CN105204538B - A kind of method for control speed and stepper motor control device of stepper motor - Google Patents
A kind of method for control speed and stepper motor control device of stepper motor Download PDFInfo
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- CN105204538B CN105204538B CN201510540667.5A CN201510540667A CN105204538B CN 105204538 B CN105204538 B CN 105204538B CN 201510540667 A CN201510540667 A CN 201510540667A CN 105204538 B CN105204538 B CN 105204538B
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Abstract
The invention discloses a kind of method for control speed of stepper motor and stepper motor control devices, belong to control technology field, to solve to occupy the excessive technical problem of the memory space of image forming apparatus since type, the number of accelerometer are more.The method for control speed of the stepper motor includes：The control command of the corresponding stepper motor is received, the control command includes the desired speed value of stepper motor；According to the control command, it is corresponding for driving the expectation pulses per second of the stepper motor to obtain the desired speed value；The acceleration pulses per second of the stepper motor is obtained in conjunction with the current pulses per second of the stepper motor based on the accelerometer of the stepper motor pre-seted；The current pulses per second is gradually increased using the acceleration pulses per second of the stepper motor, until the current pulses per second is greater than or equal to the expectation pulses per second.
Description
Technical field
The present invention relates to control technology fields, specifically, being related to method for control speed and the stepping of a kind of stepper motor
Controller for motor.
Background technique
Image forming apparatus be generate, printing, receive and transmission image data device comprising printer, scanner,
Duplicator, facsimile machine and the multi-function peripheral comprising these functions.These image forming apparatuses are executed more using motor
The function of kind of multiplicity, such as move or paper feeding.Alternatively, such as automatic document feeder (Auto Document
Feeder, abbreviation ADF), large capacity carton (High Capacity Feeder, abbreviation HCF) and double capacity carton (Double
Capacity Feeder, abbreviation DCF) unit may be coupled to image forming apparatus, can be used in the image forming apparatus
The quantity of motor gradually increases.Can realize in high quality thus is particularly important the control of motor speed.
Image forming apparatus accurately controls mobile paper etc. using stepper motor and operates, and stepper motor is a kind of according to defeated
The number of pulses entered rotates a fixed angle, because the angle of motor rotation is proportional to the number of pulses of input completely, because
This can accurately control the angle of motor rotation.
In the prior art, the speed that stepper motor is controlled using accelerometer can be effectively prevented step-out, accelerometer according to
The type and speed of motor are stored in external memory (read only memory ROM), wherein preserve stepper motor in accelerometer
All pulses per second (PPS) information needed for speed control and corresponding step number (STEP) information.When needing to change stepping horse
When the speed reached, according to the PPS numerical value and step number STEP numerical value in accelerometer, it is defeated gradually to export a stepper motor driving signal
Enter into stepper motor, to realize the control of stepper motor speed.
However although the speed control of stepper motor is also able to achieve using this kind of method, due to stepper motor accelerometer
In save stepper motor speed since 0 to PPS information required for maximum speed and STEP information, too many storage can be occupied
Space.Particularly, when carrying out the stepper motor speed control in image forming apparatus, in the prior art usually according to printing speed
The difference of degree is divided into different accelerometers, such as preheats accelerometer, constant speed prints accelerometer, low-speed print accelerometer, such case
The memory space of occupancy is with regard to more.
Summary of the invention
The purpose of the present invention is to provide a kind of method for control speed of stepper motor and stepper motor control devices, with solution
Certainly since the type of accelerometer, number are more, the excessive technical problem of the memory space of image forming apparatus is occupied.
First aspect present invention provides a kind of method for control speed of stepper motor, including：
The control command of the corresponding stepper motor is received, the control command includes the desired speed value of stepper motor；
According to the control command, it is corresponding for driving the expectation of the stepper motor every to obtain the desired speed value
Pulse per second (PPS) number；
It is obtained based on the accelerometer of the stepper motor pre-seted in conjunction with the current pulses per second of the stepper motor
Take the acceleration pulses per second of the stepper motor；
The current pulses per second is gradually increased using the acceleration pulses per second of the stepper motor, until described work as
Preceding pulses per second is greater than or equal to the expectation pulses per second.
Optionally, the accelerometer based on the stepper motor pre-seted, in conjunction with the current arteries and veins per second of the stepper motor
Number is rushed, before the acceleration pulses per second for obtaining the stepper motor, further includes：
Obtain the initial pulses per second of the stepper motor pre-seted, the current arteries and veins per second as the stepper motor
Rush number.
