CN114884408B - Method, device, equipment and medium for controlling operation of stepping motor - Google Patents
Method, device, equipment and medium for controlling operation of stepping motor Download PDFInfo
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- CN114884408B CN114884408B CN202210550006.0A CN202210550006A CN114884408B CN 114884408 B CN114884408 B CN 114884408B CN 202210550006 A CN202210550006 A CN 202210550006A CN 114884408 B CN114884408 B CN 114884408B
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Classifications
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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
- H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
- H02P8/38—Protection against faults, e.g. against overheating, step-out; Indicating faults the fault being step-out
Abstract
The invention discloses a control method, a device, equipment and a storage medium for operation of a stepping motor, which comprise the following steps: firstly, obtaining the maximum acceleration, the maximum speed, the set initial speed, the total time and the total distance to be operated of the stepping motor. And then, under the limitation of the maximum acceleration, the maximum speed and the initial speed, searching the optimal target acceleration and the optimal target speed circularly according to the total time and the total distance by using a trapezoidal acceleration and deceleration algorithm under the application scene of the motor. Therefore, the stepping motor can be operated according to the required time and distance, and the accuracy of motor control is improved.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a medium for controlling operation of a stepper motor.
Background
A stepper motor is a motor that converts an electrical pulse signal into a corresponding angular or linear displacement. Each time a pulse signal is input, the rotor rotates by an angle or further, the output angular displacement or linear displacement is proportional to the input pulse number, and the rotating speed is proportional to the pulse frequency.
In the case of an open loop control (e.g. the motor is stopped for a set number of revolutions), the input of control pulses is according to a fixed law, but not dependent on the position of the rotor, i.e. the load position is not fed back to the control circuit. In this case, if the excitation is changed too rapidly, the motor cannot be moved to a new position, and a deviation is generated between the actual load position and the ideal position, and there is a possibility that the step-out or overshoot phenomenon occurs.
In the closed-loop control scene, the stepping motor only stops the motor by the feedback signal. However, it is also difficult to achieve the purpose of moving the stepping motor to a predetermined position for a predetermined time during the movement.
Disclosure of Invention
Based on this, it is necessary to provide a control method, apparatus, device and medium for operation of a stepping motor to solve the problem that the stepping motor control is not accurate enough
A method of controlling operation of a stepper motor, the method comprising:
obtaining the maximum acceleration, the maximum speed, the set initial speed and the total time and the total distance to be operated of the stepping motor;
setting the target speed of the stepping motor as the maximum speed, and calculating the initial speed, the total time and the total distance according to the target speed, wherein the initial target acceleration corresponds to the target speed under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change;
Driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration simulation pulse signal, and obtaining simulation total time and simulation total distance obtained by simulation; the initial value of the target acceleration determined currently is the initial target acceleration;
if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, outputting a pulse signal according to the currently determined target speed and target acceleration so as to drive the stepping motor to operate the total distance in the total time;
if the simulated total time is not equal to the total time and/or the simulated total distance is not equal to the total distance, increasing the initial target acceleration by a set first amplitude to update the currently determined target acceleration; wherein, the first amplitude set each time is smaller than the first amplitude set last time;
judging whether the set first amplitude is smaller than the preset minimum precision, if the set first amplitude is not smaller than the preset minimum precision, returning to execute the step and the subsequent step of driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal;
And if the set first amplitude is smaller than the preset minimum precision, reducing the target speed of the stepping motor by the set second amplitude, and returning to execute the step and the subsequent step of calculating the initial target acceleration corresponding to the target speed according to the target speed, the initial speed, the total time and the total distance under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change.
In one embodiment, the driving the stepper motor to perform trapezoidal acceleration and deceleration motion based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal includes:
setting the frequency of the next pulse signal after simulating one pulse signal, so that the set pulse signal drives the running speed of the stepping motor to follow the change trend of the speed in the trapezoid acceleration and deceleration movement; the change trend of the speed in the trapezoid acceleration and deceleration movement is that the speed is increased from the initial speed based on the currently determined target acceleration until the speed is increased to the target speed, the speed is moved at the target speed at a uniform speed, and the speed is decreased based on the currently determined target acceleration until the speed is equal to the initial speed.
In one embodiment, the method further comprises:
calculating the total pulse number of the pulse signals to be simulated according to the total distance; wherein, the path of each simulated pulse signal driving the stepper motor to move is the same;
acquiring the pulse number simulated in real time and calculating the remaining pulse number; wherein the remaining pulse number is the difference between the total pulse number and the real-time simulated pulse number;
in an acceleration stage of the stepper motor, when the number of pulses simulated in real time is equal to the remaining number of pulses, reducing the speed based on the currently determined target acceleration until it is equal to the initial speed;
and in a uniform speed stage of the stepping motor, acquiring the pulse number of the stepping motor in an acceleration stage, and reducing the speed based on the currently determined target acceleration until the pulse number is equal to the initial speed when the rest pulse number is equal to the pulse number of the acceleration stage.
