CN102664576A - Micro-step control method, device and stepping motor controller - Google Patents
Micro-step control method, device and stepping motor controller Download PDFInfo
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- CN102664576A CN102664576A CN201210126333XA CN201210126333A CN102664576A CN 102664576 A CN102664576 A CN 102664576A CN 201210126333X A CN201210126333X A CN 201210126333XA CN 201210126333 A CN201210126333 A CN 201210126333A CN 102664576 A CN102664576 A CN 102664576A
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Abstract
The invention is applied to the field of electromechanics, and provides a micro-step control method, a micro-step control device and a stepping motor controller. The method comprises the following steps of: calculating cosine current; generating a current compensation function according to a hysteresis curve; compensating the cosine current according to the current compensation function to generate compensation current; and performing micro-step control on a stepping motor by using the compensation current. The cosine current is compensated according to hysteresis curve data, and the compensation current is used for performing the micro-step control on the stepping motor, so that the stepping uniformity of the micro-step control over the stepping motor is effectively improved, and high-accuracy open loop control is realized; and moreover, the method, the device and the controller are simple in structure, low in cost, easy to implement, low in workload and small in size, and the requirements of a batch production process can be met.
Description
Technical field
The invention belongs to dynamo-electric field, relate in particular to a kind of micro-stepping control method, device and controllor for step-by-step motor.
Background technology
In order to dwindle the step angle of stepping motor; Improve control precision and resolution; Industry generally adopts the cosine electric current control method that motor is carried out micro-stepping control; Promptly through on the winding of stepping motor, applying cosine Control current, each synchronizing of stepper motor is subdivided into the micro-stepping more than 2, and then realizes micro-stepping control with certain phase difference.
Yet; In the cosine electric current control method; Because the magnetic hysteresis factor of iron core has a strong impact on the uniformity of stepping motor stepping (and moment of torsion); And when the stepping motor conversion direction, lag behind control and change, cause step-length inhomogeneous and the forward step-length is unequal with reverse step-length because of the magnetic hysteresis of magnetic core produces the variation that stops to make gear position.
At present; Because traditional open-loop control system realizes micro-stepping control; Precision is lower usually; Be difficult to satisfy the requirement of market to the control of stepping motor precision, therefore adopt two kinds of closed-loop control systems that stepping position is demarcated the uniformity of the stepping (and moment of torsion) that realizes micro-stepping control usually, one of which is: adopt position transducers such as photoelectric encoder, magnetic rotary encoder, light coral chi and magnetic coral chi to form feedback loop; Controller is dynamically adjusted Control Parameter according to feedback data, realizes the purpose of linear position control.The defective of this scheme is, needs to use expensive position transducer, cost height, and because installation dimension is had specific (special) requirements, is difficult to satisfy the application demand of compact product.
It two is: use photoelectric encoder or grating chi to write down the step angle mapping table that stepping motor rotates in advance, store with the mode of form, oppositely table look-up according to the corner of target, obtain best stepping control command.The defective of this scheme is, need demarcate respectively each motor, and workload is big; Difficulty or ease satisfy the demand of batch production technique, and, because the path of magnetic hysteresis loop is relevant with the historic state of soft magnetic core winding; If when the winding historic state is different, use unified micro-stepping step angle mapping table; Then location position need cover all historic states, and staking-out work range index rises, and more is difficult to satisfy the demand of batch production technique; Especially when the different position change direction of motion, can cause the error that is difficult to predict in various degree.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of micro-stepping control method, and it is low to be intended to solve existing micro-stepping control method precision, and cost is high, and size is big, and the staking-out work amount is big, and difficulty or ease satisfy the problem of the demand of batch production technique.
The embodiment of the invention is achieved in that a kind of micro-stepping control method, and said method comprises the steps:
Calculate the cosine electric current;
Generate the current compensation function according to B-H loop;
According to said current compensation function said cosine electric current is compensated, generate offset current;
Through said offset current stepping motor is carried out micro-stepping control.
