CN104199466A - Control method and system for closed-loop stepping motor of sewing machine - Google Patents
Control method and system for closed-loop stepping motor of sewing machine Download PDFInfo
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- CN104199466A CN104199466A CN201410297958.1A CN201410297958A CN104199466A CN 104199466 A CN104199466 A CN 104199466A CN 201410297958 A CN201410297958 A CN 201410297958A CN 104199466 A CN104199466 A CN 104199466A
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Abstract
The invention provides a control method for the closed-loop stepping motor of a sewing machine. The control method comprises the steps that: stepping speed, stepping time and allowable deviation value of the stepping motor are preset by a controller, and number of pulses is determined according to the stepping speed within the stepping time to be sent to the stepping motor; an encoder obtains motion information of the stepping motor, and timely transfers to the controller; the current position count value is worked out by the controller according to the motion information; the position count value and the accumulated value of the sent pulses are compared by the controller to obtain a difference value; if the difference value exceeds the allowable deviation value, treatment is performed according to a preset strategy. According to the control method and system, the problems caused by out of step of the stepping motor when the sewing machine is sewing in the prior art can be overcome. Meanwhile, heating of the motor can be effectively reduced ad service life of the motor can be prolonged.
Description
Technical field
The present invention relates to a kind of sewing machine control, particularly relate to a kind of sewing machine closed loop method for controlling stepping motor and control system.
Background technology
Sewing machine is generally made up of head, platen (support) and frame.When sewing, form stitching by 4 mechanisms in head: first by needle bar mechanism, the eedle that is installed with suture is lunged to sewing; Secondly the suture on eedle is hooked below sewing by hook line mechanism, make it from connecting, or interweave or interconnect with shuttle thread below; By Yarn taking-up mechanism, suture is tightened up again; Finally by feed mechanism, sewing is advanced to certain distance, complete the forming process of stitching.The action of these 4 kinds of mechanisms coordinates closely.So sewing machine is a kind of automanual precision machinery.
Stepper motor is the open loop control unit stepper motor part that electric impulse signal is changed into angular displacement or displacement of the lines.The in the situation that of non-overload, frequency and the umber of pulse of pulse signal only depended in the rotating speed of motor, the position stopping, and be not subject to the impact of load variations, when step actuator receives a pulse signal, it rotates a fixing angle with regard to Driving Stepping Motor by the direction of setting, be called " step angle ", its rotation is that the angle of fixing is moved step by step.Can carry out pilot angle displacement by gating pulse number, thereby reach the object of accurate location; Can control by gating pulse frequency speed and the acceleration of electric machine rotation, thereby reach the object of speed governing simultaneously.
Existing sewing-machine control systems utilizes the motion of step motor control accessaries of sewing machine conventionally, sewing-machine control systems, in the time utilizing stepper motor complete feeder of sewing machine in the feeding action of X-direction and Y direction or utilize stepper motor to complete trimming or presser foot lifter action, all adopts open loop stepper motor to realize substantially.The open loop control of stepper motor cannot be avoided the intrinsic shortcoming of stepper motor itself, resonates, vibration, step-out and be difficult to realize at a high speed.On the other hand, the precision of the stepping motor system of open loop control will be very difficult higher than classification, and its positioning precision is lower.Therefore, if step out of stepping motor may cause sewing length shorten, sew style distortion, not in place, the problem such as needle gage is not of uniform size of moving in sewing process.
Summary of the invention
The shortcoming of prior art in view of the above, the object of the present invention is to provide a kind of sewing machine closed loop step motor control system and control method, for solving sewing length that prior art sewing machine when sewing causes due to step out of stepping motor shorten, sew style distortion, not in place, the problem such as needle gage is not of uniform size of moving.
For achieving the above object and other relevant objects, the invention provides a kind of sewing machine closed loop method for controlling stepping motor, described sewing machine closed loop method for controlling stepping motor comprises: stepping rate, stepping time and the permissible variation value of the default stepper motor of controller, in described stepping time, determine that according to described stepping rate umber of pulse is to send to described stepper motor; Scrambler obtains the movable information of described stepper motor, and in real time described movable information is passed to described controller; Described controller calculates current position counting value according to described movable information; Described controller compares the pulse aggregate-value of the described pulse of described position counting value and transmission to obtain difference; If described difference exceeds described permissible variation value, process according to preset strategy.
Preferably, described preset strategy comprises that controller determines the current physical location of load according to current location count value, and stepping rate, the stepping time of default described stepper motor again.
