CN106941332A - A kind of sewing machine method for controlling stepping motor and control system - Google Patents
A kind of sewing machine method for controlling stepping motor and control system Download PDFInfo
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- CN106941332A CN106941332A CN201611185708.4A CN201611185708A CN106941332A CN 106941332 A CN106941332 A CN 106941332A CN 201611185708 A CN201611185708 A CN 201611185708A CN 106941332 A CN106941332 A CN 106941332A
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- 238000009958 sewing Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 20
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims abstract description 14
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- 210000001367 artery Anatomy 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000003462 vein Anatomy 0.000 claims description 3
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- 230000005693 optoelectronics Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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Classifications
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- 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
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- Sewing Machines And Sewing (AREA)
Abstract
The invention provides a kind of sewing machine method for controlling stepping motor, including：Controller presets stepping rate, stepping time and the tolerance value of stepper motor, determines umber of pulse according to the stepping rate in the stepping time and sends the umber of pulse to the stepper motor；Encoder obtains the movable information of the stepper motor, and the movable information is passed into the controller in real time；The controller calculates current position counting value according to the movable information；The pulse aggregate-value of the pulse of the controller by the position counting value with sending, which is compared, obtains difference；If the difference exceeds the tolerance value, the controller determines load current actual positions according to current position count value, and presets stepping rate, the stepping time of the stepper motor again；Or, the controller adjusts the stepping rate of the default stepper motor according to the difference.The present invention can solve the problem that when sewing machine is sewed in the prior art due to the problem of step out of stepping motor causes.Meanwhile, it can effectively reduce that the motor feels hot, extend motor service life.
Description
Technical field
The invention belongs to sewing machine technique field, more particularly to a kind of sewing machine method for controlling stepping motor and control system
System.
Background technology
Sewing machine is typically made up of head, platen (support) and frame.During sewing, line is formed by 4 mechanisms in head
Mark：The eedle for being installed with suture is lunged sewing by needle bar mechanism first；Secondly by hook line mechanism below sewing on eedle
Suture is hooked, and it is connected certainly, or is interweaved or interconnected with following shuttle thread；Suture is tightened up by Yarn taking-up mechanism again；Finally by feeding
Sewing is promoted certain distance by mechanism, completes the forming process of stitching.The action of this 4 kinds of mechanisms coordinates close.So, sewing machine
It is a kind of automanual precision machinery.
Stepper motor is the opened loop control element that electric impulse signal is changed into angular displacement or displacement of the lines.In the feelings of non-overload
Under condition, the rotating speed of stepper motor, the position stopped being solely dependent upon the frequency and umber of pulse of pulse signal, without by load change
Influence, i.e., add a pulse signal, motor then turns over a step angle to stepper motor.The presence of this linear relationship, is added
Stepper motor only has periodic error and the features such as without accumulated error so that stepper motor is in control fields such as speed, positions
Realize simpler.However, because stepper motor is a kind of accurate digital control executing agency, starting or accelerating in stepper motor
When, if step-by-step impulse change is too fast, rotor does not catch up with the change of electric signal due to inertia, then there may be stall or step-out,
When stepper motor stops or slowed down, due to above same cause, then there may be superledge.
Therefore, if in sewing process step out of stepping motor may cause sewing length shorten, style of sew deform,
The problems such as action is not in place, needle gage is not of uniform size.
The content of the invention
It is existing for solving it is an object of the invention to provide a kind of sewing machine step motor control system and control method
In technology sewing machine sew when due to caused by step out of stepping motor sew length shorten, style of sew deform, act it is not in place,
The problems such as needle gage is not of uniform size.
To achieve the above object, the present invention provides a kind of sewing machine method for controlling stepping motor, and methods described includes：Control
Device presets stepping rate, stepping time and the tolerance value of stepper motor, according to stepping speed in the stepping time
Degree determines umber of pulse and sends the umber of pulse to the stepper motor；Encoder obtains the movable information of the stepper motor,
And the movable information is passed into the controller in real time；The controller calculates current according to the movable information
Position counting value；The pulse aggregate-value of the pulse of the controller by the position counting value with sending, which is compared, to be obtained
Difference；If the difference exceeds the tolerance value, handled according to preset strategy；Wherein, the preset strategy
Load current actual positions are determined according to current position count value including controller, and preset the stepping of the stepper motor again
Speed, stepping time；Or, the preset strategy includes the controller according to the difference adjustment default stepping electricity
The stepping rate of machine.
