CN112019104B - Stepping motor driving method, stepping motor driving device and small mechanical arm - Google Patents
Stepping motor driving method, stepping motor driving device and small mechanical arm Download PDFInfo
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- CN112019104B CN112019104B CN202010868307.9A CN202010868307A CN112019104B CN 112019104 B CN112019104 B CN 112019104B CN 202010868307 A CN202010868307 A CN 202010868307A CN 112019104 B CN112019104 B CN 112019104B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/18—Shaping of pulses, e.g. to reduce torque ripple
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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
- H02P8/40—Special adaptations for controlling two or more stepping motors
Abstract
The invention relates to the technical field of stepping motor driving, in particular to a stepping motor driving method, a stepping motor driving device and a small mechanical arm. The driving board controls the stepping motor to move according to the received signals, the driving board can receive modbus signals and pulse signals, and the driving board can control the stepping motor at intervals in a modbus command mode and a pulse command mode; when the drive board receives a modbus signal, the drive board controls the stepping motor in a modbus command mode; when the driving board receives the pulse signal, the driving board controls the stepping motor in a pulse command mode; the driving plate can receive a closed-loop adjusting signal which is sent by the encoder and used for carrying out closed-loop adjustment on the stepping motor, and carries out closed-loop adjustment on the stepping motor.
Description
Technical Field
The invention relates to the technical field of stepping motor driving, in particular to a stepping motor driving method, a stepping motor driving device and a small mechanical arm.
Background
The small mechanical arm is composed of a plurality of connecting arms and motors connected among the connecting arms, and the motors cooperatively rotate to enable the mechanical arm to complete required actions.
At present, most mechanical arms are controlled by mechanical matching of a servo motor and a harmonic reducer, and the matching has the advantage of high precision, but the cost is very high. In some application scenarios, for example, the precision requirement of a small robot arm used in general industrial use and teaching is not very high, and the cost of the solution of the servo motor in combination with the harmonic reducer is too high for such usage scenarios, so that many enterprises and universities cannot use the small robot arm.
Compared with a servo motor, the cost of the stepping motor is much lower, and if the stepping motor is adopted to replace the servo motor, the cost of the small mechanical arm can be greatly reduced. However, how to control the stepping motor to make the robot arm complete a specific motion is an important problem to be solved by using the stepping motor to drive the small robot arm to move. And to the performance of small-size arm, the dimension of main consideration has the control of motion precision, velocity of motion and motion trail, the work that high accuracy required can be accomplished to the small-size arm that the motion precision is high, the small-size arm that the velocity of motion is fast has higher efficiency, and the small-size arm that can accurate control motion trail can adapt to special work requirement, for example when getting put article, in order to avoid small-size arm to touch the place that should not touch, just need carry out specific design to the orbit of small-size arm.
The drive of the stepping motor in the market can only control the movement of the stepping motor in a communication mode or only in a pulse mode. If the former is used for single control, the function is expanded or the direct change is not good when the requirement is higher, for example, when the stepping motor needs to carry out interpolation work, if the control is carried out by a communication mode, the communication needs time response, and the interpolation requirement does not allow time delay in the middle, so the requirement cannot be met. If the control is carried out through the latter single control, the control is executed in advance like parameter setting, flexible control cannot be realized, information such as position feedback and the like does not exist, and only simple control can be realized.
In the prior art, a small mechanical arm based on a stepping motor has no advantages of high motion precision, high motion speed and capability of controlling a motion track.
Disclosure of Invention
The invention aims to provide a stepping motor driving method, a driving device based on the driving method and a small mechanical arm, and the small mechanical arm has the advantages of high movement precision, high movement speed, stable and smooth movement process and capability of flexibly controlling a movement track.
In order to achieve one of the above purposes, the present invention provides a driving method of a stepping motor, which is used for a driving plate of a dc two-phase hybrid stepping motor, wherein the driving plate controls the stepping motor to move according to a received signal, the driving plate can receive a modbus signal and a pulse signal, and the driving plate can control the stepping motor at intervals in a modbus command mode and a pulse command mode; when the drive board receives a modbus signal, the drive board controls the stepping motor in a modbus command mode; when the driving board receives a pulse signal, the driving board controls the stepping motor in a pulse command mode; the drive plate can receive a closed-loop adjusting signal which is sent by the encoder and used for carrying out closed-loop adjustment on the stepping motor, and carries out closed-loop adjustment on the stepping motor.