In one embodiment, before the setting the target speed of the stepper motor to the maximum speed, the method further includes:
calculating a theoretical maximum distance which can be operated by the stepping motor according to the maximum acceleration, the maximum speed, the initial speed and the total time;
And if the theoretical maximum distance is greater than or equal to the total distance, executing the step of setting the target speed of the stepping motor to be the maximum speed and the subsequent steps.
In one embodiment, the calculating the theoretical maximum distance that the stepper motor can operate according to the maximum acceleration, the maximum speed, the initial speed and the total time includes:
calculating the maximum distance of the stepping motor in a constant speed stage according to the maximum speed and the total time;
calculating the minimum distance of the stepping motor in a speed change stage according to the maximum acceleration, the maximum speed and the initial speed;
and adding the maximum distance of the stepping motor in the constant speed stage and the minimum distance of the stepping motor in the variable speed stage to obtain the theoretical maximum distance.
In one embodiment, the method further comprises:
calculating the ratio of the total distance to the total time, and taking the ratio as the minimum speed of the stepping motor;
if the simulation total time is equal to the total time and the simulation total distance is equal to the total distance when the target speed is reduced to the minimum speed and the set first amplitude is smaller than the preset minimum precision, determining that the stepping motor cannot be driven to operate the total distance in the total time.
In one embodiment, the ratio between the first amplitude set each time and the first amplitude set last time is a preset multiple.
A control device for operation of a stepper motor, the device comprising:
the parameter acquisition module is used for acquiring the maximum acceleration, the maximum speed, the set initial speed, the total time and the total distance to be operated of the stepping motor;
the searching module is used for setting the target speed of the stepping motor as the maximum speed, calculating the initial speed, the total time and the total distance according to the target speed, and corresponding to the initial target acceleration of the target speed under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change; driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration simulation pulse signal, and obtaining simulation total time and simulation total distance obtained by simulation; the initial value of the target acceleration determined currently is the initial target acceleration; if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, outputting a pulse signal according to the currently determined target speed and target acceleration so as to drive the stepping motor to operate the total distance in the total time; if the simulated total time is not equal to the total time and/or the simulated total distance is not equal to the total distance, increasing the initial target acceleration by a set first amplitude to update the currently determined target acceleration; wherein, the first amplitude set each time is smaller than the first amplitude set last time; judging whether the set first amplitude is smaller than the preset minimum precision, if the set first amplitude is not smaller than the preset minimum precision, returning to execute the step and the subsequent step of driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal; and if the set first amplitude is smaller than the preset minimum precision, reducing the target speed of the stepping motor by the set second amplitude, and returning to execute the step and the subsequent step of calculating the initial target acceleration corresponding to the target speed according to the target speed, the initial speed, the total time and the total distance under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the above-described control method of stepping motor operation.
A control apparatus for operation of a stepper motor comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the control method for operation of a stepper motor described above.
The invention provides a control method, a device, equipment and a medium for operation of a stepping motor, which are characterized in that the maximum acceleration, the maximum speed, the set initial speed, the total time and the total distance to be operated of the stepping motor are firstly obtained. Then searching proper target acceleration and target speed through a trapezoid acceleration and deceleration algorithm under a motor application scene, so as to control the stepping motor to just run the total distance in total time, namely, firstly setting the target speed of the stepping motor as the maximum speed, calculating according to the target speed, the initial speed, the total time and the total distance, and realizing the target acceleration corresponding to the target speed under the scene of trapezoid acceleration and deceleration motion based on continuous uniform speed change; this is the target acceleration in the theoretical case, but may not be accurate enough for a stepper motor and therefore require further correction. Then driving a stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the target acceleration simulation pulse signals, and obtaining simulation total time and simulation total distance obtained through simulation; if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, the description is accurate enough, and a pulse signal is output according to the currently determined target speed and the target acceleration so as to drive the stepping motor to operate the total distance in the total time. If the total simulation time is not equal to the total simulation time and/or the total simulation distance is not equal to the total simulation distance, the target acceleration is adjusted first, and the step and the subsequent steps of the simulation of the trapezoid acceleration and deceleration motion are executed again on the premise that the set first amplitude is not smaller than the preset minimum precision until the first amplitude is sufficiently accurate. If the set first amplitude is smaller than the preset minimum precision, the target speed is adjusted again, and the step of solving the target acceleration and the subsequent steps are executed again until the target acceleration is sufficiently accurate. Therefore, the invention can make the stepping motor operate according to the required time and path, and improve the accuracy of motor control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical inventions in the prior art, the drawings that are required in the embodiments or the prior art description will be briefly described, it will be apparent that the drawings in the following description are only some embodiments of the present invention and that other drawings can be obtained according to the drawings without inventive effort for a person of ordinary skill in the art.
