CN110535380A - A kind of method for controlling stepping motor, device, system and storage medium - Google Patents
A kind of method for controlling stepping motor, device, system and storage medium Download PDFInfo
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- CN110535380A CN110535380A CN201810499949.9A CN201810499949A CN110535380A CN 110535380 A CN110535380 A CN 110535380A CN 201810499949 A CN201810499949 A CN 201810499949A CN 110535380 A CN110535380 A CN 110535380A
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- predetermined period
- pulse parameter
- stepper motor
- motor
- predetermined
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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
- H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
- H02P8/38—Protection against faults, e.g. against overheating, step-out; Indicating faults the fault being step-out
Abstract
The embodiment of the invention provides a kind of method for controlling stepping motor, device, system and storage mediums, the described method includes: pressing predetermined period, before each predetermined period starts, obtain the corresponding motor operation information of the predetermined period, motor operation information includes target pulse parameter and predetermined pulse parameter, according to target pulse parameter, control stepper motor are rotated in the predetermined period；If before next predetermined period of the predetermined period starts, the corresponding motor operation information of next predetermined period is not got, it then by the predetermined pulse parameter obtained, controls stepper motor and starts gradually to slow down in next predetermined period, until stopping or receiving new motor operation information.So as to avoid because not getting motor operation information, and caused by step out of stepping motor, to ensure that the even running of stepper motor.
Description
Technical field
The present invention relates to stepper motor technical field, more particularly to a kind of method for controlling stepping motor, device, system and
Storage medium.
Background technique
With the progress of industrial technology, stepper motor has obtained in many fields more next because of its good controllability
More applications.Especially in safety-security area or video equipment field, due to can rotation angle to stepper motor progress
It accurately controls, so as to realize the synchronously control of stepper motor with the video frame of captured video, and then can be realized to dynamic
The target following of state target or the functions such as autozoom are realized with the distance change of captured dynamic object.
It, all can be certainly after realizing that the automatic protection of stepper motor, stepper motor complete rotation according to a control instruction
The dynamic rotation being ready to carry out by next period is labeled as power failure machine, if stepper motor receives control in next period again
System instruction, then abandon the label to stop operating, and continues to rotate according to the control instruction newly received.If being not received by control
System instruction, just stops the rotation of stepper motor.
However, due to various reasons, such as the system failure, system delay etc..It can appear in into next cycle
When, stepper motor is not timely received control instruction, and in this case, stepper motor is in meeting according to the stopping being arranged automatically
The label of rotation, stops operating suddenly or revolving speed is near very low.Thus due to being not timely received control instruction, without pulse
Stepper motor is controlled, step out of stepping motor is caused, prevent stepper motor is from even running.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of method for controlling stepping motor, device, system and storage medium, with
Avoid step out of stepping motor.Specific technical solution is as follows:
The embodiment of the invention provides a kind of method for controlling stepping motor, comprising:
By predetermined period, before each predetermined period starts, the corresponding motor operation information of the predetermined period, institute are obtained
Stating motor operation information includes target pulse parameter and predetermined pulse parameter, wherein the target pulse parameter is to walk for controlling
The pulse parameter rotated in the predetermined period into motor, the predetermined pulse parameter are for controlling the stepper motor
Gradually it is decelerated to the pulse parameter of stopping；
By the target pulse parameter, controls the stepper motor and rotated in the predetermined period；
If it is corresponding not get next predetermined period before next predetermined period of the predetermined period starts
Motor operation information control the stepper motor described next default then by the predetermined pulse parameter obtained
Period starts gradually to slow down, until stopping or receiving new motor operation information.
Optionally, the predetermined period is the frame per second time, and the frame per second time is the time span of a video frame.
Optionally, described to obtain the corresponding motor of the predetermined period before each predetermined period starts by predetermined period
Operation information, comprising:
When the frame per second before each frame per second time starts is interrupted, frame per second time corresponding motor operation information is obtained.
Optionally, the predetermined pulse parameter includes the corresponding pulse parameter of multiple predetermined periods；
It is described by the predetermined pulse parameter obtained, drive the stepper motor to open in next predetermined period
Beginning gradually slows down, until stopping or receiving new motor operation information, comprising:
Since next predetermined period, according to multiple predetermined periods in the predetermined pulse parameter obtained
Pulse parameter, the control in the period stepper motor slows down one by one, until the stepper motor stops or receives new
Motor operation information.
Optionally, the target pulse parameter includes the pulse parameter group of preset quantity；
It is described to press the target pulse parameter, it controls the stepper motor and is rotated in the predetermined period, comprising:
The predetermined period is divided into the preset quantity, and the equal subcycle of time span；
Respectively according to each pulse parameter group in the target pulse parameter, determine in each subcycle in the period
Number of pulses and pulse width；
According to the number of pulses and pulse width, controls the stepper motor and rotated in each subcycle.
Optionally, the predetermined pulse parameter includes the pulse parameter of the corresponding preset quantity of a predetermined period
The pulse parameter group of group or multiple predetermined periods respectively corresponding preset quantity；
It is described by the predetermined pulse parameter obtained, control the stepper motor and opened in next predetermined period
Beginning gradually slows down, until stopping or receiving new motor operation information, comprising:
Next predetermined period is divided into preset quantity, and the equal subcycle of time span, or will be described under
Multiple predetermined periods after one predetermined period and next predetermined period are respectively divided into the preset quantity,
And the equal subcycle of time span；
Respectively according to each pulse parameter group in the predetermined pulse parameter that has obtained, from described next default
Period determines the interior number of pulses and pulse width of each subcycle；
According to the number of pulses and pulse width in each subcycle, the stepper motor is driven gradually to slow down, until
Stop or receive new motor operation information.
Optionally, the method also includes:
At the end of each predetermined period, the step motor position coordinate is obtained；
According to the position coordinates, the angle that next predetermined period of the predetermined period needs to rotate is calculated；
The angle rotated is needed to determine the corresponding mesh of next predetermined period according to next predetermined period
Mark pulse parameter.