Optionally, the accelerometer includes the accelerating sections of multiple stepper motors, the corresponding acceleration of each accelerating sections
Pulses per second is not identical.
Optionally, the accelerometer based on the stepper motor pre-seted, in conjunction with the current arteries and veins per second of the stepper motor
Number is rushed, the acceleration pulses per second for obtaining the stepper motor includes：
It is obtained based on the accelerometer of the stepper motor pre-seted in conjunction with the current pulses per second of the stepper motor
Take the current accelerating sections of the stepper motor；
Obtain the acceleration pulses per second of the corresponding current accelerating sections.
Optionally, in the control command for receiving the corresponding stepper motor, the control command includes the phase of stepper motor
It hopes before velocity amplitude, further includes：
The accelerator of the stepper motor is tested, obtain the stepper motor rotated in accelerator it is every
The corresponding pulses per second of one step；
Based on acquired each pulses per second, the pulses per second curve of the stepper motor is generated；
Several key points are extracted in the pulses per second curve, and are generated and set based on extracted each key point
Set the accelerometer of the stepper motor.
Optionally, extracting several key points in the pulses per second curve includes：
Obtain the acceleration curve is a little used as current point, the company of the current point and the initial point of the acceleration curve
The slope of line is K；
Obtain the former point of the current point, the slope of the line of the former point and the initial point is K1；
Obtain the latter point of the current point, the slope of the line of the latter point and the initial point is K2；
Pre-set threshold is obtained, ifMore than or equal to the pre-set threshold, then the current point conduct is extracted
Key point.
Optionally, the accelerometer includes at least two in the first parameter, the second parameter and third parameter, wherein institute
State the every of pulses per second that the first parameter is at least one key point or all key points or the adjacent key point of any two
The difference of pulse per second (PPS) number, second parameter are the step number or any two phase rotated needed for the corresponding stepper motor of each key point
The difference of the adjacent corresponding step number of key point, the third parameter are remaining line of each key point relative to initial key point
Line slope between slope or the adjacent key point of any two.
Present invention offers following beneficial effects：According to different stepper motor desired speed values in compared to the prior art
Corresponding different accelerometer, scheme provided by the invention are only needed using an accelerometer, in stepper motor rate control process
In the step of also eliminating according to use demand judgement using which accelerometer, control the simpler convenience of programming.In addition,
Due to containing only the related parameter values of several key points in accelerometer, without containing stepper motor speed as the prior art
Spend in control process stepper motor speed by 0 to the every turn of pulses per second to move a step of maximum speed stepper motor and step Numerical,
Memory space is greatly saved when saving accelerometer.
Second aspect of the present invention provides a kind of stepper motor control device, including：
Receiving unit receives the control command of the corresponding stepper motor, and the control command includes the phase of stepper motor
Hope velocity amplitude；
It is corresponding for driving the step to obtain the desired speed value according to the control command for drive control unit
Into the expectation pulses per second of motor；And the accelerometer based on the stepper motor pre-seted, in conjunction with the stepper motor
Current pulses per second obtains the acceleration pulses per second of the stepper motor；
Driving unit gradually increases the current pulses per second using the acceleration pulses per second of the stepper motor,
Until the current pulses per second is greater than or equal to the expectation pulses per second.
Optionally, drive control unit also obtains the initial pulses per second of the stepper motor pre-seted, as institute
State the current pulses per second of stepper motor.
Optionally, the accelerometer includes the accelerating sections of multiple stepper motors, the corresponding acceleration of each accelerating sections
Pulses per second is not identical.
Optionally, accelerometer of the drive control unit based on the stepper motor pre-seted, in conjunction with the stepping
The current pulses per second of motor obtains the acceleration of the current accelerating sections and the corresponding current accelerating sections of the stepper motor
Pulses per second.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, required in being described below to embodiment
Attached drawing does simple introduction：
Fig. 1 is the structural schematic diagram of the image forming apparatus in the present embodiment；
Fig. 2 is the structural schematic diagram of the controller for motor in the present embodiment；
Fig. 3 is the schematic diagram of the acceleration curve in the present embodiment；
Fig. 4 is the flow diagram one of the method for control speed of the stepper motor in the present embodiment；
Fig. 5 is the flow diagram two of the method for control speed of the stepper motor in the present embodiment.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
The speed and pulses per second PPS number of stepper motor are introduced in subsequent description for convenience first herein
The relationship of value.