Wherein:
FIG. 1 is a graph of velocity versus time for a theoretical trapezoidal acceleration and deceleration algorithm;
FIG. 2 is a graph of course versus time for a theoretical trapezoidal acceleration and deceleration algorithm;
FIG. 3 is a graph of acceleration versus time for a theoretical trapezoidal acceleration and deceleration algorithm;
FIG. 4 is a flow chart of a method for controlling operation of a stepper motor in one embodiment;
FIG. 5 is a schematic diagram of a stepper motor performing a trapezoidal acceleration motion;
FIG. 6 is a graph of velocity versus time for a trapezoidal acceleration and deceleration algorithm for a simulated motor;
FIG. 7 is a graph of course versus time in a trapezoidal acceleration and deceleration algorithm for a simulated motor;
FIG. 8 is a graph of acceleration versus time for a trapezoidal acceleration and deceleration algorithm for a simulated motor;
FIG. 9 is a schematic diagram of a control device for operation of a stepper motor in one embodiment;
Fig. 10 is a block diagram of a control apparatus for operation of a stepping motor in one embodiment.
Detailed Description
The technical invention in the embodiments of the present invention will be clearly and completely described in the following with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For a further understanding of the present invention, some of the relevant theories relating to the present invention are described below before explaining the present invention:
first, control of stepper motor:
the micro control unit (Microcontroller Unit, MCU) controls the rotation of the stepper motor by pulse width modulation (Pulse width modulation, PWM). Specifically, the calculation formula of the rotation angle of the single pulse motor is as follows:
wherein m is a fraction of a fraction. The rotation angle θ is in degrees.
The path of the sliding block driven by the stepping motor is S after the stepping motor rotates for one circle u . The number of pulses is related to the path traveled by the slider as follows:
Wherein n is Total (S) The total number of pulses. The unit of the path S is millimeters (mm).
The relation between the moving speed of the sliding block and the PWM frequency is as follows:
where m is a fine fraction. n is the number of pulses per unit time, i.e. the frequency f of the PWM. The speed v is in mm/s.
It can be seen that the number of square waves of the PWM is in a proportional relationship with the travel distance of the slider, and the PWM frequency is in a proportional relationship with the slider speed.
Second, theoretical trapezoidal acceleration and deceleration algorithm:
referring to fig. 1, 2 and 3, in the theoretical trapezoidal acceleration/deceleration algorithm, fig. 1 is a graph of velocity versus time, fig. 2 is a graph of course versus time, and fig. 3 is a graph of acceleration versus time.
Wherein the acceleration phase satisfies:
v t ＝v 0 +at#(5)
wherein v is 0 For initial speed, a is acceleration, t is time, v t Is the speed at t.
The constant speed stage satisfies:
S＝v target object t#(6)
Wherein v is Target object To accelerate the final speed of the phase.
The deceleration stage satisfies:
v t ＝v target object -at#(8)
The acceleration and deceleration phases are the same in acceleration and time and distance. The acceleration phase is from v 0 Accelerating to v Target object The deceleration phase is from v Target object Decelerating to v 0 Thus, satisfies:
S adding ＝S Reduction of #(9)
a Adding ＝a Reduction of #(10)
t Adding ＝t Reduction of #(11)
v Target object ＝v 0 +at Adding #(12)
v 0 ＝v Target object -at Reduction of #(13)
S Even distribution ＝v Target object t Even distribution #(14)
S Total (S) ＝2S Adding +S Even distribution (S Even distribution ≥0)#(15)
t Total (S) ＝2t Adding +t Even distribution (t Even distribution ≥0)#(16)
If the rest time is enough for deceleration in the acceleration process, a uniform speed stage is not needed, and the deceleration stage is directly entered. The speed profile in this case is an isosceles triangle.
Third, physical limitation of stepper motor:
the speed and acceleration of the slider are limited as follows:
0<≤v max #(17)
0≤a≤a max #(18)
fourth, the sliding block is required to be at a specific total time t according to a trapezoid speed curve Total (S) Sports specific total distance S Total (S) It is necessary to calculate the acceleration a and the target velocity v at this stage Target object . Acceleration a and target velocity v Target object The relation of (2) is as follows:
0≤a≤a max #(18)
wherein, the calculation process of the formula (20) is as follows:
S total (S) ＝2S Adding +S Even distribution ＝>
Fifth, acceleration a and target velocity v Target object Is verified by:
let maximum speed be v max Maximum acceleration of a max . Such as v max ＝35mm/s，a max ＝120mm/s 2 ，v 0 ＝0.2mm/s。
V is obtained by the formula (20) Target object Corresponding acceleration a. If the obtained acceleration a is not within the range shown in the formula (16), it means that the set total distance and total time cannot be achieved. Table 1 below is an example of a section:
table 1:
| scene(s) | Total distance (mm) | Total time(s) | Target speed (mm/s) | Acceleration (mm/s 2) |
| 1 | 15 | 0.75 | 35 | 107.648 |
| 2 | 20 | 0.75 | 35 | 193.7664 |
| 3 | 30 | 1.5 | 35 | 53.824 |
| 4 | 45 | 1.5 | 35 | 161.472 |
| 5 | 60 | 3 | 35 | 26.912 |
The verification process can also be converted to a certain degree, and expressed as the following formula:
Wherein S is max Is the theoretical maximum distance.
