CN105897090A - Stepping motor driver and received pulse processing method thereof - Google Patents
Stepping motor driver and received pulse processing method thereof Download PDFInfo
- Publication number
- CN105897090A CN105897090A CN201610219020.7A CN201610219020A CN105897090A CN 105897090 A CN105897090 A CN 105897090A CN 201610219020 A CN201610219020 A CN 201610219020A CN 105897090 A CN105897090 A CN 105897090A
- Authority
- CN
- China
- Prior art keywords
- pulse
- small
- moment
- effect signal
- equivalency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 21
- 238000009499 grossing Methods 0.000 claims abstract description 28
- 230000000694 effects Effects 0.000 claims description 90
- 238000000034 method Methods 0.000 claims description 34
- 230000008569 process Effects 0.000 claims description 28
- 230000008859 change Effects 0.000 claims description 5
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000004148 unit process Methods 0.000 claims 1
- 230000001133 acceleration Effects 0.000 abstract description 3
- 238000001914 filtration Methods 0.000 abstract 2
- 238000004364 calculation method Methods 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 3
- 238000011022 operating instruction Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention relates to the technical field of motors, and provides a stepping motor driver and a received pulse processing method thereof. The processing method comprises the following steps: multiple pulse signals are received in one period, and each pulse signal is subdivided to acquire multiple small pulses; smoothing average filtering processing is carried out on the multiple small pulses, a pulse equivalent after smoothing is outputted, a sequential pulse buffer pool is set, the earliest pulses are eliminated in each period, new pulses are injected, smoothing filtering processing is carried out on the pulse pool, new pulses are outputted to a stepping motor controller, the original discontinuous pulses become continuous smooth pulses, further subdivision is carried out, and the operation of the motor is stable. The algorithm succeeds in solving the problem of unbalance under low subdivision and low speed of the traditional stepping motor driver, and the problem that rotation of the motor is clamped to death due to uneven of acceleration and deceleration of pulses generated by an upper computer is solved.
Description
Technical field
The present invention relates to technical field of motors, particularly relate to a kind of stepper motor driver and receive pulse
Processing method.
Background technology
At present, in stepper motor driver technical field, traditional driver is receiving external pulse letter
After number, directly external pulse signal is converted to speed or angle information and participates in computing to drive motor, this
The advantage of kind of method be receive pulse after make an immediate response within the monocycle, and within the monocycle, complete motor location.
Its shortcoming is that pulse equivalency is different under difference is segmented, the lowest segmentation or in the case of not segmenting, for
The pulse equivalency processed in monocycle is very big, when pulse frequency is relatively low, motor can be caused to run and tremble
Dynamic and unstable, even motor is stuck.In sum, prior art exists motor driver at single-revolution
The pulse equivalency processed in phase causes the most greatly motor to run shake and jiggly problem.
Summary of the invention
It is an object of the invention to provide a kind of stepper motor driver and receive the processing method of pulse, with
Solving to exist in prior art the pulse equivalency that motor driver processes within the monocycle causes the most greatly stepping electric
Machine runs shake and jiggly problem.
First aspect present invention provides a kind of stepper motor driver to receive the processing method of pulse, described process
Method comprises the following steps:
Within a cycle, receive multiple pulse signal, be finely divided each pulse signal to obtain multiple little
Pulse；
The plurality of small-pulse effect is done the pulse equivalency after moving average filter process output smoothing.
In conjunction with first aspect, in the first possible implementation of first aspect, described to the plurality of
Small-pulse effect do moving average filter process and output smoothing after pulse equivalency step particularly as follows:
When receiving multiple small-pulse effect signal within a cycle, in Buffer Pool, preserve the little of n moment successively
Pulse signal；
When receiving new small-pulse effect signal after described n the moment, each new small-pulse effect signal is made to replace successively
Change the small-pulse effect signal preserved at first in described n the moment；
According to the pulse equivalency after the small-pulse effect signal output smoothing that described n the moment is preserved.
In conjunction with the first possible implementation of first aspect, the realization that the second in first aspect is possible
In mode, the described scun making successively to preserve at first in each new small-pulse effect signal replacement described n moment
Rush the step of signal particularly as follows:
Delete the small-pulse effect signal preserved at first in described n the moment, preserve the new small-pulse effect signal received.