Preferably, described preset strategy comprises that described controller is according to the stepping rate of the described default stepper motor of described difference adjustment.
Preferably, described controller is by regulating the electric current of described stepper motor to control the stepping rate of described stepper motor.
Preferably, described movable information comprises sense of rotation information and rotation angle information.
Preferably, described scrambler is photoelectric encoder.
The present invention also provides a kind of sewing machine closed loop step motor control system, and described sewing machine closed loop step motor control system comprises: stepper motor module, move for Driving Stepping Motor; Feedback module, for obtain the movable information of the stepper motor of described stepper motor module by scrambler, and sends described movable information to control module; Described control module for stepping rate, stepping time and the permissible variation value of default described stepper motor module stepper motor, determines that according to described stepping rate umber of pulse is to send to described stepper motor in described stepping time; Obtain the movable information of stepper motor from described feedback module, calculate current location count value according to the movable information of described stepper motor, and the pulse aggregate-value of the described pulse of described position counting value and transmission is compared and obtains difference, if described difference exceeds described permissible variation value, process according to preset strategy.
Preferably, described preset strategy comprises that controller determines the current physical location of load according to current location count value, and stepping rate, the stepping time of default described stepper motor again.
Preferably, described preset strategy comprises that described controller is according to the stepping rate of the described default stepper motor of described difference adjustment.
Preferably, described movable information comprises sense of rotation information and rotation angle information.
Preferably, described scrambler is photoelectric encoder.
Preferably, described photoelectric encoder comprises incremental optical-electricity encoder.
As mentioned above, a kind of sewing machine closed loop method for controlling stepping motor of the present invention and control system, have following beneficial effect: the sewing length causing due to step out of stepping motor while adopting the technical program can solve the sewing of sewing machine in prior art shorten, sew style distortion, not in place, the problem such as needle gage is not of uniform size of moving.And technical scheme of the present invention is because controller can be based on stepper motor motion feedback information, adjust and the movement velocity of control step motor, can effectively reduce that the motor feels hot, extend motor serviceable life.
Brief description of the drawings
Fig. 1 is shown as the method flow schematic diagram of an embodiment of a kind of sewing machine closed loop method for controlling stepping motor and control system.
Fig. 2 is shown as the method flow schematic diagram of an embodiment of a kind of sewing machine closed loop method for controlling stepping motor and control system.
Fig. 3 is shown as the modular structure schematic diagram of an embodiment of a kind of sewing machine closed loop method for controlling stepping motor and control system.
Fig. 4 is shown as the system architecture schematic diagram of an embodiment of a kind of sewing machine closed loop method for controlling stepping motor and control system.
Element numbers explanation
1 sewing machine closed loop step motor control system
11 control modules
12 stepper motor modules
13 feedback modules
S1～S5 step
Embodiment
Below, by specific instantiation explanation embodiments of the present invention, those skilled in the art can understand other advantages of the present invention and effect easily by the disclosed content of this instructions.The present invention can also be implemented or be applied by other different embodiment, and the every details in this instructions also can be based on different viewpoints and application, carries out various modifications or change not deviating under spirit of the present invention.
It should be noted that, the diagram providing in the present embodiment only illustrates basic conception of the present invention in a schematic way, satisfy and only show with assembly relevant in the present invention in graphic but not component count, shape and size drafting while implementing according to reality, when its actual enforcement, kenel, quantity and the ratio of each assembly can be a kind of random change, and its assembly layout kenel also may be more complicated.