Further, the controller controls the stepping of the stepper motor by adjusting the electric current of the stepper motor
Speed.
Further, the movable information includes direction of rotation information and rotation angle information.
Further, the encoder is photoelectric encoder.
Further, the photoelectric encoder includes incremental optical-electricity encoder.
The present invention also provides a kind of sewing machine step motor control system, and the system includes：Stepper motor module, is used for
Driving Stepping Motor is moved；Feedback module, the fortune for obtaining the stepper motor in the stepper motor module by encoder
Dynamic information, and send the movable information to control module；The control module, for presetting in the stepper motor module
Stepping rate, stepping time and the tolerance value of stepper motor, are determined in the stepping time according to the stepping rate
Umber of pulse with to the stepper motor send；The movable information of stepper motor is obtained from the feedback module, according to the stepping
The movable information of motor calculates current position count value, and the pulse of the pulse by the position counting value with sending is tired out
Evaluation, which is compared, obtains difference, if the difference exceeds the tolerance value, is handled according to preset strategy.
The beneficial effects of the invention are as follows：The sewing machine method for controlling stepping motor and control system of the present invention, can solve the problem that
Because length of being sewed caused by step out of stepping motor is shortened, style of sewing is deformed, acted not when sewing machine is sewed in the prior art
In place, the problems such as needle gage is not of uniform size.And technical scheme can be anti-based on stepper motor motion due to controller
Feedforward information, adjusts and controls the movement velocity of stepper motor, can effectively reduce that the motor feels hot, extends motor service life.
Brief description of the drawings
Fig. 1 is the functional module structure schematic diagram of the sewing machine step motor control system of the present invention；
Fig. 2 is the schematic diagram of the sewing machine step motor control system of the present invention.
Embodiment
The present invention is further described for explanation and embodiment below in conjunction with the accompanying drawings.
The sewing machine method for controlling stepping motor of the present invention, comprises the following steps：
Step S101, controller presets stepping rate, stepping time and the tolerance value of stepper motor, in the stepping time
It is interior to determine umber of pulse to send to the stepper motor according to the stepping rate.Specifically, it is described in the stepping time
Controller sets stepper motor according to the current initial position of load and in the default stepping time target location to be reached
Stepping rate, to the stepper motor send a number of pulse according to the stepping rate is corresponding.In an implementation
In example, the controller control is the stepper motor for driving the cloth-feeding device in sewing machine, and controller obtains described send first
The initial position of cloth apparatus, and determine in the target location to be reached of cloth-feeding device described in default stepping time, according to described
Initial position and the target location determine move distance of the cloth-feeding device respectively in X-axis and Y-axis, due to the work feed
Motion of the device in the X-axis and Y-axis is determined by the rotation of the stepper motor in X-axis and Y-axis.Therefore can basis
Move distance of the cloth-feeding device in X-axis determines total anglec of rotation of the stepper motor in X-axis, is filled according to the work feed
Total anglec of rotation that the move distance in Y-axis determines the stepper motor in Y-axis is put, and then is distinguished according to the stepping time
Determine the stepping rate (speed that rotary speed, i.e. stepper motor rotation can also be turned into) of the stepper motor in X-axis and Y-axis.
Meanwhile, controller presets the tolerance in X-axis and Y-axis according to sewing machine respectively to the required precision of the position of cloth-feeding device
Value.The pulsed quantity that controller determines to send to the X-axis stepper motor according to the stepping rate in X-axis, and it is electric to X-axis stepping
Machine is sent, to drive X-axis stepper motor to be moved according to default stepping rate.Controller is according to the stepping rate in Y-axis
It is determined that the pulsed quantity to be sent to the y-axis stepper motor, and sends to y-axis stepper motor, with drive y-axis stepper motor according to
Default stepping rate is moved.Stepper motor makes corresponding motion according to the pulse received.In different embodiments
In, the controller can control the stepper motor in X-axis and Y-axis, and presser foot lifter stepper motor or main shaft can also be controlled to walk
Stepper motor.