In conjunction with the implementation that the second of first aspect is possible, in the third possible realization of first aspect
In mode, the pulse equivalency after the described small-pulse effect signal output smoothing preserved according to described n the moment
Step particularly as follows:
According to formula calculated below calculating pulse equivalency after smooth:
Pulse equivalency PulseOout=SumPulse/n after Ping Hua, wherein, SumPulse is currently stored
The sum of n moment pulse data.
Second aspect present invention provides a kind of stepper motor driver, and stepper motor driver device includes:
Pulse subdivision unit, for receiving multiple pulse signal and entering each pulse signal within a cycle
Row segmentation is to obtain multiple small-pulse effects；
Pulse smooth unit, processes and after output smoothing for the plurality of small-pulse effect does moving average filter
Pulse equivalency.
In conjunction with second aspect, in the first possible implementation of second aspect, described pulse is smooth single
The plurality of small-pulse effect is done moving average filter and processes and the process of pulse equivalency after output smoothing is by unit:
When receiving multiple small-pulse effect signal within a cycle, in Buffer Pool, preserve the little of n moment successively
Pulse signal；
When receiving new small-pulse effect signal after described n the moment, each new small-pulse effect signal is made to replace successively
Change the small-pulse effect signal preserved at first in described n the moment；
According to the pulse equivalency after the small-pulse effect signal output smoothing that described n the moment is preserved.
In conjunction with the first possible implementation of second aspect, the realization that the second in second aspect is possible
In mode, described pulse smooth unit makes each new small-pulse effect signal replace in described n the moment the most successively
The process of the small-pulse effect signal first preserved is:
Delete the small-pulse effect signal preserved at first in described n the moment, preserve the new small-pulse effect signal received.
In conjunction with the implementation that the second of second aspect is possible, in the third possible realization of second aspect
In mode, after the small-pulse effect signal output smoothing that described pulse smooth unit was preserved according to described n the moment
The process of pulse equivalency be:
According to formula calculated below calculating pulse equivalency after smooth:
Pulse equivalency PulseOout=SumPulse/n after Ping Hua, wherein, SumPulse is currently stored
The sum of n moment pulse data.
The present invention provides a kind of stepper motor driver and receives the processing method of pulse, the list that will receive
Individual pulse is divided into multiple small-pulse effect, reduces pulse equivalency, the original monocycle the big pulse equivalency completed is divided into
Multiple cycles complete multiple small-pulse effect equivalent, make pulse equivalency continuous, make motor operate steadily further, solve
Determine and when traditional motor driver without smoothing function receives pulse, caused the problem of motor low jitter, simultaneously
Solve the part uneven motor caused of host computer pulse acceleration and deceleration and cannot go up stuck problem at a high speed.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to embodiment or existing skill
In art description, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only
It is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying creative labor
On the premise of dynamic property, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the processing method that a kind of stepper motor driver that an embodiment of the present invention provides receives pulse
Flow chart；
Fig. 2 is the processing method that a kind of stepper motor driver that an embodiment of the present invention provides receives pulse
The flow chart of middle moving average filter method；
Fig. 3 is pulse and the waveform diagram of output in prior art；
Fig. 4 is pulse and the waveform diagram of output in the embodiment of the present invention；
Fig. 5 is the structural representation of a kind of stepper motor driver that another kind embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
In order to technical scheme is described, illustrate below by specific embodiment.
The embodiment of the present invention provides a kind of stepper motor driver to receive the processing method of pulse, as it is shown in figure 1,
This processing method comprises the following steps:
Step S101. receives multiple pulse signal within a cycle, each pulse signal is finely divided with
Obtain multiple small-pulse effect.
In step S101, concrete, the individual pulse received is divided into multiple small-pulse effect, reduces single
The pulse equivalency of pulse, the original monocycle the big pulse equivalency completed is divided into multiple cycle and completes multiple scun
Rush equivalent.
Multiple small-pulse effects are done the pulse equivalency after moving average filter process output smoothing by step S102..