As shown in Figure 1, provide a kind of sewing machine closed loop method for controlling stepping motor in one embodiment of the present of invention, so-called closed loop is the concept relative with open loop, and open loop control refers to the control that there is no feedback conventionally, and closed-loop control refers to the control of feedback.Described sewing machine closed loop method for controlling stepping motor comprises the following steps:
Step S1, stepping rate, stepping time and the permissible variation value of the default stepper motor of controller determine that according to described stepping rate umber of pulse is to send to described stepper motor in described stepping time.Particularly, in described stepping time, described controller is set the stepping rate of stepper motor according to the current initial position of load and the target location that will arrive in default stepping time, send accordingly the pulse of some according to described stepping rate to described stepper motor.In one embodiment, described controller control be the stepper motor that drives the cloth-feeding device in sewing machine, first controller obtains the initial position of described cloth-feeding device, and determine the target location that will arrive at cloth-feeding device described in default stepping time, determine the described cloth-feeding device move distance in X-axis and Y-axis respectively according to described initial position and described target location, because the motion of described cloth-feeding device in described X-axis and Y-axis is to determine by the rotation of the stepper motor in X-axis and Y-axis.Therefore can be according to described cloth-feeding device the move distance in X-axis determine total anglec of rotation of the stepper motor in X-axis, move distance according to described cloth-feeding device in Y-axis is determined total anglec of rotation of the stepper motor in Y-axis, and then determine respectively the stepping rate (also can become rotational speed, i.e. the speed of stepper motor rotation) of the stepper motor in X-axis and Y-axis according to described stepping time.Meanwhile, the permissible variation value in X-axis and Y-axis is preset respectively in the accuracy requirement of controller position to cloth-feeding device according to sewing machine.Controller is determined the pulsed quantity that will send to described X-axis stepper motor according to the stepping rate in X-axis, and sends to X-axis stepper motor, to drive X-axis stepper motor to move according to default stepping rate.Controller is determined the pulsed quantity that will send to described y-axis stepper motor according to the stepping rate in Y-axis, and sends to y-axis stepper motor, to drive y-axis stepper motor to move according to default stepping rate.Stepper motor is made corresponding motion according to the pulse receiving.In different embodiment, described controller can be controlled the stepper motor in X-axis and Y-axis, also can console presser feet stepper motor or main shaft stepper motor.
Step S2, scrambler obtains the movable information of described stepper motor, and in real time described movable information is passed to described controller.Particularly, described scrambler obtains sense of rotation information and the rotation angle information of described stepper motor, and described sense of rotation information and rotation angle information are passed to described controller.The sense of rotation of described stepper motor and the anglec of rotation have determined direction of motion and the distance of the load of described stepper motor respective operations.Scrambler (encoder) is that signal (as bit stream) or data are worked out, are converted to can be in order to the equipment of the signal form of communication, transmission and storage.Scrambler can convert electric signal to angular displacement or straight-line displacement, and the former also can be described as code-disc, and the latter also can be described as yardstick.Described scrambler comprises code-disc in the present invention.Described scrambler comprises photoelectric encoder, and photoelectric encoder is a kind of sensor that by opto-electronic conversion, the geometry of machinery displacement on output shaft is converted to pulse or digital quantity.Photoelectric encoder is made up of grating disc and photoelectric detection system.Grating disc is on the plectane of certain diameter, to open several slots decile.Because photoelectric code disk and motor are coaxial, when motor rotation, the synchronized rotation of grating disc and motor, detect the some pulse signals of output through the pick-up unit of the electronic component compositions such as light emitting diode, just can reflect the rotating speed of current motor by calculating the number of photoelectric encoder output pulse per second.Described photoelectric encoder comprises incremental optical-electricity encoder.When incremental encoder rotating shaft rotation, have corresponding pulse output, the differentiation of its sense of rotation and the increase and decrease of number of pulses realize by the direction judgment circuit sum counter at rear portion.Its counting starting point is set arbitrarily, can realize the unlimited cumulative sum of multi-turn and measure.Can also be the Z signal that does not transfer a pulse, as with reference to mechanical zero.Scrambler axle turns around and can export fixing pulse, and umber of pulse is determined by the line number of scrambler grating.Need to improve resolution time, can utilize the A of 90 degree phase differential, B two paths of signals to carry out frequency multiplication to former umber of pulse, or change high resolution encoder.In one embodiment, described step motor control be the motion of cloth-feeding device in X-axis, the sense of rotation of described stepper motor and the anglec of rotation have determined direction of motion and the move distance of described cloth-feeding device in X-axis.Described controller sends the pulse of corresponding some to described stepper motor according to the stepping rate of default described stepper motor, stepper motor moves accordingly described in described pulse control.Described pulse normally acts on the driver with stepper motor, is moved by stepper motor driver Driving Stepping Motor.Incremental optical-electricity encoder detects the motion of described stepper motor, obtains the movable information of described stepper motor, and described movable information comprises sense of rotation information and the rotation angle information of stepper motor.Incremental optical-electricity encoder is by the described controller that the sends to real-time movable information of described stepper motor.Described stepper motor move through shaft coupling or the load of leading screw driving device, as the cloth-feeding device in sewing machine.In one embodiment, scrambler is fixed on the tail end of step motor shaft, motion to described stepper motor detects, and stepper motor detects and export A phase signals and B phase signals, and described A phase signals and B phase signals are input in described controller through optical coupling isolation circuit respectively.
