meter and a pulse generator. The method comprises the following steps of: performing initial setting, comparing the number of operation steps with the number of remaining operation steps through the comparator A, wherein a smaller number is the input of the comparator B and the address generator; generating an address of the acceleration and deceleration meter according to results of the comparator A, the comparator B and the selector by using the address generator; and checking the meter, generating a control pulse in a corresponding period by using the pulse generator, controlling the rotation direction of the motor, adding 1 to the operation step counter and stopping generating pulses when the subtractor borrows. The stepper motor controller is easy and reliable to apply and can ensure the stability of the control pulse when a motor operates at a high speed.
Description
Technical field
The present invention relates to automatically control the controllor for step-by-step motor of lifting speed and the generation method of control impuls, belong to the automatic control technology field.
Background technology
At present to generate mainly be by the CPU generation of tabling look-up to the control impuls of stepper motor, this method realizes fairly simple, but consume more cpu resource, particularly under the working condition of specific lifting speed curve, more need frequently to table look-up and obtain current velocity amplitude, when velocity variations is small, because the CPU response is unfixing, can cause the motor speed of service can not be worth on request operation.Particularly in system, have the multichannel stepping motor to turn round simultaneously and real-time task for a long time, easilier cause motor high-speed cruising rotary speed unstabilization, thereby stepping motor can only be operated under the lower rotating speed, can cause system not meet the demands when serious.
Summary of the invention
The objective of the invention is for controllor for step-by-step motor that automatic control lifting speed is provided and the generation method of control impuls, this controllor for step-by-step motor can be strictly on request sequential generate control impuls.
The objective of the invention is to be achieved through the following technical solutions.
The controllor for step-by-step motor of automatic control lifting speed of the present invention comprises total operation step number register, moves step number counter, rotation direction register, subtracter, comparator A, selector, comparator B, address generator, lifting speed table and pulse generator;
Automatically control the generation method of the controllor for step-by-step motor control impuls of lifting speed, concrete steps are:
1) always moves the step number register-stored and always move step number, during the operation beginning it is put number;
2) moved the step number counting of step counter to having moved, moved when beginning its zero clearing;
3) rotation direction register-stored rotation direction arranges rotation side's direction during the operation beginning;
4) after the work beginning, be input in the subtracter and do subtraction always moving the total operation step number in the step number register and having moved operation step number in the step counter, total operation step number deducts to be moved step number and obtains residue operation step number, simultaneously whether the borrow output control impulse generator that produces of subtracter exports pulse: if borrow is arranged then do not export pulse, if do not have borrow then export pulse;
5) moved step number and carried out size relatively with residue operation step number by comparator A, comparative result determines to be in raising speed section or braking section: moved step number and hour be the raising speed section, having moved step number is braking section greatly the time;
6) according to the result of comparator A, it in step number and the residue operation step number is the input of comparator B and address generator than decimal that selector is selected to move;
7) comparator B compares according to the output and the predefined lifting step number maximum of selector, determines current at the uniform velocity section or the gear stage of being in, and the output of selector is at the uniform velocity section greater than maximum, otherwise is in gear stage;
8) address generator generates the address of lifting speed table according to the result of comparator A, comparator B, selector: comparator A determines raising speed table or reduction of speed table, and the result of comparator B and selector determines the particular location in raising speed table or the reduction of speed table;
The address of the lifting speed table that 9) generates according to address generator is looked into the lifting speed table and is obtained cycle when prepulse;
10) according to the pulse period that checks in the lifting speed table, impulse generator generates the control impuls in corresponding cycle, and according to the rotation direction of the control of the rotation direction in rotation direction register motor, makes simultaneously to have moved step counter and add 1, when subtracter produces borrow, stop production burst.
Beneficial effect
The present invention uses simply, reliable, can guarantee the stability of control impuls in motor operation high regime.
Description of drawings
Fig. 1 is a work structuring schematic diagram of the present invention.
Embodiment
The present invention will be further described below in conjunction with drawings and Examples.