Another purpose of the embodiment of the invention is to provide a kind of micro-stepping control device, and said device comprises:
Current calculation unit is used to calculate the cosine electric current;
The penalty function generation unit is used for generating the current compensation function according to B-H loop;
The current compensation unit is used for according to said current compensation function said cosine electric current being compensated, and generates offset current;
The micro-stepping control unit is used for through said offset current stepping motor being carried out micro-stepping control.
Another purpose of the embodiment of the invention is to provide a kind of controllor for step-by-step motor that comprises above-mentioned micro-stepping control device.
The embodiment of the invention adopts the electric current after compensating that stepping motor is carried out micro-stepping control according to B-H loop compensation data cosine electric current, has effectively improved the stepping uniformity of stepping motor micro-stepping control; Realized high-precision open loop control, and simple in structure, and cost is low; Be easy to realize; Workload is little, and size is little, can satisfy the demand of batch production technique.
Description of drawings
The realization flow figure of the micro-stepping control method that Fig. 1 provides for first embodiment of the invention;
The realization flow figure of the micro-stepping control method that Fig. 2 provides for second embodiment of the invention;
Fig. 3 returns curve chart for the magnetic hysteresis of the micro-stepping control method that second embodiment of the invention provides;
The counter clockwise direction current compensation figure of the micro-stepping control method that Fig. 4 (a) provides for second embodiment of the invention;
The clockwise direction current compensation figure of the micro-stepping control method that Fig. 4 (b) provides for second embodiment of the invention;
The realization flow figure of the micro-stepping control method that Fig. 5 provides for third embodiment of the invention;
The magnetic flux state diagram of the micro-stepping control method that Fig. 6 provides for third embodiment of the invention;
The magnetic hysteresis that the micro-stepping control method that Fig. 7 provides for third embodiment of the invention generates when electric current descends is returned curve chart;
The magnetic hysteresis that the micro-stepping control method that Fig. 8 provides for third embodiment of the invention generates when electric current rises is returned curve chart;
The current waveform after the counter clockwise direction compensation of the micro-stepping control method that Fig. 9 provides for third embodiment of the invention and the contrast relationship figure of cosine electric current;
The current waveform after the clockwise direction compensation of the micro-stepping control method that Figure 10 provides for third embodiment of the invention and the contrast relationship figure of cosine electric current;
The arbitrary phase angle of the micro-stepping control method that Figure 11 provides for third embodiment of the invention changes current waveform and the contrast relationship figure of cosine electric current behind the directional compensation;
Figure 12 shows the realization flow figure of the micro-stepping control method that fourth embodiment of the invention provides;
The structure chart of the micro-stepping control device that Figure 13 provides for the embodiment of the invention;
The first example structure figure of the micro-stepping control device that Figure 14 provides for the embodiment of the invention;
The second exemplary circuit structure chart of the micro-stepping control device that Figure 15 provides for the embodiment of the invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The embodiment of the invention is through being used for the micro-stepping Control current of stepping motor excitation according to motor coil soft magnetic bodies B-H loop compensation data; Need not stepping motor is carried out location position; Improve the stepping uniformity of stepping motor micro-stepping control simply and effectively, realized high-precision open loop control.
In embodiments of the present invention; Cosine electric current with some coils of motor is that example describes; The enforcement that can on the basis of considering the cosine current and phase difference, use the same method of the electric current of all coils, the phase difference calculating of the cosine electric current of different coils is a prior art, repeats no more here.
Fig. 1 shows the realization flow of the micro-stepping control method that first embodiment of the invention provides, and details are as follows:
In step S101, calculate the cosine electric current;
In step S102, generate the current compensation function according to B-H loop;
In embodiments of the present invention, when when not high, can B-H loop being approximately parallelogram to required precision; Ask for the step of current compensation function with simplification; Improve the inhomogeneities of micro-stepping stepping, when when higher, obtaining the B-H loop data through B-H loop to required precision; And ask for the current compensation function according to the B-H loop data, to realize accurate control.
Certainly, also can pass through manual calculation current compensation function, and the current compensation function that variety of way obtains is stored, to call when needed.