Optionally, the target pulse parameter further includes operation mark, and the operation mark is for determining the stepping electricity
The operating status of machine.
The embodiment of the invention also provides a kind of stepping motor control apparatus, comprising:
Module is obtained, for obtaining the corresponding electricity of the predetermined period before each predetermined period starts by predetermined period
Machine operation information, the motor operation information includes target pulse parameter and predetermined pulse parameter, wherein the target pulse is joined
Number is the pulse parameter rotated in the predetermined period for controlling stepper motor, and the predetermined pulse parameter is for controlling
Make the pulse parameter that the stepper motor is gradually decelerated to stopping；
First control module, for press the target pulse parameter, control the stepper motor in the predetermined period into
Row rotation；
Second control module, if before next predetermined period in the predetermined period starts, not getting described
The corresponding motor operation information of next predetermined period controls the stepping electricity then by the predetermined pulse parameter obtained
Machine starts gradually to slow down in next predetermined period, until stopping or receiving new motor operation information.
Optionally, the predetermined period in described device is the frame per second time, and the frame per second time is a video frame
Time span.
Optionally, the acquisition module, is specifically used for:
When the frame per second before each frame per second time starts is interrupted, frame per second time corresponding motor operation information is obtained.
Optionally, the predetermined pulse parameter in described device includes the corresponding pulse ginseng of multiple predetermined periods
Number；
Second control module, is specifically used for:
Since next predetermined period, according to multiple predetermined periods in the predetermined pulse parameter obtained
Pulse parameter, the control in the period stepper motor slows down one by one, until the stepper motor stops or receives new
Motor operation information.
Optionally, the target pulse parameter in described device includes the pulse parameter group of preset quantity；
First control module, is specifically used for:
The predetermined period is divided into the preset quantity, and the equal subcycle of time span；Respectively according to the mesh
Each pulse parameter group in pulse parameter is marked, determines the number of pulses and pulse width in each subcycle in the period；
According to the number of pulses and pulse width, controls the stepper motor and rotated in each subcycle.
Optionally, the predetermined pulse parameter in described device includes the corresponding preset quantity of a predetermined period
Pulse parameter group or multiple predetermined periods respectively corresponding preset quantity pulse parameter group；
Second control module, is specifically used for:
Next predetermined period is divided into preset quantity, and the equal subcycle of time span, or will be described under
Multiple predetermined periods after one predetermined period and next predetermined period are respectively divided into the preset quantity,
And the equal subcycle of time span；Each pulse parameter group in the predetermined pulse parameter that basis has obtained respectively, from
Next predetermined period starts, and determines the interior number of pulses and pulse width of each subcycle；According to each son week
Number of pulses and pulse width in phase, drive the stepper motor gradually to slow down, until stopping or receiving new motor fortune
Row information.
Optionally, described device further include:
Coordinate obtaining module obtains the step motor position coordinate at the end of each predetermined period；
Angle calculation module, for according to the position coordinates, the next predetermined period for calculating the predetermined period to be needed
The angle to be rotated；
Computing module, it is described next default for needing the angle rotated to determine according to next predetermined period
Period corresponding target pulse parameter.
Optionally, the target pulse parameter in described device further includes operation mark, and the operation mark is for true
The operating status of the fixed stepper motor.
The embodiment of the invention also provides a kind of step motor control system, the step motor control system includes upper
Machine and driver, the host computer are connected with the driver, and the driver is connected with stepper motor；
The host computer is used to that it is corresponding to obtain the predetermined period before each predetermined period starts by predetermined period
Motor operation information, the motor operation information includes target pulse parameter and predetermined pulse parameter, wherein the target pulse
Parameter is the pulse parameter rotated in the predetermined period for controlling stepper motor, the predetermined pulse parameter be for
Control the pulse parameter that the stepper motor is gradually decelerated to stopping；
The corresponding motor operation information of the predetermined period is transmitted to the driver by the host computer, and the driver is pressed
The target pulse parameter controls the stepper motor and is rotated in the predetermined period；
If also, before next predetermined period of the predetermined period starts, the host computer do not get it is described under
The corresponding motor operation information of one predetermined period, then the driver controls institute by the predetermined pulse parameter obtained
It states stepper motor to start gradually to slow down in next predetermined period, until stopping or receiving new motor operation information.
At the another aspect that the present invention is implemented, a kind of computer readable storage medium is additionally provided, it is described computer-readable
Instruction is stored in storage medium, when run on a computer, so that computer executes any of the above-described kind of stepper motor control
Method processed.
At the another aspect that the present invention is implemented, the embodiment of the invention also provides a kind of, and the computer program comprising instruction is produced
Product, when run on a computer, so that computer executes any of the above-described kind of method for controlling stepping motor.
A kind of method for controlling stepping motor, device, system and storage medium provided in an embodiment of the present invention, by each
Before a predetermined period starts, the corresponding motor operation information of the predetermined period is obtained.Due in acquired motor operation information,
Not only containing the target pulse parameter for the current preset period, while further comprising make stepper motor gradually slow down pre-
If pulse parameter, so, after current predetermined period, without obtaining corresponding motor before next predetermined period starts
When operation information, stepper motor can be controlled using the predetermined pulse parameter in the electricity operation information obtained, and
And stepper motor is gradually slowed down, avoid because not getting motor operation information, and caused by step out of stepping motor, from
And it ensure that the even running of stepper motor.Certainly, it implements any of the products of the present invention or method must be not necessarily required to reach simultaneously
To all the above advantage.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of method for controlling stepping motor provided in an embodiment of the present invention；
Fig. 2 is the structure chart of stepping motor control apparatus provided in an embodiment of the present invention；
Fig. 3 is the structure chart of step motor control system provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is the flow chart of method for controlling stepping motor provided in an embodiment of the present invention, comprising:
Step 101, by predetermined period, before each predetermined period starts, the corresponding motor fortune of the predetermined period is obtained
Row information, the motor operation information include target pulse parameter and predetermined pulse parameter, wherein target pulse parameter be for
The pulse parameter that is rotated in the predetermined period of control stepper motor, predetermined pulse parameter be for control stepper motor by
Step is decelerated to the pulse parameter of stopping.
