CN102664576B - 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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Abstract
本发明适用于机电领域,提供了一种微步控制方法、装置及步进电机控制器,所述方法包括下述步骤:计算余弦电流;根据磁滞曲线生成电流补偿函数;根据电流补偿函数对余弦电流进行补偿,生成补偿电流;通过补偿电流对步进电机进行微步控制。本发明根据磁滞曲线数据补偿余弦电流,采用补偿后的电流对步进电机进行微步控制,有效提高了步进电机微步控制的步进均匀性,实现了高精度的开环控制,并且结构简单,成本低,易于实现,工作量小,尺寸小,能够满足量产工艺的需求。
The present invention is applicable to the electromechanical field, and provides a micro-step control method and device and a stepping motor controller. The method includes the following steps: calculating the cosine current; generating a current compensation function according to the hysteresis curve; The cosine current is compensated to generate a compensation current; the stepper motor is controlled in microsteps through the compensation current. The invention compensates the cosine current according to the hysteresis curve data, uses the compensated current to perform micro-step control on the stepping motor, effectively improves the stepping uniformity of the micro-step control of the stepping motor, realizes high-precision open-loop control, and The structure is simple, the cost is low, the implementation is easy, the workload is small, and the size is small, which can meet the requirements of the mass production process.
Description
技术领域 technical field
本发明属于机电领域,尤其涉及一种微步控制方法、装置及步进电机控制器。 The invention belongs to the electromechanical field, and in particular relates to a micro-step control method, a device and a step motor controller.
背景技术 Background technique
为了缩小步进电机的步距角,提高控制精度和分辨率,业界普遍采用余弦电流控制法对马达进行微步控制,即通过在步进电机的绕组上施加具有一定相位差的余弦控制电流,将步进马达的每一个整步细分为2个以上的微步,进而实现微步控制。 In order to reduce the step angle of the stepping motor and improve the control accuracy and resolution, the industry generally adopts the cosine current control method to control the motor in microsteps, that is, by applying a cosine control current with a certain phase difference to the winding of the stepping motor, Each full step of the stepping motor is subdivided into more than 2 microsteps to realize microstep control.
然而,在余弦电流控制法中,由于铁芯的磁滞因素严重影响步进电机步进(以及扭矩)的均匀性,并且在步进电机转换方向时,因磁芯的磁滞产生停止使齿轮位置的变化滞后于控制变化,导致步长不均匀以及正向步长与反向步长不相等。 However, in the cosine current control method, the hysteresis factor of the iron core seriously affects the uniformity of stepping (and torque) of the stepping motor, and when the stepping motor changes direction, the hysteresis of the core stops the gear Changes in position lag behind control changes, resulting in uneven step sizes and unequal forward and reverse step sizes.
目前,由于传统的开环控制系统实现微步控制,精度通常较低,难以满足市场对步进电机精度控制的要求,因此通常采用两种闭环控制系统对步进位置进行标定实现微步控制的步进(以及扭矩)的均匀性,其一为:采用光电编码器、磁旋转编码器、光珊尺和磁珊尺等位置传感器形成反馈回路,控制器根据反馈数据动态调整控制参数,实现线性位置控制的目的。该方案的缺陷在于,需要使用昂贵的位置传感器、成本高,并且由于对安装尺寸有特殊要求,难以满足紧凑型产品的应用需求。 At present, because the traditional open-loop control system realizes micro-step control, the accuracy is usually low, and it is difficult to meet the market's requirements for the precision control of stepper motors. Therefore, two closed-loop control systems are usually used to calibrate the step position to achieve micro-step control. The uniformity of stepping (and torque), one of which is: using position sensors such as photoelectric encoders, magnetic rotary encoders, optical rulers and magnetic rulers to form a feedback loop, and the controller dynamically adjusts the control parameters according to the feedback data to achieve linearity. purpose of position control. The disadvantage of this solution is that expensive position sensors need to be used, the cost is high, and it is difficult to meet the application requirements of compact products due to special requirements for installation dimensions.
其二为:使用光电编码器或者光栅尺事先记录步进电机转动的步距角映射表,以表格的方式存储,根据目标的转角反向查表,获得最佳的步进控制指令。该方案的缺陷在于,需要对每个马达分别标定,工作量大,难易满足量产工艺的需求,并且,由于磁滞回线的路径与软磁芯绕组的历史状态有关,如果在绕组历史状态不同的时候使用统一的微步步距角映射表,则位置标定需要覆盖所有的历史状态,标定工作量程指数上升,更难以满足量产工艺的需求,尤其是在不同的位置改变运动方向时,会造成不同程度的难以预测的误差。 The second is: use a photoelectric encoder or a grating ruler to record the step angle mapping table of the stepper motor in advance, store it in the form of a table, and look up the table in reverse according to the target rotation angle to obtain the best step control command. The disadvantage of this solution is that each motor needs to be calibrated separately, the workload is large, and it is difficult to meet the needs of mass production technology. Moreover, since the path of the hysteresis loop is related to the historical state of the soft magnetic core winding, if the winding history When using a unified microstep step angle mapping table when the state is different, the position calibration needs to cover all historical states, and the calibration working range index increases, making it more difficult to meet the needs of mass production technology, especially when changing the direction of motion at different positions , will cause varying degrees of unpredictable errors.
发明内容 Contents of the invention
本发明实施例的目的在于提供一种微步控制方法,旨在解决现有微步控制方法精度低,成本高,尺寸大,以及标定工作量大,难易满足量产工艺的需求的问题。 The purpose of the embodiment of the present invention is to provide a micro-step control method, aiming to solve the problems of low precision, high cost, large size, large calibration workload and difficulty in meeting the requirements of mass production process in the existing micro-step control method.