In step s 102, concrete, by setting up a sequential pulse Buffer Pool, multiple small-pulse effects are done
Sliding average computing, so that the small-pulse effect in Buffer Pool is done the disposal of gentle filter, exports new pulse to stepping electricity
Machine controller, owing to carrying out the application of glide filter process to the small-pulse effect in pulse pond so that does not originally connect
Continuous pulse becomes continuously smooth pulse and is segmented further, and then makes motor operate steadily.
The embodiment of the present invention just has following technical effect that the problem of the direct computing maximum because of traditional pulse
Being that pulse equivalency is very big, after the monocycle has processed, in other cycles, pulse equivalency is 0, thus causes
Motor operating shake, the present invention by being divided into multiple small-pulse effect by individual pulse, and to multiple small-pulse effects
Do moving average filter to process, it is thus achieved that multiple continuous print pulse equivalencies, make motor operate steadily.
Another kind embodiment of the present invention provides a kind of stepper motor driver to receive the processing method of pulse, such as figure
Shown in 2, this processing method comprises the following steps:
Step S201. receives multiple pulse signal within a cycle, each pulse signal is finely divided with
Obtain multiple small-pulse effect.
Seeing the explanation of step S101, here is omitted.
When step S202. receives multiple small-pulse effect signal within a cycle, in Buffer Pool, preserve n successively
The small-pulse effect signal in individual moment.
In step S202, concrete, set a pulse buffer pond, in order to preserve the n receiving pulse
The pulse in individual moment, i.e. in Buffer Pool, preseting length is array Data [n] of n, to deposit n respectively
Pulse the most in the same time, wherein, the data volume in Buffer Pool is defined as SumPulse.
When step S203. receives new small-pulse effect signal after n moment, each new pulse is made to believe successively
Number replace in n moment the pulse signal preserved at first；
In step S203, concrete, replace pulse signal and can use implementation below:
Delete the pulse signal preserved at first in n moment, preserve the new small-pulse effect signal received.
I.e. before Buffer Pool receives the newest small-pulse effect signal, first weed out the small-pulse effect letter in a moment
Number, i.e. can use to give an order: SumPulse-=Data [i]；Then current PRF value, Buffer Pool are updated
Receive current PRF, can use to give an order: SumPulse+=Data [i].
Pulse equivalency after the output of pulse signal that step S204. was preserved according to n moment is smooth.
In step S204, concrete, according to formula calculated below calculating pulse equivalency after smooth:
Pulse equivalency PulseOout=SumPulse/n after Ping Hua, wherein, SumPulse is currently stored
The sum of n moment pulse data.
Can use to give an order: the pulse equivalency PulseOout=SumPulse/n after Ping Hua；Then update
Instruction moment i++, when i is more than or equal to n, recovers 0 value, circulates successively.
It should be noted that the most smooth number of times of n, can be set in outside by user, by arranging
The big I of Buffer Pool arranges smooth number of times, it is not necessary to it is modified by User Exploitation software, concrete, n=2m,
Wherein, m is progression, and user according to setting progression and then can set smooth number of times, and can realize leading to
The mode crossing displacement carries out calculating the smooth number of times under different progression, it is not necessary to uses division arithmetic, improves
The calculating speed of MCU, whole smoothing process only uses 5 monocycle operating instructions, performs speed very fast,
Program is the most efficient.
The embodiment of the present invention compared with prior art, can adopt by the algorithm in prior art smoothed pulse
By the method for traditional mathematics cumulative mean, the effect smoothed also can be realized.But it is as data in Buffer Pool
Be gradually increased, the amount of calculation of cumulative mean is the biggest, adds program amount of calculation, the cpu process of consumption
Time is consequently increased, and such as, the average calculating operation using mathematics cumulative mean algorithm to calculate 5 numerical value is:
SumPulse=Data [0]+Data [1]+Data [2]+Data [3]+Data [4]；
Output is SumPulse/5.
If average is 100, then amount of calculation and the elapsed time increase of MCU causes cost to increase, very
Become impossible to making the practicality calculated.