Step S102, encoder obtains the movable information of the stepper motor, and in real time transmits the movable information
To the controller.Specifically, the encoder obtains the direction of rotation information and rotation angle information of the stepper motor,
And the direction of rotation information and rotation angle information are passed into the controller.The direction of rotation of the stepper motor and
The anglec of rotation determines the direction of motion and distance of the load of the stepper motor respective operations.Encoder is by signal or data
The equipment worked out, be converted to the signal form that can be used to communicate, transmit and store.Encoder can be angular displacement or straight line
Displacement is converted into electric signal, and the former is alternatively referred to as code-disc, and the latter is alternatively referred to as yardstick.The encoder includes code in the present invention
Disk.The encoder includes photoelectric encoder, photoelectric encoder be it is a kind of by opto-electronic conversion by the geometry of machinery on output shaft
Displacement is converted into the sensor of pulse or digital quantity.Photoelectric encoder is made up of grating disc and photoelectric detection system.Grating
Disk is that several slots are partially opened on the plectane of certain diameter.It is electronic because photoelectric code disk is coaxial with motor
When machine rotates, grating disc is rotated at the same speed with motor, and the detection means constituted through electronic components such as light emitting diodes, which is detected, to be exported
Some pulse signals, the number of pulse is exported by calculating photoelectric encoder per second just can reflect the rotating speed of current motor.Institute
Stating photoelectric encoder includes incremental optical-electricity encoder.When incremental encoder rotating shaft rotates, there is corresponding pulse to export, it revolves
Turn the differentiation in direction and the increase and decrease of number of pulses is realized by the direction judgment circuit and counter at rear portion.It counts starting point and arbitrarily set
It is fixed, multi-turn can be achieved and infinitely adds up and measures.Can also be the Z signals for often transferring a pulse, as referring to mechanical zero.
Encoder axle, which turns around, can export fixed pulse, and umber of pulse is determined by the line number of encoder grating.When needing to improve resolution ratio,
Frequency multiplication is carried out to former umber of pulse using A, B two paths of signals of 90 degree of phase differences, or changes high resolution encoder.At one
In embodiment, the step motor control is motion of the cloth-feeding device in X-axis, the direction of rotation of the stepper motor and rotation
Gyration determines the direction of motion and move distance of the cloth-feeding device in X-axis.The controller is according to default described
The stepping rate of stepper motor sends corresponding a number of pulse, stepping described in the Pulse Width Control to the stepper motor
Motor is moved accordingly.The pulse is typically effect and the driver of stepper motor, is driven by stepper motor driver
Stepper motor is moved.Incremental optical-electricity encoder detects the motion of the stepper motor, obtains the motion of the stepper motor
Information, the movable information includes the direction of rotation information and rotation angle information of stepper motor.Incremental optical-electricity encoder will
The movable information of the stepper motor is sent to the controller in real time.The motion of the stepper motor is driven by shaft coupling
Cloth-feeding device in mechanical load, such as sewing machine.In one embodiment, encoder is fixed on the tail end of step motor shaft, right
The motion of the stepper motor is detected that stepper motor detects and exports A phase signals and B phase signals, the A phase signals and B
Phase signals are input in the controller respectively through optical coupling isolation circuit.
Step S103, the controller calculates current position counting value according to the movable information.Specifically, it is described
Controller is according to being obtained out the movable information (the direction of rotation information and rotation angle information that include stepper motor)
The direction of motion and rotary motion distance of stepper motor, so calculate the current position counting value of the stepper motor (| position
Count value | * L=rotary motion distances, the direction of motion of the positive and negative correspondence load of position counting value, so carrying out the behaviour that takes absolute value
Make).The motion of stepper motor controls the motion of load by machine driving, and therefore, the position counting value determines load
Actual motion distance, and then the current actual positions (load physical location) of load are determined.
Step S104, the controller sends the position counting value and controller according to the default stepping rate
Pulse aggregate-value be compared and obtain difference.Specifically, the controller sends pulse according to the default stepping rate,
The controller is counted to transmitted pulse, obtains the pulse aggregate-value (pulse sent of the stepper motor
Number), the pulse aggregate-value determines the current specified location of load (alternatively referred to as pulse adds up position).In the feelings without error
Under condition, the pulse aggregate-value and the position counting value into determination ratio, usually 1:1.The controller is by the arteries and veins
Rush the position counting value that aggregate-value obtains with step S103 to be compared, both are compared and obtains a difference.It is described to compare
To difference refer to the pulse aggregate-value being multiplied by after the ratio of determination and be compared obtained knot with the position counting value
Really.It is 1 in ratio:In the case of 1, the obtained difference that compares is the pulse aggregate-value and the position counting value phase
Subtract obtained result.If it is zero that both, which compare difference, illustrate to load current specified location and the currently practical position of load
Put and be consistent, if both compare difference and are not zero, illustrate to load current specified location and the current actual positions loaded not
It is consistent.