The embodiment of the present invention can be applied in the electronic equipment that all kinds of control stepper motors are rotated or control system,
Such as stepper motor driver and stepper motor driver and host computer composed by control system etc..
Predetermined period can be the preset time cycle, and specific time span, which can according to need, to be configured,
For example, can be time span or time span of multiple video frames of a video frame etc..
Before each predetermined period starts, perhaps when each predetermined period just starts can by calculate or
Externally input mode obtains the motor operation information for the predetermined period, at least may include target in motor operation information
Pulse parameter and predetermined pulse parameter.The pulse parameter for the predetermined period, arteries and veins can be contained in target pulse parameter
Rushing parameter is to drive the parameter or information of pulse current used in stepper motor, such as the frequency of pulse, number of pulses, pulse
The parameters such as amplitude, pulse width, or may be the information such as angle, the speed for needing to turn over.And since pulse can connect
Continuous pulse, so the time span of predetermined period can be equal to the umber of pulse in the predetermined period in a predetermined period
Amount is multiplied by pulse width.
Predetermined pulse parameter is the pulse parameter for one or more predetermined periods after the predetermined period, should when pressing
When predetermined pulse state modulator stepper motor is run, stepper motor can be by certain deceleration rule, such as even deceleration, and/or adds
The deceleration etc. that speed gradually reduces makes the deceleration of stepper motor gradually until stopping.
Specifically, target pulse parameter and predetermined pulse parameter can be the form of driving table, drive in table with table
Form has recorded the pulse parameter of control stepper motor operation, for example, record has each phase winding of driving motor pre- in driving table
If amplitude and quantity of each pulse current in the period etc..By the driving table, the driver of stepper motor can be by driving
Pulse parameter in table exports pulse current to each phase winding of stepper motor, to realize the control of stepper motor.
The embodiment of the present invention is in practical application, especially when controlling stepper motor and video frame synchronization, in order to mention
Height is to the control precision of stepper motor, so that each frame picture of stepper motor cooperation video frame is accurately rotated.This hair
Predetermined period in bright embodiment can be the frame per second time, and the frame per second time is the time span of a video frame.
When predetermined period is the frame per second time, then can obtain before each video frame starts for the video frame
Motor operation information.To more accurately realize the synchronously control of stepper motor and video frame.
Further, the extremely short interruption of a time can be generated between every two video frame, which is properly termed as frame
Rate is interrupted, in order to make the process for obtaining motor operation information not influence operation of the stepper motor within the normal frame per second time.Institute
In embodiments of the present invention, step 101, by predetermined period, before each predetermined period starts, to obtain the predetermined period
Corresponding motor operation information may include:
When the frame per second before each frame per second time starts is interrupted, frame per second time corresponding motor operation information is obtained.
When generated frame per second before each frame per second time starts is interrupted, available frame per second time corresponding motor fortune
Row information, when enter the frame per second time can directly according to the target pulse parameter in motor operation information to stepper motor into
Row control.So that obtaining the process occupied time of motor operation information, the stepping electricity within the frame per second time is not interfered with
The operation of machine.To improve the accuracy of stepper motor and video frame synchronization control.
For example, stepper motor drives the rotation of the equipment such as camera, and camera is to specific in an actual application scenarios
Target in region carries out dynamically track, and when camera shoots a frame video, the monitoring system for controlling the camera can basis
The position of target and movement velocity calculate the speed of angle and rotation that next frame stepper motor needs to turn over, then really
Pulse parameter required for realizing the angle and movement velocity is made, as target pulse parameter.Meanwhile determine for by
After target pulse parameter has run stepper motor, stepper motor can be made gradually smoothly to be decelerated to the predetermined pulse ginseng of stopping
Number.
When the shooting for completing this frame video, interrupted into frame per second, before the frame per second time of next video frame starts, just
The mesh for next frame per second time can be issued to the electronic equipment of control stepper motor or the control system of stepper motor
Pulse parameter and predetermined pulse parameter are marked, the motor fortune for next frame per second time is such as sent to the driver of stepper motor
Row information.Certainly, in another implementation, the electronic equipment of stepper motor or the control system itself of stepper motor are controlled
Motor operation information can also be determined directly according to the position of target and movement velocity, thus when frame per second is interrupted, directly
To target pulse parameter and predetermined pulse parameter, target pulse parameter and predetermined pulse ginseng are inputted without other systems
Number.
Step 102, according to target pulse parameter, control stepper motor are rotated in the predetermined period.
Before the predetermined period starts, after obtaining the motor operation information for the predetermined period, so that it may according to
Target pulse parameter in motor operation information, control stepper motor rotation.
Specifically, when target pulse parameter is the parameter of pulse current, then it can be directly according to the ginseng of the pulse current
Number, the pulse current for needing to export to stepper motor is arranged, for example, target pulse parameter is each phase winding in the predetermined period
In pulse amplitude, number of pulses and pulse width etc., then in the predetermined period, the driver of stepper motor can direct root
Pulse current is exported to each phase winding of stepper motor according to above-mentioned parameter, so that according to target pulse parameter is realized in the predetermined period
The operation of stepper motor.
Alternatively, when target pulse parameter is the information such as angle and speed that stepper motor needs to turn in the predetermined period
When, the control system of the electronic equipment or stepper motor that control stepper motor is also needed according to the information such as the angle and speed, meter
The parameter that specifically can be realized specific pulse current required for the angle and speed is calculated, the parameter pair is then reused
Stepper motor is controlled.
Also, in target pulse parameter, operation mark can also be contained, operation mark is for determining stepper motor at this
Operating status in predetermined period.Operation mark may include: driver initialization, motor operation, power failure machine, motor power down
Deng.