本发明实施例是这样实现的,一种微步控制方法,所述方法包括下述步骤: The embodiment of the present invention is achieved in this way, a micro-step control method, the method includes the following steps:
计算余弦电流;获取磁滞曲线函数,并将所述磁滞曲线函数近似为平行四边形函数;根据所述平行四边形函数生成电流补偿函数;根据所述电流补偿函数对所述余弦电流进行补偿,生成补偿电流;通过所述补偿电流对步进电机进行微步控制。 calculating the cosine current; obtaining a hysteresis curve function, and approximating the hysteresis curve function to a parallelogram function; generating a current compensation function according to the parallelogram function; compensating the cosine current according to the current compensation function to generate Compensation current; through the compensation current, micro-step control is performed on the stepping motor.
本发明实施例的另一目的在于提供一种微步控制装置,所述装置包括: Another object of the embodiments of the present invention is to provide a micro-step control device, which includes:
电流计算单元,用于计算余弦电流;磁滞曲线获取模块,用于获取磁滞曲线函数,并将所述磁滞曲线函数近似为平行四边形函数;补偿函数生成模块,用于根据所述平行四边形函数生成电流补偿函数;电流补偿单元,用于根据所述电流补偿函数对所述余弦电流进行补偿,生成补偿电流;微步控制单元,用于通过所述补偿电流对步进电机进行微步控制。 The current calculation unit is used to calculate the cosine current; the hysteresis curve acquisition module is used to obtain the hysteresis curve function, and the hysteresis curve function is approximated as a parallelogram function; the compensation function generation module is used to obtain the hysteresis curve function according to the parallelogram The function generates a current compensation function; the current compensation unit is used to compensate the cosine current according to the current compensation function to generate a compensation current; the micro-step control unit is used to perform micro-step control on the stepping motor through the compensation current .
本发明实施例的另一目的在于提供一种包括上述微步控制装置的步进电机控制器。 Another object of the embodiments of the present invention is to provide a stepping motor controller comprising the above-mentioned micro-stepping control device.
本发明实施例根据磁滞曲线数据补偿余弦电流,采用补偿后的电流对步进电机进行微步控制,有效提高了步进电机微步控制的步进均匀性,实现了高精度的开环控制,并且结构简单,成本低,易于实现,工作量小,尺寸小,能够满足量产工艺的需求。 The embodiment of the present invention compensates the cosine current according to the hysteresis curve data, uses the compensated current to perform micro-step control on the stepping motor, effectively improves the step uniformity of the micro-step control of the stepping motor, and realizes high-precision open-loop control , and is simple in structure, low in cost, easy to implement, small in workload and small in size, and can meet the requirements of mass production technology.
附图说明 Description of drawings
图1为本发明第一实施例提供的微步控制方法的实现流程图; Fig. 1 is the implementation flowchart of the micro-step control method provided by the first embodiment of the present invention;
图2为本发明第二实施例提供的微步控制方法的实现流程图; Fig. 2 is the implementation flowchart of the micro-step control method provided by the second embodiment of the present invention;
图3为本发明第二实施例提供的微步控制方法的磁滞回曲线图; 3 is a hysteresis curve diagram of the micro-step control method provided by the second embodiment of the present invention;
图4(a)为本发明第二实施例提供的微步控制方法的逆时针方向电流补偿图; Fig. 4 (a) is the counterclockwise current compensation diagram of the micro-step control method provided by the second embodiment of the present invention;
图4(b)为本发明第二实施例提供的微步控制方法的顺时针方向电流补偿图; Fig. 4 (b) is the clockwise current compensation diagram of the micro-step control method provided by the second embodiment of the present invention;
图5为本发明第三实施例提供的微步控制方法的实现流程图; Fig. 5 is the implementation flowchart of the micro-step control method provided by the third embodiment of the present invention;
图6为本发明第三实施例提供的微步控制方法的磁通量状态图; Fig. 6 is a magnetic flux state diagram of the micro-step control method provided by the third embodiment of the present invention;
图7为本发明第三实施例提供的微步控制方法在电流下降时生成的磁滞回曲线图; 7 is a hysteresis curve generated when the current drops by the micro-step control method provided by the third embodiment of the present invention;
图8为本发明第三实施例提供的微步控制方法在电流上升时生成的磁滞回曲线图; Fig. 8 is a hysteresis curve generated when the current rises by the micro-step control method provided by the third embodiment of the present invention;
图9为本发明第三实施例提供的微步控制方法的逆时针方向补偿后的电流波形与余弦电流的对照关系图; FIG. 9 is a diagram showing the relationship between the counterclockwise compensated current waveform and the cosine current in the micro-step control method provided by the third embodiment of the present invention;
图10为本发明第三实施例提供的微步控制方法的顺时针方向补偿后的电流波形与余弦电流的对照关系图; Fig. 10 is a comparative relationship diagram between the clockwise compensated current waveform and the cosine current in the micro-step control method provided by the third embodiment of the present invention;
图11为本发明第三实施例提供的微步控制方法的任意相位角改变方向补偿后的电流波形与余弦电流的对照关系图; Fig. 11 is a diagram of the relationship between the current waveform and the cosine current after any phase angle change direction compensation of the micro-step control method provided by the third embodiment of the present invention;
图12示出了本发明第四实施例提供的微步控制方法的实现流程图; Fig. 12 shows the flow chart of realizing the micro-step control method provided by the fourth embodiment of the present invention;
图13为本发明实施例提供的微步控制装置的结构图; Fig. 13 is a structural diagram of a micro-step control device provided by an embodiment of the present invention;
图14为本发明实施例提供的微步控制装置的第一示例结构图; Fig. 14 is a structural diagram of a first example of a micro-step control device provided by an embodiment of the present invention;
图15为本发明实施例提供的微步控制装置的第二示例电路结构图。 Fig. 15 is a circuit structure diagram of a second example of the micro-step control device provided by the embodiment of the present invention.
