CN107508512A - The Ultra-Low Speed prediction device control algolithm of closed loop stepper motor - Google Patents
The Ultra-Low Speed prediction device control algolithm of closed loop stepper motor Download PDFInfo
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- CN107508512A CN107508512A CN201710740262.5A CN201710740262A CN107508512A CN 107508512 A CN107508512 A CN 107508512A CN 201710740262 A CN201710740262 A CN 201710740262A CN 107508512 A CN107508512 A CN 107508512A
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- speed
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- closed loop
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- prediction device
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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 of the kind having 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 of the kind having motors rotating step by step
- H02P8/02—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step specially adapted for single-phase or bi-pole stepper motors, e.g. watch-motors, clock-motors
-
- 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 of the kind having motors rotating step by step
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
Abstract
The invention discloses a kind of Ultra-Low Speed prediction device control algolithm of closed loop stepper motor, it is related to technical field of electricity, the Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is on the basis of traditional M/T velocimetries by increasing a counter on controller software, and judge whether rotating speed is slack-off in each speed ring sampling period, so as to update rotating speed by way of compensating and estimating.On the premise of encoder cost is not improved, when motor operation is in Ultra-Low Speed by the rotating speed prediction device of software algorithm, velocity measuring dead time can be minimized, avoids the occurrence of speed runaway, low speed vibration is reduced, so as to improve closed loop step actuator pole low-speed performance.
Description
Technical field
The present invention relates to technical field of electricity, the Ultra-Low Speed prediction device control of more particularly to a kind of closed loop stepper motor is calculated
Method.
Background technology
Two-phase closed loop stepper motor utilizes the feedback information for being arranged on incremental encoder on machine shaft, and it is sweared
Amount control, the velocity feedback obtained using encoder is very big to whole control system performance impact, and the method that in general tests the speed has M
Method, T methods, M/T methods.M methods are interior at a fixed time, statistical coding device umber of pulses, pulse during due to low speed in time of measuring
Number tails off, and quantization error becomes big, so rate accuracy of the M methods in low speed is low.T methods are to measure the time of two pulses of encoder
Interval, during due to high speed, the time interval measured tails off, and quantization error becomes big, so rate accuracy of the T methods in high speed is low.
Traditional M/T methods are comprehensive M methods and T methods each advantage, in a relatively-stationary time interval, while measure detection time
With the encoder pulse number within this time, when high speed, encoder pulse number becomes big and detection time is basically unchanged, equivalent to
M methods, meet the rate accuracy of high speed；When low speed, encoder pulse number diminishes and detection time becomes big, equivalent to T methods, meets
The rate accuracy of low speed.So traditional M/T velocimetries can meet rate accuracy when motor operation is in middle high rotating speed.But
In the case of Ultra-Low Speed, encoder pulse interval time has exceeded the speed sampling cycle, is obtained in each speed sampling cycle
Encoder pulse number is few, or even less than one pulse, velocity measuring occurs and is stuck on some velocity amplitude, causes speed to be lost
The problems such as control, low-speed oscillation, low-speed performance difference.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of Ultra-Low Speed prediction device control algolithm of closed loop stepper motor,
On the premise of encoder cost is not improved, rotating speed is updated by Ultra-Low Speed prediction device, minimizes velocity measuring dead time,
Speed runaway is avoided the occurrence of, motor low speed vibration is reduced, so as to improve closed loop step actuator Ultra-Low Speed performance.
To achieve the above object, the present invention provides following technical scheme：The Ultra-Low Speed prediction device of the closed loop stepper motor
Control algolithm is one counter of more increases on controller software on the basis of original traditional M/T velocimetries, and every
Counter O reset is judged whether rotating speed is slack-off by individual encoder feedback B phases edge signal in each speed ring sampling period,
So as to update rotating speed by way of compensating and estimating, so when each admission velocity ring calculates rotating speed, timing is read first
The present counter value of device, and compared with the count value that last time reads, so as to be estimated to rotating speed.
The specific implementation step of the Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is as follows：
（1）There is trailing edge, renewal speed value V1 in encoder feedback B phases between t1~t2；
（2）The Counter Value of timer is read at the t2 moment of admission velocity ring, is 1,1<2, i.e. count value is less than speed ring week
Phase, uncompensation rotating speed, keep the previous tachometer value V2=V1 for clapping and calculating；
（3）The Counter Value of timer is read at the t3 moment, is 3,3>2, i.e. count value is more than the speed ring cycle, compensating rotational speed,
Renewal tachometer value is 2/3V2；
（4）The Counter Value of timer is read at the t4 moment, is 5,5>2, i.e. count value is more than the speed ring cycle, compensating rotational speed,
Renewal tachometer value is 2/5V2；
（5）The Counter Value of timer is read at the t5 moment, is 7,7>2, i.e. count value is more than the speed ring cycle, compensating rotational speed,
Renewal tachometer value is 2/7V2；
（6）There is rising edge time, renewal speed value V6 in encoder feedback B phases between t5~t6, while handle estimates rotating speed
Counter O reset.