In one of which embodiment, controller can be according to the required precision of applied environment, the stepper motor used
Difference, rotating speed, maximum speed are directly initiated when obtaining stepper motor load operating condition, and determine the precision of encoder, with
And the every of stepper motor driver turns umber of pulse (i.e. stepping rate).When stepper motor is by external force stall, encoder is detected simultaneously
The position signalling of stepper motor driven motion is determined, by the feedback signal of encoder, controller is in corresponding software branch
Hold down and automatically attempt to change stepper motor rotating speed (controller issues the umber of pulse of stepper motor and change stepper motor by changing
Rotating speed), when can not all restart motor with any speed, gross error alarm can be sent, now indicator lamp flash, control
The corresponding error code of device report.When MF motor release signals are effective, motor can now lead to by power down and in free state
Cross.
Step S105, if the difference exceeds the tolerance value, is handled according to preset strategy.Specifically
Ground, the difference obtained by step S104 is compared with default tolerance value, if the absolute value of the difference is more than in advance
If deviation, then handled according to preset strategy.The preset strategy includes：Controller is true according to current position count value
Fixed load current actual positions, and stepping rate, the stepping time of the stepper motor are preset again.Specifically, when the difference
When the absolute value of value is more than the tolerance value, the controller will be supported on stepping electricity according to the step motor control
Initial position and the current position counting value of stepper motor before machine motion determine the current reality of the load of step motor control
Border position.Using the current actual positions of the load as new initial position, according to new initial position, new default stepping
Time and new default target location, redefine the stepping rate of the stepper motor.The preset strategy can also be wrapped
Include：According to the deviation, on the basis of the number of pulses that original default stepping rate is determined, number of pulses amount carries out corresponding
Adjustment.In one embodiment, the pulse aggregate-value and the position counting value result of the comparison are the position counting
Value is less than normal, that is, some pulses do not give full play to its driving effect to stepper motor.Now, number of pulses amount
Adjustment is to increase certain number of pulses, to compensate because some reasons cause the pulse that does not play one's part to the full, so that
The target location of load can finally be reached in default stepping time by obtaining moving loads.The target location of the load is actually
Load target position determined by pulse aggregate-value determined by as described stepping time and stepping rate.
In one of which embodiment, the controller of sewing machine is according to the current initial position of load and target location
The distance of load movement is determined, and according to the stepping time and stepping rate of the default stepper motor of the move distance.Controller
A number of pulse is sent to stepper motor according to the stepping rate, the driver of the stepper motor receives the arteries and veins
The punching driving stepper motor motion, stepper motor motion drives load and moved accordingly.Encoder is to stepper motor
Motion be monitored, record stepper motor movable information.The controller obtains the stepping electricity from the encoder
The movable information of machine, and determine according to the movable information current position count value of the stepper motor, the current location
Count value determines position and the speed of load actual motion.The controller is compared according to position counting value with pulse aggregate-value,
The number of pulses sent is adjusted according to comparative result, equivalent to adjustment stepper motor or the speed of load.When stepping time terminates
When, judging to load whether reach specified location, or judge that now the position counting value of stepper motor is compared with pulse aggregate-value is
No to be consistent, if be consistent, this load movement terminates.If be not consistent, according to the position counting value of stepper motor and pulse
The comparative result of aggregate-value determines the number of pulses for needing to compensate, and sends the number of pulses for needing to compensate to stepper motor, stepping
Motor and then the specified target location of driving load arrival.
In actual application, cloth-feeding device control of the controller to sewing machine also includes an X, Y-direction and determined
Position process：X, Y-direction respectively have an optocoupler sensor to determine the zero point in respective direction, start first to read optocoupler sensing during positioning
The state of device, the rotation direction of stepper motor is controlled according to the level of optocoupler sensor, is run with certain speed, during operation
When detecting the signal saltus step of optocoupler sensor, such as optocoupler signal from ' 1 ' be changed into ' 0 ' or ' 0 ' change ' 1 ' when think herein into
X or Y-direction zero point, now position counting value clearing of the master controller decoder internal.When the stepping electricity on a direction
Machine examination is measured after optocoupler sensor, is just reset the location counter of corresponding encoder.At this moment represent that the stepper motor is arrived
The start position of this motion either final position.The direction of stepper motor can now be changed as needed.Such as system position
Minimum resolution be 0.1mm, then 1mm is run from zero point to positive direction, the position counting value of encoder is just set to 10；To negative
Run 1mm in direction, then the position counting value of encoder is just set to -10.