具体实施方式 Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。 In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
本发明实施例通过根据马达线圈软磁体磁滞曲线数据补偿用于步进电机励磁的微步控制电流,无需对步进电机进行位置标定,简单有效地提高了步进电机微步控制的步进均匀性,实现了高精度的开环控制。 The embodiment of the present invention compensates the micro-step control current used for the excitation of the stepping motor according to the data of the hysteresis curve of the soft magnetic body of the motor coil, without needing to calibrate the position of the stepping motor, and simply and effectively improves the stepping speed of the micro-step control of the stepping motor. Uniformity, to achieve high-precision open-loop control.
在本发明实施例中,以马达的某一个线圈的余弦电流为例进行说明,所有线圈的电流都可以在考虑余弦电流相位差的基础上用同样的方法实施,不同线圈的余弦电流的相位差计算为现有技术,此处不再赘述。 In the embodiment of the present invention, the cosine current of a certain coil of the motor is used as an example for illustration. The currents of all coils can be implemented in the same way on the basis of considering the phase difference of the cosine current. The phase difference of the cosine current of different coils The calculation is a prior art and will not be repeated here.
图1示出了本发明第一实施例提供的微步控制方法的实现流程,详述如下: Fig. 1 shows the implementation process of the micro-step control method provided by the first embodiment of the present invention, which is described in detail as follows:
在步骤S101中,计算余弦电流; In step S101, calculate the cosine current;
在步骤S102中,根据磁滞曲线生成电流补偿函数; In step S102, a current compensation function is generated according to the hysteresis curve;
在本发明实施例中,当对精度要求不高时,可以将磁滞曲线近似为平行四边形,以简化求取电流补偿函数的步骤,改善微步步进的不均匀性,当对精度要求较高时,可以通过磁滞曲线获取磁滞曲线数据,并根据磁滞曲线数据求取电流补偿函数,以实现精确控制。 In the embodiment of the present invention, when the accuracy requirement is not high, the hysteresis curve can be approximated as a parallelogram to simplify the steps of obtaining the current compensation function and improve the non-uniformity of the microstep step. When it is high, the hysteresis curve data can be obtained through the hysteresis curve, and the current compensation function can be calculated according to the hysteresis curve data to achieve precise control.
当然,也可以通过人工计算电流补偿函数,并将各种方式得到的电流补偿函数进行存储,以在需要时进行调用。 Of course, the current compensation function can also be calculated manually, and the current compensation function obtained in various ways can be stored for calling when needed.
在步骤S103中,根据电流补偿函数对余弦电流进行补偿,生成补偿电流; In step S103, the cosine current is compensated according to the current compensation function to generate a compensation current;
在本发明实施例中,根据所述电流补偿函数对所述余弦电流进行补偿计算,得到补偿电流值,并可以由可编程电流控制电路控制驱动电路实现补偿电流控制,也可以采用数字频率合成技术方法生成PWM信号,由PWM信号驱动MOS管或者达林顿管等的功率器件来调整线圈的电流,实现补偿电流控制。 In the embodiment of the present invention, the cosine current is compensated and calculated according to the current compensation function to obtain the compensation current value, and the programmable current control circuit can control the driving circuit to realize the compensation current control, and digital frequency synthesis technology can also be used The method generates a PWM signal, and the power device such as a MOS tube or a Darlington tube is driven by the PWM signal to adjust the current of the coil to realize compensation current control.
在步骤S104中,通过补偿电流对步进电机进行微步控制。 In step S104, micro-step control is performed on the stepping motor through the compensation current.
在本发明实施例中,通过补偿电流对马达线圈中的控制电流进行修正,电 流变化量使补偿后的控制电流在增大或者减小的变化过程中,磁通量随之实时对应变化,以保证通过余弦控制电流对马达的进行有效、实时的微步控制,改善微步步进的不均匀性,实现了高精度的开环控制,并且结构简单,成本低,易于实现,工作量小,尺寸小,能够满足量产工艺的需求。 In the embodiment of the present invention, the control current in the motor coil is corrected by the compensation current, and the amount of current variation causes the magnetic flux to change in real time during the process of increasing or decreasing the compensated control current, so as to ensure Effective and real-time micro-step control of the motor through the cosine control current improves the unevenness of micro-stepping and realizes high-precision open-loop control. It has simple structure, low cost, easy implementation, small workload and small size. Small enough to meet the needs of mass production processes.
图2示出了本发明第二实施例提供的微步控制方法的实现流程,详述如下: Fig. 2 shows the implementation flow of the micro-step control method provided by the second embodiment of the present invention, which is described in detail as follows:
在步骤S201中,计算余弦电流; In step S201, calculate the cosine current;
在步骤S202中,获取磁滞曲线函数,并将该磁滞曲线函数近似为平行四边形函数; In step S202, the hysteresis curve function is obtained, and the hysteresis curve function is approximated as a parallelogram function;
在本发明实施例中,将磁滞曲线近似为平行四边形,通过求取平行四边形函数代替磁滞曲线函数,可以大幅简化计算以及减小标定工作量,尤其对于对精度要求不高的微步控制提高步进均匀性,效果明显。 In the embodiment of the present invention, the hysteresis curve is approximated as a parallelogram, and by finding the parallelogram function instead of the hysteresis curve function, the calculation can be greatly simplified and the calibration workload can be reduced, especially for micro-step control that does not require high precision. Improve the step uniformity, the effect is obvious.