Further, the closed loop regulation includes a position loop, a speed loop, and a current loop.
Further, when the drive board receives a set target position value based on the modbus signal, the stepping motor enters closed-loop regulation, the position loop regulation is firstly carried out, PID (proportion integration differentiation) operation is carried out on the error between the target position value set by the encoder and the read actual position value to enable the error to be 0, and the actual position value read by the encoder is enabled to be equal to the set target position value; when the position loop is adjusted, the stepping motor correspondingly enters the speed loop adjustment, firstly, the acceleration stage of the speed loop is entered, and in the acceleration stage, PID operation is carried out through the error of a target acceleration position value set by an encoder and a read actual position value so that the stepping motor operates in an accelerated way; when the stepping motor reaches a target acceleration position value set by an encoder, entering a constant speed stage of a speed ring, and in the constant speed stage, performing PID (proportion integration differentiation) operation by using an error between a set maximum operation speed value of the constant speed stage and a read actual speed value to enable the stepping motor to operate at a constant speed; and entering a speed reduction stage of the speed ring after the stepping motor reaches a target speed reduction position value set by the encoder, performing PID (proportion integration differentiation) operation on the error between the target position value set by the encoder and the read actual position value in the speed reduction stage to enable the stepping motor to operate in a speed reduction mode, and quitting the operation after the stepping motor reaches the target position value set by the encoder.
Further, in the acceleration phase, the real-time operation desired speed value is obtained by the following formula: s (real-time operation desired speed value) = (E (actual position value read currently) -E (initial position value)) × C, where C = E (set target acceleration position value)/S (maximum operation speed value), and sets a maximum operation speed value, and when the calculated real-time operation desired speed value is greater than the set maximum operation speed value, the real-time operation desired speed value is equal to the maximum operation speed value, and at the same time, a minimum operation speed value is also set, and when the real-time operation desired speed value is less than the minimum operation speed value, the real-time operation desired speed value is equal to the minimum operation speed value. Then, PID operation is carried out by using the error of the calculated real-time operation expected speed value and the read actual speed value so as to accelerate the operation of the stepping motor; in the uniform speed stage, PID operation is carried out by using the error between the maximum operation speed value and the read actual speed value to ensure that the stepping motor operates at a uniform speed; in the deceleration phase, the real-time operation expected speed value is obtained by the following formula: s (real-time operation desired speed value) = (E (set target deceleration position value) -E (currently read actual position value))) C, wherein C = E (set target position value)/S (maximum operation speed value), and a minimum operation speed value is set, and when the calculated real-time operation desired speed value is less than the set minimum operation speed value, the real-time operation desired speed value is equal to the minimum operation speed value, and then PID operation is performed using an error between the calculated real-time operation desired speed value and the read actual speed value to decelerate the stepping motor; in the above stage, the maximum operation speed value and the minimum operation speed value are both the limit speed values of the stepping motor entering the speed ring.
Further, when the drive board receives a set target position value based on a pulse signal, the stepping motor enters a position ring after entering closed-loop regulation, PID operation is carried out on an error between the target position value set by the encoder and an actual position value read by the encoder to enable the error to be 0, the actual position value read by the encoder is enabled to be equal to the set target position value, the stepping motor correspondingly enters a speed ring for regulation when the position ring is regulated, the stepping motor is converted into the encoder target position value through the total number of received pulses in the speed ring, different real-time running speed values are converted through PID operation on the error between the target position value set by the encoder and the read actual position value, the stepping motor runs, and the stepping motor exits the running mode after the pulses are stopped to be sent and the actual position value read by the encoder is equal to the set target position value.
In order to achieve the second object, the present invention provides a stepping motor driving device for driving a stepping motor, including a driving board and an encoder, characterized in that: the drive plate comprises a control unit, a storage unit, a modbus communication processing circuit, a pulse receiving processing circuit and a stepping motor driving circuit, wherein the modbus communication processing circuit is in communication connection with the control unit, the pulse receiving processing circuit is in communication connection with the control unit, the storage unit is in communication connection with the control unit, the encoder is suitable for being connected with the stepping motor and detecting the motion state of the stepping motor, the encoder sends a closed-loop adjusting signal to the control unit, the stepping motor driving circuit is in communication connection with the control unit, the stepping motor driving circuit is used for being in communication connection with the stepping motor and driving the stepping motor, the storage unit stores a computer program capable of running on the control unit, and the control unit realizes the method when executing the computer program.