The theoretical maximum distance is obtained under the conditions of the current total time, the maximum speed and the maximum acceleration. If the set total distance is greater than the theoretical maximum distance, no speed and acceleration estimation can be performed.
Table 2:
| total time(s) | Maximum distance (mm) |
| 0.75 | 16.158 |
| 1 | 24.908 |
| 1.5 | 42.408 |
| 3 | 94.908 |
Based on the theory, a control method for the operation of the stepping motor is provided, so that the stepping motor can operate according to the required time and path, and the accuracy of motor control is improved.
As shown in fig. 1, fig. 1 is a flow chart of a control method for operation of a stepper motor according to an embodiment, and the steps provided by the control method for operation of a stepper motor according to the embodiment include:
step 402, obtaining the maximum acceleration, maximum speed, set initial speed, total time to be operated and total distance of the stepping motor.
I.e. obtaining the maximum acceleration a of the stepper motor max Maximum velocity v max Initial velocity v 0 Set total time t Total (S) And total distance S Total (S) 。
In one embodiment, the maximum acceleration a is also based on equation (21) max Maximum velocity v max And verifying so as to judge whether the stepping motor can theoretically run to the total distance in the set total time in advance.
In the formula, v max t Total (S) For the maximum distance of the stepper motor in the constant speed stage,for the minimum distance of the stepping motor in the speed change stage, when the time of the constant speed stage is longest and the time of the speed change stage is shortest, the theoretical maximum distance S can be obtained max 。
If equation (21) is true, it is indicated that the set total distance and total time are theoretically feasible, and the subsequent steps are continued. If equation (21) is not established, it is indicated that the set total distance and total time are theoretically not feasible, and the execution of the subsequent steps is stopped.
Step 404, setting the target speed of the stepper motor to be the maximum speed.
Step 406, calculating initial target acceleration corresponding to the target speed under the scene of realizing trapezoidal acceleration and deceleration motion based on continuous uniform speed change according to the target speed, the initial speed, the total time and the total distance.
V is set first Target object V is max Then the corresponding v is calculated by the formula (20) Target object Initial target acceleration a of (a) Initially, the method comprises ：
But this acceleration a Initially, the method comprises The calculated acceleration is obtained under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change (corresponding to the scene of fig. 1-3, the initial speed is accelerated to the target speed by constant acceleration, then the uniform speed is carried out, and finally the target speed is decelerated to the initial speed by acceleration different from the target speed), the theoretical acceleration is close to the actual accurate acceleration required by the stepping motor, and still deviation exists, and if the deviation can not meet the requirement of control accuracy, the adjustment is needed. Wherein why such deviations occur is explained in more detail in step 408.
Step 408, driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal, and obtaining the analog total time and the analog total distance obtained by the analog.
It will be appreciated that steps 416-418 determine the optimal target speed and target acceleration for one cycle, so that the control accuracy requirements are met. On the first cycle, the target speed is determined to be v max The determined target acceleration is corresponding to v max A of (2) Initially, the method comprises 。
And the step motor is driven by the analog pulse signal to perform trapezoidal acceleration and deceleration movement, and analysis is performed from an acceleration stage. Referring to fig. 5, fig. 5 is a schematic diagram of a step motor performing trapezoidal acceleration motion. It can be seen that the stepper motor performs uniform motion after receiving one pulse signal, and the speed is not changed until the next pulse signal is received. Meanwhile, based on the formula (3), it can be seen that:
the PWM frequency is in direct proportion to the slider speed, so that to get the speed of the motor running in step, the trend of the speed change in the trapezoidal acceleration and deceleration movement is followed (starting from the initial speed, increasing the speed based on the currently determined target acceleration until increasing to the target speed, moving at the target speed at a constant speed, and then decreasing the speed based on the currently determined target acceleration until being equal to the initial speed. Only the acceleration phase is shown in fig. 5), after each simulation of one pulse signal, the frequency of the simulated next pulse signal is reset so that the following pulse signal is satisfied in the acceleration phase:
v n+1 ＝v n +at n #(22)
Wherein v is n To simulate the speed of the stepping motor corresponding to the nth pulse signal, t n To simulate the period of the nth pulse signal, v n+1 The speed of the stepping motor corresponding to the n+1th pulse signal is simulated, and a is acceleration.