在步骤S203中,根据平行四边形函数生成电流补偿函数; In step S203, a current compensation function is generated according to a parallelogram function;
在本发明实施例中,线圈电流的磁化场产生的磁通量如图3中过原点的斜点虚划线所示,从图3中可以看出,当电流由增加变到减少的过程中,电流变化ΔI能引起的磁通量变化近似为0;类似地,当电流由减少变化到增加的过程中,电流变化ΔI能引起的磁通量变化也近似为0。 In the embodiment of the present invention, the magnetic flux generated by the magnetization field of the coil current is shown as the dotted dashed line crossing the origin in Fig. 3. It can be seen from Fig. 3 that when the current changes from increasing to decreasing, the current The change of magnetic flux caused by change ΔI is approximately 0; similarly, when the current changes from decreasing to increasing, the change of magnetic flux caused by current change ΔI is also approximately 0.
在图3中可以明显看出,当余弦电流对时间的微分由正变为负的时候,补偿函数为-ΔI/2;当余弦电流对时间的微分由负变为正的时候,补偿函数为ΔI/2。值得注意的是,若余弦电流为大电流时可以按照图3中外围实线的平行四边形函数进行补偿,若余弦电流为小电流时可以根据实际电流值按照图3中两水平虚线与两斜实线构成的平行四边形函数进行补偿。 It can be clearly seen in Figure 3 that when the differential of cosine current to time changes from positive to negative, the compensation function is -ΔI/2; when the differential of cosine current to time changes from negative to positive, the compensation function is ΔI/2. It is worth noting that if the cosine current is a large current, it can be compensated according to the parallelogram function of the peripheral solid line in Figure 3; The parallelogram function formed by the lines is compensated.
在步骤S204中,根据电流补偿函数对余弦电流进行补偿,生成补偿电流; In step S204, the cosine current is compensated according to the current compensation function to generate a compensation current;
在步骤S205中,通过补偿电流对步进电机进行微步控制。 In step S205, micro-step control is performed on the stepping motor through the compensation current.
图4(a)和图4(b)分别为余弦电流逆时针转动时的电流补偿图和余弦电流顺时针转动时的电流补偿图,其中虚线为补偿前的余弦电流,实现为补偿后的余弦电流。 Figure 4(a) and Figure 4(b) are the current compensation diagram when the cosine current rotates counterclockwise and the current compensation diagram when the cosine current rotates clockwise, where the dotted line is the cosine current before compensation, which is realized as the cosine after compensation current.
当余弦电流逆时针转动时,电流在谷值陡降ΔI、在峰值陡升ΔI;当余弦电流顺时针转动时,电流在谷值陡升ΔI、在峰值陡降ΔI,使磁滞回线从平行四边形的一斜边跳转到另一平行斜边,避免了磁滞现象,从而实现微步控制的步进均匀性。 When the cosine current turns counterclockwise, the current drops ΔI at the valley and rises ΔI at the peak; when the cosine current turns clockwise, the current rises ΔI at the valley and drops ΔI at the peak, making the hysteresis loop from One hypotenuse of the parallelogram jumps to another parallel hypotenuse, avoiding hysteresis, thereby realizing step uniformity of micro-step control.
在本发明实施例中,忽略其他绕组对磁通量的影响,认为磁通量仅与历史磁通量和当前电流值有关,将磁滞回线近似为平行四边形,通过对该平行四边形提取补偿函数进行补偿,在对微步控制精度需求不高的前提下,可以大幅简化计算,并具有明显的修正效果。 In the embodiment of the present invention, the influence of other windings on the magnetic flux is ignored, and the magnetic flux is considered to be only related to the historical magnetic flux and the current current value, and the hysteresis loop is approximated as a parallelogram, and the compensation function is extracted from the parallelogram to compensate. Under the premise that the precision of micro-step control is not high, the calculation can be greatly simplified, and it has obvious correction effect.
图5示出了本发明第三实施例提供的微步控制方法的实现流程,详述如下: Figure 5 shows the implementation process of the micro-step control method provided by the third embodiment of the present invention, which is described in detail as follows:
在步骤S301中,计算余弦电流; In step S301, calculate the cosine current;
在步骤S302中,根据预设的多个历史状态生成两两状态转换时的磁滞曲线数据; In step S302, generate hysteresis curve data when two or two state transitions are made according to a plurality of preset historical states;
在本发明实施例中,根据所需求的细分数设置历史状态数,细分数为马达在一个圆周运动中细分步停止位置的数量,若细分数为N则历史状态数为4N即可获得较好的控制精度,当然,可以根据需要降低历史状态数以减少测量工作量,也可以根据需要增加历史状态数以提高控制精度。 In the embodiment of the present invention, the number of historical states is set according to the required number of subdivisions. The number of subdivisions is the number of subdivision step stop positions of the motor in a circular motion. If the number of subdivisions is N, the number of historical states is 4N. Better control accuracy can be obtained. Of course, the number of historical states can be reduced to reduce the measurement workload as required, and the number of historical states can also be increased to improve control accuracy.
作为本发明一实施例,磁滞曲线数据包括磁通量和电流值。 As an embodiment of the present invention, the hysteresis curve data includes magnetic flux and current values.
对于同一型号的马达,若历史状态数为4N,则将磁芯材料在运转时分为4N个状态,并通过测量获取两两状态转换时的磁滞曲线数据Sn={Fn,In},其中Sn为第n个历史状态下的磁滞曲线数据,Fn为在第n个历史状态下的磁通量,In为第n个历史状态下磁通量对应的电流值,获取两两状态转换时的磁滞曲线数据可以根据实际需求全部通过测量获取,也可以通过测量获取一部分磁滞曲线数据,再通过插值生成其余的磁滞曲线数据,以减少测量工作量。 For the same type of motor, if the number of historical states is 4N, divide the magnetic core material into 4N states during operation, and obtain the hysteresis curve data S n ={F n , I n } when two states are switched by measurement , where S n is the hysteresis curve data in the nth historical state, F n is the magnetic flux in the nth historical state, and I n is the current value corresponding to the magnetic flux in the nth historical state, to obtain the pairwise state transition The hysteresis curve data can be obtained through measurement according to actual needs, or part of the hysteresis curve data can be obtained through measurement, and then the rest of the hysteresis curve data can be generated by interpolation to reduce the measurement workload.