Further, the encoder sends signals required for closed-loop adjustment of the position loop and the speed loop to the control unit by means of an encoder signal processing circuit; the stepping motor and the control unit mutually send signals required by closed-loop adjustment of the current loop to each other through the current detection circuit.
In order to achieve the third object, the present invention provides a small-sized robot arm, comprising a plurality of connecting arms and a plurality of stepping motors connected between the connecting arms, wherein: the stepping motor is characterized by also comprising a plurality of driving plates and encoders which are connected with the plurality of stepping motors in a one-to-one correspondence manner; each drive plate comprises a control unit, a storage unit, a modbus communication processing circuit and a pulse receiving processing circuit, the modbus communication processing circuit is in communication connection with the control unit, the pulse receiving processing circuit is in communication connection with the control unit, the storage unit is in communication connection with the control unit, the encoder sends a closed-loop adjusting signal to the control unit, the storage unit stores a computer program capable of running on the control unit, and the method is realized when the control unit executes the computer program.
Further, the mini-type mechanical arm further comprises an upper computer, the upper computer is in communication connection with the control units, the modbus communication processing circuits and the pulse receiving processing circuits on the plurality of driving plates, the upper computer can send modbus signals to the modbus communication processing circuits and pulse signals to the pulse receiving processing circuits, and only one of the signals can be sent at the same time; when the small mechanical arm needs to move in a track control mode, the upper computer sends a pulse signal to the pulse receiving and processing circuit; and when the small mechanical arm does not need to move under the control of a track, the upper computer sends a modbus signal to the modbus communication processing circuit.
Further, the miniature mechanical arm is a triaxial miniature mechanical arm, and the maximum load of the miniature mechanical arm is 2 kilograms.
Compared with the prior art, the method integrates the modbus command control mode and the pulse command control mode, can realize the control of the stepping motor in different modes at different time and under different operation requirements, and combines closed-loop regulation, so that the small mechanical arm obtained based on the stepping motor driving method and the driving device has the advantages of high motion precision, high motion speed, stable and smooth motion process and flexible motion track control.
Drawings
FIG. 1 is a relationship diagram of a stepping motor driving method of the present invention;
FIG. 2 is a block flow diagram of closed loop regulation in the stepper motor drive method of the present invention;
fig. 3 is a control system diagram of the stepping motor driving apparatus of the present invention;
fig. 4 is a schematic diagram showing the relationship among a plurality of stepping motors, a driving plate, an encoder and an upper computer in the small robot arm of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. In the present invention, unless otherwise explicitly stated or limited, when terms such as "disposed on", "connected" or "connected" are present, these terms should be interpreted broadly, for example, as being either fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected with each other or connected with each other through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above-mentioned terms in the present invention can be understood by those skilled in the art according to specific situations.
Stepping motor driving methodThe invention provides a stepping motor driving method, as shown in figure 1, the invention provides a stepping motor driving method, which is used for a driving plate of a direct-current two-phase hybrid stepping motor, wherein the driving plate controls the stepping motor to move according to received signals, the driving plate can receive modbus signals and pulse signals, and the driving plate can control the stepping motor at intervals in a modbus command mode and a pulse command mode; when the drive board receives a modbus signal, the drive board controls the stepping motor in a modbus command mode; when the driving board receives the pulse signal, the driving board controls the stepping motor in a pulse command mode; the drive plate can receive a closed-loop adjusting signal which is sent by the encoder and used for carrying out closed-loop adjustment on the stepping motor, and the closed-loop adjustment is carried out on the stepping motor.
Based on the stepping motor driving method, the stepping motor can be controlled in different modes at different time and under different operation requirements. For example, when the mini-type mechanical arm driven by the stepping motor is controlled based on the stepping motor driving method, when the mini-type mechanical arm needs to be quickly changed from the posture 1 to the posture 2 without controlling the motion track of the mini-type mechanical arm, the upper computer sends a modbus signal to the driving board, and the driving board controls the stepping motor in a modbus command mode, so that the mini-type mechanical arm quickly changes the posture; when the tail end of the small mechanical arm needs to move in an accurate track, for example, in occasions needing track control such as vertically taking and placing articles, writing, walking a specific straight line or curve and the like, when the upper computer sends a pulse signal to the driving plate, the driving plate controls the stepping motors in a pulse command mode, so that each stepping motor on the small mechanical arm is respectively provided with interpolation action, and the track control is realized.