The moving average filter algorithm used in the embodiment of the present invention uses simple monocycle operating instruction, adopts
During with above-mentioned instruction, when user can change smooth number of times as required, sentence instruction can not be changed, by
Simple in statement, perform speed very fast, program is simply efficient, is not take up MCU resource, makes MCU run
Time is unaffected, compared with the algorithm using meansigma methods in prior art, it will be apparent that improve the speed of service,
As shown in Figure 3 and Figure 4, compared with the current waveform profile of prior art, embodiment of the present invention output electric current
Waveform is smoothed curve.
It should be noted that use the processing method of the embodiment of the present invention compared with prior art can produce necessarily
Lag time, this lag time is t=T × n, and wherein, T is carrier cycle, and n is smooth number of times, to the greatest extent
Pipe uses the method to there is certain lag time, but it is more steady that motor can be made to run, and solves tradition
Without smoothing function motor driver receive pulse time cause motor low jitter problem.
The embodiment of the present invention provides a kind of stepper motor driver, as it is shown in figure 5, stepper motor driver bag
Include:
Pulse subdivision unit 301, for receiving multiple pulse signal and believing each pulse within a cycle
Number it is finely divided to obtain multiple small-pulse effect；
Pulse smooth unit 302, processes and after output smoothing for multiple small-pulse effects do moving average filter
Pulse equivalency.
For pulse subdivision unit 301, concrete, the individual pulse received is divided into multiple small-pulse effect,
Reduce the pulse equivalency of individual pulse, the original monocycle the big pulse equivalency completed is divided into multiple cycle to be completed
Multiple small-pulse effect equivalents.
For pulse smooth unit 302, by setting up a sequential pulse Buffer Pool, multiple small-pulse effects are done
Sliding average computing, so that the small-pulse effect in Buffer Pool is done the disposal of gentle filter, exports new pulse to stepping electricity
Machine controller, owing to carrying out the application of glide filter process to the small-pulse effect in pulse pond so that does not originally connect
Continuous pulse becomes continuously smooth pulse and is segmented further, and then makes motor operate steadily.
The embodiment of the present invention just has following technical effect that the problem of the direct computing maximum because of traditional pulse
Being that pulse equivalency is very big, after the monocycle has processed, in other cycles, pulse equivalency is 0, thus causes
Motor operating shake, the present invention by being divided into multiple small-pulse effect by individual pulse, and to multiple small-pulse effects
Do moving average filter to process, it is thus achieved that multiple continuous print pulse equivalencies, make motor operate steadily.
Further, multiple small-pulse effects are done moving average filter and process and export flat by pulse smooth unit 302
The process of the pulse equivalency after cunning is:
When receiving multiple small-pulse effect signal within a cycle, in Buffer Pool, preserve the little of n moment successively
Pulse signal；
When receiving new small-pulse effect signal after n moment, each new small-pulse effect signal is made to replace n successively
The small-pulse effect signal preserved at first in the individual moment；
According to the pulse equivalency after the small-pulse effect signal output smoothing that n moment is preserved.
Further, pulse smooth unit 302 makes each new small-pulse effect signal replace in n moment successively
The process of the small-pulse effect signal preserved at first is:
Delete the small-pulse effect signal preserved at first in n moment, preserve the new small-pulse effect signal received.
Pulse after the small-pulse effect signal output smoothing that pulse smooth unit 302 was preserved according to n moment is worked as
The process of amount is:
According to formula calculated below calculating pulse equivalency after smooth:
Pulse equivalency PulseOout=SumPulse/n after Ping Hua, wherein, SumPulse is currently stored
The sum of n moment pulse data.
It should be noted that the most smooth number of times of n, can be set in outside by user, by arranging
The big I of Buffer Pool arranges smooth number of times, it is not necessary to it is modified by User Exploitation software, concrete, n=2m,
Wherein, m is progression, and user according to setting progression and then can set smooth number of times, and can realize leading to
The mode crossing displacement carries out calculating the smooth number of times under different progression, it is not necessary to uses division arithmetic, improves
The calculating speed of MCU, whole smoothing process only uses 5 monocycle operating instructions, performs speed very fast,
Program is the most efficient.