Embodiment
Input clock is 1MHz;
Automatically control the controllor for step-by-step motor of lifting speed, as shown in Figure 1, comprise total operation step number register, move step number counter, rotation direction register, subtracter, comparator A, selector, comparator B, address generator, lifting speed table and pulse generator;
Automatically control the generation method of the controllor for step-by-step motor control impuls of lifting speed, concrete steps are:
1) 1. total operation step number register-stored is always moved step number, and during the operation beginning it being put number is 100, and the total step number position 101 of requirement is put number and is 101-1=100;
2) moved the step number counting of step counter to having moved, moved when beginning its zero clearing;
3) rotation direction register-stored rotation direction arranges rotation side's direction during the operation beginning;
When 4) work begins, total operation step number 100 and moved step number 0 and imported subtracter and do subtraction, total operation step number subtracts to be moved step number to obtain residue operation step number is 100, and the borrow result that produces of subtracter be no borrow simultaneously, and clamp-pulse generator is exported pulse;
5) moved step number 0 and carried out size relatively with residue operation step number 100 by comparator A, it is littler that comparative result has moved step number, determines to be in gear stage;
6) according to the result of comparator A, selector select to have moved in step number 0 and the residue operation step number 100 than the input of decimal 0 for comparator B and address generator;
7) comparator B compares with lifting step number maximum 15 according to the output 0 of selector, and the output 0 of selector is in gear stage less than maximum 15;
8) address generator generates the address that lifting speed is shown according to the result of comparator A, comparator B, selector, selects the raising speed table as shown in table 1, and the raising speed table address is 0;
9) the raising speed table address 0 that generates according to address generator, looking into the cycle that the raising speed table obtains when prepulse is 3300;
10) according to the pulse period 3300 that checks in the raising speed table, the pulse generator generation cycle is 3300 control impuls, and controls the rotation direction of motor according to rotation direction, make simultaneously and moved the step number counter and add 1, having moved step number is 1, and subtracter does not have borrow, production burst.
Embodiment 2
Automatically control the controllor for step-by-step motor of lifting speed, as shown in Figure 1, comprise total operation step number register, move step number counter, rotation direction register, subtracter, comparator A, selector, comparator B, address generator, lifting speed table and pulse generator;
Automatically control the generation method of the controllor for step-by-step motor control impuls of lifting speed, concrete steps are:
Input clock is 1MHz;
1) always move the step number register-stored and always move step number, during the operation beginning it being put number is 100, and the total step number position 101 of requirement is put number and is 101-1=100;
2) moved the step number counting of step counter to having moved, moved when beginning its zero clearing;
3) rotation direction register-stored rotation direction arranges rotation side's direction during the operation beginning;
4) after the work beginning, when moving step number and be 30, total operation step number 100 and moved step number 30 and imported subtracters and do subtraction, total operation step number subtracts to be moved step number to obtain residue operation step number is 70, the borrow result of simultaneously subtracter generation is no borrow, clamp-pulse generator output pulse;
5) moved step number 30 and carried out size relatively with residue operation step number 70 by comparator A, it is littler that comparative result has moved step number, determines to be in the raising speed section;
6) according to the result of comparator A, selector select to have moved in step number 30 and the residue operation step number 100 than the input of decimal 30 for comparator B and address generator;
7) comparator B compares with lifting step number maximum 15 according to the output 30 of selector, and the output 30 of selector is at the uniform velocity section greater than maximum 15;
8) address generator generates the address that lifting speed is shown according to the result of comparator A, comparator B, selector, selects the raising speed table, and is as shown in table 1, and the output 30 of selector is at the uniform velocity section greater than maximum 15, and the raising speed table address is 15;
9) the raising speed table address 15 that generates according to address generator, looking into the cycle that the raising speed table obtains when prepulse is 530;
10) according to the pulse period 530 that checks in the raising speed table, the pulse generator generation cycle is 530 control impuls, and controls the rotation direction of motor according to rotation direction, make simultaneously and moved the step number counter and add 1, having moved step number is 1, and subtracter does not have borrow, production burst.
Embodiment 3
Automatically control the controllor for step-by-step motor of lifting speed, as shown in Figure 1, comprise total operation step number register, move step number counter, rotation direction register, subtracter, comparator A, selector, comparator B, address generator, lifting speed table and pulse generator;
Automatically control the generation method of the controllor for step-by-step motor control impuls of lifting speed, concrete steps are:
Input clock is 1MHz;
1) always move the step number register-stored and always move step number, during the operation beginning it being put number is 100, and the total step number position 101 of requirement is put number and is 101-1=100;
2) moved the step number counting of step counter to having moved, moved when beginning its zero clearing;
3) rotation direction register-stored rotation direction arranges rotation side's direction during the operation beginning;
4) after the work beginning, when moving step number and be 96, total operation step number 100 and moved step number 96 and imported subtracters and do subtraction, total operation step number subtracts to be moved step number to obtain residue operation step number is 4, the borrow result of simultaneously subtracter generation is no borrow, clamp-pulse generator output pulse;
5) moved step number 96 and carried out size relatively with residue operation step number 4 by comparator A, comparative result residue operation step number 4 is littler, determines to be in the reduction of speed section;
6) according to the result of comparator A, selector select to have moved in step number 96 and the residue operation step number 4 than the input of decimal 4 for comparator B and address generator;
7) comparator B compares with lifting step number maximum 15 according to the output 4 of selector, and the output 4 of selector is in gear stage less than maximum 15;
8) address generator generates the address that lifting speed is shown according to the result of comparator A, comparator B, selector, selects the reduction of speed table, and as shown in table 2, the output 4 of selector is in the reduction of speed section less than maximum 15, and the reduction of speed table address is 4;
9) the raising speed table address 4 that generates according to address generator, looking into the cycle that the reduction of speed table obtains when prepulse is 1405;
10) according to the pulse period 1405 that checks in the reduction of speed table, the pulse generator generation cycle is 1405 control impuls, and controls the rotation direction of motor according to rotation direction, make simultaneously and moved the step number counter and add 1, having moved step number is 1, and subtracter does not have borrow, production burst.