In step S103, according to the current compensation function cosine electric current is compensated, generate offset current;
In embodiments of the present invention; According to said current compensation function said cosine electric current is compensated calculating; Be compensated current value, and can realize offset current control, also can adopt the digital frequency synthesis technology method to generate pwm signal by programmable current control circuit control Driver Circuit; Adjust the electric current of coil by the power device of pwm signal driven MOS pipe or Darlington transistor etc., realize offset current control.
In step S104, stepping motor is carried out micro-stepping control through offset current.
In embodiments of the present invention, through offset current the Control current in the motor coil is revised, current change quantity makes Control current after the compensation in the change procedure that increases or reduce; Magnetic flux is thereupon in real time to change, to guarantee improving the inhomogeneities of micro-stepping stepping through effective, the real-time micro-stepping control of carrying out of cosine Control current to motor; Realized high-precision open loop control, and simple in structure, and cost is low; Be easy to realize; Workload is little, and size is little, can satisfy the demand of batch production technique.
Fig. 2 shows the realization flow of the micro-stepping control method that second embodiment of the invention provides, and details are as follows:
In step S201, calculate the cosine electric current;
In step S202, obtain the B-H loop function, and be the parallelogram function this B-H loop approximation to function;
In embodiments of the present invention; B-H loop is approximately parallelogram, replaces the B-H loop function, can significantly simplify calculating and reduce the staking-out work amount through asking for the parallelogram function; Especially for the not high micro-stepping control of required precision is improved the stepping uniformity, effect is obvious.
In step S203, generate the current compensation function according to the parallelogram function;
In embodiments of the present invention, the magnetic flux that the magnetizing field of coil current produces is shown in oblique empty line of crossing initial point among Fig. 3, and as can be seen from Figure 3, when electric current is changed to by increase in the process of minimizing, the magnetic flux change that electric current changes delta I can cause is approximately 0; Similarly, when electric current is changed to by minimizing in the process of increase, the magnetic flux change that electric current changes delta I can cause also is approximately 0.
In Fig. 3, can obviously find out, when cosine electric current time differential by just becoming negative the time, penalty function is-Δ I/2; When cosine electric current time differential is become positive the time by negative, penalty function is Δ I/2.It should be noted that; If the cosine electric current can compensate according to the parallelogram function of peripheral solid line among Fig. 3 when being big electric current, if the cosine electric current can compensate according to the parallelogram function of two horizontal dotted line among Fig. 3 with two oblique solid lines formations according to actual current value when being little electric current.
In step S204, according to the current compensation function cosine electric current is compensated, generate offset current;
In step S205, stepping motor is carried out micro-stepping control through offset current.
Fig. 4 (a) and Fig. 4 (b) are respectively the current compensation figure of current compensation figure and the cosine electric current of cosine electric current when rotating counterclockwise when clockwise rotating, and the cosine electric current of dotted line before for compensation wherein is embodied as the cosine electric current after the compensation.
When the cosine electric current rotated counterclockwise, electric current fell Δ I suddenly at valley, at the peak value Δ I that skyrockets; When the cosine electric current clockwise rotates, electric current valley skyrocket Δ I, Δ I falls suddenly at peak value, make magnetic hysteresis loop jump to another parallel hypotenuse from a hypotenuse of parallelogram, avoided hysteresis, thereby realized the stepping uniformity of micro-stepping control.
In embodiments of the present invention; Ignore of the influence of other windings, think that magnetic flux is only relevant with current current value with historical magnetic flux, magnetic hysteresis loop is approximately parallelogram magnetic flux; Through being extracted penalty function, this parallelogram compensates; Under to the not high prerequisite of micro-stepping control precision demand, can significantly simplify calculating, and have tangible correction effect.
Fig. 5 shows the realization flow of the micro-stepping control method that third embodiment of the invention provides, and details are as follows:
In step S301, calculate the cosine electric current;
In step S302, the B-H loop data when generating state exchange in twos according to preset a plurality of historic states;
In embodiments of the present invention; According to required segmentation number the historic state number is set; The segmentation number is motor segment the step stop position in a circular motion a quantity, if the segmentation number be N then the historic state number be that 4N can obtain control precision preferably, certain; Can reduce the historic state number as required to reduce the surveying work amount, also can increase the historic state number as required to improve control precision.