具体为: Specifically:
a、根据预设历史状态数计算磁通量; a. Calculate the magnetic flux according to the preset historical state number;
历史状态数16将步进马达转动的相位角相应分为16个状态,并且步进马 达的细分步停止位置是由各线圈的磁通量共同作用确定,因此每一个状态的相位角均对应一个目标磁通量(F0-F16),其函数关系参见图6,即通过各历史状态的磁通量控制马达的细分步转动,为了满足恒扭矩控制需求,马达细分步控制目标磁通量为关于细分步控制相位角的函数为余弦函数, 其中F为磁通量峰值,Fn为在第n个历史状态下的磁通量,n为历史状态序号,以2相电机为例,两相线圈的目标磁通量关于相位角的函数为相位差为90度的两个余弦函数。 The number of historical states is 16, which divides the phase angle of the stepping motor rotation into 16 states, and the subdivision step stop position of the stepping motor is determined by the magnetic flux of each coil, so the phase angle of each state corresponds to a target Magnetic flux (F 0 -F 16 ), its functional relationship is shown in Figure 6, that is, the subdivision step rotation of the motor is controlled by the magnetic flux of each historical state. In order to meet the constant torque control requirement, the motor subdivision step control target magnetic flux is The function controlling the phase angle is a cosine function, Among them, F is the peak value of magnetic flux, F n is the magnetic flux in the nth historical state, and n is the serial number of the historical state. Taking a 2-phase motor as an example, the function of the target magnetic flux of the two-phase coils with respect to the phase angle is that the phase difference is 90 degrees Two cosine functions.
b、根据磁通量获取对应的电流值; b. Obtain the corresponding current value according to the magnetic flux;
在本发明实施例中,通过计算或者测量获取磁通量F0-F16对应的电流值I0-I16。在初始状态下,以磁通量F1为控制目标,参见图6,逐渐从0开始将电流提高,并用磁通量测量仪器(例如使用毫特斯拉仪)监测线圈的磁通量,直到磁通量达到F0,并记录此时的电流I0,以获取在该历史状态下的磁滞曲线数据S0={F0,I0},然后以S0={F0,I0}为起点,减少电流,同时记录磁通量数据,直至磁通量减少到F8,记录此时的电流值I8,以获取在第八历史状态下的磁滞曲线数据S8={F8,I8},此后再增加电流,直至磁通量增加至F1,记录此时电流值I1,并获取第一历史状态下的磁滞曲线数据S1={F1,I1},重复地,降低电流,直至磁通量增加至F7,记录此时电流值I7,并获取第七历史状态下的磁滞曲线数据S7={F7,I7},增加电流,直至磁通量增加至F2,记录此时电流值I2,并获取第二历史状态下的磁滞曲线数据S2={F2,I2},...S16={F16,I16},其中S0={F0,I0}与S16={F16,I16}相同,分别为初始位置和终点位置。 In the embodiment of the present invention, the current values I 0 -I 16 corresponding to the magnetic fluxes F 0 -F 16 are obtained through calculation or measurement. In the initial state, take the magnetic flux F 1 as the control target, see Figure 6, gradually increase the current from 0, and monitor the magnetic flux of the coil with a magnetic flux measuring instrument (such as a millitesla meter) until the magnetic flux reaches F 0 , and Record the current I 0 at this time to obtain the hysteresis curve data S 0 ={F 0 , I 0 } in this historical state, and then start from S 0 ={F 0 , I 0 }, reduce the current, and at the same time Record the magnetic flux data until the magnetic flux decreases to F 8 , record the current value I 8 at this time to obtain the hysteresis curve data S 8 ={F 8 , I 8 } in the eighth historical state, and then increase the current until The magnetic flux increases to F 1 , record the current value I 1 at this time, and obtain the hysteresis curve data S 1 ={F 1 , I 1 } in the first historical state, and repeatedly reduce the current until the magnetic flux increases to F 7 , Record the current value I 7 at this time, and obtain the hysteresis curve data S 7 ={F 7 , I 7 } in the seventh historical state, increase the current until the magnetic flux increases to F 2 , record the current value I 2 at this time, and Obtain hysteresis curve data in the second historical state S 2 ={F 2 , I 2 }, ... S 16 ={F 16 , I 16 }, where S 0 ={F 0 , I 0 } and S 16 = {F 16 , I 16 } are the same, they are the initial position and the end position respectively.