Embodiment 4
Automatically control the controllor for step-by-step motor of lifting speed, as shown in Figure 1, comprise total operation step number register, move step number counter, rotation direction register, subtracter, comparator A, selector, comparator B, address generator, lifting speed table and pulse generator;
Automatically control the generation method of the controllor for step-by-step motor control impuls of lifting speed, concrete steps are:
Input clock is 1MHz;
1) always move the step number register-stored and always move step number, during the operation beginning it being put number is 100, and the total step number position 101 of requirement is put number and is 101-1=100;
2) moved the step number counting of step counter to having moved, moved when beginning its zero clearing;
3) rotation direction register-stored rotation direction arranges rotation side's direction during the operation beginning;
4) after the work beginning, when moving step number and be 101, total operation step number 100 and moved step number 101 and imported subtracters and do subtraction, total operation step number subtracts to be moved step number and obtains residue operation step number for negative, the borrow result of simultaneously subtracter generation is for there being borrow, and clamp-pulse generator stops to export pulse;
5) subtracter has borrow, and pulse generator stops production burst, has moved the step number counter and has no longer counted, and keeps 101 constant.
Table 1 raising speed table
0：3300，2400，2025，1700，1576，1397，1250，1120
8：987，886，780，700，650，600，565，530
Table 2 reduction of speed table
0：3300，2600，2200，1810，1405，1110，870，700
8：530，530，530，530，530，530，530，530
Claims (2)
1. control the controllor for step-by-step motor of lifting speed automatically, it is characterized in that: comprise total operation step number register, move step number counter, rotation direction register, subtracter, comparator A, selector, comparator B, address generator, lifting speed table and pulse generator.
2. automatically control the generation method of the controllor for step-by-step motor control impuls of lifting speed, it is characterized in that concrete steps are:
1) always moves the step number register-stored and always move step number, during the operation beginning it is put number;
2) moved the step number counting of step counter to having moved, moved when beginning its zero clearing;
3) rotation direction register-stored rotation direction arranges rotation side's direction during the operation beginning;
4) after the work beginning, be input in the subtracter and do subtraction always moving the total operation step number in the step number register and having moved operation step number in the step counter, total operation step number deducts to be moved step number and obtains residue operation step number, simultaneously whether the borrow output control impulse generator that produces of subtracter exports pulse: if borrow is arranged then do not export pulse, if do not have borrow then export pulse;
5) moved step number and carried out size relatively with residue operation step number by comparator A, comparative result determines to be in raising speed section or braking section: moved step number and hour be the raising speed section, having moved step number is braking section greatly the time;
6) according to the result of comparator A, it in step number and the residue operation step number is the input of comparator B and address generator than decimal that selector is selected to move;
7) comparator B compares according to the output and the predefined lifting step number maximum of selector, determines current at the uniform velocity section or the gear stage of being in, and the output of selector is at the uniform velocity section greater than maximum, otherwise is in gear stage;
8) address generator generates the address of lifting speed table according to the result of comparator A, comparator B, selector: comparator A determines raising speed table or reduction of speed table, and the result of comparator B and selector determines the particular location in raising speed table or the reduction of speed table;
The address of the lifting speed table that 9) generates according to address generator is looked into the lifting speed table and is obtained cycle when prepulse;
10) according to the pulse period that checks in the lifting speed table, impulse generator generates the control impuls in corresponding cycle, and according to the rotation direction of the control of the rotation direction in rotation direction register motor, makes simultaneously to have moved step counter and add 1, when subtracter produces borrow, stop production burst.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010544528 CN101977003A (en) | 2010-11-16 | 2010-11-16 | Stepper motor controller for automatically controlling acceleration and deceleration and method for generating control pulse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010544528 CN101977003A (en) | 2010-11-16 | 2010-11-16 | Stepper motor controller for automatically controlling acceleration and deceleration and method for generating control pulse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101977003A true CN101977003A (en) | 2011-02-16 |