As one embodiment of the invention, the B-H loop data comprise magnetic flux and current value.
For the motor of same model, if the historic state number is 4N, then core material is divided into 4N state in the running, and the B-H loop data S when obtaining state exchange in twos through measurement
n={ F
n, I
n, S wherein
nBe the B-H loop data under n the historic state, F
nBe the magnetic flux under n historic state, I
nIt is magnetic flux current corresponding value under n the historic state; B-H loop data when obtaining state exchange in twos can all be obtained through measurement according to the actual requirements; Also can obtain a part of B-H loop data through measurement; Generate remaining B-H loop data through interpolation again, to reduce the surveying work amount.
Be specially:
A, the preset historic state number of basis calculate magnetic flux;
The phase angle that historic state several 16 rotates stepper motor is corresponding to be divided into 16 states, and the segmentation of stepper motor step stop position is to be confirmed by the magnetic flux acting in conjunction of each coil, so all corresponding target magnetic flux (F in the phase angle of each state
0-F
16), its functional relation is promptly passed through the segmentation step of the magnetic flux control motor of each historic state and is rotated referring to Fig. 6, and in order to satisfy permanent moment of torsion demand for control, it is cosine function for the function about segmentation step control phase angle that the motor segmentation goes on foot controlled target magnetic flux,
Wherein F is the magnetic flux peak value, F
nBe the magnetic flux under n historic state, n is the historic state sequence number, is example with 2 phase motors, and the target magnetic flux of two phase coils is that phase difference is two cosine functions of 90 degree about the function at phase angle.
B, obtain the current corresponding value according to magnetic flux;
In embodiments of the present invention, through calculating or measuring and obtain magnetic flux F
0-F
16Current corresponding value I
0-I
16Under initial condition, with magnetic flux F
1Be controlled target,, improve since 0 with electric current gradually, and monitor the magnetic flux of coil, reach F up to magnetic flux with magnetic flux meters device (for example using milli tesla appearance) referring to Fig. 6
0, and record electric current I at this moment
0, to obtain the B-H loop data S under this historic state
0={ F
0, I
0, then with S
0={ F
0, I
0Be starting point, and reducing electric current, recording flux amount data reduce to F until magnetic flux simultaneously
8, record current value I at this moment
8, to obtain the B-H loop data S under the 8th historic state
8={ F
8, I
8, after this increase electric current again, increase to F until magnetic flux
1, record current value I this moment
1, and obtain the B-H loop data S under first historic state
1={ F
1, I
1, repeatedly, reduce electric current, increase to F until magnetic flux
7, record current value I this moment
7, and obtain the B-H loop data S under the 7th historic state
7={ F
7, I
7, increase electric current, increase to F until magnetic flux
2, record current value I this moment
2, and obtain the B-H loop data S under second historic state
2={ F
2, I
2... S
16={ F
16, I
16, S wherein
0={ F
0, I
0And S
16={ F
16, I
16Identical, be respectively initial position and final position.
In step S303, the B-H loop data during to state exchange are in twos carried out described point, to generate the B-H loop collection;
In embodiments of the present invention, when electric current descends, the B-H loop data (S during respectively with each state exchange
0-S
7, S
9-S
15) the B-H loop data S corresponding with minimum current
8Between carry out described point, referring to Fig. 7, the wherein empty magnetic flux that magnetizing field produces, the dotted line C of tiltedly being scribed ss
nFor the B-H loop of interpolation generation, when electric current rises, the B-H loop data (S during respectively with each state exchange
1-S
15) the B-H loop data S corresponding with maximum current
16Between carry out described point, referring to Fig. 8, wherein emptyly tiltedly be scribed ss the magnetic flux that magnetizing field produces, to obtain many B-H loop C
I, j, the function F of magnetic flux that this B-H loop is corresponding about electric current
I, j(I) with and inverse function I
I, j(F), because S
7-S
15With S
8Between described point curve and S
0With S
8Between the described point curves overlapped, S
1-S
7With S
16Between described point curve and S
8With S
16Between the described point curves overlapped, therefore can omit S
7-S
15With S
8Between described point, and S
1-S
7With S
8Between described point, to reduce workload.
