CN106341063A - Stepping motor acceleration and deceleration control method - Google Patents
Stepping motor acceleration and deceleration control method Download PDFInfo
- Publication number
- CN106341063A CN106341063A CN201610813943.5A CN201610813943A CN106341063A CN 106341063 A CN106341063 A CN 106341063A CN 201610813943 A CN201610813943 A CN 201610813943A CN 106341063 A CN106341063 A CN 106341063A
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- controlled motor
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- speedometer
- acceleration
- intervalometer
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- 230000001133 acceleration Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008859 change Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 11
- 230000009467 reduction Effects 0.000 claims description 2
- 210000001367 artery Anatomy 0.000 claims 2
- 210000003462 vein Anatomy 0.000 claims 2
- 238000004080 punching Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003079 width control Methods 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
- H02P8/14—Arrangements for controlling speed or speed and torque
-
- 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
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
- H02P8/38—Protection against faults, e.g. against overheating or step-out; Indicating faults the fault being step-out
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a stepping motor acceleration and deceleration control method and belongs to the motor control adjusting technology field. The method comprises the following steps of based on a maximum operating speed of a controlled stepping motor, according to a preset speed calculating formula, generating a speedometer of the controlled stepping motor; and based on the speedometer, using a timer to generate a corresponding pulse so as to drive the controlled stepping motor to carry out acceleration and deceleration motion. According to a speed calculating formula of a single-chip microcomputer, a speedometer of the single-chip microcomputer is acquired and the speedometer is taken as a value of a single-chip microcomputer register. The speedometer is used to drive the timer to output an increase amplitude of a pulse frequency and the pulse frequency output by the timer is changed so as to drive the stepping motor to carry out the acceleration and deceleration motion. Through the above mode, motion of the stepping motor can be accurately controlled so as to guarantee that the stepping motor can reliably operate and does not generate a step out condition; and a position of an actual load of the stepping motor is consistent with a load position set by the controller and an error is avoided.
Description
Technical field
The present invention relates to Motor Control regulation technology field, particularly to a kind of Control of Step Motor's Acceleration and Deceleration method.
Background technology
In recent years, motor has the advantages that Pulse Width Control because of it, positioning precision is high and is widely used and microcomputer control
Among the economical CNC system of system.And the torque frequency feature of motor refer to effective output torque of motor and running frequency it
Between functional relationship, be one of key property of motor.User selects stepping electricity according to the torque frequency feature of motor
The type of machine, to ensure the motor energy reliability service of selection, out-of-step free.
There are two problems in actual applications in motor: one be the high frequency region of motor mechanical property softer,
It is not suitable for large inertia load system；Two be motor be that overload capacity is relatively low by the work of synchronous motor principle.Due to step
Stepper motor there is two above problem so that motor is easy to overload phenomenon, and just will cause step-out Yi Dan transshipping
Even stall, makes load situation change.And motor is when doing executive component, it is to be controlled in an open-loop manner, that is,
Load situation does not feed back to control circuit.And because load situation does not feed back to control circuit, motor is necessary for will
Correctly respond the change of each excitation, if excitation frequency selection is improper, motor is not able to move to new position, then actual
Load situation will produce error with estimated load situation.In actual applications because load situation can often change,
By leading to the position set by the position relative controller of actual loading, permanent error occurs.
Content of the invention
It is an object of the invention to provide a kind of Control of Step Motor's Acceleration and Deceleration method, to solve motor actual loading
The load situation set by the relative controller of position the problem of error occurs.
For realizing object above, the technical solution used in the present invention is: a kind of Control of Step Motor's Acceleration and Deceleration method is provided,
The method includes:
Based on the highest running speed of controlled motor, controlled motor is generated according to default speed calculation formula
Speedometer；
Based on described speedometer, produce corresponding pulses to drive controlled motor to carry out acceleration and deceleration motion using intervalometer.