In this embodiment, the closed loop regulation includes a position loop, a velocity loop, and a current loop. The position closed-loop regulation is used for guaranteeing the precision of a motion starting point and a motion end point, the speed closed-loop regulation is used for guaranteeing the motion speed and the motion stability, and the current closed-loop regulation is used for guaranteeing the stability of the torque output by the stepping motor.
In this embodiment, as shown in fig. 2, when the drive board receives a set target position value based on a modbus signal, the stepping motor enters closed-loop regulation, and first enters into position loop regulation, and performs PID operation on an error between the set target position value of the encoder and a read actual position value to make the error be 0, so that the actual position value read by the encoder is equal to the set target position value; when the position loop is adjusted, the stepping motor correspondingly enters the speed loop adjustment, firstly, the acceleration stage of the speed loop is entered, and in the acceleration stage, PID operation is carried out through the error of a target acceleration position value set by an encoder and a read actual position value so that the stepping motor operates in an accelerated way; when the stepping motor reaches a target acceleration position value set by an encoder, entering a constant speed stage of a speed ring, and in the constant speed stage, performing PID (proportion integration differentiation) operation by using an error between a set maximum operation speed value of the constant speed stage and a read actual speed value to enable the stepping motor to operate at a constant speed; and entering a speed reduction stage of the speed ring after the stepping motor reaches a target speed reduction position value set by the encoder, performing PID (proportion integration differentiation) operation on the error between the target position value set by the encoder and the read actual position value in the speed reduction stage to enable the stepping motor to operate in a speed reduction mode, and quitting the operation after the stepping motor reaches the target position value set by the encoder.
In this embodiment, in the acceleration phase, the real-time operation desired speed value is obtained by the following formula: s (real-time operation desired speed value) = (E (actual position value read currently) -E (initial position value)) × C, where C = E (set target acceleration position value)/S (maximum operation speed value), C is a gain, and the real-time operation desired speed value is smaller than or equal to the maximum operation speed value by continuously multiplying C, thereby achieving the purpose of acceleration. And setting a maximum operation speed value, wherein when the calculated real-time operation expected speed value is greater than the set maximum operation speed value, the real-time operation expected speed value is equal to the maximum operation speed value. Meanwhile, a minimum running speed value is set, so that the situation that the motor has no action when the real-time running expected speed value is too small due to too short acceleration distance is prevented. And when the real-time operation expected speed value is smaller than the minimum operation speed value, the real-time operation expected speed value is equal to the minimum operation speed value. Then, PID operation is carried out by using the error of the calculated real-time operation expected speed value and the read actual speed value so as to accelerate the operation of the stepping motor; in the uniform speed stage, PID operation is carried out by using the error between the maximum operation speed value and the read actual speed value so as to ensure that the stepping motor operates at a uniform speed. In the deceleration phase, the real-time operation expected speed value is obtained by the following formula: s (real-time operation desired speed value) = (E (set target deceleration position value) -E (actual position value read currently)) × C, where C = E (set target position value)/S (maximum operation speed value), C is a gain, and the real-time operation desired speed value is smaller than or equal to the minimum operation speed value by continuously multiplying C, thereby achieving the purpose of deceleration. In order to prevent the calculated real-time running speed from being too low when the currently read actual position value is close to the set target deceleration position value, so that the stepping motor does not act, a minimum running speed value is set, when the calculated target real-time running speed value is smaller than the set minimum running speed value, the target real-time running speed value is equal to the minimum running speed value, the real-time running expected speed value is equal to the minimum running speed value, and then PID operation is carried out by using the error between the calculated real-time running expected speed value and the read actual speed value to enable the stepping motor to decelerate; in the above stage, the maximum operation speed value and the minimum operation speed value are both the limit speed values of the stepping motor entering the speed ring.