For example, to S
0To S
8Described point is to obtain a B-H loop C
0,8, the function F of magnetic flux that this B-H loop is corresponding about electric current
0,8(I) with and inverse function I
0,8(F), the B-H loop data described point during successively to any two state exchanges (can advance row filter to get rid of the repetition described point at described point) is to generate B-H loop collection { C
0,8, C
1,8, C
2,8, C
3,8, C
4,8, C
5,8, C
6,8, C
7,8, C
8,9, C
8,10, C
8,11, C
8,12, C
8,13, C
8,14, C
8,15, C
8,16.
In step S304, generate the current compensation function according to the B-H loop collection;
According to { C
0,8, C
1,8, C
2,8, C
3,8, C
4,8, C
5,8, C
6,8, C
7,8, C
8,9, C
8,10, C
8,11, C
8,12, C
8,13, C
8,14, C
8,15, C
8,16Function I when extracting the various states conversion
0,8(F), I
1,8(F), I
2,8(F), I
3,8(F), I
4,8(F), I
5,8(F), I
6,8(F), I
7,8(F), I
9,8(F), I
8,10(F), I
8,11(F), I
8,12(F), I
8,13(F), I
8,14(F), I
8,15(F), I
8,16(F) as the current compensation function.
In step S304, according to the current compensation function cosine electric current is compensated, generate offset current;
In step S305, stepping motor is carried out micro-stepping control through offset current.
In embodiments of the present invention, when needs control motor continues to rotate clockwise, at first apply I to motor
0Electric current, think that motor coil this moment, state was S
0, circle magnetic flux is F at this moment
0, then according to B-H loop C
0,8Current corresponding penalty function I
0,8(F) the cosine electric current is compensated, and regulate change in current through drive circuit, a time cycle of every then interval (by the control rate decision) applies electric current I to coil successively
0,8(F
7), I
0,8(F
6) ..., I
0,8(F
8), the motor S that gets the hang of so far
8, then according to B-H loop C
8,16Current corresponding penalty function I
0,8(F), time cycle of every then interval applies electric current I to coil successively
8,16(F
9), I
8,16(F
10) ..., I
8,16(F
16).So far accomplished the control of a current cycle, subsequent cycle property repeats to realize the step motor control of uniform angular velocity.The contrast relationship of current waveform after the compensation and cosine electric current is referring to Fig. 9.
When needs control motor continues the counterclockwise rotation, at first apply I to motor
16Electric current, think that motor coil this moment, state was S
16, circle magnetic flux is F at this moment
16, then according to B-H loop C
16,8Current corresponding penalty function I
16,8(F), a time cycle of every then interval (by the control rate decision) applies electric current I to coil successively
16,8(F
7), I
16,8(F
6) ..., I
16,8(F
8), the motor S that gets the hang of so far
8, then according to B-H loop C
8,0Current corresponding penalty function I
8,0(F), time cycle of every then interval applies electric current I to coil successively
8,0(F
7), I
8,0(F
6) ..., I
8,0(F
0).So far accomplished the control of a current cycle, subsequent cycle property repeats to realize the step motor control of uniform angular velocity.The contrast relationship of Control current waveform and cosine electric current is referring to Figure 10.
When needs control motor changes the counterclockwise motion into by motion clockwise; Method is also similar; Phase place corresponding historical state with steering position is selected B-H loop; Select the current compensation function according to B-H loop then, according to penalty function the cosine electric current is implemented the current value after compensation obtains compensation at last.
