CN114826046B - Control method and device based on stepping motor and electronic equipment - Google Patents
Control method and device based on stepping motor and electronic equipment Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
- H02P8/38—Protection against faults, e.g. against overheating or step-out; Indicating faults the fault being step-out
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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Abstract
The invention discloses a control method, a control device and electronic equipment based on a stepping motor, wherein the method comprises the steps of detecting real-time state information of the stepping motor, and driving the stepping motor based on closed-loop vector control when the real-time state information represents that the stepping motor stops so as to enable the stepping motor to move to a preset locking position; when the stepping motor is detected to reach a locking position, the stepping motor is driven based on open-loop vector control to lock the stepping motor; when the stepping motor is locked, the external load force of the stepping motor is continuously monitored, and a control driving mode aiming at the stepping motor is regulated and controlled based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control. The invention ensures that the stepping motor can adapt to different load changes, simultaneously ensures that the locking force of the stepping motor is increased when the stepping motor is locked, has good consistency of density values and cannot cause the phenomenon of step loss when the stepping motor is locked.
Description
Technical Field
The application relates to the technical field of motor control, in particular to a control method and device based on a stepping motor and electronic equipment.
Background
The stepping motors with adjustable degrees can be arranged in machines such as a flat knitting machine, a circular knitting machine and a underwear machine, and the machines can greatly change the load of the stepping motors in the density change process of a cloth surface, so that the motors are required to adapt to different load changes and have quick response. In addition, when the stepping motor is locked at a fixed position, a certain load is applied to the stepping motor due to needle withdrawing, and therefore the stepping motor is required to have a large locking force and cannot shake. However, the current stepping motors can only meet the requirements of any one of the two aspects, and no method for enabling the stepping motors to simultaneously meet the two requirements exists.
Disclosure of Invention
In order to solve the above problems, embodiments of the present application provide a control method and apparatus based on a stepping motor, and an electronic device.
In a first aspect, an embodiment of the present application provides a control method based on a stepping motor, where the method includes:
detecting real-time state information of a stepping motor, and when the real-time state information represents that the stepping motor stops, driving the stepping motor based on closed-loop vector control so as to enable the stepping motor to move to a preset locking position;
when the stepping motor is detected to reach the locking position, the stepping motor is driven based on open-loop vector control to lock the stepping motor;
when the stepping motor is locked, the external load force of the stepping motor is continuously monitored, and a control driving mode aiming at the stepping motor is regulated and controlled based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control.
Preferably, when the stepping motor is locked, the external load force of the stepping motor is continuously monitored, and a control driving mode for the stepping motor is regulated and controlled based on a difference value between the external load force and a locking force, where the control driving mode includes PID closed-loop control and open-loop vector control, and includes:
when the stepping motor is locked, acquiring the locking force of the stepping motor, and continuously monitoring the external load force of the stepping motor;
calculating a difference between the external load force and a locking force, and when the difference is negative, maintaining a control drive mode for the stepping motor as the open-loop vector control;
and when the difference value is not negative, switching the control driving mode aiming at the stepping motor to PID closed-loop control.
Preferably, after switching the control driving mode for the stepping motor to the PID closed-loop control when the difference is not negative, the method further includes:
determining a standard deviation angle between the locking position and an adjacent stage pair position, and detecting the current deviation angle of the stepping motor in real time;
when the current deviation angle is not larger than the standard deviation angle, maintaining the control driving mode as the PID closed-loop control;
driving the stepper motor based on the closed-loop vector control to move the stepper motor to the locked position when the current angle of deviation is greater than the standard angle of deviation.
Preferably, after switching the control driving mode for the stepping motor to the PID closed-loop control when the difference is not negative, the method further includes:
and counting the deflection time length when the difference value is not negative, and generating out-of-step alarm information when the deflection time length is greater than the preset time length, wherein the out-of-step alarm information is used for representing that the current load of the stepping motor is greater than the motor torque.
Preferably, the driving the stepping motor based on the closed-loop vector control includes:
sending an initial electrical pulse signal to the stepper motor based on the locked position;
continuously acquiring rotor position feedback data of the stepping motor, and determining a theoretical rotor position of the rotor of the stepping motor at the current moment;
and generating an adjusting electric pulse signal based on the theoretical rotor position and the rotor position feedback data, and sending the adjusting electric pulse signal to the stepping motor.
Preferably, the driving the stepping motor based on the open-loop vector control includes:
and sending a preset constant electric pulse signal to the stepping motor so as to enable the stepping motor to control the rotor position of the rotor based on the constant electric pulse signal.