When receiving target pulse parameter, operation mark possessed by the target pulse parameter can be first looked at, from
And can determine in the predetermined period, whether stepper motor is rotated.
For example, being represented in the predetermined period only if the operation mark in target pulse parameter is driver initialization
The driver of stepper motor is initialized, stepper motor does not need to rotate in the predetermined period, and the target pulse
The parameter value of specific pulse current can not be contained in parameter.
If operation mark in target pulse parameter is motor operation, needed in the predetermined period to stepper motor into
Row control, to realize rotation of the stepper motor in the predetermined period, and can be in the operation mark of the motor operation
Including with protection operation and without two kinds of methods of operation of protection operation.When band protection operation, it may be implemented to stepper motor
Limit, the components such as camera for avoiding stepper motor from being driven turn over excessive angle to the accidents such as collide.Without guarantor
When shipping sth. under guard row, then the rotational angle of stepper motor is not limited.
If the operation mark in target pulse parameter is power failure machine, then it represents that in the predetermined period, stepper motor is not needed
It is rotated, the parameter value of specific pulse current can not contained in target pulse parameter or parameter value is 0.
It, can be according to the operation mark, in the default week if the operation mark in target pulse parameter is motor power down
The power supply of stepper motor is disconnected in phase, alternatively, can also fall when continuously receiving the operation mark more than preset times for motor
When the target pulse parameter of electricity, the power supply of stepper motor is just disconnected.
Step 103, if before next predetermined period of the predetermined period starts, next default week is not got
Phase corresponding motor operation information controls stepper motor in next predetermined period then by the predetermined pulse parameter obtained
Start gradually to slow down, until stopping or receiving new motor operation information.
Under normal circumstances, it before each predetermined period starts, such as when each frame per second is interrupted, can be all somebody's turn to do
The corresponding motor operation information of predetermined period, so all predetermined periods all can be according to corresponding in actual motion
Target pulse parameter in motor operation information is rotated to control stepper motor, i.e., under normal operating conditions, motor fortune
Predetermined pulse parameter in row information will not be used.Pass through the corresponding target pulse parameter of each predetermined period, so that it may complete
At the control of stepper motor, stepper motor is made to realize the various methods of operation, for example, the increased accelerated motion of acceleration, even acceleration
Accelerated motion, the uniformly retarded motion etc. that movement, uniform motion, acceleration reduce.
However due to system delay, all kinds of reasons such as data transmission delay, in next predetermined period of the predetermined period
Before beginning, for example, the control system of the electronic equipment or stepper motor that control stepper motor may when next frame per second is interrupted
It is not received by or does not calculate the motor operation information of corresponding next predetermined period, from without next with this
The corresponding target pulse parameter of predetermined period would not also have pulse current and drive to stepper motor, cause stepping electric
Machine step-out.
So before next predetermined period starts, not got next in order to avoid step out of stepping motor
It, can be using the predetermined pulse ginseng in the last motor operation information obtained when the corresponding motor operation information of predetermined period
Number, to control stepper motor.Since predetermined pulse parameter is the pulse parameter for making stepper motor gradually be decelerated to stopping,
So so that stepper motor will not directly stop, but according to deceleration rule set in predetermined pulse parameter, gradually simultaneously
And smoothly slow down.And in moderating process, if obtaining new motor operation information, stop pressing predetermined pulse
Parameter controls stepper motor, by the target pulse parameter in the motor operation information newly obtained, to stepper motor into
Row control.
Specifically, in an implementation of the embodiment of the present invention, predetermined pulse parameter can contain only one and preset
Period corresponding pulse parameter makes stepper motor be decelerated to stopping that is, in a predetermined period.When receiving new electricity again
When machine operation information, then by the target pulse parameter in new motor operation information, stopped stepper motor is controlled.
For example, obtaining the corresponding motor operation information of the first predetermined period in the first predetermined period, and according to therein
Target pulse parameter completes the control of stepper motor in the first predetermined period；Then before the second predetermined period starts, do not have
The corresponding motor operation information of the second predetermined period is received, then the corresponding motor operation letter of the first predetermined period can be used
Predetermined pulse parameter in breath controls stepper motor in the second predetermined period, and predetermined pulse parameter includes one default
Period corresponding pulse parameter, and when the pulse parameter is stepping decelerating through motor to the pulse parameter stopped, e.g., predetermined pulse
Parameter is within a predetermined period time, and the frequency of pulse is gradually from fast to slow again to zero, so that stepper motor is the
In two predetermined periods, it is gradually decelerated to stopping.Before third predetermined period after the second predetermined period starts, is had received
The corresponding motor operation information of three predetermined periods, then can be by the target pulse parameter in the motor operation information again to stepping electricity
Machine is controlled.
However in practical applications, stepper motor is decelerated to stopping in a predetermined period, it may be due to pulse frequency
Rate variation is too fast, so that stepper motor forms step-out or overshoot, is unfavorable for the steady deceleration of stepper motor, so, in order to enable
The deceleration of stepper motor is more steady, avoids step-out and overshoot, in another implementation of the embodiment of the present invention, presets arteries and veins
Rushing parameter may include the corresponding pulse parameter of multiple predetermined periods.
Correspondingly, in method for controlling stepping motor provided in an embodiment of the present invention, by the predetermined pulse parameter obtained, control
Stepper motor processed starts gradually to slow down in next predetermined period, until stop or receive new motor operation information, it can
To include:
Since next predetermined period after the predetermined period, according to multiple predetermined periods in predetermined pulse parameter
Pulse parameter, the control stepper motor in period slows down one by one, until stepper motor stops or receive new motor operation
Information.
Contain the pulse parameter of multiple predetermined periods in predetermined pulse parameter, so as in the time of multiple predetermined periods
It is interior, gradually stepper motor is smoothly decelerated to stopping, for example, the pulse frequency in the corresponding pulse parameter of multiple predetermined periods
The reduction of rate gradually, so as to gradually reduce the revolving speed of stepper motor.Generally in practical application, in predetermined pulse parameter
The pulse parameter of 3 or 3 or more predetermined periods can be contained.