Illustrate below.Suppose that control task is: at first reach the clockwise 17/16 tooth pitch position of moving, just 405 degree phase place places control the motor counter motion then, require to keep each micro-stepping stepping of motor more even in the control procedure.At first control the motor clockwise earlier according to the said method in front and move to 405 degree phase places, the coil state is S
3, select magnetic hysteresis loop C then
30, control motor inverse clock moves to 360 phase places, and the coil state is S
0, continue then to apply Control current enforcement control according to the control method of inverse clock, in the motion of * point inverse clock, the contrast relationship of current waveform after the compensation and cosine electric current is referring to Figure 11.
Be appreciated that 405 above-mentioned degree phase angles are a common phase angle, the implementer can select the arbitrary phase angle as required, selects corresponding B-H loop with similar methods, turns to with realizing place, arbitrary phase angle.
Generally speaking; For any coil of motor, when the cosine electric current becomes minimizing by increase, the violent reduction of the relative cosine electric current of Control current; That is to say that begin the cosine electric current is applied a negative offset current this moment; When the cosine electric current became increase by minimizing, the violent increase of the relative cosine electric current of Control current that is to say that begin the cosine electric current is applied a positive offset current this moment.
Figure 12 shows the realization flow of the micro-stepping control method that fourth embodiment of the invention provides, and details are as follows:
In step S401, the coil magnetic core is carried out demagnetization handle;
In embodiments of the present invention, through the coil magnetic core being carried out demagnetization with further raising precision.
In step S402, calculate the cosine electric current;
In step S403, generate the current compensation function according to B-H loop;
In step S404, according to the current compensation function cosine electric current is compensated, generate offset current;
In step S405, stepping motor is carried out micro-stepping control through offset current;
In step S406, whether checking motor micro-stepping control precision reaches preset standard;
If then carry out do-nothing operation;
If not, then execution in step S407 increases historical appearance status number, and returns execution in step S403 again.
In embodiments of the present invention; Can service precision higher photoelectric encoder is measured each micro-stepping amount of spin of motor; And calculate the variance yields of this amount of spin, if variance yields is during greater than preset standard, then the precision of motor micro-stepping control can not reach preset standard; If variance yields is during less than preset standard, then the precision of motor micro-stepping control can reach preset standard.
In embodiments of the present invention, the Control current in the motor coil is revised through the current compensation function, for electric current in by the process that is increased to minimizing, the violent reduction of the relative cosine electric current of Control current; When the cosine electric current becomes increase by minimizing, the violent increase of the relative cosine electric current of Control current, and magnetic flux is thereupon in real time to change; To guarantee having realized open loop micro-stepping control, effectively improved the stepping uniformity of stepping motor micro-stepping control through of effective, the real-time micro-stepping control of carrying out of cosine Control current to motor; And simple in structure, cost is low, is easy to realize; Workload is little, and size is little, can satisfy the demand of batch production technique.
Figure 13 shows the structure of the micro-stepping control device that one embodiment of the invention provides, and for the ease of explanation, only shows the part relevant with the embodiment of the invention.
As one embodiment of the invention, this micro-stepping control device can be applied in the various controllor for step-by-step motor, and this device comprises:
Penalty function generation unit 72 is used for generating the current compensation function according to B-H loop;
Figure 14 shows first example structure of the micro-stepping control device that the embodiment of the invention provides, and for the ease of explanation, only shows the part relevant with the embodiment of the invention.
Penalty function generation unit 72 comprises:
B-H loop function acquisition module 721 is used to obtain the B-H loop function, and is the parallelogram function with this B-H loop approximation to function;
Penalty function generation module 722 is used for generating the current compensation function according to the parallelogram function.
In embodiments of the present invention, when cosine electric current time differential by just becoming negative the time, said current compensation function is-Δ I/2; When cosine electric current time differential is become positive the time by negative, the current compensation function is Δ I/2.
Figure 15 shows second example structure of the micro-stepping control device that the embodiment of the invention provides, and for the ease of explanation, only shows the part relevant with the embodiment of the invention.
Penalty function acquiring unit 72 can also comprise:
B-H loop data acquisition module 723, the B-H loop data when being used for generating state exchange in twos according to preset a plurality of historic states;
B-H loop collection generation module 724, the B-H loop data when being used for state exchange are in twos carried out described point, to generate the B-H loop collection;
Penalty function generation module 725 is used for generating the current compensation function according to the B-H loop collection.
