CN117277882A - Stepping motor power-on anti-shake method and device, computer equipment and storage medium - Google Patents

Stepping motor power-on anti-shake method and device, computer equipment and storage medium Download PDF

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Publication number
CN117277882A
CN117277882A CN202311255916.7A CN202311255916A CN117277882A CN 117277882 A CN117277882 A CN 117277882A CN 202311255916 A CN202311255916 A CN 202311255916A CN 117277882 A CN117277882 A CN 117277882A
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China
Prior art keywords
stepping motor
power
motor
power supply
value
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CN202311255916.7A
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Chinese (zh)
Inventor
廖金凤
陈超
严云龙
刘圆圆
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Hunan Beyond Medical Technology Co ltd
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Hunan Beyond Medical Technology Co ltd
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Priority to CN202311255916.7A priority Critical patent/CN117277882A/en
Publication of CN117277882A publication Critical patent/CN117277882A/en
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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
    • H02P8/32—Reducing overshoot or oscillation, e.g. damping
    • 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
    • H02P8/04—Arrangements for starting
    • 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
    • H02P8/04—Arrangements for starting
    • H02P8/08—Determining position before starting

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Stepping Motors (AREA)

Abstract

The invention relates to the technical field of stepping motors and discloses a stepping motor power-on anti-shake method, a stepping motor power-on anti-shake device, computer equipment and a storage medium. The method comprises the following steps: judging whether the system controller of the stepping motor is electrified successfully or not, and if the system controller is electrified successfully, switching off a power switch of the stepping motor; adjusting the power value of the power supply of the stepping motor to a preset power threshold value, and opening a power switch; judging whether the stepping motor is reset or not, and if the stepping motor is reset, recovering the power supply power value to a rated power value, wherein the rated power value is larger than a preset power threshold value. According to the method and the device, the power supply power value of the stepping motor is reduced when the stepping motor is electrified, so that the stepping motor is reset at a slow speed when the stepping motor is electrified, and jitter caused by jumping and resetting of the stepping motor is reduced to the maximum extent.