Between multiple predetermined period, when having reacquired new motor operation information, then by the motor newly obtained
Target pulse parameter in operation information, to control stepper motor.
For example, in the above example, before the second predetermined period starts, it is corresponding to be not received by the second predetermined period
Motor operation information, then the predetermined pulse parameter that can be used in the corresponding motor operation information of the first predetermined period are pre- second
If controlling in the period stepper motor.The predetermined pulse parameter contains the corresponding pulse parameter of 3 predetermined periods.So
It, can be by the corresponding pulse parameter of first predetermined period in the predetermined pulse parameter, to stepper motor in second predetermined period
It realizes and slows down；Before third predetermined period after the second predetermined period starts, it is still not received by third predetermined period pair
When the motor operation information answered, then in third predetermined period, continue by next predetermined period pair in predetermined pulse parameter
The pulse parameter answered realizes stepper motor and slows down；Before the 4th predetermined period after third predetermined period starts, connect again
The corresponding motor operation information of the 4th predetermined period is had received, then by the mesh in the corresponding motor operation information of the 4th predetermined period
Pulse parameter is marked, stepper motor is controlled in the 4th predetermined period.
Since before the 4th predetermined period starts, stepper motor stops completely not yet, so when according to the 4th default week
Target pulse parameter in phase corresponding motor operation information, when controlling in the 4th predetermined period stepper motor, i.e.,
Keep pulse frequency in the target pulse parameter higher, stepper motor also more can be rotated smoothly, so as to avoid from stopping
State directly by higher pulse frequency rotated and caused by step-out.So containing multiple default in predetermined pulse parameter
The pulse parameter in period, and slowed down by multiple predetermined periods to stepper motor, it can be further improved stepper motor
Stability.
In method for controlling stepping motor provided in an embodiment of the present invention, by obtaining before each predetermined period starts
Take the corresponding motor operation information of the predetermined period.Due to not only containing for current pre- in acquired motor operation information
If the target pulse parameter in period, while the predetermined pulse parameter for making stepper motor gradually slow down is further comprised, so, when
After preceding predetermined period, when before next predetermined period starts without obtaining corresponding motor operation information, it can adopt
Stepper motor is controlled with the predetermined pulse parameter in the electricity operation information obtained, and makes stepper motor gradually
Slow down, avoid because not getting motor operation information, and caused by step out of stepping motor, to ensure that stepper motor
Even running.
Stepper motor in the process of running, needs accelerator in stepper motor starting, when stepper motor stops
Need moderating process.If may result in and can not start without accelerator when starting, or overshoot is generated in most high speed,
Overshoot may also can be generated by not slowing down when stopping.So in the control to stepper motor, in order to make stepper motor
Smoothly movement, stepper motor should be rotated according to the rate curve of " S ", i.e., there may be acceleration is increased on startup
Boost phase, the constant even boost phase of acceleration, the boost phase that acceleration reduces；It, can after stepper motor is completed to start
To be in constant velocity stage；When stepper motor is slowed down, acceleration increased decelerating phase, acceleration may be at not
The even decelerating phase become, the decelerating phase that acceleration reduces.By above-mentioned 7 stages, the rate curve of " S " type can be constituted,
So that stepper motor is smoothly run.
In embodiments of the present invention, under normal operating conditions, it needs through the corresponding target pulse of each predetermined period
Parameter controls stepper motor in each predetermined period, so needing to realize above-mentioned 7 ranks by target pulse parameter
The different rotating speeds of section.Specifically, due to the revolving speed that can directly control stepper motor by pulse frequency, so, target pulse
Different pulse frequencies can be set in parameter to come so that stepper motor realizes the control of different rotating speeds.
So in order to by target pulse parameter, so that stepper motor realizes various speed shapes in predetermined period
State.
In conjunction with the above embodiments, in method for controlling stepping motor provided in an embodiment of the present invention, target pulse parameter
It may include the pulse parameter group of preset quantity.
Correspondingly, in embodiments of the present invention, step 102, by the target pulse parameter, controlling the stepper motor and existing
It is rotated in the predetermined period, comprising:
The predetermined period is divided into preset quantity, and the subcycle that time span is equal by the first step.
Preset quantity, which can according to need, to be determined, finer to the control of stepper motor when preset quantity is bigger,
General preset quantity can be 4.
In each target pulse parameter, the pulse parameter group of preset quantity may have, and each pulse is joined
Subcycle in the corresponding predetermined period of array.It can recorde number of pulses and/or pulse width in pulse parameter group,
And the amplitude isopulse parameter of each pulse.
Second step determines each son week in the period respectively according to each pulse parameter group in the target pulse parameter
Number of pulses and pulse width in phase.
It, can will be in pulse parameter group since each pulse parameter group respectively corresponds the subcycle in a predetermined period
Pulse parameter, as the pulse parameter in subcycle corresponding with the pulse parameter group.It may thereby determine that out each height week
Number of pulses and pulse width in phase.
Third step controls stepper motor and is rotated in each subcycle according to number of pulses and pulse width.
After having obtained the number of pulses and pulse width of each subcycle, so that it may control the stepper motor in each height
In period, rotated according to corresponding number of pulses and pulse width.
When the number of pulses of each subcycle is identical with pulse width, then the frequency of pulse is equal in each subcycle
, so rotation at the uniform velocity may be implemented in stepper motor in the predetermined period；
When the pulse parameter in each pulse parameter group in target pulse parameter is different, for example, first arteries and veins
Rushing number of pulses in parameter group is 1, and number of pulses is 2 in second pulse parameter group, umber of pulse in third pulse parameter group
Amount is 3, and number of pulses is 4 in the 4th pulse parameter group.Simultaneously because the time span of each subcycle is identical, so, In
In each subcycle, the frequency of pulse is gradually increased, to realize in the predetermined period, the even acceleration of stepper motor turns
It is dynamic.Similarly, when different pulse parameters are arranged in each pulse parameter group in target pulse parameter, so that it may pass through mesh
Pulse parameter is marked, so that stepper motor has different speed states in predetermined period.