Family
ID=43576858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010544528 Pending CN101977003A (en) | 2010-11-16 | 2010-11-16 | Stepper motor controller for automatically controlling acceleration and deceleration and method for generating control pulse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101977003A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104426442A (en) * | 2013-08-27 | 2015-03-18 | 昂纳信息技术（深圳）有限公司 | Method for adjusting speed of stepping motor in load state |
| CN107508511A (en) * | 2017-08-24 | 2017-12-22 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | The plus/minus speed control method and device of stepper motor |
| CN109742987A (en) * | 2018-12-22 | 2019-05-10 | 西安航天动力研究所 | A kind of stepper motor gearshift adjustment control method interrupted based on timer frequency conversion |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1195926A (en) * | 1996-11-29 | 1998-10-14 | 松下电工株式会社 | Pulse signal generation circuit and pulse signal generation method |
| CN1264214A (en) * | 1999-02-16 | 2000-08-23 | 莱克斯马克国际公司 | Method and equipment for control actuating motor with integral cirucit of motor controller |
| US20030184255A1 (en) * | 2002-03-27 | 2003-10-02 | Canon Kabushiki Kaisha | Circuit and method for controlling stepping motor |
-
2010
- 2010-11-16 CN CN 201010544528 patent/CN101977003A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1195926A (en) * | 1996-11-29 | 1998-10-14 | 松下电工株式会社 | Pulse signal generation circuit and pulse signal generation method |
| CN1264214A (en) * | 1999-02-16 | 2000-08-23 | 莱克斯马克国际公司 | Method and equipment for control actuating motor with integral cirucit of motor controller |
| US20030184255A1 (en) * | 2002-03-27 | 2003-10-02 | Canon Kabushiki Kaisha | Circuit and method for controlling stepping motor |
Non-Patent Citations (1)
| Title |
|---|
| 《沈阳工业大学学报》 20040630 李忠科等 通用步进电机升降速控制器设计 287-289 1 第26卷, 第3期 2 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104426442A (en) * | 2013-08-27 | 2015-03-18 | 昂纳信息技术（深圳）有限公司 | Method for adjusting speed of stepping motor in load state |
| CN107508511A (en) * | 2017-08-24 | 2017-12-22 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | The plus/minus speed control method and device of stepper motor |
| CN107508511B (en) * | 2017-08-24 | 2019-10-18 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | The plus/minus speed control method and device of stepper motor |
| CN109742987A (en) * | 2018-12-22 | 2019-05-10 | 西安航天动力研究所 | A kind of stepper motor gearshift adjustment control method interrupted based on timer frequency conversion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202346614U (en) | Precise and automatic positioning control system for crane | |
| CN106341063B (en) | Control of Step Motor's Acceleration and Deceleration method | |
| CN103466452B (en) | Crane operation control method and system | |
| CN101977003A (en) | Stepper motor controller for automatically controlling acceleration and deceleration and method for generating control pulse | |
| CN108319228A (en) | Acceleration-deceleration Control Method in a kind of digital control system trajectory planning | |
| JP2013220006A5 (en) | ||
| CN113044720B (en) | Control method and device for working machine and working machine | |
| CN103818509B (en) | The handle control system of battery-driven car and handle control method | |
| CN108396451B (en) | A kind of discrete velocity control method of Intelligent glove machine cylinder needle selection | |
| CN104932540A (en) | Servo driver position control method | |
| CN103838260B (en) | A kind of Asynchronous Motor Driving equipment position control device and method | |
| JPWO2010125958A1 (en) | Command generator | |
| CN112491313B (en) | Motor control method, device, equipment and computer readable storage medium | |
| CN101650556A (en) | Control method for reducing mechanical impact in converter tilting system and control device thereof | |
| CN105141203A (en) | Pulse filtering system of motor, pulse filtering method thereof, and control system of motor | |
| CN108311321A (en) | The frequency converter and its driving method and system of a kind of application lifting reciprocating engine | |
| CN104460824B (en) | The control system of the display of engineering machinery, method, device and engineering machinery | |
| CN204423086U (en) | A kind of piler servo positioning system | |
| Gong et al. | LabVIEW-base automatic rising and falling speed control of stepper motor | |
| CN202627785U (en) | Automatic positioning system for refrigerator door | |
| CN1765611A (en) | Plastic jetting-moulding machine control device and method | |
| CN206662444U (en) | A kind of back to zero system of spark-erosion machine tool | |
| CN102295202B (en) | Mine-hoist stroke closed-loop control system and method based on optimized efficiency | |
| CN102649521A (en) | Energy-saving variable-frequency speed control system for hoists | |
| CN214813628U (en) | Head positioning system of laying head without proximity switch participating in pulse code value zero clearing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20110216 |