In a second aspect, an embodiment of the present application provides a stepping motor-based control apparatus, including:
the first detection module is used for detecting real-time state information of the stepping motor, and when the real-time state information represents that the stepping motor stops, the stepping motor is driven based on closed-loop vector control so as to move towards a preset locking position;
the second detection module is used for driving the stepping motor based on open-loop vector control to lock the stepping motor when the stepping motor is detected to reach the locking position;
and the regulation and control module is used for continuously monitoring the external load force of the stepping motor when the stepping motor is locked, and regulating and controlling a control driving mode aiming at the stepping motor based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the steps of the method as provided in the first aspect or any one of the possible implementation manners of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method as provided by the first aspect or any one of the possible implementation manners of the first aspect.
The invention has the beneficial effects that: the current control mode aiming at the stepping motor can be adjusted according to the real-time position of the stepping motor, the stepping motor can adapt to different load changes, the locking force of the stepping motor during locking is increased, the consistency of density values is good, and the phenomenon of step loss during locking cannot be caused.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a control method based on a stepping motor according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a control device based on a stepping motor according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In the following description, the terms "first" and "second" are used for descriptive purposes only and are not intended to indicate or imply relative importance. The following description provides embodiments of the present application, where different embodiments may be substituted or combined, and thus the present application is intended to include all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes the feature A, B, C and another embodiment includes the feature B, D, then this application should also be considered to include embodiments that include all other possible combinations of one or more of A, B, C, D, although this embodiment may not be explicitly recited in text below.
The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, the described methods may be performed in an order different than the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
Referring to fig. 1, fig. 1 is a schematic flowchart of a control method based on a stepping motor according to an embodiment of the present disclosure. In an embodiment of the present application, the method includes:
s101, detecting real-time state information of the stepping motor, and driving the stepping motor based on closed-loop vector control when the real-time state information represents that the stepping motor stops so as to enable the stepping motor to move to a preset locking position.
The execution main body of the application can be a controller corresponding to the stepping motor.
In this application embodiment, because step motor's characteristic, traditional motor control mode adopts the open loop control mode, and this kind of control mode can't adjust according to the change of load because control current and locking current set up in advance to can lead to the motor to generate heat seriously, cause unnecessary energy consumption, open loop control is very poor to the adaptability of heavy load moreover, causes the step-out when accelerating easily. In order to solve the above disadvantages, the prior art adopts closed-loop control with an encoder, i.e. FOC control, which well realizes automatic current adjustment according to load, has strong adaptability to load and solves the problem of acceleration step-out, but because FOC control algorithm is locked at one position by a three-loop control mode of a position loop, a speed loop and a current loop, the physical characteristics of a stepping motor are equivalent to that of an electromagnet, the positive pole and the negative pole attract each other, if the stepping motor stops between 2-level pairs, magnetic fields on both sides influence rotors, and a relatively static state cannot be ensured, so that the problem of easy jitter occurs during locking, and the problem of jitter can be solved only by adjusting loop rigidity generally. However, when the rigidity of the loop is reduced, the locking force is small, and the loop is easily driven by the load.
Based on the analysis and consideration, the locking mode of the FOC control stepping motor is optimized. Due to the common FOC control, the problem of large locking force can be solved only by adjusting the rigidity of a loop, but the adjustment is high, so that the jitter is easy to occur, and the position error during locking becomes large. Therefore, the motor is locked by utilizing the advantages of open-loop locking, and in order to avoid the problem that the current given in an open-loop control mode is fixed and cannot be automatically increased along with the change of the load, and the step-out is easily caused, the motor is driven to move to the locking position through FOC closed loop, namely closed-loop vector control.
Specifically, the controller detects real-time status information of the stepping motor, and when the stepping motor stops at any position, the real-time status information detected by the controller represents an information result of the stop of the stepping motor. At the moment, the controller drives the stepping motor in a FOC closed-loop, namely closed-loop vector control mode to move the stepping motor to a preset locking position, so that automatic change of the load in the moving process is ensured, and step loss is avoided.
In one embodiment, the driving the stepping motor based on closed-loop vector control includes:
sending an initial electrical pulse signal to the stepper motor based on the locked position;
continuously acquiring rotor position feedback data of the stepping motor, and determining a theoretical rotor position of the rotor of the stepping motor at the current moment;
and generating an adjusting electric pulse signal based on the theoretical rotor position and the rotor position feedback data, and sending the adjusting electric pulse signal to the stepping motor.