It is assumed that the speed of stepper motor is V rpm (roll per minute), then the speed of stepper motor is V/60rps
(roll per second).For specific stepper motor, stepper motor rotation turn around the step number passed by be it is fixed, at this
In be assumed to D (step per roll), then the motor step number per second passed by be(step per second).Due to one
A pulsed drive stepper motor is walked to move a step, and therefore, motor umber of pulse per second isThat is the desired speed of stepper motor
Value is bigger, then bigger with the consistent expectation pulses per second of the desired speed value of stepper motor.
In the present embodiment, image forming apparatus as shown in Figure 1 includes an engine unit 140, controller 160, communication
Interface unit 110, user interface section 120,130, stepper motors 150 of storage unit and a stepper motor control dress
Set 170 etc..Image forming apparatus be generate, printing, receive and transmission image data device comprising printer, scanner,
Duplicator, facsimile machine and the multi-function peripheral comprising these functions.
Communications interface unit 110 and such as PC PC, laptop, personal digital assistant (PDA), Digital photographic
The print controling terminals such as machine are connected.Specifically, communications interface unit 110 and print controling terminal can be by USB interfaces, wired
The modes such as network or WIFI are attached, and communications interface unit 110 receives the data to be printed from print controling terminal.
User interface section 120 includes the structures such as multiple keys, display unit.User selects image shape by operation button
The multiple functions supported at device, display unit are used to show the various types of information provided by image forming apparatus, use
Family can also control the printing of image forming apparatus by the user interface window that user interface section 120 provides.
Storage unit 130 is used to the data to be printed that storage communication interface unit 110 is received from print controling terminal, should
Storage unit can also be used to store an accelerometer, and accelerometer can be described in detail hereinafter.
Engine unit 140 is used to execute image and forms related work.Specifically, engine unit 140 is according to controller 160
Control executes various images and forms related work, and the rotation of control stepper motor 150.Particularly, when described image is formed
When device is scanner, facsimile machine or multi-function device, image forming apparatus shown in FIG. 1 correspondingly further includes scanning element
180, facsimile unit 190 etc., while engine unit 150 also needs to be implemented the operation such as image recording.
Stepper motor 150 is mounted in image forming apparatus, according to the pulse signal received, according to a certain direction or
The rotation of person's speed, the organic photo that stepper motor can execute in a variety of different functions, such as driving image forming apparatus are led
The rotation of body (Organic Photo-Conductor, abbreviation OPC), transmission print paper etc..
Stepper motor control device 170 generates the driving signal for directly driving stepper motor according to control command.
Controller 160 is used to control multiple units of image forming apparatus, specifically, if image forming apparatus is from printing
Controlling terminal receives data to be printed, and controller 160 will control engine unit and print the data to be printed, and send stepping
The control command of motor is to stepper motor control device 170.Stepper motor control command may include stepper motor stopping or
Person starts rotation, positive and negative rotation, acceleration or deceleration, desired speed value etc..
Specifically, as shown in Fig. 2, stepper motor control device 170 includes 210, drive controls of a receiving unit
220, driving units 230 of unit.
Receiving unit 210 is used to receive the control command of stepper motor 150, and specifically control command may include stepping horse
Stopping or starting rotation, positive and negative rotation, acceleration or deceleration, desired speed value for reaching etc..Receiving unit 210 passes through serial peripheral
Interface (Serial Peripheral Interface, abbreviation SPI) or twin wire universal serial bus (Inter-Integrated
Circuit, abbreviation I2C) from the reception control command of controller 160, in addition to this, receiving unit 210 also can receive stepping horse
Up to each pulses per second currently walked.
The pulses per second that drive control unit 220 is currently walked according to the control command and stepper motor of stepper motor turns
Turn to the driving signal of stepper motor.
The driving signal that drive control unit generates is supplied to stepper motor by driving unit 230.
The accelerometer of stepper motor is briefly described below：Accelerometer may include the first parameter, the second parameter and
At least two in three parameters.Wherein, the first parameter can at least one key point or all key points pulses per second or
The difference of the pulses per second of the adjacent key point of any two；Second parameter can be for needed for the corresponding stepper motor of each key point
The difference of the adjacent corresponding step number of key point of the step number or any two of rotation；Third parameter can be opposite for remaining each key point
Line slope between the adjacent key point of the line slope or any two of initial key point.
Specifically, the generating process of accelerometer relates generally to following steps：
First step：According to the relevant gross data of the mechanical structure of image forming apparatus, such as mechanism torque, to stepping
The accelerator of motor is tested, and the corresponding pulses per second of each step that stepper motor rotates in accelerator is obtained.