在步骤S303中,对两两状态转换时的磁滞曲线数据进行描点,以生成磁滞曲线集; In step S303, the hysteresis curve data when the two states are switched are plotted to generate a hysteresis curve set;
在本发明实施例中,在电流下降时,分别将各个状态转换时的磁滞曲线数据(S0-S7、S9-S15)与最小电流对应的磁滞曲线数据S8之间进行描点,参见图7,其中虚斜划线为磁化场产生的磁通量,虚线Cn为插值生成的磁滞曲线,在电流 上升时,分别将各个状态转换时的磁滞曲线数据(S1-S15)与最大电流对应的磁滞曲线数据S16之间进行描点,参见图8,其中虚斜划线为磁化场产生的磁通量,以获得多条磁滞曲线Ci,j,该磁滞曲线对应了磁通量关于电流的函数Fi,j(I)以及其逆函数Ii,j(F),由于S7-S15与S8之间的描点曲线与S0与S8之间的描点曲线重叠,S1-S7与S16之间的描点曲线与S8与S16之间的描点曲线重叠,因此可以省略对S7-S15与S8之间的描点,以及S1-S7与S8之间的描点,以减少工作量。 In the embodiment of the present invention, when the current drops, the hysteresis curve data (S 0 -S 7 , S 9 -S 15 ) at each state transition and the hysteresis curve data S 8 corresponding to the minimum current are respectively compared. 7, where the dotted line is the magnetic flux generated by the magnetization field, and the dotted line C n is the hysteresis curve generated by interpolation. When the current rises, the hysteresis curve data (S 1 -S 15 ) Draw points between the hysteresis curve data S16 corresponding to the maximum current, referring to Fig. 8, wherein the dotted oblique line is the magnetic flux generated by the magnetizing field, so as to obtain multiple hysteresis curves C i, j , the hysteresis curve Corresponding to the function F i, j (I) of the magnetic flux on the current and its inverse function I i, j (F), due to the point curve between S 7 -S 15 and S 8 and the point between S 0 and S 8 The curves overlap, the plotting curve between S 1 -S 7 and S 16 overlaps with the plotting curve between S 8 and S 16 , so the plotting curve between S 7 -S 15 and S 8 can be omitted, and S 1 - Points between S 7 and S 8 to reduce workload.
例如,对S0至S8描点以获得一条磁滞曲线C0,8,该磁滞曲线对应了磁通量关于电流的函数F0,8(I)以及其逆函数I0,8(F),依次对任意两个状态转换时的磁滞曲线数据描点(可以在描点前进行筛选以排除重复描点),以生成磁滞曲线集{C0,8,C1,8,C2,8,C3,8,C4,8,C5,8,C6,8,C7,8,C8,9,C8,10,C8,11,C8,12,C8,13,C8,14,C8,15,C8,16}。 For example, plot points from S 0 to S 8 to obtain a hysteresis curve C 0,8 , which corresponds to the function F 0,8 (I) of the magnetic flux with respect to the current and its inverse function I 0,8 (F), Sequentially plot the hysteresis curve data of any two state transitions (you can filter before plotting to exclude duplicate plots) to generate a hysteresis curve set {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 }.
在步骤S304中,根据磁滞曲线集生成电流补偿函数; In step S304, a current compensation function is generated according to the hysteresis curve set;
根据{C0,8,C1,8,C2,8,C3,8,C4,8,C5,8,C6,8,C7,8,C8,9,C8,10,C8,11,C8,12,C8,13,C8,14,C8,15,C8,16}提取多种状态转换时的函数I0,8(F)、I1,8(F)、I2,8(F)、I3,8(F)、I4,8(F)、I5,8(F)、I6,8(F)、I7,8(F)、I9,8(F)、I8,10(F)、I8,11(F)、I8,12(F)、I8,13(F)、I8,14(F)、I8,15(F)、I8,16(F)作为电流补偿函数。 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, 16 } extract the functions I 0, 8 (F), I 1 when various state transitions are performed , 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.
在步骤S304中,根据电流补偿函数对余弦电流进行补偿,生成补偿电流; In step S304, the cosine current is compensated according to the current compensation function to generate a compensation current;
在步骤S305中,通过补偿电流对步进电机进行微步控制。 In step S305, micro-step control is performed on the stepping motor through the compensation current.
在本发明实施例中,当需要控制马达持续顺时钟方向转动时,首先给马达施加I0的电流,认为马达线圈此时状态为S0,圈磁通量此时为F0,然后按照磁滞曲线C0,8对应的电流补偿函数I0,8(F)对余弦电流进行补偿,并通过驱动电路调节电流的变化,然后每间隔一个时间周期(由控制速度决定)依次给线圈施加电流I0,8(F7),I0,8(F6),...,I0,8(F8),至此马达进入状态S8,然后按照磁滞曲线C8,16对应的电流补偿函数I0,8(F),然后每间隔一个时间周期依次给线圈施加电流I8,16(F9),I8,16(F10),...,I8,16(F16)。至此完成了一个电流周期的控制,后续周期性重复即可实现匀角速度的步进电机控制。补偿后的电流波形与余弦电流的对照关系参见图9。 In the embodiment of the present invention, when it is necessary to control the motor to continue to rotate clockwise, first apply a current of I 0 to the motor. It is considered that the state of the motor coil is S 0 at this time, and the magnetic flux of the coil is F 0 at this time, and then according to the hysteresis curve The current compensation function I 0, 8 (F) corresponding to C 0 , 8 compensates the cosine current, and adjusts the change of the current through the driving circuit, and then applies the current I 0 to the coil sequentially every interval of a time period (determined by the control speed) , 8 (F 7 ), I 0, 8 (F 6 ), ..., I 0, 8 (F 8 ), so far the motor enters the state S 8 , and then follows the current compensation function corresponding to the hysteresis curve C 8, 16 I 0,8 (F ) , and then apply currents I 8,16 (F 9 ) , I 8,16 (F 10 ), . So far, the control of one current cycle has been completed, and the subsequent periodic repetition can realize the stepping motor control of uniform angular velocity. Refer to Figure 9 for the comparison relationship between the compensated current waveform and the cosine current.