It is similar with target pulse parameter, in order to enable predetermined pulse parameter by each deceleration in " S " type rate curve
Stage realizes the deceleration of stepper motor, in method for controlling stepping motor provided in an embodiment of the present invention, predetermined pulse parameter
Pulse parameter group or multiple predetermined periods including the corresponding preset quantity of a predetermined period respectively corresponding present count
The pulse parameter group of amount.
Predetermined pulse parameter can be stopped by stepper motor when a predetermined period, can also pass through multiple predetermined periods
Stop stepper motor, so, the pulse of the corresponding preset quantity of a predetermined period can be contained only in predetermined pulse parameter
Parameter group, or the pulse parameter group containing multiple predetermined periods respectively corresponding preset quantity.
Correspondingly, by the predetermined pulse parameter obtained, controlling the stepper motor described in step 103
Next predetermined period starts gradually to slow down, until stopping or receiving new motor operation information, may include:
Next predetermined period is divided into the subcycle of preset quantity by the first step, or will be described next default
Multiple predetermined periods after period and next predetermined period are respectively divided into the subcycle of preset quantity.
When the pulse parameter group of the corresponding preset quantity of a predetermined period can be contained only in predetermined pulse parameter, phase
It answers, it is only necessary to next predetermined period be divided into the subcycle of preset quantity, such as be divided into 4 subcycles.
When can be contained only in predetermined pulse parameter multiple predetermined periods respectively corresponding preset quantity pulse ginseng
When array, walk to be respectively divided into correspondingly, multiple after next predetermined period and next predetermined period are preset this
The subcycle of preset quantity.For example, the arteries and veins containing 3 predetermined periods respectively corresponding preset quantity in predetermined pulse parameter
It rushes parameter group, and when preset quantity is 4, then there are altogether 12 pulse parameter groups in predetermined pulse parameter, respectively correspond division
12 subcycles out.
Second step, respectively according to each pulse parameter group in the predetermined pulse parameter obtained, under described
One predetermined period starts, and determines the interior number of pulses and pulse width of each subcycle.
It is also possible to determine the umber of pulse in each subcycle according to the corresponding pulse parameter group of each subcycle
Amount and pulse width.
Third step drives the stepper motor gradually to subtract according to the number of pulses and pulse width in each subcycle
Speed, until stopping or receiving new motor operation information.
According to the number of pulses and pulse width of each subcycle determined, the stepper motor is driven gradually to slow down.
For example, contain 12 pulse parameter groups in predetermined pulse parameter, wherein the corresponding predetermined period of every 4 pulse parameter groups
4 subcycles correspond to altogether 3 predetermined periods.In 3 predetermined periods, stepping can be made by predetermined pulse parameter
Motor is gradually decelerated to stopping, and the number of pulses in such as 4 subcycles of first predetermined period is 4, second default week
Number of pulses in 4 subcycles of phase is 2, and the number of pulses in 4 subcycles of third predetermined period is respectively 1,
1,1,0.I.e. when the 4th subcycle of third predetermined period, pulse current is not present in stepper motor, stepper motor stops
Only, the even deceleration constant to stepper motor acceleration is realized.
By the way that different pulse parameter is arranged in each pulse parameter group of predetermined pulse parameter, thus gradually
Reduce pulse frequency, and then can be realized various different modes and slow down, slows down as acceleration is increased, even deceleration, acceleration degree subtracts
Small deceleration etc..
In conjunction with above-mentioned each embodiment, it is default at this to control stepper motor according to target pulse parameter in step 102
After being rotated in period, the method also includes:
Step 104, at the end of each predetermined period, step motor position coordinate is obtained.
When according to target pulse parameter or predetermined pulse parameter, so that stepper motor is rotated in predetermined period
Afterwards, stepper motor can turn over certain angle, so that the coordinate of stepper motor is changed.In particular according to when predetermined pulse parameter
When having carried out rotation in predetermined period, since stepper motor is not joined according to the corresponding target pulse of the normal predetermined period
Number is rotated, so the angle that stepper motor turns over can not accurately be predicted.
So the angle that stepper motor is actually rotated can be every in order to be learnt after a predetermined period in time
At the end of one predetermined period, the position coordinates of stepper motor are obtained in time.
Step 105, according to position coordinates, the angle that next predetermined period of the predetermined period needs to rotate is calculated.
After obtaining stepper motor current position coordinates, the physical location of stepper motor can be learnt, so as to
According to the physical location, the angle for needing to rotate in next predetermined period can be determined more accurately out.
Step 106, the angle rotated is needed to determine the corresponding mesh of next predetermined period according to next predetermined period
Mark pulse parameter.
After determining the angle to be rotated, so that it may by parameters such as the intrinsic step angles of stepper motor, determine
The parameters such as number of pulses needed for turning over the angle, to obtain the corresponding target pulse parameter of next predetermined period.
By obtaining position coordinates in time, the corresponding target pulse of next predetermined period can be determined more accurately out
Parameter, so that stepper motor can more accurately be run.
Referring to fig. 2, Fig. 2 is the structure chart of stepping motor control apparatus provided in an embodiment of the present invention, comprising:
Module 201 is obtained, for pressing predetermined period, before each predetermined period starts, it is corresponding to obtain the predetermined period
Motor operation information, the motor operation information includes target pulse parameter and predetermined pulse parameter, wherein the target arteries and veins
Rushing parameter is the pulse parameter rotated in the predetermined period for controlling stepper motor, and the predetermined pulse parameter is to use
The pulse parameter of stopping being gradually decelerated in the control stepper motor；
First control module 202 controls the stepper motor in the predetermined period for pressing the target pulse parameter
It is rotated；
Second control module 203, if not getting institute before next predetermined period in the predetermined period starts
The corresponding motor operation information of next predetermined period is stated, then by the predetermined pulse parameter obtained, controls the stepping
Motor starts gradually to slow down in next predetermined period, until stopping or receiving new motor operation information.