Second step：According to every turn of the stepper motor pulses per second to move a step acquired in first step, one is generated
Curve, wherein what the abscissa of curve indicated is the step number of stepper motor rotation, and what ordinate indicated is stepper motor rotation
The corresponding pulses per second of several step numbers.Slope of the every bit relative to initial point in curve is calculated separately, wherein initial point pair
The pulses per second answered is first key point X in accelerometer0, corresponding step number STEP value Y0It is 0.It is assumed that current point is opposite
In initial point slope K and current point former point relative to initial point slope be K1And latter point is relative to initial point
Slope is K2.Pre-set threshold is obtained, when meeting conditionWhen more than or equal to pre-set threshold, it is current just to select this
Point is used as a key point, it is assumed that the corresponding pulses per second of the key point and step number STEP value are respectively X1And Y1.In repetition
Judgement is stated, all key points for meeting condition, the corresponding pulses per second of these key points and step number STEP value are successively obtained
Respectively X2And Y2、X3And Y3..., corresponding key point is respectively 0, a relative to the slope of initial point1、a2、a3……
Wherein, the numerical value that pre-set threshold can be set before the acquisition for carrying out key point for engineering staff, can be small
In 100% any positive number, for example, 10%, the embodiment of the present invention is to this without specifically limiting.
Third step：Pulses per second, corresponding step number STEP value based on each key point got and relative to
Situations such as slope of initial point, the content being written in accelerometer at least can be following several situations：At least one key point
Or the difference of the pulses per second of the pulses per second or adjacent key point of any two of all key points, each key point are corresponding
Stepper motor needed for the difference of step number or the adjacent corresponding step number of key point of any two that rotates, remaining each key point phase
The slope of curve between the adjacent key point of the slope of curve or any two for initial key point.
Based on the data that above procedure obtains, the concrete condition of accelerometer can be listed below：
(1) pulses per second of all key points and by previous key point increase to current key point stepper motor need turn
It is X that dynamic step number, which such as includes pulses per second,0、X1、X2、X3... and step number 0, Y1、(Y2-Y1)、(Y3-Y2)……
(2) it is X that the pulses per second of all key points and corresponding step Numerical, which such as include pulses per second,0、X1、X2、
X3... and corresponding step number 0, Y1、Y2、Y3……
(3) pulses per second of at least one key point, step number and each key point are relative to initial key point (following letter
Claim initial point) slope, such as include initial key point pulses per second, step number 0, Y1、Y2、Y3... and slope 0, a1、
a2、a3……
(4) pulses per second of at least one key point, each key point are relative to the slope of initial point and by previous pass
Key point increases to the step number that current key point stepper motor needs to rotate, and such as includes the pulses per second X of initial point0, slope 0,
a1、a2、a3... and step number 0, Y1、(Y2-Y1)、(Y3-Y2)……
(5) the pulses per second difference and key between the pulses per second of at least one key point, front and back key point
The step Numerical of point such as includes the pulses per second X of initial point0, pulses per second difference (X1-X0)、(X2-X1)、(X3-
X2) ... and step number 0, Y1、Y2、Y3……
(6) the pulses per second difference and stepping between the pulses per second of at least one key point, front and back key point
The pulses per second of motor is increased to the step number that current key point stepper motor needs to rotate by previous key point, such as includes initial
The pulses per second X of point0, pulses per second difference (X1-X0)、(X2-X1)、(X3-X2) ... and step number 0, Y1、(Y2-Y1)、
(Y3-Y2)……
(7) slope of the pulses per second of all key points and each key point relative to initial point such as includes arteries and veins per second
Rush number X0、X1、X2、X3..., slope 0, a1、a2、a3……
(8) slope between the pulses per second of all key points and adjacent two key point such as includes pulses per second
X0、X1、X2、X3..., slope (X1-X0)/(Y1-0)、(X2-X1)/(Y2-Y1)、(X3-X2)/(Y3-Y2)……
(9) pulses per second of at least one key point, the corresponding step number of all key points and adjacent two key point it
Between line slope, such as include initial point pulses per second X0, step number 0, Y1、Y2、Y3, slope (X1-X0)/(Y1-0)、(X2-
X1)/(Y2-Y1)、(X3-X2)/(Y3-Y2)……
(10) pulses per second of at least one key point, increase to by previous key point current key point stepper motor and need
Line slope between the step number and adjacent two key point to be rotated such as includes the pulses per second X of initial point0, step number 0,
Y1、(Y2-Y1)、(Y3-Y2) ..., slope (X1-X0)/(Y1-0)、(X2-X1)/(Y2-Y1)、(X3-X2)/(Y3-Y2)……
(11) pulses per second of at least one key point, the difference of the pulses per second of front and back key point, adjacent two are closed
Line slope between key point such as includes pulses per second X0, the difference of pulses per second is (X1-X0)、(X2-X1)、(X3-
X2) ..., slope (X1-X0)/(Y1-0)、(X2-X1)/(Y2-Y1)、(X3-X2)/(Y3-Y2)……
The accelerometer as used in stepper motor rate control process may include previously described first parameter, the second ginseng
Number, at least two in third parameter, compared with the existing technology used in include in accelerometer stepper motor speed control
The corresponding pulses per second of all speed and step count information in the process, data information in accelerometer provided in this embodiment compared with
It is few, therefore accelerometer provided in this embodiment can greatly save the memory space of image forming apparatus.