当需要控制马达持续逆时钟方向转动时,首先给马达施加I16的电流,认为马达线圈此时状态为S16,圈磁通量此时为F16,然后按照磁滞曲线C16,8对应的电流补偿函数I16,8(F),然后每间隔一个时间周期(由控制速度决定)依次给线圈施加电流I16,8(F7),I16,8(F6),...,I16,8(F8),至此马达进入状态S8,然后按照磁滞曲线C8,0对应的电流补偿函数I8,0(F),然后每间隔一个时间周期依次给线圈施加电流I8,0(F7),I8,0(F6),...,I8,0(F0)。至此完成了一个电流周期的控制,后续周期性重复即可实现匀角速度的步进电机控制。控制电流波形与余弦电流的对照关系参见图10。 When it is necessary to control the motor to continue to rotate in the counterclockwise direction, first apply a current of I 16 to the motor. It is considered that the state of the motor coil is S 16 at this time, and the magnetic flux is F 16 at this time, and then according to the current corresponding to the hysteresis curve C 16,8 Compensation function I 16,8 (F), and then apply current I 16,8 (F 7 ), I 16,8 (F 6 ),...,I 16, 8 (F 8 ), so far the motor enters the state S 8 , and then according to the current compensation function I 8, 0 (F) corresponding to the hysteresis curve C 8, 0 , and then apply the current I 8 to the coil sequentially at intervals of a time period , 0 (F 7 ), I 8,0 (F 6 ), . . . , I 8,0 (F 0 ). So far, the control of one current cycle is completed, and the subsequent periodic repetition can realize the stepping motor control of uniform angular velocity. See Figure 10 for the control relationship between the control current waveform and the cosine current.
当需要控制马达由顺时钟方向运动改为逆时钟方向运动,方法也类似,以转向位置的相位对应的历史状态选择磁滞曲线,然后根据磁滞曲线选择电流补偿函数,最后根据补偿函数对余弦电流实施补偿获得补偿后的电流值。 When it is necessary to control the motor to move from clockwise to counterclockwise, the method is similar. The hysteresis curve is selected based on the historical state corresponding to the phase of the steering position, and then the current compensation function is selected according to the hysteresis curve. Finally, the cosine is adjusted according to the compensation function. Perform current compensation to obtain the current value after compensation.
下面举例说明。假设控制任务是:首先达顺时钟运动17/16齿距位置,也就是405度相位处,然后控制马达反向运动,控制过程中要求保持马达每一个微步步进较均匀。首先按照前面所说的方法先控制马达顺时钟运动到405度相位,线圈状态为S3,然后选择磁滞回线C30,控制马达逆时钟运动到360相位,线圈状态为S0,然后继续按照逆时钟的控制方法施加控制电流实施控制,在*点逆时钟运动,补偿后的电流波形和余弦电流的对照关系参见图11。 The following example illustrates. Assume that the control task is: first reach the position of 17/16 tooth pitch clockwise, that is, the 405-degree phase position, and then control the motor to move in the reverse direction. During the control process, it is required to keep each microstep of the motor relatively uniform. First, control the motor to move clockwise to a phase of 405 degrees according to the method mentioned above, and the coil state is S 3 , then select the hysteresis loop C 30 , control the motor to move counterclockwise to a phase of 360 degrees, and the coil state is S 0 , and then continue According to the anti-clock control method, the control current is applied to implement control, and the anti-clock movement is performed at point *, and the comparison relationship between the compensated current waveform and the cosine current is shown in Figure 11.
可以理解,上述的405度相位角只是一个普通的相位角,实施者可以根据需要选择任意相位角,用相似的方法选择对应的磁滞曲线,实现任意相位角处地转向。 It can be understood that the above-mentioned 405° phase angle is just a common phase angle, and the implementer can select any phase angle according to needs, and select the corresponding hysteresis curve in a similar way to realize steering at any phase angle.
总而言之,对于马达的任意线圈,当余弦电流由增加变为减少时,控制电流相对余弦电流而言剧烈降低,也就是说此时开始对余弦电流施加一个负的补偿电流,当余弦电流由减少变为增加时,控制电流相对余弦电流而言剧烈增大,也就是说此时开始对余弦电流施加一个正的补偿电流。 All in all, for any coil of the motor, when the cosine current changes from increase to decrease, the control current decreases sharply relative to the cosine current, that is to say, a negative compensation current is applied to the cosine current at this time, and when the cosine current changes from decrease to When not increasing, the control current increases sharply relative to the cosine current, that is to say, a positive compensation current is applied to the cosine current at this time.
图12示出了本发明第四实施例提供的微步控制方法的实现流程,详述如下: Figure 12 shows the implementation process of the micro-step control method provided by the fourth embodiment of the present invention, which is described in detail as follows:
在步骤S401中,对线圈磁芯进行消磁处理; In step S401, the coil magnetic core is degaussed;
在本发明实施例中,通过对线圈磁芯进行消磁以进一步提高精度。 In the embodiment of the present invention, the precision is further improved by degaussing the coil core.
在步骤S402中,计算余弦电流; In step S402, calculate the cosine current;
在步骤S403中,根据磁滞曲线生成电流补偿函数; In step S403, a current compensation function is generated according to the hysteresis curve;
在步骤S404中,根据电流补偿函数对余弦电流进行补偿,生成补偿电流; In step S404, the cosine current is compensated according to the current compensation function to generate a compensation current;
在步骤S405中,通过补偿电流对步进电机进行微步控制; In step S405, micro-step control is carried out to the stepper motor through the compensation current;
在步骤S406中,验证马达微步控制精度是否达到预设标准; In step S406, it is verified whether the micro-step control precision of the motor reaches the preset standard;
若是,则执行空操作; If so, perform a null operation;
若否,则执行步骤S407增加历史样状态数,并返回重新执行步骤S403。 If not, execute step S407 to increase the number of historical sample states, and return to re-execute step S403.