In embodiments of the present invention, by before each predetermined period starts, obtaining the corresponding motor of the predetermined period
Operation information.Due to not only containing the target pulse parameter for the current preset period, together in acquired motor operation information
When further comprise the predetermined pulse parameter for making stepper motor gradually slow down, so, after current predetermined period, under
It, can be using in the electricity operation information obtained before one predetermined period starts when the corresponding motor operation information of no acquisition
Predetermined pulse parameter controls stepper motor, and stepper motor is gradually slowed down, and avoids because not getting
Motor operation information, and caused by step out of stepping motor, to ensure that the even running of stepper motor.
Optionally, the default week in stepping motor control apparatus provided in an embodiment of the present invention, in described device
Phase is the frame per second time, and the frame per second time is the time span of a video frame.
Optionally, in stepping motor control apparatus provided in an embodiment of the present invention, the acquisition module 201 is specific to use
In:
When the frame per second before each frame per second time starts is interrupted, frame per second time corresponding motor operation information is obtained.
Optionally, the default arteries and veins in stepping motor control apparatus provided in an embodiment of the present invention, in described device
Rushing parameter includes the corresponding pulse parameter of multiple predetermined periods；
Correspondingly, second control module 203, is specifically used for:
Since next predetermined period, according to multiple predetermined periods in the predetermined pulse parameter obtained
Pulse parameter, the control in the period stepper motor slows down one by one, until the stepper motor stops or receives new
Motor operation information.
Optionally, the target arteries and veins in stepping motor control apparatus provided in an embodiment of the present invention, in described device
Rush the pulse parameter group that parameter includes preset quantity；
Correspondingly, first control module 202, is specifically used for:
The predetermined period is divided into the preset quantity, and the equal subcycle of time span；Respectively according to the mesh
Each pulse parameter group in pulse parameter is marked, determines the number of pulses and pulse width in each subcycle in the period；
According to the number of pulses and pulse width, controls the stepper motor and rotated in each subcycle.
Optionally, the default arteries and veins in stepping motor control apparatus provided in an embodiment of the present invention, in described device
It rushes pulse parameter group that parameter includes the corresponding preset quantity of a predetermined period or multiple predetermined periods is respectively right
The pulse parameter group for the preset quantity answered；
Correspondingly, second control module 203, is specifically used for:
Next predetermined period is divided into preset quantity, and the equal subcycle of time span, or will be described under
Multiple predetermined periods after one predetermined period and next predetermined period are respectively divided into the preset quantity,
And the equal subcycle of time span；Each pulse parameter group in the predetermined pulse parameter that basis has obtained respectively, from
Next predetermined period starts, and determines the interior number of pulses and pulse width of each subcycle；According to each son week
Number of pulses and pulse width in phase, drive the stepper motor gradually to slow down, until stopping or receiving new motor fortune
Row information.
Optionally, in stepping motor control apparatus provided in an embodiment of the present invention, described device further include:
Coordinate obtaining module obtains the step motor position coordinate at the end of each predetermined period；
Angle calculation module, for according to the position coordinates, the next predetermined period for calculating the predetermined period to be needed
The angle to be rotated；
Computing module, it is described next default for needing the angle rotated to determine according to next predetermined period
Period corresponding target pulse parameter.
Optionally, the target arteries and veins in stepping motor control apparatus provided in an embodiment of the present invention, in described device
Rushing parameter further includes operation mark, and the operation mark is used to determine the operating status of the stepper motor.
Referring to Fig. 3, Fig. 3 is the structure chart of step motor control system provided in an embodiment of the present invention.
Step motor control system includes host computer 301 and driver 302, the host computer 301 and the driver 302
It is connected, the driver 302 connect with stepper motor phase 303
The equipment that host computer 301 can have data-handling capacity for computer, server etc..
Driver 302 can be the equipment such as driving chip, can export corresponding arteries and veins to stepper motor according to pulse parameter
Electric current is rushed, to drive stepper motor to be rotated.Host computer 301 can be connected with driver 302 by data/address bus, cable etc.
It connects, to realize the transmission of various data or information.
The host computer 301 can be used in by predetermined period, before each predetermined period starts, obtain the predetermined period
Corresponding motor operation information, the motor operation information includes target pulse parameter and predetermined pulse parameter, wherein the mesh
Marking pulse parameter is the pulse parameter rotated in the predetermined period for controlling stepper motor, the predetermined pulse parameter
For the pulse parameter for being gradually decelerated to stopping for controlling the stepper motor.For example, being built-in with calculating journey in host computer 302
Sequence can calculate the target pulse parameter for each predetermined period by the calculation procedure, have been able to make stepper motor
Gradually it is decelerated to the goal-selling parameter of stopping.
The corresponding motor operation information of the predetermined period is transmitted to the driver 302, the drive by the host computer 301
Dynamic device 302 presses the target pulse parameter, controls the stepper motor and is rotated in the predetermined period；
If the host computer 301 does not get described also, before next predetermined period of the predetermined period starts
The corresponding motor operation information of next predetermined period, then the driver 302 is by the predetermined pulse parameter obtained, control
It makes the stepper motor to start gradually to slow down in next predetermined period, until stopping or receiving new motor operation letter
Breath.
In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can
It reads to be stored with instruction in storage medium, when run on a computer, so that computer executes any institute in above-described embodiment
The method for controlling stepping motor stated.
In another embodiment provided by the invention, a kind of computer program product comprising instruction is additionally provided, when it
When running on computers, so that computer executes any method for controlling stepping motor in above-described embodiment.