In summary, the actual effect in the acceleration phase is that the MCU is in v 0 The corresponding frequency outputs the first pulse. The pulse is outputTime. When this pulse is output, the update speed, i.e. the frequency of the pulse signal, needs to be reset. The update speed is required to satisfy v 1 ＝v 0 +at 0 The time for outputting this pulse is +.>At t 1 During this time, the slider is moving at constant speed, the distance being +.>Is constant and independent of the current slider speed. Likewise, the subsequent acceleration phase is also speed-controlled. As is apparent from fig. 5, the actual path of movement of the stepper motor deviates from the theoretical path of movement by a certain amount.
The deceleration phase and the acceleration phase are symmetrically opposite, and based on the analysis, the speed calculation formula of the acceleration phase can be obtained as follows:
further calculations may be:
and replacing the speed calculation formula with the subscript of the speed reduction stage to obtain the speed calculation formula of the speed reduction stage:
referring to fig. 6, 7 and 8, in the trapezoidal acceleration/deceleration algorithm of the analog motor, fig. 6 is a graph of speed versus time, fig. 7 is a graph of course versus time, and fig. 8 is a graph of acceleration versus time.
After the acceleration phase and the deceleration phase are analyzed, the whole trapezoid acceleration and deceleration motion can be simulated. Before starting the operation, the total number of pulses N to be output is calculated according to formula (2). And each simulated pulse signal drives the stepping motor to move in the same path, which is
The acceleration phase is then from v 0 Starting acceleration and acquiring the pulse number n of real-time simulation Real world And calculates the remaining pulse number n The remainder is ，n The remainder is ＝N-n Real world . If n occurs in the acceleration phase The remainder is ≤n Real world If (2) then the speed is reduced directly on the basis of the currently determined target acceleration until it is equal to V 0 . Otherwise, at v n+1 ≥v Target object When the motor enters a constant speed stage, the pulse number n of the stepping motor in the acceleration stage is obtained Adding Then when n appears The remainder is ≤n Adding Based on the currently determined target acceleration, the speed is reduced until it is equal to V 0 。
Finally, the total time t can be obtained through statistics Total (S) And total distance S Total (S) The method meets the following conditions:
t total (S) ＝t 0 +t 1 +t 2 +…+t n
In step 410, it is determined whether the simulated total time is equal to the total time and the simulated total distance is equal to the total distance.
If the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, step 412 is performed to output a pulse signal according to the currently determined target speed and target acceleration to drive the stepper motor to operate the total distance in the total time.
If the simulated total time is not equal to the total time and/or the simulated total range is not equal to the total range, step 414 is performed to increase the initial target acceleration by the set first magnitude to update the currently determined target acceleration.
Wherein, it is determined in the computer whether the two decimal places are equal, the decimal places are subtracted, and then it is determined whether the absolute value of the difference is smaller than the minimum precision (1.192092896 e-07F) that can be identified by the single precision floating point number. If the judgment result is yes, the judgment results are equal.
In the first case, if the absolute value of the difference between the simulated total time and the total time is smaller than the minimum precision that can be identified by the single precision floating point number, and the absolute value of the difference between the simulated total distance and the total distance is smaller than the minimum precision that can be identified by the single precision floating point number, step 412 is performed. Thereby realizing that the stepping motor runs according to the required time and distance.
In the second case, if any one of the judgment conditions is negative, the initial target acceleration a is calculated Initially, the method comprises An adjustment is made to update the currently determined target acceleration. In this embodiment, the first amplitude set each time is made smaller than the first amplitude set last time, so that the stepping motor is controlled gradually and accurately.
In one embodiment, the ratio between the first amplitude set each time and the first amplitude set last time is made to be a preset multiple. For example, the first amplitude of the first setting is 1, and the ratio between the first amplitude of each setting and the first amplitude of the last setting is 1/10, then the first amplitude of the second setting is 0.1. And the following steps are the same.
In step 416, it is determined whether the set first amplitude is less than a preset minimum accuracy. If the set first amplitude is not less than the preset minimum precision, the process returns to execute step 408 and the following steps. If the set first amplitude is less than the preset minimum accuracy, step 418 is performed to reduce the target speed of the stepper motor by the set second amplitude, and step 406 and subsequent steps are performed back.
That is, when the first amplitude is set to be smaller than the minimum accuracy (1.192092896 e-07F) which can be identified by the single-accuracy floating point number, the control of the acceleration reaches the single-accuracy limit. The target speed is initially adjusted, for example, by setting the second amplitude to 5mm/s, but may be other values, and is not particularly limited herein. And then returns to step 406 and subsequent steps.