The present invention provides a kind of stepper motor driver and receives the processing method of pulse, the list that will receive
Individual pulse is divided into multiple small-pulse effect, reduces pulse equivalency, the original monocycle the big pulse equivalency completed is divided into
Multiple cycles complete multiple small-pulse effect equivalent, make pulse equivalency continuous, make motor operate steadily further, solve
Determine and when traditional motor driver without smoothing function receives pulse, caused the problem of motor low jitter, simultaneously
Solve the part uneven motor caused of host computer pulse acceleration and deceleration and cannot go up stuck problem at a high speed.
Above content is to combine concrete preferred implementation further description made for the present invention, no
Can assert the present invention be embodied as be confined to these explanations.Common for the technical field of the invention
For technical staff, make some equivalents without departing from the inventive concept of the premise and substitute or obvious modification,
And performance or purposes are identical, all should be considered as belonging to the present invention by the claims submitted to determine special
Profit protection domain.
Claims (8)
1. the processing method of a stepper motor driver reception pulse, it is characterised in that described processing method
Comprise the following steps:
Within a cycle, receive multiple pulse signal, be finely divided each pulse signal to obtain multiple little
Pulse；
The plurality of small-pulse effect is done the pulse equivalency after moving average filter process output smoothing.
2. processing method as claimed in claim 1, it is characterised in that described the plurality of small-pulse effect is done
Moving average filter process and output smoothing after pulse equivalency step particularly as follows:
When receiving multiple small-pulse effect signal within a cycle, in Buffer Pool, preserve the little of n moment successively
Pulse signal；
When receiving new small-pulse effect signal after described n the moment, each new small-pulse effect signal is made to replace successively
Change the small-pulse effect signal preserved at first in described n the moment；
According to the pulse equivalency after the small-pulse effect signal output smoothing that described n the moment is preserved.
3. processing method as claimed in claim 2, it is characterised in that described make each new scun successively
Rush signal replace in described n the moment small-pulse effect signal preserved at first step particularly as follows:
Delete the small-pulse effect signal preserved at first in described n the moment, preserve the new small-pulse effect signal received.
4. processing method as claimed in claim 3, it is characterised in that described according to described n moment institute
Preserve small-pulse effect signal output smoothing after pulse equivalency step particularly as follows:
According to formula calculated below calculating pulse equivalency after smooth:
Pulse equivalency PulseOout=SumPulse/n after Ping Hua, wherein, SumPulse is currently stored
The sum of n moment pulse data.
5. a stepper motor driver, it is characterised in that stepper motor driver device includes:
Pulse subdivision unit, for receiving multiple pulse signal and entering each pulse signal within a cycle
Row segmentation is to obtain multiple small-pulse effects；
Pulse smooth unit, processes and after output smoothing for the plurality of small-pulse effect does moving average filter
Pulse equivalency.
6. stepper motor driver as claimed in claim 5, it is characterised in that described pulse smooth unit
The process that the plurality of small-pulse effect does the pulse equivalency after moving average filter process output smoothing is:
When receiving multiple small-pulse effect signal within a cycle, in Buffer Pool, preserve the little of n moment successively
Pulse signal；
When receiving new small-pulse effect signal after described n the moment, each new small-pulse effect signal is made to replace successively
Change the small-pulse effect signal preserved at first in described n the moment；
According to the pulse equivalency after the small-pulse effect signal output smoothing that described n the moment is preserved.
7. stepper motor driver as claimed in claim 6, it is characterised in that described pulse smooth unit
Each new small-pulse effect signal is made to replace the process of the small-pulse effect signal preserved at first in described n the moment successively
For:
Delete the small-pulse effect signal preserved at first in described n the moment, preserve the new small-pulse effect signal received.