For stepping motor control apparatus, step motor control system, computer readable storage medium and computer journey
For sequence product embodiments, method content as involved in it is substantially similar to embodiment of the method above-mentioned, so description
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (11)
1. a kind of method for controlling stepping motor characterized by comprising
By predetermined period, before each predetermined period starts, the corresponding motor operation information of the predetermined period, the electricity are obtained
Machine operation information includes target pulse parameter and predetermined pulse parameter, wherein the target pulse parameter is for controlling stepping electricity
The pulse parameter that machine is rotated in the predetermined period, the predetermined pulse parameter are for controlling the stepper motor gradually
It is decelerated to the pulse parameter of stopping；
By the target pulse parameter, controls the stepper motor and rotated in the predetermined period；
If not getting the corresponding electricity of next predetermined period before next predetermined period of the predetermined period starts
Machine operation information controls the stepper motor in next predetermined period then by the predetermined pulse parameter obtained
Start gradually to slow down, until stopping or receiving new motor operation information.
2. the method according to claim 1, wherein the predetermined period is frame per second time, the frame per second time
For the time span of a video frame.
3. according to the method described in claim 2, it is characterized in that, it is described press predetermined period, start in each predetermined period
Before, obtain the corresponding motor operation information of the predetermined period, comprising:
When the frame per second before each frame per second time starts is interrupted, frame per second time corresponding motor operation information is obtained.
4. the method according to claim 1, wherein the predetermined pulse parameter includes multiple predetermined period difference
Corresponding pulse parameter；
It is described by the predetermined pulse parameter obtained, drive the stepper motor next predetermined period start by
Step is slowed down, until stopping or receiving new motor operation information, comprising:
Since next predetermined period, according to the arteries and veins of multiple predetermined periods in the predetermined pulse parameter obtained
Parameter is rushed, the control in the period stepper motor slows down one by one, until the stepper motor stops or receive new electricity
Machine operation information.
5. method according to claim 1 to 4, which is characterized in that the target pulse parameter includes default
The pulse parameter group of quantity；
It is described to press the target pulse parameter, it controls the stepper motor and is rotated in the predetermined period, comprising:
The predetermined period is divided into the preset quantity, and the equal subcycle of time span；
Respectively according to each pulse parameter group in the target pulse parameter, the arteries and veins in each subcycle in the period is determined
Rush quantity and pulse width；
According to the number of pulses and pulse width, controls the stepper motor and rotated in each subcycle.
6. method according to claim 1 to 4, which is characterized in that the predetermined pulse parameter includes one
The pulse parameter group or multiple predetermined periods of the corresponding preset quantity of the predetermined period respectively corresponding present count
The pulse parameter group of amount；
It is described by the predetermined pulse parameter obtained, control the stepper motor next predetermined period start by
Step is slowed down, until stopping or receiving new motor operation information, comprising:
Next predetermined period is divided into preset quantity, and the equal subcycle of time span, or will be described next
Multiple predetermined periods after predetermined period and next predetermined period are respectively divided into the preset quantity, and when
Between equal length subcycle；
Respectively according to each pulse parameter group in the predetermined pulse parameter obtained, from next predetermined period
Start, determines the interior number of pulses and pulse width of each subcycle；
According to the number of pulses and pulse width in each subcycle, the stepper motor is driven gradually to slow down, until stopping
Or receive new motor operation information.
7. the method according to claim 1, wherein the method also includes:
At the end of each predetermined period, the step motor position coordinate is obtained；
According to the position coordinates, the angle that next predetermined period of the predetermined period needs to rotate is calculated；
The angle rotated is needed to determine the corresponding target arteries and veins of next predetermined period according to next predetermined period
Rush parameter.
8. described the method according to claim 1, wherein the target pulse parameter further includes operation mark
Operation mark is used to determine the operating status of the stepper motor.
9. a kind of stepping motor control apparatus characterized by comprising
Module is obtained, for pressing predetermined period, before each predetermined period starts, obtains the corresponding motor fortune of the predetermined period
Row information, the motor operation information includes target pulse parameter and predetermined pulse parameter, wherein the target pulse parameter is
The pulse parameter rotated in the predetermined period for controlling stepper motor, the predetermined pulse parameter is for controlling
State the pulse parameter that stepper motor is gradually decelerated to stopping；
First control module controls the stepper motor and is turned in the predetermined period for pressing the target pulse parameter
It is dynamic；
Second control module, if before next predetermined period in the predetermined period starts, not getting described next
The corresponding motor operation information of a predetermined period controls the stepper motor and exists then by the predetermined pulse parameter obtained
Next predetermined period starts gradually to slow down, until stopping or receiving new motor operation information.
10. a kind of step motor control system, which is characterized in that the step motor control system includes host computer and driving
Device, the host computer are connected with the driver, and the driver is connected with stepper motor；
The host computer is used to obtain the corresponding motor of the predetermined period before each predetermined period starts by predetermined period
Operation information, the motor operation information includes target pulse parameter and predetermined pulse parameter, wherein the target pulse parameter
For the pulse parameter rotated in the predetermined period for controlling stepper motor, the predetermined pulse parameter is for controlling
The stepper motor is gradually decelerated to the pulse parameter of stopping；
The corresponding motor operation information of the predetermined period is transmitted to the driver by the host computer, and the driver is by described
Target pulse parameter controls the stepper motor and is rotated in the predetermined period；
If the host computer does not get described next also, before next predetermined period of the predetermined period starts
The corresponding motor operation information of predetermined period, then the driver controls the step by the predetermined pulse parameter obtained
Start gradually to slow down in next predetermined period into motor, until stopping or receiving new motor operation information.
11. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program realizes claim 1-9 any method and step when the computer program is executed by processor.
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| CN201810499949.9A CN110535380A (en) | 2018-05-23 | 2018-05-23 | A kind of method for controlling stepping motor, device, system and storage medium |
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| CN201810499949.9A CN110535380A (en) | 2018-05-23 | 2018-05-23 | A kind of method for controlling stepping motor, device, system and storage medium |
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