Beneficial effect using above technical scheme is：The Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is passing
By increasing a counter on controller software on the basis of system M/T velocimetries, and sentence in each speed ring sampling period
Whether disconnected rotating speed is slack-off, so as to update rotating speed by way of compensating and estimating.On the premise of encoder cost is not improved,
When motor operation is in Ultra-Low Speed by the rotating speed prediction device of software algorithm, velocity measuring dead time can be minimized, is avoided
There is speed runaway, low speed vibration is reduced, so as to improve closed loop step actuator pole low-speed performance.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the pulse diagram drawn using conventional M/T velocimetries；
Fig. 2 is the pulse diagram that the Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is drawn.
Embodiment
The preferred reality of the Ultra-Low Speed prediction device control algolithm of the invention will now be described in detail with reference to the accompanying drawings closed loop stepper motor
Apply mode.
Show the specific embodiment party of the Ultra-Low Speed prediction device control algolithm of closed loop stepper motor of the present invention with reference to Fig. 1 and Fig. 2
Formula：
M/T velocimetries are one of demands most basic in industrial control system, most commonly measure turning for certain root axle with digit pulse
Speed, linear velocity is converted into further according to mechanical ratio, diameter.Pulse test the speed most typical method have measured frequency (M methods) and survey the cycle (T
Method).
M methods are that the rapid pulse in cooling water of units of measurement time is converted into frequency, are asked because half of pulse of head and the tail in time of measuring be present
Topic, might have the error of 2 arteries and veins.When speed is relatively low, because the umber of pulse in time of measuring tails off, the ratio regular meeting shared by error becomes
Greatly, so M methods preferably measure at a high speed.The lower velocity limit of measurement is such as reduced, encoder line number can be improved or increase the list of measurement
It is the position time, as more as possible using the umber of pulse once gathered.
T methods be measure two pulses between time conversion into the cycle, so as to obtain frequency.Because half of chronomere be present
The problem of, it might have the error of 1 chronomere.When speed is higher, the cycle measured is smaller, and the ratio shared by error becomes
Greatly, so T methods preferably measure low speed.Will such as gather way the upper limit of measurement, can reduce the umber of pulse of encoder, or use is smaller
More accurate time of day, make the time value of one-shot measurement as big as possible.
Fig. 1 is using conventional M/T velocimetries, it can be seen from the figure that, due to no encoder B phase arteries and veins between t2~t5
Punching, before the arrival of next encoder B phases edge, speed sampling value is always maintained at that V1 is constant, but actual speed is
The a certain numerical value being reduced between V1.During this period of time speed detection value deviates actual value, causes speed runaway, this is one
As closed loop stepper drive the major reason of big steady-state behaviour difference is vibrated when Ultra-Low Speed is run.Typically pass through in practical operation
Reducing plus of speed controller to reduce vibration, but can so lower speed loop bandwidth, gain parameter adjustment is also cumbersome,
Nor one surely reaches desired effect.Also speed loop bandwidth can be improved by improving encoder line number, but so
Cost can improve.
As shown in Fig. 2 the Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is in original traditional M/T velocimetries
On the basis of, one counter of more increases on controller software, and it is in each encoder B phase edge signals that counter is clear
Zero, judge whether rotating speed is slack-off in each speed ring sampling period, so as to update rotating speed by way of compensating and estimating,
So when each admission velocity ring calculates rotating speed, the present counter value of timer, and the meter read with last time are read first
Numerical value is compared, so as to be estimated to rotating speed.
The specific implementation step of the Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is as follows：
（1）There is trailing edge, renewal speed value V1 in encoder feedback B phases between t1~t2；
（2）The Counter Value of timer is read at the t2 moment of admission velocity ring, is 1,1<2, i.e. count value is less than speed ring week
Phase, uncompensation rotating speed, keep the previous tachometer value V2=V1 for clapping and calculating；
（3）The Counter Value of timer is read at the t3 moment, is 3,3>2, i.e. count value is more than the speed ring cycle, compensating rotational speed,
Renewal tachometer value is 2/3V2；
（4）The Counter Value of timer is read at the t4 moment, is 5,5>2, i.e. count value is more than the speed ring cycle, compensating rotational speed,
Renewal tachometer value is 2/5V2；
（5）The Counter Value of timer is read at the t5 moment, is 7,7>2, i.e. count value is more than the speed ring cycle, compensating rotational speed,
Renewal tachometer value is 2/7V2；
（6）There is rising edge time, renewal speed value V6 in encoder feedback B phases between t5~t6, while handle estimates rotating speed
Counter O reset.
The Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is on the basis of traditional M/T velocimetries by controller
Increase a counter on software, and judge whether rotating speed is slack-off in each speed ring sampling period, so as to pass through compensation
The mode estimated updates rotating speed, as seen from Figure 2 t2~t5 moment rotating speed is compensated, avoid speed sampling value one
V2 directly is maintained at, velocity measuring stagnation occur causes speed runaway.
The above is only the preferred embodiment of the present invention, it is noted that for the person of ordinary skill of the art,
Without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.
Claims (2)
- A kind of 1. Ultra-Low Speed prediction device control algolithm of closed loop stepper motor, it is characterised in that：The closed loop stepper motor surpasses Low speed prediction device control algolithm is on the basis of traditional M/T velocimetries, increases a counter on controller software, and In each encoder feedback B phases edge signal counter O reset, judge whether rotating speed becomes in each speed ring sampling period It is slow, so as to update rotating speed by way of compensating and estimating, so when each admission velocity ring calculates rotating speed, read first The present counter value of timer, and compared with the count value that last time reads, so as to be estimated to rotating speed.
- 2. the Ultra-Low Speed prediction device control algolithm of closed loop stepper motor according to claim 1, the setting speed ring cycle is 2 Individual counter, it is characterised in that：The specific implementation step of the Ultra-Low Speed prediction device control algolithm of the closed loop stepper motor is as follows：（1）There is trailing edge, renewal speed value V1 in encoder feedback B phases between t1~t2；（2）The Counter Value of timer is read at the t2 moment of admission velocity ring, is 1,1<2, i.e. count value is less than speed ring week Phase, uncompensation rotating speed, keep the previous tachometer value V2=V1 for clapping and calculating；（3）The Counter Value of timer is read at the t3 moment, is 3,3>2, i.e. count value is more than the speed ring cycle, compensating rotational speed, Renewal tachometer value is 2/3V2；（4）The Counter Value of timer is read at the t4 moment, is 5,5>2, i.e. count value is more than the speed ring cycle, compensating rotational speed, Renewal tachometer value is 2/5V2；（5）The Counter Value of timer is read at the t5 moment, is 7,7>2, i.e. count value is more than the speed ring cycle, compensating rotational speed, Renewal tachometer value is 2/7V2；（6）There is rising edge time, renewal speed value V6 in encoder feedback B phases between t5~t6, while handle estimates rotating speed Counter O reset.
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| CN201710740262.5A CN107508512B (en) | 2017-08-25 | 2017-08-25 | Ultra-low speed predictor control algorithm of closed-loop stepping motor |
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| CN201710740262.5A CN107508512B (en) | 2017-08-25 | 2017-08-25 | Ultra-low speed predictor control algorithm of closed-loop stepping motor |
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| CN107508512B CN107508512B (en) | 2020-01-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111030545A (en) * | 2019-11-07 | 2020-04-17 | 郑州嘉晨电器有限公司 | Control method for improving low-speed performance of electric forklift based on improved M/T method |
| CN114070140A (en) * | 2021-11-15 | 2022-02-18 | 浙江众邦机电科技有限公司 | Speed detection method, device and equipment of stepping motor and storage medium |
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| CN105738642A (en) * | 2016-02-03 | 2016-07-06 | 上海新源工业控制技术有限公司 | T-method motor speed measurement method of four-way parallel sampling |
| CN108226560A (en) * | 2016-12-21 | 2018-06-29 | 杭州海康威视数字技术股份有限公司 | A kind of method and device for obtaining motor slow-speed of revolution angular speed |
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| CN103048484A (en) * | 2012-12-03 | 2013-04-17 | 苏州汇川技术有限公司 | Speed measurement system and method of servo motor |
| CN105738642A (en) * | 2016-02-03 | 2016-07-06 | 上海新源工业控制技术有限公司 | T-method motor speed measurement method of four-way parallel sampling |
| CN108226560A (en) * | 2016-12-21 | 2018-06-29 | 杭州海康威视数字技术股份有限公司 | A kind of method and device for obtaining motor slow-speed of revolution angular speed |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111030545A (en) * | 2019-11-07 | 2020-04-17 | 郑州嘉晨电器有限公司 | Control method for improving low-speed performance of electric forklift based on improved M/T method |
| CN114070140A (en) * | 2021-11-15 | 2022-02-18 | 浙江众邦机电科技有限公司 | Speed detection method, device and equipment of stepping motor and storage medium |
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| CN107508512B (en) | 2020-01-31 |
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