8. stepper motor driver as claimed in claim 7, it is characterised in that described pulse smooth unit
Process according to the pulse equivalency after the small-pulse effect signal output smoothing that described n the moment is preserved is:
According to formula calculated below calculating pulse equivalency after smooth:
Pulse equivalency PulseOout=SumPulse/n after Ping Hua, wherein, SumPulse is currently stored
The sum of n moment pulse data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219020.7A CN105897090B (en) | 2016-04-08 | 2016-04-08 | Stepper motor driver and its processing method for receiving pulse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219020.7A CN105897090B (en) | 2016-04-08 | 2016-04-08 | Stepper motor driver and its processing method for receiving pulse |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105897090A true CN105897090A (en) | 2016-08-24 |
| CN105897090B CN105897090B (en) | 2018-09-18 |
Family
ID=57013034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610219020.7A Active CN105897090B (en) | 2016-04-08 | 2016-04-08 | Stepper motor driver and its processing method for receiving pulse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105897090B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109274299A (en) * | 2018-11-22 | 2019-01-25 | 东莞市凯福电子科技有限公司 | A kind of number step actuator vibration processing technology and its processing method |
| CN111464091A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000245194A (en) * | 1999-02-16 | 2000-09-08 | Lexmark Internatl Inc | Method and apparatus for controlling servo motor using stepper motor controller integrated circuit |
| CN103259471A (en) * | 2012-02-16 | 2013-08-21 | 上海安浦鸣志自动化设备有限公司 | Method for driving stepping motor based on smooth self-adaptation |
-
2016
- 2016-04-08 CN CN201610219020.7A patent/CN105897090B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000245194A (en) * | 1999-02-16 | 2000-09-08 | Lexmark Internatl Inc | Method and apparatus for controlling servo motor using stepper motor controller integrated circuit |
| CN103259471A (en) * | 2012-02-16 | 2013-08-21 | 上海安浦鸣志自动化设备有限公司 | Method for driving stepping motor based on smooth self-adaptation |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109274299A (en) * | 2018-11-22 | 2019-01-25 | 东莞市凯福电子科技有限公司 | A kind of number step actuator vibration processing technology and its processing method |
| CN109274299B (en) * | 2018-11-22 | 2021-08-27 | 东莞市凯福电子科技有限公司 | Vibration processing technology and processing method for digital stepping driver |
| CN111464091A (en) * | 2020-04-08 | 2020-07-28 | 成都极米科技股份有限公司 | Control method and control device of shift motor and projection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105897090B (en) | 2018-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11740673B2 (en) | Holistic global performance and power management | |
| US10387770B2 (en) | Spiking neural network with reduced memory access and reduced in-network bandwidth consumption | |
| CN106530132A (en) | Power load clustering method and device | |
| CN113010312B (en) | Super-parameter tuning method, device and storage medium | |
| CN105897090A (en) | Stepping motor driver and received pulse processing method thereof | |
| US20240345617A1 (en) | Separate clocking for components of a graphics processing unit | |
| CN106874083B (en) | A kind of data actuation man-machine interface method for scheduling task | |
| CN111489568B (en) | Traffic signal lamp regulation and control method and device and computer readable storage medium | |
| CN113346815B (en) | Motor control method, device, terminal and storage medium | |
| CN103544729A (en) | Animation data processing method and system | |
| CN103543982A (en) | Clock frequency management method and mobile device | |
| CN111130405A (en) | Motor control method and device and terminal equipment | |
| CN112395073A (en) | High-performance fast rendering method for large vector data | |
| CN105915133B (en) | Stepper motor driver and its any divided method | |
| CN111026258B (en) | Processor and method for reducing power supply ripple | |
| CN103744791A (en) | Memory migration method and device | |
| CN107370425A (en) | The control method and device of motor | |
| CN109167952A (en) | Image processing method, system and image processing device | |
| CN103336458B (en) | Multi-thread data acquisition system synchronization control method in acquisition time control mode | |
| CN103729867A (en) | Hardware accelerator based on BP back-projection imaging algorithm and data processing method | |
| US20130328886A1 (en) | Systems and methods for creating an electronic signature | |
| CN110263929A (en) | Distributed deep learning method, storage medium and terminal based on global rate weight | |
| CN109032892A (en) | A kind of method for drafting of performance chart, device, equipment and medium | |
| CN109410292A (en) | Realize method, apparatus, equipment and the storage medium of the dynamic effect of water ripples | |
| CN103984926A (en) | Distributed moving object detection method based on MapReduce calculation model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |