CN110212822B - Stepping motor control method and device - Google Patents
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- CN110212822B CN110212822B CN201910365408.1A CN201910365408A CN110212822B CN 110212822 B CN110212822 B CN 110212822B CN 201910365408 A CN201910365408 A CN 201910365408A CN 110212822 B CN110212822 B CN 110212822B
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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
- H02P8/34—Monitoring operation
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Abstract
The application discloses a stepping motor control method and device. The method comprises the following steps: receiving the detected sensor data; determining height information of the lifting platform according to the sensor data; determining a first frequency list of drive pulses; judging whether the height information reaches a preset height or not; if yes, controlling the motor to rotate according to the first frequency list. The technical problem of step motor control accuracy has been solved in this application.
Description
Technical Field
The application relates to the field of motor control, in particular to a stepping motor control method and device.
Background
In step motor drive lift platform, often adopt the encoder, though there is higher control accuracy, if break down, the control unit just can't know lift platform's specific position, does not adopt the encoder will lead to the precision low, and step motor's increase and decrease speed can't effective control moreover, also can cause control accuracy to hang down.
Aiming at the problem of low control precision of a stepping motor in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The present application mainly aims to provide a method and a device for controlling a stepping motor, so as to solve the problem of low control accuracy of the stepping motor.
In order to achieve the above object, according to one aspect of the present application, there is provided a stepping motor control method.
The stepping motor control method according to the application comprises the following steps: receiving the detected sensor data; determining height information of the lifting platform according to the sensor data; determining a first frequency list of drive pulses; judging whether the height information reaches a preset height or not; if yes, controlling the motor to rotate according to the first frequency list.
Further, the step of judging whether the height information reaches a preset height further comprises: if not, determining the real-time acceleration of the motor according to the height information and the first frequency list; calculating to obtain an error value according to a preset acceleration and a real-time acceleration; judging whether the error value meets a preset processing condition or not; if not, the motor is controlled to rotate according to the first frequency list.
Further, after determining whether the error value satisfies a preset processing condition, the method further includes: if yes, updating the first frequency list into a second frequency list; judging whether a sensor of a target layer is triggered; if not, the motor is controlled to rotate according to the second frequency list.
Further, after determining whether the sensor of the target layer is triggered, the method further includes: if yes, setting the driving frequency in the second frequency list to be a fixed value; and controlling the motor to rotate according to the fixed value.
Further, the sensor data is obtained by detecting through an infrared sensor.
Further, the sensor is an infrared correlation sensor.
In order to achieve the above object, according to another aspect of the present application, there is provided a stepping motor control device.
The stepping motor control device according to the present application includes: a receiving unit for receiving the detected sensor data; the height determining unit is used for determining height information of the lifting platform according to the sensor data; a frequency determination unit for determining a first frequency list of driving pulses; the height judging unit is used for judging whether the height information reaches a preset height or not; and the first control unit is used for controlling the motor to rotate according to the first frequency list if the first frequency list is the first frequency list.
Further, after determining whether the height information reaches a preset height, the method further includes: the acceleration determining unit is used for determining the real-time acceleration of the motor according to the height information and the first frequency list if the current acceleration is not the same as the current acceleration; the calculation unit is used for calculating to obtain an error value according to the preset acceleration and the real-time acceleration; the condition judging unit is used for judging whether the error value meets a preset processing condition or not; and the second control unit is used for controlling the motor to rotate according to the first frequency list if the first frequency list is not met.
Further, after determining whether the error value satisfies a preset processing condition, the method further includes: a list updating unit, configured to update the first frequency list to a second frequency list if the first frequency list is satisfied; the target layer judging unit is used for judging whether the sensor of the target layer is triggered or not; and the third control unit is used for controlling the motor to rotate according to the second frequency list if the second frequency list is not the first frequency list.
Further, after determining whether the sensor of the target layer is triggered, the method further includes: a frequency setting unit, configured to set the driving frequency in the second frequency list to a fixed value if yes; and the fourth control unit is used for controlling the motor to rotate according to the fixed value.
In the embodiment of the application, the sensor data obtained by receiving detection is adopted in a mode that the sensor is matched with the stepping motor; determining height information of the lifting platform according to the sensor data; determining a first frequency list of drive pulses; judging whether the height information reaches a preset height or not; if so, the motor is controlled to rotate according to the first frequency list, the aim of adjusting the frequency of the control pulse according to the speed error without using an encoder is achieved, the technical effect of improving the control precision is achieved, and the technical problem of low control precision of the stepping motor is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic diagram of a stepper motor control method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a stepping motor control device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
According to an embodiment of the present invention, there is provided a stepping motor control method, as shown in fig. 1, including steps S100 to S108 as follows:
step S100, receiving detected sensor data;
the sensor data is detected by an infrared sensor. The detected infrared data can be used for calculating the height information of the lifting platform. The infrared sensor can be arranged at the top or the bottom of the lifting platform and also can be arranged at the top and the bottom of the lifting platform, so that the distance from the top or the bottom of the lifting platform to the top or the bottom of the container can be measured through infrared emission.
Step S102, determining height information of the lifting platform according to the sensor data;
by adopting an internal algorithm, the calculation of the height of the lifting platform can be realized, specifically, the height information of the lifting platform and the height information of the container are preset in the processor, when the infrared sensor detects the sensor data, the sensor data can be the distance from the top of the container or the distance from the bottom of the container, so that the height information of the lifting platform can be obtained through calculation, and the speed increase and decrease of the stepping motor are guaranteed.
Step S104, determining a first frequency list of the driving pulse;
according to the height information, a first frequency list of the driving pulse can be determined, and guarantee is provided for driving the stepping motor.
Step S106, judging whether the height information reaches a preset height;
and S108, if so, controlling the motor to rotate according to the first frequency list.
And presetting a height in the processor, and when the calculated height information reaches the preset height, directly driving the motor to rotate at a certain speed according to the first frequency list without adjusting the frequency list of the driving pulse. The height information is used as a feedback quantity to achieve the purpose of accurately controlling the acceleration and deceleration speed of the stepping motor.
From the above description, it can be seen that the present invention achieves the following technical effects:
in the embodiment of the application, the sensor data obtained by receiving detection is adopted in a mode that the sensor is matched with the stepping motor; determining height information of the lifting platform according to the sensor data; determining a first frequency list of drive pulses; judging whether the height information reaches a preset height or not; if so, the motor is controlled to rotate according to the first frequency list, the aim of adjusting the frequency of the control pulse according to the speed error without using an encoder is achieved, the technical effect of improving the control precision is achieved, and the technical problem of low control precision of the stepping motor is solved.
According to the embodiment of the present invention, preferably, after determining whether the height information reaches the preset height, the method further includes:
if not, determining the real-time acceleration of the motor according to the height information and the first frequency list;
calculating to obtain an error value according to a preset acceleration and a real-time acceleration;
judging whether the error value meets a preset processing condition or not;
if not, the motor is controlled to rotate according to the first frequency list.
Specifically, if the detected height information does not reach the preset height, the rotation speed of the stepping motor is considered to need to be adjusted, at this time, the height information and the time interval in the list are read, the acceleration of the stepping motor is obtained through calculation, then the preset acceleration and the calculated acceleration are subjected to error calculation, whether the error meets the preset processing condition or not is judged, if not, the error is considered to be within a controllable range, and the motor is directly driven to rotate by the frequency in the first frequency list.
In this embodiment, the preset processing condition is set as whether the error is greater than 5%, and if not, the motor is directly driven to rotate at the frequency in the first frequency list.
Therefore, the height information can be used as a feedback quantity, and an error comparison algorithm is introduced, so that the purpose of accurately controlling the acceleration and deceleration of the stepping motor is achieved.
According to the embodiment of the present invention, preferably, after determining whether the error value satisfies the preset processing condition, the method further includes:
if yes, updating the first frequency list into a second frequency list;
judging whether a sensor of a target layer is triggered;
if not, the motor is controlled to rotate according to the second frequency list.
The sensor is an infrared correlation sensor.
If the error is met, the error is considered to be beyond the controllable range, the driving frequency needs to be adjusted to obtain a second frequency list, the infrared correlation sensor is introduced, the floor where the lifting platform is located can be determined, and when the infrared correlation sensor of the target floor is not judged to be triggered, the rotation acceleration and deceleration of the motor can be controlled through the frequency in the second frequency list. And the frequency list is introduced for updating, so that the acceleration and deceleration of the stepping motor are accurately controlled.
According to the embodiment of the present invention, after determining whether the sensor of the target layer is triggered, the method further includes:
if yes, setting the driving frequency in the second frequency list to be a fixed value;
and controlling the motor to rotate according to the fixed value.
When the infrared correlation sensor of the target layer is judged to be triggered, the driving frequency in the second frequency list can be set to be a fixed value, and then the stepping motor is driven to rotate according to the fixed value. An infrared correlation sensor is introduced, so that the acceleration and deceleration of the stepping motor are further accurately controlled, and the motion curve of the motor is smoothed according to real-time feedback.
In some embodiments, a stepper motor control method includes:
receiving sensor data detected by an infrared sensor;
determining height information of the lifting platform according to the sensor data;
determining a first frequency list of drive pulses;
judging whether the height information reaches a preset height or not;
if yes, controlling the motor to rotate according to the first frequency list;
if not, determining the real-time acceleration of the motor according to the height information and the first frequency list;
calculating to obtain an error value according to a preset acceleration and a real-time acceleration;
judging whether the error value meets a preset processing condition or not;
if not, controlling the motor to rotate according to the first frequency list;
if yes, updating the first frequency list into a second frequency list;
judging whether the infrared correlation sensor of the target layer is triggered;
if not, controlling the motor to rotate according to the second frequency list;
if yes, setting the driving frequency in the second frequency list to be a fixed value;
and controlling the motor to rotate according to the fixed value.
And determining the acceleration error by adopting height information and floor feedback and combining a specific algorithm to adjust the frequency of the control pulse, and further smoothing the motor motion curve according to real-time feedback.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present invention, there is also provided an apparatus for implementing the above stepping motor control method, as shown in fig. 2, the apparatus including:
a receiving unit 10 for receiving the detected sensor data;
the sensor data is detected by an infrared sensor. The detected infrared data can be used for calculating the height information of the lifting platform. The infrared sensor can be arranged at the top or the bottom of the lifting platform and also can be arranged at the top and the top of the lifting platform, so that the distance from the top or the bottom of the lifting platform to the top or the bottom of the container can be measured through infrared emission.
The height determining unit 20 is used for determining height information of the lifting platform according to the sensor data;
by adopting an internal algorithm, the calculation of the height of the lifting platform can be realized, specifically, the height information of the lifting platform and the height information of the container are preset in the processor, when the infrared sensor detects the sensor data, the sensor data can be the distance from the top of the container or the distance from the bottom of the container, so that the height information of the lifting platform can be obtained through calculation, and the speed increase and decrease of the stepping motor are guaranteed.
A frequency determination unit 30 for determining a first frequency list of drive pulses;
according to the height information, a first frequency list of the drive pulses can be determined, providing a guarantee for driving the stepping motor.
A height judgment unit 40 for judging whether the height information reaches a preset height;
a first control unit 50 for controlling the rotation of the motor according to said first frequency list if yes.
And presetting a height in the processor, and when the calculated height information reaches the preset height, directly driving the motor to rotate at a certain speed according to the first frequency list without adjusting the frequency list of the driving pulse. The height information is used as a feedback quantity to achieve the purpose of accurately controlling the acceleration and deceleration speed of the stepping motor.
From the above description, it can be seen that the present invention achieves the following technical effects:
in the embodiment of the application, the sensor data obtained by receiving detection is adopted in a mode that the sensor is matched with the stepping motor; determining height information of the lifting platform according to the sensor data; determining a first frequency list of drive pulses; judging whether the height information reaches a preset height or not; if so, the motor is controlled to rotate according to the first frequency list, the aim of adjusting the frequency of the control pulse according to the speed error without using an encoder is achieved, the technical effect of improving the control precision is achieved, and the technical problem of low control precision of the stepping motor is solved.
According to the embodiment of the present invention, preferably, after determining whether the height information reaches the preset height, the method further includes:
if not, determining the real-time acceleration of the motor according to the height information and the first frequency list;
calculating to obtain an error value according to a preset acceleration and a real-time acceleration;
judging whether the error value meets a preset processing condition or not;
if not, the motor is controlled to rotate according to the first frequency list.
Specifically, if the detected height information does not reach the preset height, the rotation speed of the stepping motor is considered to be required to be adjusted, at the moment, the height information and the time interval in the list are read, the acceleration of the stepping motor is obtained through calculation, then the preset acceleration and the calculated acceleration are subjected to error calculation, whether the error meets the preset processing condition or not is judged, if the error does not meet the preset processing condition, the error is considered to be within a controllable range, the motor is directly driven to rotate through the frequency in the first frequency list, and then the motor motion curve is smoothed according to real-time feedback.
In this embodiment, the preset processing condition is set as whether the error is greater than 5%, and if not, the motor is directly driven to rotate at the frequency in the first frequency list.
Therefore, the height information can be used as a feedback quantity, an error comparison algorithm is introduced, the purpose of accurately controlling the acceleration and deceleration of the stepping motor is achieved, and the motor motion curve is smoothed according to real-time feedback.
According to the embodiment of the present invention, preferably, after determining whether the error value satisfies the preset processing condition, the method further includes:
if yes, updating the first frequency list into a second frequency list;
judging whether a sensor of a target layer is triggered;
if not, the motor is controlled to rotate according to the second frequency list.
The sensor is an infrared correlation sensor.
If the error is met, the error is considered to be beyond the controllable range, the driving frequency needs to be adjusted to obtain a second frequency list, the infrared correlation sensor is introduced, the floor where the lifting platform is located can be determined, and when the infrared correlation sensor of the target floor is not judged to be triggered, the rotation acceleration and deceleration of the motor can be controlled through the frequency in the second frequency list. And a frequency list is introduced for updating, so that the acceleration and deceleration of the stepping motor are further accurately controlled, and the motion curve of the motor is smoothed according to real-time feedback.
According to the embodiment of the present invention, after determining whether the sensor of the target layer is triggered, the method further includes:
if yes, setting the driving frequency in the second frequency list to be a fixed value;
and controlling the motor to rotate according to the fixed value.
When the infrared correlation sensor of the target layer is judged to be triggered, the driving frequency in the second frequency list can be set to be a fixed value, and then the stepping motor is driven to rotate according to the fixed value. An infrared correlation sensor is introduced, so that the acceleration and deceleration of the stepping motor are further accurately controlled, and the motion curve of the motor is smoothed according to real-time feedback.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A stepping motor control method, comprising:
receiving the detected sensor data;
determining height information of the lifting platform according to the sensor data, and determining a first frequency list of driving pulses;
judging whether the height information reaches a preset height or not;
if yes, controlling the motor to rotate according to the first frequency list;
if not, determining the real-time acceleration of the motor according to the height information and the first frequency list, calculating to obtain an error value according to a preset acceleration and the real-time acceleration, and judging whether the error value meets a preset processing condition or not;
if yes, updating the first frequency list into a second frequency list;
judging whether a sensor of a target layer is triggered or not, if not, controlling the motor to rotate according to the second frequency list;
the preset processing condition is whether the error is more than 5%.
2. The stepping motor control method according to claim 1, wherein determining whether the height information reaches a preset height further comprises:
if not, determining the real-time acceleration of the motor according to the height information and the first frequency list;
calculating to obtain an error value according to a preset acceleration and a real-time acceleration;
judging whether the error value meets a preset processing condition or not;
if not, the motor is controlled to rotate according to the first frequency list.
3. The stepping motor control method according to claim 2, wherein determining whether the sensor of the target layer is triggered further comprises:
if yes, setting the driving frequency in the second frequency list to be a fixed value;
and controlling the motor to rotate according to the fixed value.