In the embodiment of the application, the closed-loop vector control feeds back the control result to be compared with the expected value, and adjusts the control according to the error of the control result, so as to realize the purpose of changing along with the load.
For example, the theoretical rotor position may be calculated based on the back electromotive force after obtaining the back electromotive force according to the angle observation model. The angle observation model is as follows:
wherein z1 and z2 are angle observation model variables; k is the current execution times; d is an angle observation model estimation gain value; ts is a control period; rs is a stator resistor of the stepping motor; ls is the stator inductance of the stepping motor;
the estimated value of the motor rotating speed is obtained;
q-axis current feedback;
d-axis current feedback;
inputting a voltage for a q axis;
is the d-axis input voltage.
The back electromotive force obtained from the angle observation model is as follows:
wherein,
is the q-axis back emf estimate;
is the d-axis back emf estimate.
The theoretical rotor position of the stepping motor is as follows:
and S102, when the stepping motor is detected to reach the locking position, the stepping motor is driven based on open-loop vector control to lock the stepping motor.
In the embodiment of the application, data such as the current rotor position of the rotor in the stepping motor can be detected and determined by acquiring real-time parameter data of the stepping motor. When the controller judges that the stepping motor reaches the locking position based on the current rotor position, the stepping motor is driven in an open-loop vector control mode instead, so that locking is controlled according to the physical characteristics of the motor, and the motor can be ensured to be in complete static motion.
In one embodiment, the driving the stepping motor based on open-loop vector control includes:
and sending a preset constant electric pulse signal to the stepping motor so as to enable the stepping motor to control the rotor position of the rotor based on the constant electric pulse signal.
In the embodiment of the application, for open-loop vector control, a pulse signal is input to obtain a specified position increment, negative feedback regulation is not performed according to actual measurement data of the motor, the rotor position of the rotor can be quantitatively controlled according to a constant electric pulse signal after the stepping motor reaches a locking position, oscillation is not easy to occur during locking, and the locking force is large.
S103, when the stepping motor is locked, continuously monitoring the external load force of the stepping motor, and regulating and controlling a control driving mode aiming at the stepping motor based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control.
In the embodiment of the application, after the stepping motor is locked, considering that the stepping motor may be acted by an external load force, so that the stepping motor deviates from a locking position, if the stepping motor is still driven by open-loop vector control after the stepping motor deviates from the locking position, the problem that the load cannot be automatically changed and the stepping is out of step still occurs. Therefore, after the stepping motor is locked, the controller continuously monitors the external load force applied to the stepping motor through a sensor and the like, compares the external load force with the locking force generated under the current control corresponding to the open-loop vector control at the time, and determines and adjusts the control driving mode for the stepping motor based on the difference between the external load force and the locking force.
In one possible implementation, step S103 includes:
when the stepping motor is locked, acquiring the locking force of the stepping motor, and continuously monitoring the external load force of the stepping motor;
calculating a difference between the external load force and a locking force, and when the difference is negative, maintaining a control drive mode for the stepping motor as the open-loop vector control;
and when the difference value is not negative, switching the control driving mode aiming at the stepping motor into PID closed-loop control.
In the embodiment of the present application, the difference between the external load force and the locking force is calculated, and if the difference is negative, it is determined that the external load force is smaller than the locking force, and the motor does not move in a deviating manner under the action of the external load force, so the controller maintains the control driving mode for the stepping motor in the open-loop vector control. If the difference value is not negative, namely the external load force is considered to be larger than the locking force, the motor deviates, and the controller changes the control driving mode into PID closed-loop control at the moment, so that the current is larger along with the farther the motor deviates from the locking position until the maximum current is reached, and the automatic increase along with the load change is realized.
The PID closed-loop control is a control algorithm which combines three links of proportion, integral and differential into a whole, and can be suitable for occasions where the external load force is uncertain and the controlled object model is unclear in understanding. The calculation process is as follows:
wherein,
is proportional gain, is inverse relative to the degree of proportionality,
in order to integrate the time constant,
in order to differentiate the time constant,
to control the output signal of the object being the stepping motor,
is the difference between the set value and the measured value.