In this embodiment, as shown in fig. 2, when the driving board receives a set target position value based on a pulse signal, the stepping motor enters the position ring after entering the closed-loop adjustment, and performs PID operation on an error between the target position value set by the encoder and an actual position value read by the encoder to make the error 0, so that the actual position value read by the encoder is equal to the set target position value, and the stepping motor also enters the speed ring adjustment correspondingly when performing the position ring adjustment, and in the speed ring, the total number of received pulses is converted into an encoder target position value, and then performs PID operation on the error between the target position value set by the encoder and the actual position value read by the encoder to convert into different real-time operation speed values, so that the stepping motor operates, and when the pulses stop being transmitted and the actual position value read by the encoder is equal to the set target position value, the stepping motor exits the operation.
The control of the stepping motor is realized based on the method.
Stepping motor driving device
The invention also provides a stepping motor driving device, as shown in fig. 3, which is used for driving the stepping motor and comprises a driving plate and an encoder, wherein the driving plate comprises a control unit, a storage unit, a modbus communication processing circuit, a pulse receiving processing circuit and a stepping motor driving circuit, the modbus communication processing circuit is in communication connection with the control unit, the pulse receiving processing circuit is in communication connection with the control unit, the storage unit is in communication connection with the control unit, the encoder is suitable for being connected with the stepping motor and detecting the motion state of the stepping motor, the encoder sends a closed-loop adjusting signal to the control unit, the stepping motor driving circuit is in communication connection with the stepping motor and drives the stepping motor, the storage unit stores a computer program capable of running on the control unit, and the control unit realizes the stepping motor driving method provided by the invention when executing the computer program.
In this embodiment, the encoder sends signals required for the closed-loop adjustment of the position loop and the speed loop to the control unit by means of the encoder signal processing circuit; the stepping motor and the control unit mutually send signals required by closed-loop adjustment of the current loop to each other through the current detection circuit.
In this embodiment, the control unit is connected to a power circuit for supplying power to the stepping motor driving device.
In this embodiment, the control unit preferably employs a 32-bit MCU, and the power supply circuit, the memory unit, the modbus communication processing circuit, the pulse receiving processing circuit, the stepping motor driving circuit, the encoder signal processing circuit, and the current detection circuit mentioned in the present invention are all the prior art, and those skilled in the art can select a circuit with a corresponding and appropriate function from the prior art to use in the apparatus.
Small mechanical arm
The invention also provides a small mechanical arm, as shown in fig. 4, which comprises a plurality of connecting arms (not shown in the figure, refer to the prior art), a plurality of stepping motors connected among the connecting arms, a plurality of driving plates and encoders, wherein the driving plates and the encoders are connected with the stepping motors in a one-to-one correspondence manner; each drive plate comprises a control unit, a storage unit, a modbus communication processing circuit and a pulse receiving processing circuit, the modbus communication processing circuit is in communication connection with the control unit, the pulse receiving processing circuit is in communication connection with the control unit, the storage unit is in communication connection with the control unit, an encoder is in communication connection with the control unit, the encoder sends a closed-loop adjusting signal to the control unit, the storage unit stores a computer program capable of running on the control unit, and the control unit realizes the stepping motor driving method provided by the invention when executing the computer program.
In this embodiment, the mini-robot further comprises an upper computer, the upper computer is in communication connection with the control units, the modbus communication processing circuits and the pulse receiving processing circuits on the plurality of drive plates, the upper computer can send modbus signals to the modbus communication processing circuits and send pulse signals to the pulse receiving processing circuits, and only one of the signals can be sent at the same time; when the small mechanical arm needs to perform track control movement, the upper computer sends a pulse signal to the pulse receiving and processing circuit; when the small mechanical arm does not need to move in a track control mode, the upper computer sends a modbus signal to the modbus communication processing circuit. The specific control mode is that the control unit polls the received signal, and when the received signal is a modbus signal, the drive board controls the stepping motor in a modbus command mode, and waits for the next arrival of the signal after the modbus command is run for one time. When the received signal is a pulse signal, the drive board controls the stepping motor in a pulse mode, and after the pulse command is run for one time, the drive board waits for the arrival of the next signal. The control of the stepping motor by different signals at intervals is realized by the above mode. When the tail end of the small mechanical arm needs to move in an accurate track manner, for example, in the occasions needing track control, such as taking and placing articles vertically, writing, walking a specific straight line or curve and the like, the upper computer sends a pulse signal to the driving plate, and the driving plate controls the stepping motors in a pulse command manner, so that each stepping motor on the small mechanical arm performs interpolation motion, and the track control is realized.