Step S3, described controller calculates current position counting value according to described movable information.Particularly, described controller obtains out (comprising sense of rotation information and the rotation angle information of stepper motor) direction of motion of described stepper motor and the distance that rotatablely moves according to described movable information, and then calculate the current position counting value of described stepper motor (| position counting value | the * L=distance that rotatablely moves, the direction of motion of the positive and negative corresponding load of position counting value).The motion that moves through mechanical drive control and load of stepper motor, therefore, described position counting value has determined the actual motion distance of load, and then has determined the current physical location (load physical location) of load.
Step S4, described controller compares described position counting value and controller to obtain difference according to the pulse aggregate-value of described default stepping rate transmission.Particularly, described controller is according to described default stepping rate transmitted, described controller is counted sent pulse, obtain the pulse aggregate-value (umber of pulse having sent) of described stepper motor, described pulse aggregate-value determines the current assigned address of load (also can be described as pulse accumulative total position).In the situation that there is no error, described pulse aggregate-value becomes definite ratio with described position counting value, be generally 1:1.The position counting value that described controller obtains described pulse aggregate-value and step 3 compares, and both are relatively obtained to a difference.The described difference relatively obtaining compares with described position counting value the result obtaining after referring to described pulse aggregate-value being multiplied by definite ratio.In the situation that ratio is 1:1, the described difference relatively obtaining is described pulse aggregate-value and described position counting value is subtracted each other the result obtaining.If both compare difference is zero, illustrate that the current assigned address of load conforms to the current physical location of load, non-vanishing if both compare difference, illustrate that the current assigned address of load does not conform to the current physical location of load.
In one embodiment, controller can be according to the stepper motor difference of the accuracy requirement of applied environment, use, direct startup rotating speed while obtaining stepper motor loaded work piece state, maximum speed, and the precision of definite scrambler, and stepper motor driver often turn umber of pulse (being stepping rate).In the time that stepper motor is subject to external force stall, scrambler detects and determines the position signalling of stepper motor driven motion, by the feedback signal of scrambler, controller automatically attempts changing stepper motor rotating speed (the controller umber of pulse of issuing stepper motor by change changes the rotating speed of stepper motor) under corresponding software is supported, in the time all cannot restarting motor with any speed, can send gross error alarm, now pilot lamp flicker, the corresponding error code of controller report.In the time that MF motor release signal is effective, motor, by power down and in state freely, now can pass through.
Step S5, if described difference exceeds described permissible variation value, processes according to preset strategy.Particularly, the difference that step S4 is obtained is compared with default permissible variation value, if the absolute value of described difference is greater than default deviate, processes according to preset strategy.Described preset strategy comprises: controller is determined the current physical location of load according to current location count value, and again presets stepping rate, the stepping time of described stepper motor.Particularly, in the time that the absolute value of described difference is greater than described permissible variation value, described controller is by according to the current physical location that loads on initial position before stepper motor motion and the current position counting value of stepper motor and determine the load of step motor control of described step motor control.Using the current physical location of described load as new initial position, according to new initial position, new default stepping time and new default target location, redefine the stepping rate of described stepper motor.Described preset strategy can also comprise: according to described deviate, on the definite number of pulses basis of original default stepping rate, paired pulses quantity is adjusted accordingly.In one embodiment, the result of described pulse aggregate-value and the comparison of described position counting value is that described position counting value is less than normal, and its driving effect to stepper motor is not given full play in the pulse that is equivalent to have.Now, the adjustment of paired pulses quantity is increases certain number of pulses, to compensate because some reason causes the pulse not playing one's part to the full, thereby makes motion load finally can arrive in default stepping time the target location of load.In fact the target location of described load is described stepping time and the stepping rate determined load target of determined pulse aggregate-value position.
As shown in Figure 2, in one embodiment, the controller of sewing machine is determined the distance of load movement according to the current initial position of load and target location, and according to stepping time and the stepping rate of the default stepper motor of described move distance.Controller sends the pulse of some according to described stepping rate to stepper motor, and the driver of described stepper motor receives stepper motor motion described in described pulsed drive, and stepper motor motion is driving load to move accordingly.Scrambler is monitored the motion of stepper motor, records the movable information of stepper motor.Described controller obtains the movable information of described stepper motor from described scrambler, and determines the current location count value of described stepper motor according to described movable information, and described current location count value is determined position and the speed of load actual motion.Described controller, according to position counting value and the comparison of pulse aggregate-value, according to the number of pulses of comparative result adjustment transmission, is equivalent to adjust the speed of stepper motor or load.In the time that stepping time finishes, judge whether load arrives assigned address, or judge now more whether the position counting value of stepper motor conforms to pulse aggregate-value, if conformed to, this load movement finishes.If do not conformed to, determine the number of pulses that need to compensate according to the comparative result of the position counting value of stepper motor and pulse aggregate-value, send and need the number of pulses of compensation to stepper motor, stepper motor and then driving load arrival intended target position.