In one embodiment, after switching the control driving mode for the stepping motor to the PID closed-loop control when the difference is not negative, the method further includes:
determining a standard deviation angle between the locking position and an adjacent stage pair position, and detecting the current deviation angle of the stepping motor in real time;
when the current deviation angle is not larger than the standard deviation angle, maintaining the control driving mode as the PID closed-loop control;
driving the stepper motor based on the closed-loop vector control to move the stepper motor to the locked position when the current angle of deviation is greater than the standard angle of deviation.
In the embodiment of the application, a problem still occurs in a PID closed-loop control mode, the stage pair of the stepping motor shows a magnetic field, namely an N pole and an S pole, and if the stepping motor deviates from a locking position to the next stage pair, the current is increased in time, so that the torque cannot be output, and further, the step loss is still caused. Based on this, after switching to the PID closed-loop control, the controller will detect the current deviation angle of the stepping motor in real time and compare the current deviation angle with the standard deviation angle. When the current deviation angle is larger than the standard deviation angle, the FOC closed-loop control is automatically switched, so that when the load becomes light, the FOC closed-loop control can automatically return to the locking position. Whether PID closed loop control or closed loop vector control, the current is increased with angle change, so that a great force is required to screw the locked motor.
In one embodiment, after switching the control driving mode for the stepping motor to the PID closed-loop control when the difference is not negative, the method further includes:
and counting the deflection time length when the difference value is not negative, and generating out-of-step alarm information when the deflection time length is greater than the preset time length, wherein the out-of-step alarm information is used for representing that the current load of the stepping motor is greater than the motor torque.
In the embodiment of the application, when the stepping motor deviates from the locking position for a long time, the controller triggers the step-out alarm to inform a user that the current load is larger than the motor torque.
The stepping motor based control device provided in the embodiment of the present application will be described in detail below with reference to fig. 2. It should be noted that the control device based on the stepping motor shown in fig. 2 is used for executing the method of the embodiment shown in fig. 1 of the present application, and for convenience of description, only the portion related to the embodiment of the present application is shown, and details of the specific technology are not disclosed, please refer to the embodiment shown in fig. 1 of the present application.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a control device based on a stepping motor according to an embodiment of the present disclosure. As shown in fig. 2, the apparatus includes:
the first detection module 201 is configured to detect real-time state information of a stepping motor, and when the real-time state information indicates that the stepping motor stops, drive the stepping motor based on closed-loop vector control so as to move the stepping motor to a preset locking position;
a second detecting module 202, configured to drive the stepping motor based on open-loop vector control to lock the stepping motor when it is detected that the stepping motor reaches the locking position;
and the regulating and controlling module 203 is used for continuously monitoring the external load force of the stepping motor when the stepping motor is locked, and regulating and controlling a control driving mode aiming at the stepping motor based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control.
In one possible implementation, the first detection module 201 includes:
a first sending unit, configured to send an initial electrical pulse signal to the stepping motor based on the locking position;
the continuous acquisition unit is used for continuously acquiring the feedback data of the rotor position of the stepping motor and determining the theoretical rotor position of the rotor of the stepping motor at the current moment;
and the second sending unit is used for generating an adjusting electric pulse signal based on the theoretical rotor position and the rotor position feedback data and sending the adjusting electric pulse signal to the stepping motor.
In one possible implementation, the second detection module 202 includes:
and the third sending unit is used for sending a preset constant electric pulse signal to the stepping motor so as to enable the stepping motor to control the rotor position of the rotor based on the constant electric pulse signal.
In one embodiment, the regulatory module 203 comprises:
the load detection unit is used for acquiring the locking force of the stepping motor when the stepping motor is locked and continuously monitoring the external load force of the stepping motor;
a first calculation unit configured to calculate a difference between the external load force and a lock force, and when the difference is negative, maintain a control drive mode for the stepping motor in the open-loop vector control;
and the switching unit is used for switching the control driving mode aiming at the stepping motor to PID closed-loop control when the difference value is not negative.
In one embodiment, the regulation module 203 further comprises:
the angle detection unit is used for determining a standard deviation angle between the locking position and an adjacent stage pair position and detecting the current deviation angle of the stepping motor in real time;
a first judging unit, configured to maintain the control driving mode as the PID closed-loop control when the current deviation angle is not greater than the standard deviation angle;
and a second judgment unit, configured to drive the stepping motor based on the closed-loop vector control to move the stepping motor to the locking position when the current deviation angle is greater than the standard deviation angle.
In one embodiment, the apparatus further comprises:
and the counting module is used for counting the deflection time length when the difference value is not negative, and generating out-of-step alarm information when the deflection time length is greater than the preset time length, wherein the out-of-step alarm information is used for representing that the current load of the stepping motor is greater than the motor torque.
Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), or the like.
Each processing unit and/or module in the embodiments of the present application may be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or may be implemented by software that executes the functions described in the embodiments of the present application.
Referring to fig. 3, a schematic structural diagram of an electronic device according to an embodiment of the present application is shown, where the electronic device may be used to implement the method in the embodiment shown in fig. 1. As shown in fig. 3, the electronic device 300 may include: at least one central processor 301, at least one network interface 304, a user interface 303, a memory 305, at least one communication bus 302.
Wherein a communication bus 302 is used to enable the connection communication between these components.
The user interface 303 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 303 may further include a standard wired interface and a wireless interface.
The network interface 304 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
The central processor 301 may include one or more processing cores. The central processor 301 connects various parts within the entire electronic device 300 using various interfaces and lines, and performs various functions of the terminal 300 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 305 and calling data stored in the memory 305. Alternatively, the central Processing unit 301 may be implemented in at least one hardware form of Digital Signal Processing (DSP), field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The CPU 301 may integrate one or a combination of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It is to be understood that the modem may not be integrated into the cpu 301, and may be implemented by a single chip.
The Memory 305 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable medium. The memory 305 may be used to store instructions, programs, code sets, or instruction sets. The memory 305 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 305 may alternatively be at least one storage device located remotely from the central processor 301. As shown in fig. 3, memory 305, which is a type of computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.
In the electronic device 300 shown in fig. 3, the user interface 303 is mainly used for providing an input interface for a user to obtain data input by the user; the cpu 301 may be configured to invoke a stepper motor based control application stored in the memory 305 and specifically perform the following operations:
detecting real-time state information of a stepping motor, and when the real-time state information represents that the stepping motor stops, driving the stepping motor based on closed-loop vector control so as to enable the stepping motor to move to a preset locking position;
when the stepping motor is detected to reach the locking position, the stepping motor is driven based on open-loop vector control to lock the stepping motor;
when the stepping motor is locked, continuously monitoring the external load force of the stepping motor, and regulating and controlling a control driving mode aiming at the stepping motor based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the above-mentioned method. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, read-Only memories (ROMs), random Access Memories (RAMs), magnetic or optical disks, and the like.
The above description is merely an exemplary embodiment of the present disclosure, and the scope of the present disclosure is not limited thereto. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (8)
1. A stepping motor based control method, the method comprising:
detecting real-time state information of a stepping motor, and when the real-time state information represents that the stepping motor stops, driving the stepping motor based on closed-loop vector control to enable the stepping motor to move to a preset locking position;
when the stepping motor is detected to reach the locking position, the stepping motor is driven based on open-loop vector control to lock the stepping motor;
when the stepping motor is locked, continuously monitoring the external load force of the stepping motor, and regulating and controlling a control driving mode aiming at the stepping motor based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control, and specifically comprises the following steps:
when the stepping motor is locked, acquiring the locking force of the stepping motor, and continuously monitoring the external load force of the stepping motor;
calculating a difference between the external load force and a locking force, and when the difference is negative, maintaining a control drive mode for the stepping motor as the open-loop vector control;
and when the difference value is not negative, switching the control driving mode aiming at the stepping motor to PID closed-loop control.
2. The method according to claim 1, wherein after switching the control driving mode for the stepping motor to the PID closed-loop control when the difference is not negative, further comprising:
determining a standard deviation angle between the locking position and an adjacent stage pair position, and detecting the current deviation angle of the stepping motor in real time;
when the current deviation angle is not larger than the standard deviation angle, maintaining the control driving mode as the PID closed-loop control;
driving the stepper motor based on the closed-loop vector control to move the stepper motor to the locked position when the current angle of deviation is greater than the standard angle of deviation.
3. The method according to claim 1, wherein after switching the control driving mode for the stepping motor to the PID closed-loop control when the difference is not negative, further comprising:
and counting the deflection time length when the difference value is not negative, and generating out-of-step alarm information when the deflection time length is greater than the preset time length, wherein the out-of-step alarm information is used for representing that the current load of the stepping motor is greater than the motor torque.
4. The method of claim 1, wherein the driving the stepper motor based on closed-loop vector control comprises:
sending an initial electrical pulse signal to the stepper motor based on the locked position;
continuously acquiring rotor position feedback data of the stepping motor, and determining a theoretical rotor position of the rotor of the stepping motor at the current moment;
and generating an adjusting electric pulse signal based on the theoretical rotor position and the rotor position feedback data, and sending the adjusting electric pulse signal to the stepping motor.