Hereinafter, speed control of the accelerometer description based on the first situation to stepper motor.It is deposited specifically, being stored in
Stepper motor accelerometer example in reservoir is as shown in table 1 below.
| Pulses per second PPS | 184 | 264 | 464 | 525 | 711 | 865 | 1068 |
| Step number STEP | 0 | 40 | 50 | 15 | 46 | 30 | 50 |
Table 1
Wherein the pulses per second of 1 the first row of table be according to actual needs, all key points of the stepper motor got
Pulses per second；The step number STEP of 1 second row of table refers to the pulses per second of stepper motor by the arteries and veins per second of previous key point
When rushing number increases to the pulses per second of current key point, the step number of rotation needed for stepper motor.Obviously, accelerometer includes multiple
The accelerating sections of stepper motor, the corresponding acceleration pulses per second of each accelerating sections be not identical.
It should be noted that the pulses per second that accelerates in the embodiment of the present invention is the current pulses per second of stepper motor
The increment of pulses per second compared with upper one current pulses per second, i.e., the line between two adjacent key points are oblique
Rate.
In order to facilitate understanding, an acceleration curve is introduced herein, as shown in Figure 3.The wherein abscissa table of acceleration curve
That show is the step number STEP of stepper motor rotation, and what ordinate indicated is and the consistent every pulse per second (PPS) of the step number STEP of stepper motor
Number.The pulses per second of seven key points such as A, B, C, D, E, F, G on acceleration curve is respectively 184,264,464,525,
711,865,1068, and the step number increment between adjacent two key point is 40,50,15,46,30,50 respectively.As shown in figure 4,
Between two neighboring key point, the step number of the pulses per second of stepper motor and stepper motor rotation be it is in a linear relationship, because
This is when the expectation pulses per second of known stepper motor and current pulses per second, in conjunction with the accelerometer of stepper motor, just
Every turn of the stepper motor corresponding pulses per second that moves a step can be calculated by simple algorithm.
The method for control speed of stepper motor provided in this embodiment can be as shown in figure 4, include：
Step S101, the control command of corresponding stepper motor is received, control command includes the desired speed value of stepper motor.
Step S102, according to control command, it is corresponding for driving the expectation of stepper motor per second to obtain desired speed value
Umber of pulse.
Step S103, the accelerometer based on the stepper motor pre-seted is obtained in conjunction with the current pulses per second of stepper motor
Take the acceleration pulses per second of stepper motor.
Step S104, the current pulses per second is gradually increased using the acceleration pulses per second of stepper motor, until
Current pulses per second is greater than or equal to desired pulses per second.
In the present embodiment, in order to guarantee that the speed of stepper motor can be controlled accurately, every time to stepper motor
When being adjusted the speed, stepper motor can all be stalled, speed zero.Therefore, further, the speed control detailed process of stepper motor
As shown in figure 5, wherein：
Step S201, stepper motor control device 170 receives the transmission of engine unit 140 from image forming apparatus
Control command, the control command can be the stopping or starting rotation, positive and negative rotation, acceleration or deceleration, expectation of stepper motor
Velocity amplitude etc..
Step S202, according to control command, it is corresponding for driving the expectation of stepper motor per second to obtain desired speed value
Umber of pulse.