In actual application, described controller also comprises an X to the cloth-feeding device control of sewing machine, the position fixing process of Y-direction: X, Y-direction respectively has an optocoupler sensor to determine the zero point of direction separately, while starting to locate, first read the state of optocoupler sensor, carry out the rotation direction of control step motor according to the level of optocoupler sensor, with certain speed operation, when operation in the time the signal saltus step of optocoupler sensor being detected, as becoming ' 0 ' or ' 0 ' from ' 1 ', optocoupler signal becomes the zero point of thinking ' 1 ' time herein into X or Y-direction, now master controller is the position counting value zero clearing of scrambler inside.When the stepper motor in a direction detects after optocoupler sensor, just by the location counter zero clearing of corresponding scrambler.At this moment represent that this stepper motor has arrived start position or the final position of this motion.Now can change as required the direction of stepper motor.If the minimum resolution of alliance is 0.1mm, move 1mm from zero point to positive dirction so, the position counting value of scrambler is just set to 10; To negative direction operation 1mm, the position counting value of scrambler is just set to-10 so.
The present invention also provides a kind of sewing machine closed loop step motor control system.As shown in Figure 3, in one embodiment, described sewing machine closed loop step motor control system 1 comprises: control module 11, stepper motor module 12 and feedback module 13.Wherein:
Stepper motor module 12, is connected with described control module 11, moves for Driving Stepping Motor.Particularly, described stepper motor module comprises stepper motor and driver thereof, and the driver of described stepper motor receives the pulse that control module sends, and according to stepper motor motion described in described pulsed drive.
Described control module 11 for stepping rate, stepping time and the permissible variation value of default described stepper motor module 12 stepper motors, determines that according to described stepping rate umber of pulse is to send to described stepper motor in described stepping time; Obtain the movable information of stepper motor from described feedback module 13, calculate current location count value according to the movable information of described stepper motor, and the pulse aggregate-value of the described pulse of described position counting value and transmission is compared and obtains difference, if described difference exceeds described permissible variation value, process according to preset strategy.Particularly, stepping rate, stepping time and the permissible variation value of stepper motor in the default described stepper motor module 12 of described control module 11; Send accordingly the pulse of some according to default stepping rate to described stepper motor module, to drive corresponding stepper motor to move with the stepping rate of being scheduled to.Described control module 11 is obtained the movable information of described stepper motor from described feedback module 13, and the current load physical location of determining according to described movable information; Control module 11 is determined the current assigned address of load according to the pulse aggregate-value sending; Relatively load physical location and pulse aggregate-value of control module 11, or compare the current assigned address of present load physical location and load, comparative result is a difference.If described difference is greater than the permissible variation value of control module 11, process according to preset strategy.Described preset strategy comprises: described preset strategy comprises that control module 11 determines the current physical location of load according to current location count value, and stepping rate, the stepping time of default described stepper motor again.Described preset strategy also comprises: described control module 11 is adjusted the stepping rate of described default stepper motor according to described difference.
Feedback module 13, for obtain the movable information of the stepper motor of described stepper motor module 12 by scrambler, and sends described movable information to control module 11.Particularly, described scrambler comprises photoelectric encoder.Described photoelectric encoder can be incremental optical-electricity encoder.Described movable information comprises sense of rotation information and the rotation angle information of stepper motor.
In the practical application of an a kind of sewing machine closed loop step motor control system, as shown in Figure 4, described control module 11 comprises host computer and motion controller, and described host computer is according to the initial position of load and target location default stepping time, stepping rate and permissible variation value.Described host computer is determined according to described stepping rate, and is sent the pulse of some by instruction controlled motion controller to stepper motor module.Described stepper motor module comprises stepper motor driver and stepper motor.Stepper motor driver receives the pulse that control module 11 sends, and moves according to pulsed drive stepper motor.Stepper motor move through shaft coupling or leading screw driving device load movement.Described feedback module 13 comprises scrambler, and described scrambler reads the movable information of stepper motor, and described movable information is fed back to control module 11, and described movable information is feedback information.Described control module 11 receives described movable information, by motion controller by feedback of status such as movable informations to host computer, host computer calculates according to movable information and pulse accumulative total, determines whether to adjust number of pulses.