The present invention also provides a kind of sewing machine step motor control system.As shown in Figure 1, the sewing machine stepper motor
Control system includes：Control module 11, stepper motor module 12 and feedback module 13.Wherein：
Stepper motor module 12, is connected with the control module 11, for Driving Stepping Motor motion.Specifically, the stepping
Motor module includes stepper motor and its driver, the pulse that the driver receive and control module of the stepper motor is sent, and
Stepper motor is moved according to the pulsed drive.
Control module 11, for preset the stepping rate of stepper motor in the stepper motor module 12, stepping time and
Tolerance value, determines umber of pulse to send to the stepper motor in the stepping time according to the stepping rate；From
The feedback module 13 obtains the movable information of stepper motor, and current location is calculated according to the movable information of the stepper motor
Count value, and the pulse aggregate-value of the pulse by the position counting value with sending is compared and obtains difference, if institute
Difference is stated beyond the tolerance value, then is handled according to preset strategy.Specifically, the control module 11 is default described
The stepping rate of stepper motor, stepping time and tolerance value in stepper motor module 12；According to default stepping rate phase
The a number of pulse of transmission answered is to the stepper motor module, to drive corresponding stepper motor with predetermined stepping rate
Moved.The control module 11 obtains the movable information of the stepper motor from the feedback module 13, and according to institute
State the current load physical location of movable information determination；Control module 11 determines working as load according to the pulse aggregate-value of transmission
Preceding specified location；Control module 11 compares load physical location and pulse aggregate-value, or compares present load physical location and negative
The currently assigned position carried, comparative result is a difference.If the difference is more than the tolerance value of control module 11,
Handled according to preset strategy.The preset strategy includes：The preset strategy includes control module 11 according to current location
Count value determines load current actual positions, and presets stepping rate, the stepping time of the stepper motor again.It is described default
Strategy also includes：The control module 11 adjusts the stepping rate of the default stepper motor according to the difference.
Feedback module 13, the motion for obtaining the stepper motor in the stepper motor module 12 by encoder is believed
Breath, and send the movable information to control module 11.Specifically, the encoder includes photoelectric encoder.The photoelectricity
Encoder can be incremental optical-electricity encoder.The movable information includes the direction of rotation information and the anglec of rotation of stepper motor
Information.
In the practical application of a step motor control system, as shown in Figure 2, the control module 11 includes
Host computer and motion controller, the host computer preset stepping time, stepping speed according to the initial position of load and target location
Degree and tolerance value.The host computer is determined according to the stepping rate, and controls motion controller to step by instructing
Stepper motor module sends a number of pulse.The stepper motor module includes stepper motor driver and stepper motor.Step
The pulse that stepper motor driver receive and control module 11 is sent, is moved according to pulsed drive stepper motor.The motion of stepper motor
Mechanical load movement is driven by shaft coupling.The feedback module 13 includes encoder, and the encoder reads stepper motor
Movable information, and the movable information is fed back into control module 11, the movable information is feedback information.The control mould
Block 11 receives the movable information, and by motion controller by the feedback of status such as movable information to host computer, host computer is according to fortune
Dynamic information and pulse accumulative total are calculated, it is determined whether adjustment number of pulses.
In summary, sewing machine method for controlling stepping motor of the invention and control system, by by the fortune of stepper motor
Dynamic feedback of the information is to controller, and controller is according to the motion feedback information of stepper motor, and the motion to stepper motor is adjusted,
Enable the arrival destination locations of stepper motor promptly and accurately.This can solve the problem that when sewing machine is sewed in the prior art due to step
Sewing length shortens caused by stepper motor step-out, style of sewing deforms, acts the problems such as not in place, needle gage is not of uniform size.And
Technical scheme can adjust and control stepper motor due to controller according to the motion feedback information of stepper motor
Movement velocity, therefore the excessive heating of motor can be effectively avoided, so as to extend motor service life.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a kind of sewing machine method for controlling stepping motor, it is characterised in that methods described includes：Controller presets stepper motor
Stepping rate, stepping time and tolerance value, in the stepping time according to the stepping rate determine umber of pulse and to
The stepper motor sends the umber of pulse；Encoder obtains the movable information of the stepper motor, and in real time by the fortune
Dynamic information transmission gives the controller；The controller calculates current position counting value according to the movable information；It is described
The pulse aggregate-value of the pulse of the controller by the position counting value with sending, which is compared, obtains difference；If the difference
Value exceeds the tolerance value, then the controller determines load current actual positions according to current position count value, lays equal stress on
Newly preset stepping rate, the stepping time of the stepper motor；Or, the controller is described default according to difference adjustment
Stepper motor stepping rate.