Description

Stepping motor power-on anti-shake method and device, computer equipment and storage medium
Technical Field
The present invention relates to the field of stepper motors, and in particular, to a method and apparatus for preventing a stepper motor from being power-on and shake, a computer device, and a storage medium.
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. The advantage of stepper motors is their relatively low cost, high torque at rest and low speed without the use of a gearbox, and their inherent applicability to positioning tasks. In contrast to three-phase brushless motors and servo drives, stepper motors do not necessarily require complex control algorithms or position feedback for commutation. Stepper motors are therefore widely used in almost all types of mobile applications, such as automation, digital manufacturing, medical and optical equipment.
However, the position relationship between the rotor and the stator is random when the stepping motor is not electrified, and the stepping motor needs to automatically run to a calibrated initial position after the stepping motor is electrified, so that the stepping motor can shake. In the prior art, a stepping motor normally runs at full power when being electrified, so that the stepping motor instantly jumps to an initial position, and further, larger jitter appears in the process, and the use experience of a product is seriously affected.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a method, a device, a computer device and a storage medium for preventing a stepping motor from being power-on and shake.
The invention provides the following technical scheme:
in a first aspect, an embodiment of the present disclosure provides a method for powering up an anti-shake device of a stepper motor, where the method includes:
judging whether the system controller of the stepping motor is electrified successfully or not, and if the system controller is electrified successfully, switching off a power switch of the stepping motor;
adjusting the power value of the power supply of the stepping motor to a preset power threshold value, and opening the power switch;
judging whether the stepping motor is reset or not, and if the stepping motor is reset, recovering the power value of the power supply to a rated power value, wherein the rated power value is larger than the preset power threshold value.
Further, the adjusting the power value of the power supply of the stepper motor to a preset power threshold value includes:
controlling the current of the stepper motor through an IC chip of the stepper motor;
and adjusting the power value of the power supply to the preset power threshold according to the current of the stepping motor.
Further, the adjusting the power value of the power supply of the stepper motor to a preset power threshold value further includes:
modulating the voltage of the stepping motor in a PWM mode;
and adjusting the power supply power value to the preset power threshold according to the voltage of the stepping motor.
Further, the adjusting the power value of the power supply of the stepper motor to a preset power threshold value further includes:
adjusting an IC chip of the stepper motor to control a motor power supply of the stepper motor by using a power supply load;
and adjusting the power value of the power supply to the preset power threshold according to the motor power supply of the stepping motor.
Further, the determining whether the stepper motor is reset includes:
setting the homing time of the stepping motor as a preset time threshold;
and when the homing time of the stepping motor is greater than or equal to the preset time threshold, judging whether the stepping motor is homing or not.
Further, the step motor is provided with a hall sensor, the step motor comprises a stator and a rotor, and the step motor is judged whether to return to the original position or not, and the step motor further comprises:
detecting the magnetic field intensity and the magnetic field direction generated by the rotor through the Hall sensor;
and determining the position of the rotor through the intensity and the direction of the magnetic field generated by the rotor, and judging whether the stepping motor is reset or not through whether the position of the rotor is the same as the position of the stator.
Further, after the step motor is determined whether to return, the method further includes:
and if the homing time is greater than or equal to the preset time threshold, the stepping motor is not homing, and automatically adjusting the power supply power value of the stepping motor to the rated power value.
In a second aspect, in an embodiment of the present disclosure, there is provided a power-on anti-shake device for a stepper motor, the device including:
the power-off module is used for judging whether the system controller of the stepping motor is electrified successfully or not, and if the system controller is electrified successfully, the power switch of the stepping motor is disconnected;
the adjusting module is used for adjusting the power value of the power supply of the stepping motor to a preset power threshold value and opening the power switch;
and the recovery module is used for judging whether the stepping motor is reset or not, and if the stepping motor is reset, recovering the power supply power value to a rated power value, wherein the rated power value is larger than the preset power threshold value.
In a third aspect, in an embodiment of the present disclosure, there is provided a computer device, where the computer device includes a memory and a processor, where the memory stores a computer program, and where the processor implements the steps of the step motor power-on anti-shake method described in the first aspect when the computer program is executed.
In a fourth aspect, in an embodiment of the present disclosure, there is provided a computer readable storage medium storing a computer program, where the computer program is executed by a processor to implement the steps of the step motor power-on anti-shake method described in the first aspect.
The beneficial effects of this application:
the power-on anti-shake method for the stepping motor provided by the embodiment of the application comprises the following steps: judging whether the system controller of the stepping motor is electrified successfully or not, and if the system controller is electrified successfully, switching off a power switch of the stepping motor; adjusting the power value of the power supply of the stepping motor to a preset power threshold value, and opening the power switch; judging whether the stepping motor is reset or not, and if the stepping motor is reset, recovering the power value of the power supply to a rated power value, wherein the rated power value is larger than the preset power threshold value. According to the method and the device, the power supply power value of the stepping motor is reduced when the stepping motor is electrified, so that the stepping motor is reset at a slow speed when the stepping motor is electrified, and jitter caused by jumping and resetting of the stepping motor is reduced to the maximum extent.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Like elements are numbered alike in the various figures.
Fig. 1 shows a flowchart of a power-on anti-shake method for a stepper motor according to an embodiment of the present application;