Step S203, the initial pulses per second for obtaining the stepper motor pre-seted, as the stepper motor
Current pulses per second, it is assumed that the initial pulses per second (i.e. the pulses per second of initial point) being stored in accelerometer is corresponding
Numerical value is 184, i.e. the current pulses per second of stepper motor is 184.
Step S204, the current pulses per second of comparison and desired pulses per second, if current pulses per second is less than the phase
It hopes pulses per second, then enters step S205, otherwise enter step S206.
Step S205, the accelerometer based on the stepper motor pre-seted is obtained in conjunction with the current pulses per second of stepper motor
The current accelerating sections of stepper motor is taken, and obtains the acceleration pulses per second of corresponding current accelerating sections, and by acceleration arteries and veins per second
It rushes number and is superimposed with current pulses per second, to update the current pulses per second of stepper motor.
If step S206, current pulses per second is more than or equal to desired pulses per second, pulses per second will it is expected
Always it is used as current pulses per second.
It is exemplified below, how the current of each step of stepper motor is obtained according to the expectation pulses per second of stepper motor
Pulses per second.
As shown in figure 3, corresponding per second due to saving each key point of acceleration curve A, B, C, D, E, F, G in accelerometer
Step number between umber of pulse and adjacent two key point, and the pulses per second between adjacent two key point and stepper motor rotation
Step number is linear, by calculating the acceleration pulses per second between available two key point.
If the pulses per second of adjacent two key point is respectively X1、X2, the pulses per second of stepper motor is by X1Increase to
X2, the required step number STEP value rotated of stepper motor is L, then to obtain corresponding acceleration pulses per second
Specifically, the pulses per second of key point A is 184, crucial such as the line section on acceleration curve between key point A to key point B
The pulses per second of point B is 264, and the step number between key point A and key point B is 40 steps, then corresponding acceleration pulses per second
ForThen in acceleration curve by the line section key point A to key point B, the acceleration of each step is per second
Umber of pulse is a1=2.It is similar can just calculate acceleration curve by key point B to key point C, by key point C to key point D
Acceleration pulses per second a2、a3。
Specifically, in acceleration curve by the line section key point A to key point B, each step of stepper motor
Pulses per second is respectively 184,184+a1、184+2a1、……、184+40a1；By the line key point B to key point C
Section, the pulses per second of each step is respectively 264,264+a2、264+2a2、……、264+50a2；By key point C to key point D
Between line section, the pulses per second of each step is respectively 464,464+a3、464+2a3、464+3a3、……、464+15a3。
To sum up, the pulses per second of each step of stepper motor on acceleration curve can be calculated in a similar way.
During calculating the pulses per second of each step of stepper motor, it is also desirable to consider step S204 shown in Fig. 4
With step S205.I.e. when current pulses per second is less than desired pulses per second, current pulses per second is superimposed with one
Accelerate pulses per second as new current pulses per second, sets the current pulses per second of update as M, and correspondingly generate
One pulse signal inputs to stepper motor, then constantly repeats step S204 and S205.Conversely, if comparison result is current every
Pulse per second (PPS) number is more than or equal to desired pulses per second, then hereafter stepper motor turns to move a step corresponding pulses per second always
It is expected pulses per second.
Therefore, in the present embodiment, during carrying out stepper motor speed control, according to the every of each step got
Pulse per second (PPS) value exports pulse signal (pulses per second is different, then the period of respective pulses is different) respectively and is used as stepping horse
The driving signal reached, stepper motor receive the driving signal that drive control unit 230 is sent, to realize stepper motor speed
Adjustment.
In first specific implementation scene of the present embodiment, it is expected that pulses per second is 200, as shown in table 1, stepping horse
The initial pulses per second reached is 184, by above it is found that can be since the initial pulses per second of stepper motor, stepping horse
The acceleration pulses per second to move a step up to every turn is 2.Since current pulses per second 184 is less than desired pulses per second 200, and
As shown in Table 1 in key point A to the accelerating sections between key point B, therefore the pulses per second of stepper motor next step needs
Increase by 2, then current pulses per second is 186, and same current pulses per second is less than desired pulses per second.Constantly repeat this
Accelerator, when stepper motor rotates 8 step, current pulses per second is 200, meets and is greater than or equal to desired pulses per second
200 this condition are then not necessarily to further increase the current pulses per second of stepper motor, each step of subsequent stepper motor rotation
Pulses per second be always desired pulses per second.
In second specific implementation scene of the present embodiment, it is expected that pulses per second is 300.As shown in table 1, from initial
Pulses per second 184 starts to accelerate to 300, needs to carry out two boost phases.