2. according to the method described in claim 1, it is characterised in that：The controller is by adjusting the electric current of the stepper motor
To control the stepping rate of the stepper motor.
3. according to the method described in claim 1, it is characterised in that：The movable information includes direction of rotation information and the anglec of rotation
Spend information.
4. according to the method described in claim 1, it is characterised in that：The encoder is photoelectric encoder.
5. method according to claim 4, it is characterised in that：The photoelectric encoder includes incremental optical-electricity encoder.
6. a kind of sewing machine step motor control system, it is characterised in that the system includes：Stepper motor module, for driving
Dynamic stepper motor motion；Feedback module, the motion for obtaining the stepper motor in the stepper motor module by encoder
Information, and send the movable information to control module；The control module, is walked for presetting in the stepper motor module
Stepping rate, stepping time and the tolerance value of stepper motor, arteries and veins is determined in the stepping time according to the stepping rate
Number is rushed to send to the stepper motor；The movable information of stepper motor is obtained from the feedback module, according to stepping electricity
The movable information of machine calculates current position count value, and the pulse of the pulse by the position counting value with sending adds up
Value, which is compared, obtains difference, if the difference exceeds the tolerance value, the control module is according to current location
Count value determines load current actual positions, and presets stepping rate, the stepping time of the stepper motor again；Or, institute
State the stepping rate that control module adjusts the default stepper motor according to the difference.
7. system according to claim 6, it is characterised in that：The controller is by adjusting the electric current of the stepper motor
To control the stepping rate of the stepper motor.
8. system according to claim 6, it is characterised in that：The movable information includes direction of rotation information and the anglec of rotation
Spend information.
9. system according to claim 6, it is characterised in that：The encoder is photoelectric encoder.
10. system according to claim 9, it is characterised in that：The photoelectric encoder includes incremental optical-electricity encoder.
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| CN201611185708.4A CN106941332A (en) | 2016-12-20 | 2016-12-20 | A kind of sewing machine method for controlling stepping motor and control system |
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| CN201611185708.4A CN106941332A (en) | 2016-12-20 | 2016-12-20 | A kind of sewing machine method for controlling stepping motor and control system |
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| CN108667364A (en) * | 2018-05-17 | 2018-10-16 | 黄云汉 | A kind of the single step driving method and device of stepper motor |
| CN108999804A (en) * | 2018-09-18 | 2018-12-14 | 珠海格力电器股份有限公司 | PTC component mobile device, cooling fan and its method for heating and controlling for cooling fan |
| CN109702743A (en) * | 2019-01-10 | 2019-05-03 | 北京镁伽机器人科技有限公司 | Kinetic control system and step alarm method is lost for kinetic control system |
| CN110219099A (en) * | 2018-12-25 | 2019-09-10 | 上海鲍麦克斯电子科技有限公司 | A kind of flat seam machine |
| CN110768596A (en) * | 2019-11-08 | 2020-02-07 | 北京北方华创微电子装备有限公司 | Position calibration device of stepping motor, radio frequency matcher and semiconductor equipment |
| CN110943655A (en) * | 2019-12-13 | 2020-03-31 | 苏州智感电子科技有限公司 | Self-checking method and system for stepping motor |
| CN111336241A (en) * | 2020-04-13 | 2020-06-26 | 陕西伟景机器人科技有限公司 | High-precision control system and method for eliminating rotating back clearance of speed reducer |
| CN112583309A (en) * | 2020-12-04 | 2021-03-30 | 大唐半导体科技有限公司 | Stepping motor speed adjustment control algorithm based on photoelectric encoder |