Compared with prior art, there is following technique effect in the present invention: according to the type of single-chip microcomputer, determines this single-chip microcomputer
Speed calculation formula, and obtain the speedometer of the type single-chip microcomputer according to this speed calculation formula, then using speedometer as list
The value of piece machine depositor.In the control of stepper motor speed, by the increasing of this speedometer driving timing device output pulse frequency
Significantly, thus the frequency changing intervalometer output pulse carries out acceleration and deceleration motion with drive stepping motor.In this manner
More accurate control can be reached to the motion of motor, to ensure motor energy reliability service, out-of-step free, so that
The position of motor actual loading is consistent with the load situation set by controller, it is to avoid error.
Brief description
Fig. 1 is the flow chart of the Control of Step Motor's Acceleration and Deceleration method in one embodiment of the invention；
Fig. 2 is the flow chart of the fine division step of step s2 in one embodiment of the invention；
Fig. 3 is the frequency-time graph of a relation of the intervalometer output pulse in one embodiment of the invention；
Fig. 4 is the flow chart of the timer interrupt service in one embodiment of the invention；
Fig. 5 is the speed lift curve figure of the motor acceleration and deceleration in one embodiment of the invention.
Specific embodiment
With reference to Fig. 1 to Fig. 5, the present invention is described in further detail.
As shown in figure 1, present embodiment discloses a kind of Control of Step Motor's Acceleration and Deceleration method, the method comprises the steps
S1 to s2:
S1, the highest running speed based on controlled motor, generate controlled stepping according to default speed calculation formula
The speedometer of motor；
It should be noted that the value that the highest running speed of controlled motor is motor to be set when dispatching from the factory, this reality
Apply the acceleration and deceleration process adopting Single-chip Controlling motor in example, controlled stepping electricity is determined according to the type of the single-chip microcomputer selected
The speedometer of machine acceleration and deceleration process, and using the content of speedometer as depositor value, control controlled motor acceleration
Carry out with the value slowed down by searching depositor.
Selection to speed calculation formula is illustrated below:
If the Infineon's single-chip microcomputer selected, directly using curve calculator formation speed table, wherein curve calculator
The velocity amplitude generating is to calculate according to equation below:
Velocity amplitude=(timer count maximum-x) × t,
In formula: x be intervalometer counting initial value, this count initial value can arbitrarily setting, t is singlechip chip
Machine cycle, timer count maximum is to determine, such as, intervalometer is 16 according to the digit of intervalometer, then fixed
When device count maximum be 65535；If intervalometer is 8, then timer count maximum is 255.
If select is the s12g single-chip microcomputer of Freescale, because the timing mechanism of this single-chip microcomputer is different, this monolithic
Machine tim module is that 8 passages share a machine cycle t, therefore according to the velocity amplitude of the equation below controlled motor of calculating:
Velocity amplitude=x × t.
S2, be based on described speedometer, using intervalometer produce corresponding pulses to drive controlled motor to carry out acceleration and deceleration motion.
Specifically, as shown in Fig. 2 step s2 in above-described embodiment includes following fine division step s21 to s22:
S21, determined according to speedometer intervalometer produce pulse frequency amplitude of variation；
S22, started with the starting frequency of motor, it is defeated that the amplitude of variation according to described pulse frequency changes intervalometer
The frequency going out pulse is to drive controlled motor to carry out acceleration and deceleration motion.
Specifically, at this, time interval of intervalometer output pulse is changed by single-chip microcomputer, the frequency of output pulse is controlled
Make the speed change of controlled motor, the increase amplitude of wherein pulse frequency is to be that value in depositor determines by speedometer.Press
More accurate control can be reached according to this mode to the motion of motor, to ensure motor energy reliability service, no
Step-out, so that the position of motor actual loading is consistent with the load situation set by controller, it is to avoid error.
Specifically, the acceleration and deceleration process in above-described embodiment includes accelerating, at the uniform velocity and moderating process:
In accelerator, started with the initial frequency of controlled motor, determine the increasing of pulse frequency according to speedometer
Significantly to increase the frequency of pulse so that controlled motor is accelerated；
During frequency required for the frequency of pulse increases to controlled motor maximum (top) speed, controlled motor enters
At the uniform velocity process；
In moderating process, started with the frequency required for controlled motor maximum (top) speed, according to true according to speedometer
Determine the reduction amplitude of the pulse frequency frequency to reduce pulse so that controlled motor carries out retarded motion.