fig. 2 shows a mechanical structure diagram of a stepping motor with a hall sensor according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an anti-shake device for powering on a stepper motor according to an embodiment of the present disclosure;
fig. 4 shows a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
As shown in fig. 1, which is a flowchart of a method for preventing power-on and shake of a stepper motor in an embodiment of the present application, the method for preventing power-on and shake of a stepper motor provided in the embodiment of the present application includes the following steps:
step S110, judging whether the system controller of the stepping motor is powered on successfully, and if the system controller is powered on successfully, turning off a power switch of the stepping motor.
The stepping motor consists of a rotating shaft, a coil, a ball bearing, permanent magnet steel, a rotor and a stator, and the core is the rotor and the stator (stator winding).
When the stepper motor is not powered on, the positional relationship between the rotor and stator is random, as shown in fig. 3, with the rotor position being intermediate the two stator windings.
When the stepping motor is electrified, the stator winding is electrified, and a magnetic field is generated to attract the rotor. As shown in fig. 4, the rotor is attracted to the stator windings after energization (i.e., homing).
In the process, the initial current is larger when the motor is started, so that the stepping motor can generate larger shaking in the rotor homing process.
In order to reduce the shake generated when the stepping motor is powered on, firstly, after the system controller of the stepping motor is powered on successfully, the power switch of the stepping motor is in a closed state, so that the rotor of the stepping motor can be prevented from starting to rotate when the stepping motor is powered on, the initial current is large, and the stepping motor is enabled to vibrate immediately.
Step S120, adjusting the power value of the power supply of the stepper motor to a preset power threshold, and turning on the power switch.
Further, after the power switch of the stepping motor is turned off, the power switch of the stepping motor is turned on after the power value of the power supply is adjusted to a preset power threshold value.
Specifically, there are three ways to adjust the power value of the power supply, one way: the current of the stepper motor can be controlled through a IC (Integrated Circuit) chip (such as TMC 2208) of the stepper motor, and the power value of the power supply is adjusted to a preset power threshold value according to the current of the stepper motor; mode two: the voltage of the stepping motor can be modulated in a PWM (Pulse Width Modulation) mode, and the power value of the power supply is adjusted to a preset power threshold value according to the voltage of the stepping motor; mode three: and controlling the motor power supply of the stepping motor by using the IC chip of the power supply load adjusting stepping motor, and adjusting the power supply value to a preset power threshold according to the motor power supply of the stepping motor.
When the PWM method is applied to a stepper motor, a rectangular pulse signal with a certain frequency needs to be output by a controller, and then the voltage of the stepper motor needs to be controlled by changing the duty ratio of the signal.
It may be understood that the preset power threshold is the lowest power value that the stepper motor can adjust to, and specific values need to be determined according to practical situations, which is not limited in the embodiment of the present application.
And step S130, judging whether the stepping motor is reset, and if the stepping motor is reset, recovering the power supply power value to a rated power value, wherein the rated power value is larger than the preset power threshold value.
Specifically, there are two ways of judging whether the stepping motor is reset, one way: the motor homing time is typically within 30ms, and the present embodiment sets the stepper motor homing time to a preset time threshold that is at least greater than 30ms. When the homing time of the stepping motor is greater than or equal to a preset time threshold, judging whether the stepping motor is homing or not in a delay waiting mode.
Mode two: as shown in fig. 2, the stator A, B, C and the rotor X, Y, Z of the stepping motor in the present embodiment are also provided with hall sensors H outside a 、H b 、H c The hall sensor is a non-contact sensor, and is mainly used for detecting the change of a magnetic field so as to determine the position and the direction of a magnetic field source. Hall sensors are widely used in rotary machine structures to detect rotor position. The specific principle is as follows: the hall element in the hall sensor is used for inducing a magnetic field, one or more adjustable magnets are arranged on the rotor, and when the rotor rotates, the magnets generate fixed magnetic fieldA field. The strength and direction of the magnetic field is related to the direction and position of the magnets, so that the magnetic field changes with the movement of the rotor. When the rotor rotates, the Hall sensor senses the change of the magnetic field intensity and the magnetic field direction, generates corresponding voltage signals and outputs the voltage signals, and can determine whether the position of the rotor is the same as the position of the stator by measuring the signals, so as to judge whether the stepping motor is reset.
After waiting for the preset time threshold, the stepping motor is successfully reset, and the power supply power value is restored to the rated power value, namely the normal level power value which needs to be operated.
In an alternative embodiment, after judging whether the stepper motor is reset, if the reset time is greater than or equal to the preset time threshold, the power supply power value of the stepper motor is automatically adjusted to the rated power value.
According to the power-on anti-shake method for the stepping motor, whether the system controller of the stepping motor is powered on successfully is judged, and if the system controller is powered on successfully, a power switch of the stepping motor is disconnected; adjusting the power value of the power supply of the stepping motor to a preset power threshold value, and opening the power switch; judging whether the stepping motor is reset or not, and if the stepping motor is reset, recovering the power value of the power supply to a rated power value, wherein the rated power value is larger than the preset power threshold value. According to the method and the device, the power supply power value of the stepping motor is reduced when the stepping motor is electrified, so that the stepping motor is reset at a slow speed when the stepping motor is electrified, and jitter caused by jumping and resetting of the stepping motor is reduced to the maximum extent.
Example 2
Fig. 3 is a schematic structural diagram of a power-on anti-shake device 300 of a stepper motor according to an embodiment of the present application, where the device includes:
the power-off module 310 is configured to determine whether a system controller of a stepper motor is powered on successfully, and if the system controller is powered on successfully, turn off a power switch of the stepper motor;
the adjusting module 320 is configured to adjust a power value of the power supply of the stepper motor to a preset power threshold, and turn on the power switch;
and a recovery module 330, configured to determine whether the stepper motor is in a reset state, and if the stepper motor is in a reset state, recover the power supply power value to a rated power value, where the rated power value is greater than the preset power threshold.
Optionally, the above-mentioned stepping motor power-on anti-shake device further includes:
the first control module is used for controlling the current of the stepper motor through the IC chip of the stepper motor;
and the first regulation submodule is used for regulating the power supply value to the preset power threshold according to the current of the stepping motor.
Optionally, the above-mentioned stepping motor power-on anti-shake device further includes:
the second control module is used for modulating the voltage of the stepping motor in a PWM mode;
and the second regulation submodule is used for regulating the power supply value to the preset power threshold according to the voltage of the stepping motor.
Optionally, the above-mentioned stepping motor power-on anti-shake device further includes:
a third control module for adjusting the IC chip of the stepper motor to control the motor power of the stepper motor by using the power load;
and the third regulation submodule is used for regulating the power value of the power supply to the preset power threshold according to the motor power supply of the stepping motor.
Optionally, the above-mentioned stepping motor power-on anti-shake device further includes:
the setting module is used for setting the homing time of the stepping motor to be a preset time threshold;
and the judging module is used for judging whether the stepping motor is reset or not when the reset time of the stepping motor is greater than or equal to the preset time threshold value.
Optionally, the above-mentioned stepping motor power-on anti-shake device further includes:
the detection module is used for detecting the magnetic field intensity and the magnetic field direction generated by the rotor through the Hall sensor;
and the determining module is used for determining the position of the rotor through the intensity and the direction of the magnetic field generated by the rotor and judging whether the stepping motor is reset or not through whether the position of the rotor is the same as the position of the stator.
Optionally, the above-mentioned stepping motor power-on anti-shake device further includes:
and the automatic adjusting module is used for automatically adjusting the power supply power value of the stepping motor to the rated power value if the stepping motor is not reset when the reset time is greater than or equal to the preset time threshold.
According to the stepping motor power-on anti-shake device, the power supply power value of the stepping motor is reduced during power-on, so that the stepping motor is reset at a slow speed during power-on, and shake caused by jumping and resetting of the stepping motor is reduced to the maximum extent.
Example 3
The embodiment of the application also provides computer equipment. Referring specifically to fig. 4, fig. 4 is a basic structural block diagram of a computer device according to the present embodiment. The computer device may implement the functions corresponding to embodiment 1, which will not be described in detail here.
The computer device 4 comprises a memory 41, a processor 42, a network interface 43 communicatively connected to each other via a system bus. It should be noted that only computer device 4 having components 41-43 is shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.
The computer equipment can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer equipment can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 41 includes at least one type of readable storage medium including flash memory, hard disk, multimedia card, card type memory (e.g., SD or D slot compatibility test memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the storage 41 may be an internal storage unit of the computer device 4, such as a hard disk or a memory of the computer device 4. In other embodiments, the memory 41 may also be an external storage device of the computer device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the computer device 4. Of course, the memory 41 may also comprise both an internal memory unit of the computer device 4 and an external memory device. In this embodiment, the memory 41 is typically used to store an operating system and various application software installed on the computer device 4, such as computer readable instructions of a socket compatibility test method. Further, the memory 41 may be used to temporarily store various types of data that have been output or are to be output.
The processor 42 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other stepper motor powered anti-shake chip in some embodiments. The processor 42 is typically used to control the overall operation of the computer device 4. In this embodiment, the processor 42 is configured to execute computer readable instructions stored in the memory 41 or process data, such as computer readable instructions for executing the socket compatibility test method.
The network interface 43 may comprise a wireless network interface or a wired network interface, which network interface 43 is typically used for establishing a communication connection between the computer device 4 and other electronic devices.
The computer device provided in the embodiment can execute the above-mentioned power-on anti-shake method for the stepper motor. The step motor power-on anti-shake method may be the step motor power-on anti-shake method of each of the above embodiments.
Example 4
The present embodiment also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the step motor power-on anti-shake method of the embodiment. The computer readable storage medium may implement the functions corresponding to embodiment 1, and this embodiment is not described herein.
In this embodiment, the computer-readable storage medium includes a flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the computer readable storage medium may be an internal storage unit of a computer device, such as a hard disk or a memory of the computer device. In other embodiments, the computer readable storage medium may also be an external storage device of a computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), etc. that are provided on the computer device. Of course, the computer-readable storage medium may also include both internal storage units of a computer device and external storage devices. In this embodiment, the computer-readable storage medium is typically used to store an operating system and various types of application software installed on a computer device. Furthermore, the computer-readable storage medium may also be used to temporarily store various types of data that have been output or are to be output.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the invention may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium may be a nonvolatile storage medium or a volatile storage medium, and for example, the storage medium may be: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.