In first boost phase, stepper motor is located at key point A to key point B accelerating sections, as shown in Table 1 every rotation one
The acceleration pulses per second of step is 2.Since the current pulses per second 184 of stepper motor is less than desired pulses per second 300, because
The pulses per second of this stepper motor next step needs to increase by 2, i.e., current pulses per second becomes 186, every still less than expectation
Pulse per second (PPS) number 300 constantly repeats the accelerator, when stepper motor rotates 40 step, the current pulses per second of stepper motor
Become 264, that is, reaches the key point B in Fig. 3.The current pulses per second 264 of stepper motor at this time is per second still less than it is expected
Umber of pulse 300 needs to continue to accelerate stepper motor.Since key point A is completed to key point B accelerating sections in stepper motor
Acceleration, need to enter key point B to key point C accelerating sections, it is therefore desirable to reacquire the every pulse per second (PPS) of acceleration of stepper motor
Number, carries out second boost phase.
In second boost phase, since the current pulses per second of stepper motor is 264, key point B need to be entered to pass
Key point C accelerating sections carries out continuing to accelerate.By in table 1 it is found that the acceleration to move a step in this every turn of accelerating sections stepper motor is every
Pulse per second (PPS) number is 4.Since the current pulses per second 264 of stepper motor is less than desired pulses per second 300, stepper motor
The pulses per second of next step needs to increase by 4, i.e., current pulses per second becomes 288, still less than desired pulses per second
300.The accelerator is constantly repeated, when stepper motor is rotated further by 9 step on the basis of the first accelerating sections, stepper motor is worked as
Preceding pulses per second becomes 300, meets and is greater than or equal to desired this condition of pulses per second 300, then without further increasing
The current pulses per second of stepper motor, the pulses per second of each step of subsequent stepper motor rotation are always expectation arteries and veins per second
Rush number.
In conclusion present embodiments providing in a kind of concrete implementation stepper motor speed control how to obtain each step
Pulses per second method so that motor control is more accurate.
Further, the speed of above-mentioned stepper motor can be based on different printing/scan phases, the difference of image forming apparatus
The factors such as printing/scan pattern, different scanning resolution ratio and change, the above-mentioned printing stage can for preheating, normal print etc.,
Scan phase can to sweep in advance, correct scan, normal scan, playback etc., above-mentioned different printing models can print for thin paper,
Ground paper printing, A5 printing, A4 printing etc., above-mentioned different scanning mode can be colored, gray scale and black and white.
Different accelerometers, the present embodiment are corresponded to according to different stepper motor desired speed values in compared to the prior art
The scheme of offer only needs to be also eliminated in stepper motor rate control process and sentenced according to use demand using an accelerometer
It is disconnected using which accelerometer the step of, control the simpler convenience of programming.Further, since being contained only in accelerometer several
The related parameter values of key point, without containing stepper motor speed in stepper motor rate control process as the prior art
By 0 to the every turn of pulses per second to move a step of maximum speed stepper motor and step Numerical, saved significantly when saving accelerometer
Memory space is saved.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of method for control speed of stepper motor, which is characterized in that including：
The control command of the corresponding stepper motor is received, the control command includes the desired speed value of stepper motor；
According to the control command, it is corresponding for driving the expectation of stepper motor arteries and veins per second to obtain the desired speed value
Rush number；
Institute is obtained in conjunction with the current pulses per second of the stepper motor based on the accelerometer of the stepper motor pre-seted
State the acceleration pulses per second of stepper motor；
The current pulses per second is gradually increased using the acceleration pulses per second of the stepper motor, until described current every
Pulse per second (PPS) number is greater than or equal to the expectation pulses per second,
Wherein, before the control command for receiving the corresponding stepper motor, the method also includes：
The accelerator of the stepper motor is tested, each step that the stepper motor rotates in accelerator is obtained
Corresponding pulses per second；
Based on acquired each pulses per second, the pulses per second curve of the stepper motor is generated；
Several key points are extracted in the pulses per second curve, and generate based on extracted each key point and institute is set
State the accelerometer of stepper motor.
2. method for control speed according to claim 1, which is characterized in that adding based on the stepper motor pre-seted
Fast table, in conjunction with the current pulses per second of the stepper motor, before the acceleration pulses per second for obtaining the stepper motor, also
Including：
Obtain the initial pulses per second of the stepper motor pre-seted, current every pulse per second (PPS) as the stepper motor
Number.