Need exist for illustrating, the deceleration of motor can be bigger than acceleration.According to the speed in speedometer at this
Angle value determines the increase amplitude of the frequency of pulse of intervalometer output, changes the density of the train of pulse of intervalometer output, in raising speed
When, the train of pulse of intervalometer output is gradually encrypted, and when slowing down, the train of pulse of intervalometer output is gradually sparse.
Specifically, during above-mentioned acceleration and deceleration motion, the frequency of current PRF according to intervalometer output and speed
In table, the current speed of controlled motor determines the operation step number of each speed threshold in accelerator；Fortune to each speed threshold
Row step number executes decrement operations, and when operation step number reduces to zero, the present speed shelves of controlled motor run and finish under entrance
One speed threshold.Velocity amplitude during the acceleration and deceleration of motor mentioned here is not continually varying, but according to stepping
The change in stage, during acceleration and deceleration motion, each speed rises one grade, will calculate what present speed shelves step should be walked first
Step number, is then checked in the way of successively decreasing, and when step step number reduces to zero, this notch speed degree runs and finishes, and enters lower first gear speed.
The operation step number of wherein each speed threshold step be according to intervalometer export pulse interval time, output pulse frequency and
The current speed of service of controlled motor determines, formula is as follows:
ns=fsδt,
In formula: nsFor the operation step number of present speed shelves step, as shown in figure 3, fsFor the current operation of controlled motor
Speed is the frequency that during s, intervalometer currently exports pulse, and δ t currently exports the time interval of pulse for intervalometer.
Specifically, the intervalometer in above-described embodiment starts counting up from counting initial value x, and reaches counting in current count value
Enter during maximum and interrupt to export pulsed drive controlled motor speed change.Counting initial value x at this is arbitrarily to set
, intervalometer starts counting up from counting initial value, when count value reaches the count maximum of intervalometer, during intervalometer overflows
Disconnected, output pulse is to drive controlled motor speed change.
Specifically, as shown in figure 4, the flow process interrupting service of intervalometer is:
A1, have no progeny in intervalometer enters, judge whether intervalometer exports pulse, if it is, execution step a2,
If it is not, then execution step a3；
A2, output pulse are to drive controlled motor speed change；
A3, reload intervalometer counting initial value x and from count initial value x start counting up, reach meter in current count value
Enter during number maximum and interrupt to export pulsed drive controlled motor speed change.
Specifically, as shown in figure 5, above-mentioned accelerator includes adding boost phase, even boost phase and subtracts boost phase.
Above-mentioned moderating process includes acceleration and deceleration stage, even decelerating phase and subtracts boost phase.Therefore, the motor in the present embodiment
Lifting speed curve be divided into 7 sections: wherein, voIt is the starting point speed of service of controlled motor, a is even acceleration starting point, b is to subtract to add
Fast starting point, c is at the uniform velocity starting point, and d is acceleration and deceleration starting point, and e is even deceleration starting point, and f is deceleration starting point.Stepping in each stage
The velocity variations of motor are all according to the aforesaid velocity amplitude stepping by each stage, then calculate should walking of this speed threshold step
Step number, is checked by decreasing fashion, when step number reduces to zero, enters next speed threshold.
Claims (8)
1. a kind of Control of Step Motor's Acceleration and Deceleration method it is characterised in that: methods described includes step:
S1, the highest running speed based on controlled motor, generate controlled motor according to default speed calculation formula
Speedometer；
S2, be based on described speedometer, using intervalometer produce corresponding pulses to drive controlled motor to carry out acceleration and deceleration motion.
2. the method for claim 1 it is characterised in that: described step s2 includes:
S21, determined according to speedometer intervalometer produce pulse frequency amplitude of variation；
S22, started with the starting frequency of motor, the amplitude of variation according to described pulse frequency changes intervalometer output arteries and veins
The frequency of punching is to drive controlled motor to carry out acceleration and deceleration motion.