In this embodiment, the mini-robot is a three-axis mini-robot with a maximum load of 2 kg.
Based on foretell structure, a plurality of step motor are controlled by a plurality of drive plates respectively, and the host computer distributes the signal to each drive plate, makes a plurality of step motor coordinated motion for small-size arm has motion accuracy height, motion speed is fast, and the motion process is steady smooth and easy and can nimble control movement track's advantage.
The features of the embodiments and embodiments described above may be combined with each other without conflict.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A driving method of a stepping motor is used for a driving plate of a direct-current two-phase hybrid stepping motor of a multi-shaft small mechanical arm, the multi-shaft small mechanical arm comprises a plurality of connecting arms and a plurality of stepping motors connected among the connecting arms, the driving plate controls the stepping motor to move according to received signals, and the driving method is characterized in that:
the drive board can receive modbus signals and pulse signals, and can control the stepping motor at intervals in a modbus command mode and a pulse command mode;
when the drive board receives a modbus signal, the drive board controls the stepping motor in a modbus command mode;
when the driving board receives a pulse signal, the driving board controls the stepping motor in a pulse command mode;
the drive board can receive a closed-loop adjusting signal which is sent by the encoder and used for carrying out closed-loop adjustment on the stepping motor, and carry out closed-loop adjustment on the stepping motor;
when the multi-axis small mechanical arm needs to vertically take and place articles, write, move along a specific straight line or a specific curve, a pulse signal is sent to the driving plate, and the driving plate controls the stepping motor in a pulse command mode;
when the multi-axis small-sized mechanical arm does not need to move in a track control mode, a modbus signal is sent to the drive plate, and the drive plate controls the stepping motor in a modbus command mode.
2. The stepping motor driving method according to claim 1, wherein: the closed loop regulation includes a position loop, a speed loop, and a current loop.
3. The stepping motor driving method according to claim 2, wherein: when the drive board receives a set target position value based on the modbus signal, the stepping motor enters closed-loop regulation and enters the position loop regulation, PID (proportion integration differentiation) operation is carried out on the error between the target position value set by the encoder and the read actual position value to enable the error to be 0, and the actual position value read by the encoder is equal to the set target position value;
when the position loop is adjusted, the stepping motor correspondingly enters the speed loop adjustment, firstly, the acceleration stage of the speed loop is entered, and in the acceleration stage, PID operation is carried out through the error of a target acceleration position value set by an encoder and a read actual position value so that the stepping motor operates in an accelerated way;
when the stepping motor reaches a target acceleration position value set by an encoder, entering a constant speed stage of a speed ring, and in the constant speed stage, performing PID (proportion integration differentiation) operation by using an error between a set maximum operation speed value of the constant speed stage and a read actual speed value to enable the stepping motor to operate at a constant speed;
and entering a speed reduction stage of the speed ring after the stepping motor reaches a target speed reduction position value set by the encoder, performing PID (proportion integration differentiation) operation on the error between the target position value set by the encoder and the read actual position value in the speed reduction stage to enable the stepping motor to operate in a speed reduction mode, and quitting operation after the stepping motor reaches the target position value set by the encoder.
4. The stepping motor driving method according to claim 3, wherein:
in the acceleration phase, the real-time operation expected speed value is obtained by the following formula: s (real-time operation expected speed value) ＝(E (actual position value currently read) -E (initial position value) ) C, wherein C = E (set target acceleration position value) /S (maximum operation speed value) Setting a maximum operation speed value, when the calculated real-time operation expected speed value is greater than the set maximum operation speed value, the real-time operation expected speed value is equal to the maximum operation speed value, and setting a minimum operation speed value, when the real-time operation expected speed value is less than the minimum operation speed value, the real-time operation expected speed value is equal to the minimum operation speed value, and then using the calculated real-time operation expected speed value and the read real-time operation speed valuePerforming PID operation on the error of the interval speed value to accelerate the operation of the stepping motor;
in the uniform speed stage, PID operation is carried out by using the error between the maximum operation speed value and the read actual speed value to ensure that the stepping motor operates at a uniform speed;
in the deceleration phase, the real-time operation expected speed value is obtained by the following formula: s. the (real-time operation expected speed value) ＝(E (value of set target deceleration position) -E (actual position value currently read) ) C, wherein C = E (set target position value) /S (maximum operation speed value) Setting a minimum running speed value, when the calculated real-time running expected speed value is smaller than the set minimum running speed value, the real-time running expected speed value is equal to the minimum running speed value, and then performing PID (proportion integration differentiation) operation by using the error between the calculated real-time running expected speed value and the read actual speed value to enable the stepping motor to run in a deceleration way;
in the above stage, the maximum operation speed value and the minimum operation speed value are both the limit speed values of the stepping motor entering the speed ring.