After such multiple iterations, the optimal target speed and target acceleration can be determined.
Of course, it is also possible that the optimal target speed and target acceleration are not found.
Based on the above formula (19), if the target speed is reduced to the minimum speedAnd when the set first amplitude is smaller than the preset minimum precision, the simulation total time is still not satisfied, the simulation total distance is equal to the total distance, and at the moment, the fact that the stepping motor cannot be driven to operate in the total time is determined.
The control method for the operation of the stepping motor comprises the steps of firstly obtaining the maximum acceleration, the maximum speed, the set initial speed, the total time and the total distance to be operated of the stepping motor. Then searching proper target acceleration and target speed through a trapezoid acceleration and deceleration algorithm under a motor application scene, so as to control the stepping motor to just run the total distance in total time, namely, firstly setting the target speed of the stepping motor as the maximum speed, calculating according to the target speed, the initial speed, the total time and the total distance, and realizing the target acceleration corresponding to the target speed under the scene of trapezoid acceleration and deceleration motion based on continuous uniform speed change; this is the target acceleration in the theoretical case, but may not be accurate enough for a stepper motor and therefore require further correction. Then driving a stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the target acceleration simulation pulse signals, and obtaining simulation total time and simulation total distance obtained through simulation; if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, the description is accurate enough, and a pulse signal is output according to the currently determined target speed and the target acceleration so as to drive the stepping motor to operate the total distance in the total time. If the total simulation time is not equal to the total simulation time and/or the total simulation distance is not equal to the total simulation distance, the target acceleration is adjusted first, and the step and the subsequent steps of the simulation of the trapezoid acceleration and deceleration motion are executed again on the premise that the set first amplitude is not smaller than the preset minimum precision until the first amplitude is sufficiently accurate. If the set first amplitude is smaller than the preset minimum precision, the target speed is adjusted again, and the step of solving the target acceleration and the subsequent steps are executed again until the target acceleration is sufficiently accurate. Therefore, the invention can make the stepping motor operate according to the required time and path, and improve the accuracy of motor control.
Meanwhile, the application scene of the breathing simulation device is wider, for example, the breathing simulation device can be applied to a breathing machine, and a stepping motor drives a sliding block to simulate a breathing scene. For example, see table 3 below:
table 3:
wherein the single-pass time is the time of a breath or a suction (the time of a default breath or suction is equal) and is the total time of a motor trapezoid acceleration and deceleration movement. The relationship between single pass time and respiration rate is that single pass time=60/respiration rate/2. The respiration intensity is the total path of the acceleration and deceleration motion of the motor.
It can be seen that the target speed and target acceleration determined by the present application are extremely accurate.
In one embodiment, as shown in fig. 9, there is provided a control device for operation of a stepping motor, the device comprising:
the parameter obtaining module 902 is configured to obtain a maximum acceleration, a maximum speed, a set initial speed, and a total time and a total distance to be operated of the stepper motor;
the searching module 904 is configured to set a target speed of the stepper motor as a maximum speed, and calculate, according to the target speed, an initial speed, a total time and a total distance, an initial target acceleration corresponding to the target speed in a scenario of implementing trapezoidal acceleration and deceleration motion based on continuous uniform speed change; driving a stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration simulation pulse signal, and obtaining simulation total time and simulation total distance obtained by simulation; the initial value of the target acceleration determined currently is the initial target acceleration; if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, outputting a pulse signal according to the currently determined target speed and the target acceleration so as to drive the stepping motor to run the total distance in the total time; if the simulated total time is not equal to the total time and/or the simulated total distance is not equal to the total distance, increasing the initial target acceleration by a set first amplitude to update the currently determined target acceleration; wherein, the first amplitude set each time is smaller than the first amplitude set last time; judging whether the set first amplitude is smaller than the preset minimum precision, if the set first amplitude is not smaller than the preset minimum precision, returning to execute the step and the subsequent steps of driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal; if the set first amplitude is smaller than the preset minimum precision, the target speed of the stepping motor is reduced by the set second amplitude, calculation according to the target speed, the initial speed, the total time and the total distance is carried out, and the step and the subsequent steps of initial target acceleration corresponding to the target speed are carried out under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change.
Fig. 10 is a diagram showing an internal structure of a control device for operation of the stepping motor in one embodiment. As shown in fig. 10, the control device for the operation of the stepping motor includes a processor, a memory, and a network interface connected through a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the control device for operation of the stepper motor stores an operating system, and may also store a computer program which, when executed by the processor, causes the processor to implement a method for controlling operation of the stepper motor. The internal memory may also store a computer program which, when executed by the processor, causes the processor to perform a method of controlling operation of the stepper motor. It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of a portion of the structure relevant to the invention of the present application and is not intended to limit the control apparatus of the operation of the stepper motor to which the invention of the present application is applied, and that a particular control apparatus of the operation of the stepper motor may include more or less components than those shown in the drawings, or may combine certain components, or may have a different arrangement of components.