3. method as claimed in claim 2 it is characterised in that: described acceleration and deceleration motion include accelerate, at the uniform velocity with slowed down
Journey:
In accelerator, started with the initial frequency of controlled motor, determine the increase width of pulse frequency according to speedometer
Spend and to increase the frequency of pulse so that controlled motor is accelerated；
During frequency required for the frequency of pulse increases to controlled motor maximum (top) speed, controlled motor enters at the uniform velocity
Process；
In moderating process, started with the frequency required for controlled motor maximum (top) speed, determine arteries and veins according to according to speedometer
Rush the reduction amplitude of the frequency frequency to reduce pulse so that controlled motor carries out retarded motion.
4. method as claimed in claim 3 it is characterised in that: during described acceleration and deceleration motion, defeated according to intervalometer
In the frequency of the current PRF going out and speedometer, the current speed of controlled motor determines each speed threshold in accelerator
Run step number；
Decrement operations are executed to the operation step number of each speed threshold, when running step number and reducing to zero, controlled motor current
Speed threshold runs and finishes next speed threshold of entrance.
5. method as claimed in claim 4 it is characterised in that: described intervalometer from count initial value x start counting up, and work as
Front count value reaches to enter during count maximum interrupts to export pulsed drive controlled motor speed change.
6. method as claimed in claim 5 it is characterised in that: described intervalometer is had no progeny in entering, and also comprises the steps:
Judge whether intervalometer exports pulse, if it is, output pulse is to drive controlled motor speed change；
If it is not, then reloading the counting initial value x of intervalometer and starting counting up from counting initial value x；
Enter when current count value reaches count maximum and interrupt to export pulsed drive controlled motor speed change.
7. method as claimed in claim 5 it is characterised in that: described accelerator includes plus boost phase, even acceleration rank
Section and subtract boost phase.
8. method as claimed in claim 5 it is characterised in that: described moderating process includes acceleration and deceleration stage, even deceleration rank
Section and subtract boost phase.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610813943.5A CN106341063B (en) | 2016-09-09 | 2016-09-09 | Control of Step Motor's Acceleration and Deceleration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610813943.5A CN106341063B (en) | 2016-09-09 | 2016-09-09 | Control of Step Motor's Acceleration and Deceleration method |
Publications (2)
| Publication Number | Publication Date |
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| CN106341063A true CN106341063A (en) | 2017-01-18 |
| CN106341063B CN106341063B (en) | 2018-09-21 |
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| CN201610813943.5A Active CN106341063B (en) | 2016-09-09 | 2016-09-09 | Control of Step Motor's Acceleration and Deceleration method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070329A (en) * | 2017-02-20 | 2017-08-18 | 武汉科技大学 | S type operation curve computational methods and stepper motor method of controlling rotation |
| CN107800338A (en) * | 2017-11-17 | 2018-03-13 | 深圳怡化电脑股份有限公司 | Step Motor speed control method based on FPGA |
| CN109508050A (en) * | 2018-11-28 | 2019-03-22 | 浙江工业大学 | A kind of automatic point drilling machine method for control speed |
| CN109742987A (en) * | 2018-12-22 | 2019-05-10 | 西安航天动力研究所 | A kind of stepper motor gearshift adjustment control method interrupted based on timer frequency conversion |
| CN110535379A (en) * | 2019-08-21 | 2019-12-03 | 广芯微电子（广州）股份有限公司 | A kind of control method of servo motor and system |