The embodiment of the invention adopts the electric current after compensating that stepping motor is carried out micro-stepping control according to B-H loop compensation data cosine electric current, has realized open loop micro-stepping control; Effectively improved the stepping uniformity of stepping motor micro-stepping control, and simple in structure, and cost is low; Be easy to realize; Workload is little, and size is little, can satisfy the demand of batch production technique.
More than be merely preferred embodiment of the present invention,, all any modifications of within spirit of the present invention and principle, being done, be equal to and replace and improvement etc., all should be included within protection scope of the present invention not in order to restriction the present invention.
Claims (10)
1. a micro-stepping control method is characterized in that, said method comprises the steps:
Calculate the cosine electric current;
Generate the current compensation function according to B-H loop;
According to said current compensation function said cosine electric current is compensated, generate offset current;
Through said offset current stepping motor is carried out micro-stepping control.
2. the method for claim 1 is characterized in that, said step according to B-H loop generation current compensation function is specially:
Obtain the B-H loop function, and be the parallelogram function said B-H loop approximation to function;
Generate the current compensation function according to said parallelogram function.
3. method as claimed in claim 2 is characterized in that, when cosine electric current time differential by just becoming negative the time, said current compensation function is-Δ I/2; When cosine electric current time differential is become positive the time by negative, the current compensation function is Δ I/2.
4. the method for claim 1 is characterized in that, said step according to B-H loop generation current compensation function is specially:
B-H loop data when generating state exchange in twos according to preset a plurality of historic states;
Said B-H loop data are carried out described point, to generate the B-H loop collection;
Generate the current compensation function according to the B-H loop collection.
5. the method for claim 1 is characterized in that, before the step of said calculating cosine electric current, also comprises the steps:
The coil magnetic core is carried out demagnetization to be handled.
6. the method for claim 1 is characterized in that, after said step of stepping motor being carried out micro-stepping control through said offset current, also comprises the steps:
Whether checking motor micro-stepping control precision reaches preset standard;
If then carry out do-nothing operation;
If not, then increase historical appearance status number, and return and carry out the said step that generates the current compensation function according to B-H loop again.
7. a micro-stepping control device is characterized in that, said device comprises:
Current calculation unit is used to calculate the cosine electric current;
The penalty function generation unit is used for generating the current compensation function according to B-H loop;
The current compensation unit is used for according to said current compensation function said cosine electric current being compensated, and generates offset current;
The micro-stepping control unit is used for through said offset current stepping motor being carried out micro-stepping control.
8. device as claimed in claim 7 is characterized in that, said penalty function generation unit comprises:
The B-H loop acquisition module is used to obtain the B-H loop function, and is the parallelogram function with said B-H loop approximation to function;
The penalty function generation module is used for generating the current compensation function according to said parallelogram function.
9. device as claimed in claim 7 is characterized in that, said penalty function acquiring unit comprises:
The B-H loop data acquisition module, the B-H loop data when being used for generating state exchange in twos according to preset a plurality of historic states;
B-H loop collection generation module is used for said B-H loop data are carried out described point, to generate the B-H loop collection;
The penalty function generation module is used for generating the current compensation function according to said B-H loop collection.
10. a controllor for step-by-step motor is characterized in that, the micro-stepping control device in the said controllor for step-by-step motor is like each described micro-stepping control device of claim 7 to 9.
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| CN111550592A (en) * | 2019-02-12 | 2020-08-18 | 杭州三花研究院有限公司 | Control method, control system and electric valve |
| CN113078859A (en) * | 2021-04-22 | 2021-07-06 | 浙江沪龙科技股份有限公司 | Step motor system subdivision adaptive interpolation method |
| CN113386475A (en) * | 2021-04-30 | 2021-09-14 | 深圳市博思得科技发展有限公司 | Paper feeding precision calibration method and calibration system |
| CN113483708A (en) * | 2021-07-22 | 2021-10-08 | 山东建筑大学 | Position measurement system and calibration method based on planar polar coordinate system |
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