A control device for operation of a stepper motor, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program: obtaining the maximum acceleration, the maximum speed, the set initial speed and the total time and the total distance to be operated of the stepping motor; setting the target speed of the stepping motor as the maximum speed, calculating according to the target speed, the initial speed, the total time and the total distance, and corresponding to the initial target acceleration of the target speed under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change; driving a stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration simulation pulse signal, and obtaining simulation total time and simulation total distance obtained by simulation; the initial value of the target acceleration determined currently is the initial target acceleration; if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, outputting a pulse signal according to the currently determined target speed and the target acceleration so as to drive the stepping motor to run the total distance in the total time; if the simulated total time is not equal to the total time and/or the simulated total distance is not equal to the total distance, increasing the initial target acceleration by a set first amplitude to update the currently determined target acceleration; wherein, the first amplitude set each time is smaller than the first amplitude set last time; judging whether the set first amplitude is smaller than the preset minimum precision, if the set first amplitude is not smaller than the preset minimum precision, returning to execute the step and the subsequent steps of driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal; if the set first amplitude is smaller than the preset minimum precision, the target speed of the stepping motor is reduced by the set second amplitude, calculation according to the target speed, the initial speed, the total time and the total distance is carried out, and the step and the subsequent steps of initial target acceleration corresponding to the target speed are carried out under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change.
A computer readable storage medium storing a computer program which when executed by a processor performs the steps of: obtaining the maximum acceleration, the maximum speed, the set initial speed and the total time and the total distance to be operated of the stepping motor; setting the target speed of the stepping motor as the maximum speed, calculating according to the target speed, the initial speed, the total time and the total distance, and corresponding to the initial target acceleration of the target speed under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change; driving a stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration simulation pulse signal, and obtaining simulation total time and simulation total distance obtained by simulation; the initial value of the target acceleration determined currently is the initial target acceleration; if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, outputting a pulse signal according to the currently determined target speed and the target acceleration so as to drive the stepping motor to run the total distance in the total time; if the simulated total time is not equal to the total time and/or the simulated total distance is not equal to the total distance, increasing the initial target acceleration by a set first amplitude to update the currently determined target acceleration; wherein, the first amplitude set each time is smaller than the first amplitude set last time; judging whether the set first amplitude is smaller than the preset minimum precision, if the set first amplitude is not smaller than the preset minimum precision, returning to execute the step and the subsequent steps of driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal; if the set first amplitude is smaller than the preset minimum precision, the target speed of the stepping motor is reduced by the set second amplitude, calculation according to the target speed, the initial speed, the total time and the total distance is carried out, and the step and the subsequent steps of initial target acceleration corresponding to the target speed are carried out under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change.
It should be noted that the above-mentioned method, apparatus, device and computer readable storage medium for controlling operation of a stepper motor belong to a general inventive concept, and the embodiments of the method, apparatus, device and computer readable storage medium for controlling operation of a stepper motor are applicable to each other.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a non-transitory computer-readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A method for controlling operation of a stepper motor, the method comprising:
obtaining the maximum acceleration, the maximum speed, the set initial speed and the total time and the total distance to be operated of the stepping motor;
setting the target speed of the stepping motor as the maximum speed, and calculating the initial speed, the total time and the total distance according to the target speed, wherein the initial target acceleration corresponds to the target speed under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change;
Driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration simulation pulse signal, and obtaining simulation total time and simulation total distance obtained by simulation; the initial value of the target acceleration determined currently is the initial target acceleration;
if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, outputting a pulse signal according to the currently determined target speed and target acceleration so as to drive the stepping motor to operate the total distance in the total time;
if the simulated total time is not equal to the total time and/or the simulated total distance is not equal to the total distance, increasing the initial target acceleration by a set first amplitude to update the currently determined target acceleration; wherein, the first amplitude set each time is smaller than the first amplitude set last time;
judging whether the set first amplitude is smaller than the preset minimum precision, if the set first amplitude is not smaller than the preset minimum precision, returning to execute the step and the subsequent step of driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal;
And if the set first amplitude is smaller than the preset minimum precision, reducing the target speed of the stepping motor by the set second amplitude, and returning to execute the step and the subsequent step of calculating the initial target acceleration corresponding to the target speed according to the target speed, the initial speed, the total time and the total distance under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change.