3. method for control speed according to claim 2, which is characterized in that the accelerometer includes multiple stepping horses
The accelerating sections reached, the corresponding acceleration pulses per second of each accelerating sections be not identical.
4. method for control speed according to claim 3, which is characterized in that adding based on the stepper motor pre-seted
Fast table, in conjunction with the current pulses per second of the stepper motor, the acceleration pulses per second for obtaining the stepper motor includes：
Institute is obtained in conjunction with the current pulses per second of the stepper motor based on the accelerometer of the stepper motor pre-seted
State the current accelerating sections of stepper motor；
Obtain the acceleration pulses per second of the corresponding current accelerating sections.
5. method for control speed according to claim 1, which is characterized in that if being extracted in the pulses per second curve
Doing a key point includes：
Obtain the pulses per second curve is a little used as current point, and the current point is first with the pulses per second curve
The slope of the line of initial point is K；
Obtain the former point of the current point, the slope of the line of the former point and the initial point is K1；
Obtain the latter point of the current point, the slope of the line of the latter point and the initial point is K2；
Pre-set threshold is obtained, ifMore than or equal to the pre-set threshold, then the current point is extracted as crucial
Point.
6. method for control speed according to claim 5, which is characterized in that the accelerometer includes the first parameter, second
At least two in parameter and third parameter, wherein
First parameter is the pulses per second or the adjacent key of any two of at least one key point or all key points
The difference of the pulses per second of point, second parameter are the step number of rotation needed for the corresponding stepper motor of each key point or any
The difference of the corresponding step number of two adjacent key points, the third parameter are remaining each key point relative to initial key point
Line slope or the adjacent key point of any two between line slope.
7. a kind of stepper motor control device, which is characterized in that including：
Receiving unit, receives the control command of the corresponding stepper motor, and the control command includes the expectation speed of stepper motor
Angle value；
It is corresponding for driving the stepping horse to obtain the desired speed value according to the control command for drive control unit
The expectation pulses per second reached；And the accelerometer based on the stepper motor pre-seted, in conjunction with the current of the stepper motor
Pulses per second obtains the acceleration pulses per second of the stepper motor；
Driving unit gradually increases the current pulses per second using the acceleration pulses per second of the stepper motor, until
The current pulses per second is greater than or equal to the expectation pulses per second,
Wherein, before the control command that the receiving unit receives the corresponding stepper motor, the stepper motor control dress
It sets and the accelerator of the stepper motor is tested, obtain each step pair that the stepper motor rotates in accelerator
The pulses per second answered；Based on acquired each pulses per second, the pulses per second curve of the stepper motor is generated；Institute
It states and extracts several key points in pulses per second curve, and generate based on extracted each key point and the stepping horse is set
The accelerometer reached.
8. stepper motor control device according to claim 7, which is characterized in that drive control unit is also obtained and pre-seted
The stepper motor initial pulses per second, the current pulses per second as the stepper motor.
9. stepper motor control device according to claim 8, which is characterized in that the accelerometer includes multiple steps
Into the accelerating sections of motor, the corresponding acceleration pulses per second of each accelerating sections is not identical.
10. stepper motor control device according to claim 9, which is characterized in that the drive control unit is based on pre-
The accelerometer for the stepper motor being arranged obtains the stepper motor in conjunction with the current pulses per second of the stepper motor
Current accelerating sections and the corresponding current accelerating sections acceleration pulses per second.
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| CN101938235A (en) * | 2009-06-30 | 2011-01-05 | 佳能株式会社 | Motor control apparatus and image forming apparatus |
| CN102025861A (en) * | 2009-09-15 | 2011-04-20 | 三星电子株式会社 | Image forming apparatus, motor control apparatus, and motor control method |
| CN102386825A (en) * | 2010-08-30 | 2012-03-21 | 佳能株式会社 | Motor driving apparatus and optical apparatus |
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| KR20130007886A (en) * | 2011-07-11 | 2013-01-21 | 삼성전자주식회사 | Image forming apparatus, motor controlling apparatus and method for controlling of motor |
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| CN101938235A (en) * | 2009-06-30 | 2011-01-05 | 佳能株式会社 | Motor control apparatus and image forming apparatus |
| CN102025861A (en) * | 2009-09-15 | 2011-04-20 | 三星电子株式会社 | Image forming apparatus, motor control apparatus, and motor control method |
| CN102386825A (en) * | 2010-08-30 | 2012-03-21 | 佳能株式会社 | Motor driving apparatus and optical apparatus |
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