| CN113098340A (en) * | 2021-04-02 | 2021-07-09 | 吉林省科英医疗激光有限责任公司 | Accurate positioning control system and control method for correcting corner offset of stepping motor |
| CN113258842A (en) * | 2021-05-17 | 2021-08-13 | 杭州中科微电子有限公司 | Stepping motor control system and method based on pulse frequency conversion control |
| CN113452294A (en) * | 2021-06-29 | 2021-09-28 | 北京长安汽车工程技术研究有限责任公司 | Speed indication control method and system of mechanical speedometer and automobile |
| CN113544419A (en) * | 2019-03-20 | 2021-10-22 | 株式会社斯库林集团 | Processing liquid supply device and control method of processing liquid supply device |
| CN114649982A (en) * | 2022-04-25 | 2022-06-21 | 北京瑞祺皓迪技术股份有限公司 | Stepping motor load judgment method and stepping motor closed-loop control system |
| CN116260364A (en) * | 2023-05-15 | 2023-06-13 | 杭州瑞盟科技股份有限公司 | Stall detection method, system and device for stepping motor and storage medium |
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| CN108667364A (en) * | 2018-05-17 | 2018-10-16 | 黄云汉 | A kind of the single step driving method and device of stepper motor |
| CN108999804A (en) * | 2018-09-18 | 2018-12-14 | 珠海格力电器股份有限公司 | PTC component mobile device, cooling fan and its method for heating and controlling for cooling fan |
| CN110219099A (en) * | 2018-12-25 | 2019-09-10 | 上海鲍麦克斯电子科技有限公司 | A kind of flat seam machine |
| CN109702743A (en) * | 2019-01-10 | 2019-05-03 | 北京镁伽机器人科技有限公司 | Kinetic control system and step alarm method is lost for kinetic control system |
| CN113544419A (en) * | 2019-03-20 | 2021-10-22 | 株式会社斯库林集团 | Processing liquid supply device and control method of processing liquid supply device |
| CN113544419B (en) * | 2019-03-20 | 2024-01-23 | 株式会社斯库林集团 | Treatment liquid supply device and control method for treatment liquid supply device |
| CN110768596A (en) * | 2019-11-08 | 2020-02-07 | 北京北方华创微电子装备有限公司 | Position calibration device of stepping motor, radio frequency matcher and semiconductor equipment |
| CN110943655B (en) * | 2019-12-13 | 2021-07-27 | 苏州智感电子科技有限公司 | Self-checking method and system for stepping motor |
| CN110943655A (en) * | 2019-12-13 | 2020-03-31 | 苏州智感电子科技有限公司 | Self-checking method and system for stepping motor |
| CN111336241A (en) * | 2020-04-13 | 2020-06-26 | 陕西伟景机器人科技有限公司 | High-precision control system and method for eliminating rotating back clearance of speed reducer |
| CN112583309B (en) * | 2020-12-04 | 2022-05-13 | 大唐半导体科技有限公司 | Stepping motor speed adjustment control algorithm based on photoelectric encoder |
| CN112583309A (en) * | 2020-12-04 | 2021-03-30 | 大唐半导体科技有限公司 | Stepping motor speed adjustment control algorithm based on photoelectric encoder |
| CN113098340A (en) * | 2021-04-02 | 2021-07-09 | 吉林省科英医疗激光有限责任公司 | Accurate positioning control system and control method for correcting corner offset of stepping motor |
| CN113098340B (en) * | 2021-04-02 | 2023-04-25 | 吉林省科英医疗激光有限责任公司 | Accurate positioning control system and control method for correcting rotation angle offset of stepping motor |
| CN113258842A (en) * | 2021-05-17 | 2021-08-13 | 杭州中科微电子有限公司 | Stepping motor control system and method based on pulse frequency conversion control |
| CN113258842B (en) * | 2021-05-17 | 2022-05-06 | 杭州中科微电子有限公司 | Stepping motor control system and method based on pulse frequency conversion control |
| CN113452294A (en) * | 2021-06-29 | 2021-09-28 | 北京长安汽车工程技术研究有限责任公司 | Speed indication control method and system of mechanical speedometer and automobile |
| CN114649982A (en) * | 2022-04-25 | 2022-06-21 | 北京瑞祺皓迪技术股份有限公司 | Stepping motor load judgment method and stepping motor closed-loop control system |
| CN114649982B (en) * | 2022-04-25 | 2022-12-02 | 北京瑞祺皓迪技术股份有限公司 | Stepping motor load judgment method and stepping motor closed-loop control system |
| CN116260364A (en) * | 2023-05-15 | 2023-06-13 | 杭州瑞盟科技股份有限公司 | Stall detection method, system and device for stepping motor and storage medium |
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Application publication date: 20170711 |