5. The method of claim 1, wherein the driving the stepper motor based on open-loop vector control comprises:
and sending a preset constant electric pulse signal to the stepping motor so as to enable the stepping motor to control the rotor position of the rotor based on the constant electric pulse signal.
6. A stepper motor based control apparatus, the apparatus comprising:
the first detection module is used for detecting real-time state information of the stepping motor, and when the real-time state information represents that the stepping motor stops, the stepping motor is driven based on closed-loop vector control so as to move towards a preset locking position;
the second detection module is used for driving the stepping motor based on open-loop vector control to lock the stepping motor when the stepping motor is detected to reach the locking position;
the control module is used for continuously monitoring the external load force of the stepping motor when the stepping motor is locked, and regulating and controlling a control driving mode aiming at the stepping motor based on the difference value of the external load force and the locking force, wherein the control driving mode comprises PID closed-loop control and open-loop vector control; the regulatory module comprises:
the load detection unit is used for acquiring the locking force of the stepping motor when the stepping motor is locked and continuously monitoring the external load force of the stepping motor;
a first calculation unit configured to calculate a difference between the external load force and a lock force, and when the difference is negative, to maintain a control drive mode for the stepping motor in the open-loop vector control;
and the switching unit is used for switching the control driving mode aiming at the stepping motor to PID closed-loop control when the difference value is not negative.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1-5 are implemented when the computer program is executed by the processor.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN202210378848.2A CN114826046B (en) | 2022-04-12 | 2022-04-12 | Control method and device based on stepping motor and electronic equipment |
| PCT/CN2022/114072 WO2023197495A1 (en) | 2022-04-12 | 2022-08-23 | Stepper motor-based control method and apparatus, and electronic device |
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| CN202210378848.2A CN114826046B (en) | 2022-04-12 | 2022-04-12 | Control method and device based on stepping motor and electronic equipment |
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| CN114826046B (en) * | 2022-04-12 | 2022-12-16 | 浙江恒强科技股份有限公司 | Control method and device based on stepping motor and electronic equipment |
| CN117348478B (en) * | 2023-11-02 | 2024-09-27 | 中国农业大学 | Control and state monitoring method of seeding monomer controller based on FOC algorithm |
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| CN109391191A (en) * | 2018-10-25 | 2019-02-26 | 浙江大华技术股份有限公司 | A kind of electric machine control system and method |
| CN110048647A (en) * | 2019-03-25 | 2019-07-23 | 湖北三江航天万峰科技发展有限公司 | A kind of automatically lock control system and method based on stepper motor |
| CN111049455A (en) * | 2018-10-15 | 2020-04-21 | 北京大豪科技股份有限公司 | Stepping motor control method, device, equipment and storage medium |
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| US5675448A (en) * | 1994-12-08 | 1997-10-07 | Imation Corp. | Track pitch error compensation system for data cartridge tape drives |
| US6973355B2 (en) * | 2001-04-25 | 2005-12-06 | Tisue J Gilbert | Accurate positioner suitable for sequential agile tuning of pulse burst and CW lasers |
| US20070040529A1 (en) * | 2005-08-19 | 2007-02-22 | Smc Corporation Of America | Stepping motor control system and method for controlling a stepping motor using closed and open loop controls |
| JP2015192538A (en) * | 2014-03-28 | 2015-11-02 | キヤノン株式会社 | Stepping motor drive device, image carrier rotary drive device and image forming apparatus |
| CN209692537U (en) * | 2019-03-27 | 2019-11-26 | 深圳锐特机电技术有限公司 | A kind of step motor position detection device |
| CN114826046B (en) * | 2022-04-12 | 2022-12-16 | 浙江恒强科技股份有限公司 | Control method and device based on stepping motor and electronic equipment |
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| CN111049455A (en) * | 2018-10-15 | 2020-04-21 | 北京大豪科技股份有限公司 | Stepping motor control method, device, equipment and storage medium |
| CN109391191A (en) * | 2018-10-25 | 2019-02-26 | 浙江大华技术股份有限公司 | A kind of electric machine control system and method |
| CN110048647A (en) * | 2019-03-25 | 2019-07-23 | 湖北三江航天万峰科技发展有限公司 | A kind of automatically lock control system and method based on stepper motor |
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| WO2023197495A1 (en) | 2023-10-19 |
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