5. The stepping motor driving method according to claim 3, wherein: when a drive plate receives a set target position value based on a pulse signal, a stepping motor enters a position ring after entering closed-loop regulation, PID operation is carried out on the error between the target position value set by an encoder and the actual position value read by the encoder to enable the error to be 0, the actual position value read by the encoder is enabled to be equal to the set target position value, the stepping motor correspondingly enters a speed ring for regulation when the position ring is regulated, the received total number of pulses in the speed ring is converted into the target position value of the encoder, PID operation is carried out on the error between the target position value set by the encoder and the read actual position value to convert different real-time running speed values, the stepping motor runs, and the stepping motor exits the running process when the pulses are stopped to be sent and the actual position value read by the encoder is equal to the set target position value.
6. The utility model provides a step motor drive arrangement for step motor on the small-size arm of drive multiaxis, includes drive plate and encoder, the small-size arm of multiaxis includes many linking arms and connects a plurality of step motor between many linking arms, its characterized in that: the drive board comprises a control unit, a storage unit, a modbus communication processing circuit, a pulse receiving processing circuit and a stepping motor driving circuit, wherein the modbus communication processing circuit is in communication connection with the control unit, the pulse receiving processing circuit is in communication connection with the control unit, the storage unit is in communication connection with the control unit, the encoder is suitable for being connected with the stepping motor and detecting the motion state of the stepping motor, the encoder sends a closed-loop adjusting signal to the control unit, the stepping motor driving circuit is in communication connection with the control unit, the stepping motor driving circuit is used for being in communication connection with the stepping motor and driving the stepping motor, the storage unit stores a computer program capable of running on the control unit, and the control unit implements the method according to any one of claims 1 to 5 when executing the computer program.
7. The stepping motor driving device according to claim 6, wherein: the encoder sends signals required by closed-loop adjustment of a position loop and a speed loop to the control unit by means of an encoder signal processing circuit;
the stepping motor and the control unit mutually send signals required by closed-loop adjustment of the current loop to each other through the current detection circuit.
8. The utility model provides a small-size arm, includes many linking arms and connects a plurality of step motor between many linking arms, its characterized in that: the stepping motor is characterized by also comprising a plurality of driving plates and encoders which are connected with the plurality of stepping motors in a one-to-one correspondence manner;
each drive board comprises a control unit, a storage unit, a modbus communication processing circuit and a pulse receiving processing circuit, wherein the modbus communication processing circuit is in communication connection with the control unit, the pulse receiving processing circuit is in communication connection with the control unit, the storage unit is in communication connection with the control unit, the encoder sends a closed-loop regulation signal to the control unit, the storage unit stores a computer program capable of running on the control unit, and the control unit executes the computer program to realize the method according to any one of claims 1 to 5.
9. A mini robotic arm as claimed in claim 8, wherein: the small mechanical arm further comprises an upper computer, the upper computer is in communication connection with the control units, the modbus communication processing circuits and the pulse receiving processing circuits on the plurality of driving plates, the upper computer can send modbus signals to the modbus communication processing circuits and pulse signals to the pulse receiving processing circuits, and only one of the signals can be sent at the same time;
when the small mechanical arm needs to move in a track control mode, the upper computer sends a pulse signal to the pulse receiving and processing circuit;
and when the small mechanical arm does not need to move under the control of a track, the upper computer sends a modbus signal to the modbus communication processing circuit.
10. A mini robotic arm as claimed in claim 8, wherein: the miniature mechanical arm is a triaxial miniature mechanical arm, and the maximum load of the miniature mechanical arm is 2 kilograms.
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