In sum, a kind of sewing machine closed loop method for controlling stepping motor of the present invention and control system, by the movable information of stepper motor is fed back to controller, controller is according to the motion feedback information of stepper motor, motion to stepper motor is adjusted, and makes the arrival destination locations that stepper motor can be promptly and accurately.The sewing length causing due to step out of stepping motor when this can solve the sewing of sewing machine in prior art shorten, sew style distortion, not in place, the problem such as needle gage is not of uniform size of moving.And technical scheme of the present invention, because controller can be adjusted and the movement velocity of control step motor according to the motion feedback information of stepper motor, therefore can effectively be avoided the excessive heating of motor, thereby extend motor serviceable life.So the present invention has effectively overcome various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all can, under spirit of the present invention and category, modify or change above-described embodiment.Therefore, such as in affiliated technical field, have and conventionally know that the knowledgeable, not departing from all equivalence modifications that complete under disclosed spirit and technological thought or changing, must be contained by claim of the present invention.
Claims (10)
1. a sewing machine closed loop method for controlling stepping motor, is characterized in that, described sewing machine closed loop method for controlling stepping motor comprises:
Stepping rate, stepping time and the permissible variation value of the default stepper motor of controller determine that according to described stepping rate umber of pulse is to send to described stepper motor in described stepping time;
Scrambler obtains the movable information of described stepper motor, and in real time described movable information is passed to described controller;
Described controller calculates current position counting value according to described movable information;
Described controller compares the pulse aggregate-value of the described pulse of described position counting value and transmission to obtain difference;
If described difference exceeds described permissible variation value, process according to preset strategy.
2. sewing machine closed loop method for controlling stepping motor according to claim 1, is characterized in that: described preset strategy comprises that described controller is according to the stepping rate of the described default stepper motor of described difference adjustment.
3. sewing machine closed loop method for controlling stepping motor according to claim 1, it is characterized in that: described preset strategy comprises that controller determines the current physical location of load according to current location count value, and stepping rate, the stepping time of default described stepper motor again.
4. sewing machine closed loop method for controlling stepping motor according to claim 1, is characterized in that: described movable information comprises sense of rotation information and rotation angle information.
5. sewing machine closed loop method for controlling stepping motor according to claim 1, is characterized in that: described scrambler is photoelectric encoder.
6. a sewing machine closed loop step motor control system, is characterized in that: described sewing machine closed loop step motor control system comprises stepper motor module, feedback module and control module, wherein:
Described stepper motor module, moves for Driving Stepping Motor;
Described feedback module, for obtain the movable information of the stepper motor of described stepper motor module by scrambler, and sends described movable information to described control module;
Described control module for stepping rate, stepping time and the permissible variation value of default described stepper motor module stepper motor, determines that according to described stepping rate umber of pulse is to send to described stepper motor in described stepping time; Obtain the movable information of stepper motor from described feedback module, calculate current location count value according to the movable information of described stepper motor, and the pulse aggregate-value of the described pulse of described position counting value and transmission is compared and obtains difference, if described difference exceeds described permissible variation value, process according to preset strategy.
7. sewing machine closed loop step motor control system according to claim 6, it is characterized in that: described preset strategy comprises that controller determines the current physical location of load according to current location count value, and stepping rate, the stepping time of default described stepper motor again.
8. sewing machine closed loop step motor control system according to claim 6, is characterized in that: described preset strategy comprises that described controller is according to the stepping rate of the described default stepper motor of described difference adjustment.
9. sewing machine closed loop step motor control system according to claim 6, is characterized in that: described movable information comprises sense of rotation information and rotation angle information.
10. sewing machine closed loop step motor control system according to claim 6, is characterized in that: described scrambler is photoelectric encoder.
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| CN108667364A (en) * | 2018-05-17 | 2018-10-16 | 黄云汉 | A kind of the single step driving method and device of stepper motor |
| CN109525155A (en) * | 2019-01-03 | 2019-03-26 | 深圳至汉装备科技有限公司 | The stepper motor of specific feed-back regulatory mechanism |
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| CN112413541A (en) * | 2020-11-19 | 2021-02-26 | 广州市雅江光电设备有限公司 | Control method and system for transmission parts of moving head lamp |
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