4. The stepping motor control method according to claim 1, wherein the sensor data is detected by an infrared sensor.
5. The stepping motor control method according to claim 1, wherein the sensor is an infrared correlation sensor.
6. A stepping motor control apparatus, comprising:
a receiving unit for receiving the detected sensor data;
the height determining unit is used for determining height information of the lifting platform according to the sensor data;
a frequency determination unit for determining a first frequency list of driving pulses;
the height judging unit is used for judging whether the height information reaches a preset height or not;
after judging whether the height information reaches the preset height, the method further comprises the following steps:
an acceleration determination unit: if not, determining the real-time acceleration of the motor according to the height information and the first frequency list, and if so, controlling the motor to rotate according to the first frequency list;
a calculation unit: calculating to obtain an error value according to the preset acceleration and the real-time acceleration, judging whether the error value meets the preset processing condition or not,
after judging whether the error value meets the preset processing condition, the method further comprises the following steps:
a list update unit: if yes, updating the first frequency list into a second frequency list;
a target layer determination unit: judging whether a sensor of a target layer is triggered;
a third control unit: if not, controlling the motor to rotate according to the second frequency list;
the preset processing condition is whether the error is more than 5%.
7. The stepping motor control device according to claim 6, further comprising, after determining whether the height information reaches a preset height:
the acceleration determining unit is used for determining the real-time acceleration of the motor according to the height information and the first frequency list if the current acceleration is not the same as the current acceleration;
the calculation unit is used for calculating to obtain an error value according to the preset acceleration and the real-time acceleration;
the condition judging unit is used for judging whether the error value meets a preset processing condition or not;
and the second control unit is used for controlling the motor to rotate according to the first frequency list if the first frequency list is not met.
8. The stepping motor control device according to claim 7, further comprising, after determining whether the sensor of the target layer is activated:
a frequency setting unit, configured to set the driving frequency in the second frequency list to a fixed value if yes;
and the fourth control unit is used for controlling the motor to rotate according to the fixed value.
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| CN201910365408.1A CN110212822B (en) | 2019-04-30 | 2019-04-30 | Stepping motor control method and device |
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| CN201910365408.1A CN110212822B (en) | 2019-04-30 | 2019-04-30 | Stepping motor control method and device |
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| US4775834A (en) * | 1983-08-18 | 1988-10-04 | Valmet Oy | Pulse width-pulse height multiplicator in a static kWh meter |
| CN104433802A (en) * | 2014-11-28 | 2015-03-25 | 浙江沁园水处理科技有限公司 | Intelligent water dispenser and intelligent water dispenser faucet with adjustable height |
| CN108201644A (en) * | 2018-03-20 | 2018-06-26 | 四川省肿瘤医院 | A kind of intelligent transfusion frame |
| CN109612750A (en) * | 2018-10-30 | 2019-04-12 | 北京新立机械有限责任公司 | A kind of worm and gear lifting apparatus test device and its control method |
| CN109633606A (en) * | 2019-01-09 | 2019-04-16 | 天津大学 | A kind of three-dimensional laser radar scanning means and measurement method |
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2019
- 2019-04-30 CN CN201910365408.1A patent/CN110212822B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4775834A (en) * | 1983-08-18 | 1988-10-04 | Valmet Oy | Pulse width-pulse height multiplicator in a static kWh meter |
| CN104433802A (en) * | 2014-11-28 | 2015-03-25 | 浙江沁园水处理科技有限公司 | Intelligent water dispenser and intelligent water dispenser faucet with adjustable height |
| CN108201644A (en) * | 2018-03-20 | 2018-06-26 | 四川省肿瘤医院 | A kind of intelligent transfusion frame |
| CN109612750A (en) * | 2018-10-30 | 2019-04-12 | 北京新立机械有限责任公司 | A kind of worm and gear lifting apparatus test device and its control method |
| CN109633606A (en) * | 2019-01-09 | 2019-04-16 | 天津大学 | A kind of three-dimensional laser radar scanning means and measurement method |
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