在本发明实施例中,可以使用精度较高的光电编码器测量马达的每一个微步转动量,并且计算该转动量的方差值,若方差值大于预设标准时,则马达微步控制的精度不能达到预设标准,若方差值小于预设标准时,则马达微步控制的精度能达到预设标准。 In the embodiment of the present invention, a high-precision photoelectric encoder can be used to measure the rotation amount of each micro-step of the motor, and calculate the variance value of the rotation amount. If the variance value is greater than the preset standard, the motor micro-step control The accuracy of the motor micro-step control can not reach the preset standard. If the variance value is less than the preset standard, the precision of the motor micro-step control can reach the preset standard.
在本发明实施例中,通过电流补偿函数对马达线圈中的控制电流进行修正,对于电流在由增加到减少的过程中,控制电流相对余弦电流而言剧烈降低,当余弦电流由减少变为增加时,控制电流相对余弦电流而言剧烈增大,并且磁通量随之实时对应变化,以保证通过余弦控制电流对马达的进行有效、实时的微步控制,实现了开环微步控制,有效提高了步进电机微步控制的步进均匀性,并且结构简单,成本低,易于实现,工作量小,尺寸小,能够满足量产工艺的需求。 In the embodiment of the present invention, the control current in the motor coil is corrected by the current compensation function. During the process of the current from increasing to decreasing, the control current decreases sharply relative to the cosine current. When the cosine current changes from decreasing to increasing , the control current increases sharply relative to the cosine current, and the magnetic flux changes accordingly in real time to ensure effective and real-time micro-step control of the motor through the cosine control current, realizing open-loop micro-step control and effectively improving the The step uniformity of the microstep control of the stepping motor is simple in structure, low in cost, easy to implement, small in workload and small in size, and can meet the requirements of mass production technology.
图13示出了本发明一实施例提供的微步控制装置的结构,为了便于说明,仅示出了与本发明实施例相关的部分。 Fig. 13 shows the structure of a micro-step control device provided by an embodiment of the present invention. For convenience of description, only the parts related to the embodiment of the present invention are shown.
作为本发明一实施例,该微步控制装置可以应用于各种步进电机控制器中,该装置包括: As an embodiment of the present invention, the microstep control device can be applied to various stepping motor controllers, and the device includes:
电流计算单元71,用于计算余弦电流; A current calculation unit 71, configured to calculate a cosine current;
补偿函数生成单元72,用于根据磁滞曲线生成电流补偿函数; A compensation function generation unit 72, configured to generate a current compensation function according to the hysteresis curve;
电流补偿单元73,用于根据电流补偿函数对余弦电流进行补偿,生成补偿电流; The current compensation unit 73 is configured to compensate the cosine current according to the current compensation function to generate a compensation current;
微步控制单元74,用于通过补偿电流对步进电机进行微步控制。 The micro-step control unit 74 is used for performing micro-step control on the stepping motor through compensation current.
图14示出了本发明实施例提供的微步控制装置的第一示例结构,为了便于说明,仅示出了与本发明实施例相关的部分。 Fig. 14 shows a first example structure of the micro-step control device provided by the embodiment of the present invention. For convenience of description, only the parts related to the embodiment of the present invention are shown.
补偿函数生成单元72包括: The compensation function generating unit 72 includes:
磁滞曲线函数获取模块721,用于获取磁滞曲线函数,并将该磁滞曲线函数近似为平行四边形函数; The hysteresis curve function acquisition module 721 is used to acquire the hysteresis curve function and approximate the hysteresis curve function as a parallelogram function;
补偿函数生成模块722,用于根据平行四边形函数生成电流补偿函数。 A compensation function generating module 722, configured to generate a current compensation function according to a parallelogram function.
在本发明实施例中,当余弦电流对时间的微分由正变为负的时候,所述电流补偿函数为-ΔI/2;当余弦电流对时间的微分由负变为正的时候,电流补偿函数为ΔI/2。 In the embodiment of the present invention, when the differential of cosine current to time changes from positive to negative, the current compensation function is -ΔI/2; when the differential of cosine current to time changes from negative to positive, the current compensation function The function is ΔI/2.
图15示出了本发明实施例提供的微步控制装置的第二示例结构,为了便于说明,仅示出了与本发明实施例相关的部分。 Fig. 15 shows a second example structure of the micro-step control device provided by the embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown.
补偿函数生成单元72还可以包括: The compensation function generating unit 72 may also include:
磁滞曲线数据获取模块723,用于根据预设的多个历史状态生成两两状态转换时的磁滞曲线数据; The hysteresis curve data acquisition module 723 is used to generate hysteresis curve data when two or two state transitions are made according to a plurality of preset historical states;
磁滞曲线集生成模块724,用于对两两状态转换时的磁滞曲线数据进行描点,以生成磁滞曲线集; The hysteresis curve set generation module 724 is used to describe the hysteresis curve data when the two states are switched, so as to generate the hysteresis curve set;
补偿函数生成模块725,用于根据磁滞曲线集生成电流补偿函数。 A compensation function generation module 725, configured to generate a current compensation function according to the hysteresis curve set.
本发明实施例根据磁滞曲线数据补偿余弦电流,采用补偿后的电流对步进电机进行微步控制,实现了开环微步控制,有效提高了步进电机微步控制的步进均匀性,并且结构简单,成本低,易于实现,工作量小,尺寸小,能够满足量产工艺的需求。 The embodiment of the present invention compensates the cosine current according to the hysteresis curve data, uses the compensated current to perform micro-step control on the stepping motor, realizes the open-loop micro-step control, and effectively improves the step uniformity of the stepping motor micro-step control, Moreover, the structure is simple, the cost is low, easy to implement, the workload is small, and the size is small, which can meet the requirements of mass production technology.
以上仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保 护范围之内。 The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention within.
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