2. The method of claim 1, wherein driving the stepper motor to perform trapezoidal acceleration and deceleration based on the initial speed, the target speed, and a currently determined target acceleration analog pulse signal comprises:
setting the frequency of the next pulse signal after simulating one pulse signal, so that the set pulse signal drives the running speed of the stepping motor to follow the change trend of the speed in the trapezoid acceleration and deceleration movement; the change trend of the speed in the trapezoid acceleration and deceleration movement is that the speed is increased from the initial speed based on the currently determined target acceleration until the speed is increased to the target speed, the speed is moved at the target speed at a uniform speed, and the speed is decreased based on the currently determined target acceleration until the speed is equal to the initial speed.
3. The method according to claim 2, characterized in that the method further comprises:
calculating the total pulse number of the pulse signals to be simulated according to the total distance; wherein, the path of each simulated pulse signal driving the stepper motor to move is the same;
acquiring the pulse number simulated in real time and calculating the remaining pulse number; wherein the remaining pulse number is the difference between the total pulse number and the real-time simulated pulse number;
in an acceleration stage of the stepper motor, when the number of pulses simulated in real time is equal to the remaining number of pulses, reducing the speed based on the currently determined target acceleration until it is equal to the initial speed;
and in a uniform speed stage of the stepping motor, acquiring the pulse number of the stepping motor in an acceleration stage, and reducing the speed based on the currently determined target acceleration until the pulse number is equal to the initial speed when the rest pulse number is equal to the pulse number of the acceleration stage.
4. The method of claim 1, wherein before setting the target speed of the stepper motor to the maximum speed, further comprising:
calculating a theoretical maximum distance which can be operated by the stepping motor according to the maximum acceleration, the maximum speed, the initial speed and the total time;
And if the theoretical maximum distance is greater than or equal to the total distance, executing the step of setting the target speed of the stepping motor to be the maximum speed and the subsequent steps.
5. The method of claim 4, wherein said calculating a theoretical maximum range over which said stepper motor can operate based on said maximum acceleration, said maximum speed, said initial speed, and said total time comprises:
calculating the maximum distance of the stepping motor in a constant speed stage according to the maximum speed and the total time;
calculating the minimum distance of the stepping motor in a speed change stage according to the maximum acceleration, the maximum speed and the initial speed;
and adding the maximum distance of the stepping motor in the constant speed stage and the minimum distance of the stepping motor in the variable speed stage to obtain the theoretical maximum distance.
6. The method according to claim 1, characterized in that the method further comprises:
calculating the ratio of the total distance to the total time, and taking the ratio as the minimum speed of the stepping motor;
if the simulation total time is equal to the total time and the simulation total distance is equal to the total distance when the target speed is reduced to the minimum speed and the set first amplitude is smaller than the preset minimum precision, determining that the stepping motor cannot be driven to operate the total distance in the total time.
7. The method of claim 1, wherein the ratio between the first amplitude of each setting and the first amplitude of the last setting is a preset multiple.
8. A control device for operation of a stepper motor, said device comprising:
the parameter acquisition module is used for acquiring the maximum acceleration, the maximum speed, the set initial speed, the total time and the total distance to be operated of the stepping motor;
the searching module is used for setting the target speed of the stepping motor as the maximum speed, calculating the initial speed, the total time and the total distance according to the target speed, and corresponding to the initial target acceleration of the target speed under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change; driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration simulation pulse signal, and obtaining simulation total time and simulation total distance obtained by simulation; the initial value of the target acceleration determined currently is the initial target acceleration; if the simulated total time is equal to the total time and the simulated total distance is equal to the total distance, outputting a pulse signal according to the currently determined target speed and target acceleration so as to drive the stepping motor to operate the total distance in the total time; if the simulated total time is not equal to the total time and/or the simulated total distance is not equal to the total distance, increasing the initial target acceleration by a set first amplitude to update the currently determined target acceleration; wherein, the first amplitude set each time is smaller than the first amplitude set last time; judging whether the set first amplitude is smaller than the preset minimum precision, if the set first amplitude is not smaller than the preset minimum precision, returning to execute the step and the subsequent step of driving the stepping motor to perform trapezoidal acceleration and deceleration movement based on the initial speed, the target speed and the currently determined target acceleration analog pulse signal; and if the set first amplitude is smaller than the preset minimum precision, reducing the target speed of the stepping motor by the set second amplitude, and returning to execute the step and the subsequent step of calculating the initial target acceleration corresponding to the target speed according to the target speed, the initial speed, the total time and the total distance under the scene of realizing trapezoidal acceleration and deceleration movement based on continuous uniform speed change.
9. A computer readable storage medium storing a computer program, which when executed by a processor causes the processor to perform the steps of the method according to any one of claims 1 to 7.
10. A control device for operation of a stepper motor, comprising a memory and a processor, characterized in that the memory stores a computer program which, when executed by the processor, causes the processor to perform the steps of the method according to any of claims 1 to 7.
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