| CN110995083A (en) * | 2019-12-20 | 2020-04-10 | 湖南航天机电设备与特种材料研究所 | High-reliability locking control method and control system for three-self-inertia-unit product |
| CN113054879A (en) * | 2021-03-26 | 2021-06-29 | 深圳市大富智慧健康科技有限公司 | Speed control method of stepping motor and related equipment |
| CN113328662A (en) * | 2021-06-03 | 2021-08-31 | 深圳市引力电子科技有限公司 | Method for reproducing multiple dynamic speed values by one metering standard device |
| CN114244204A (en) * | 2021-12-13 | 2022-03-25 | 西安瑞峰光电技术有限公司 | Method, system and device for preventing step-by-step motor from being out of step |
| CN114995533A (en) * | 2022-05-25 | 2022-09-02 | 广东美的厨房电器制造有限公司 | Control method and control device of wine mixing machine, readable storage medium and wine mixing machine |
| CN115001325A (en) * | 2022-04-20 | 2022-09-02 | 北京瑞祺皓迪技术股份有限公司 | Timed interrupt control method and multi-step motor synchronous control system and method |
| CN115173758A (en) * | 2022-06-29 | 2022-10-11 | 北京瑞祺皓迪技术股份有限公司 | Method, device and equipment for controlling speed of stepping motor and storage medium |
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| CN1485977A (en) * | 2002-09-24 | 2004-03-31 | 力捷电脑股份有限公司 | Method and apparatus for controlling linear acceleration and deceleration of step motor |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070329B (en) * | 2017-02-20 | 2019-06-11 | 武汉科技大学 | S type operation curve calculation method and stepper motor method of controlling rotation |
| CN107070329A (en) * | 2017-02-20 | 2017-08-18 | 武汉科技大学 | S type operation curve computational methods and stepper motor method of controlling rotation |
| CN107800338A (en) * | 2017-11-17 | 2018-03-13 | 深圳怡化电脑股份有限公司 | Step Motor speed control method based on FPGA |
| CN109508050A (en) * | 2018-11-28 | 2019-03-22 | 浙江工业大学 | A kind of automatic point drilling machine method for control speed |
| CN109508050B (en) * | 2018-11-28 | 2022-03-01 | 浙江工业大学 | Speed control method for automatic point drilling machine |
| CN109742987A (en) * | 2018-12-22 | 2019-05-10 | 西安航天动力研究所 | A kind of stepper motor gearshift adjustment control method interrupted based on timer frequency conversion |
| CN110535379A (en) * | 2019-08-21 | 2019-12-03 | 广芯微电子（广州）股份有限公司 | A kind of control method of servo motor and system |
| CN110995083B (en) * | 2019-12-20 | 2023-01-06 | 湖南航天机电设备与特种材料研究所 | High-reliability locking control method and control system for three-self-inertia-unit product |
| CN110995083A (en) * | 2019-12-20 | 2020-04-10 | 湖南航天机电设备与特种材料研究所 | High-reliability locking control method and control system for three-self-inertia-unit product |
| CN113054879A (en) * | 2021-03-26 | 2021-06-29 | 深圳市大富智慧健康科技有限公司 | Speed control method of stepping motor and related equipment |
| CN113054879B (en) * | 2021-03-26 | 2023-02-03 | 深圳市大富智慧健康科技有限公司 | Speed control method of stepping motor and related equipment |
| CN113328662A (en) * | 2021-06-03 | 2021-08-31 | 深圳市引力电子科技有限公司 | Method for reproducing multiple dynamic speed values by one metering standard device |
| CN114244204A (en) * | 2021-12-13 | 2022-03-25 | 西安瑞峰光电技术有限公司 | Method, system and device for preventing step-by-step motor from being out of step |
| CN115001325A (en) * | 2022-04-20 | 2022-09-02 | 北京瑞祺皓迪技术股份有限公司 | Timed interrupt control method and multi-step motor synchronous control system and method |
| CN114995533A (en) * | 2022-05-25 | 2022-09-02 | 广东美的厨房电器制造有限公司 | Control method and control device of wine mixing machine, readable storage medium and wine mixing machine |
| CN115173758A (en) * | 2022-06-29 | 2022-10-11 | 北京瑞祺皓迪技术股份有限公司 | Method, device and equipment for controlling speed of stepping motor and storage medium |
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Effective date of registration: 20220228 Address after: 241000 Anshan South Road, Wuhu economic and Technological Development Zone, Anhui Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241009 No. 8, Changchun Road, Wuhu economic and Technological Development Zone, Anhui, China Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
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