Claims (10)

1. A method for powering up and preventing a stepping motor from being trembled, the method comprising:
judging whether the system controller of the stepping motor is electrified successfully or not, and if the system controller is electrified successfully, switching off a power switch of the stepping motor;
adjusting the power value of the power supply of the stepping motor to a preset power threshold value, and opening the power switch;
judging whether the stepping motor is reset or not, and if the stepping motor is reset, recovering the power value of the power supply to a rated power value, wherein the rated power value is larger than the preset power threshold value.
2. The method for powering up a stepper motor as defined in claim 1, wherein said adjusting a power value of a power supply of the stepper motor to a preset power threshold comprises:
controlling the current of the stepper motor through an IC chip of the stepper motor;
and adjusting the power value of the power supply to the preset power threshold according to the current of the stepping motor.
3. The method for powering up a stepper motor as defined in claim 1, wherein said adjusting a power value of a power supply of the stepper motor to a preset power threshold value further comprises:
modulating the voltage of the stepping motor in a PWM mode;
and adjusting the power supply power value to the preset power threshold according to the voltage of the stepping motor.
4. The method for powering up a stepper motor as defined in claim 2, wherein said adjusting the power level of the power supply of the stepper motor to a preset power threshold further comprises:
adjusting an IC chip of the stepper motor to control a motor power supply of the stepper motor by using a power supply load;
and adjusting the power value of the power supply to the preset power threshold according to the motor power supply of the stepping motor.
5. The method for powering up and preventing a shake of a stepper motor according to claim 1, wherein said determining whether the stepper motor is in a home position comprises:
setting the homing time of the stepping motor as a preset time threshold;
and when the homing time of the stepping motor is greater than or equal to the preset time threshold, judging whether the stepping motor is homing or not.
6. The method for powering up and preventing vibration of a stepper motor as defined in claim 1, wherein the stepper motor is provided with a hall sensor, the stepper motor includes a stator and a rotor, and the step motor is determined whether to return to a normal position or not, further comprising:
detecting the magnetic field intensity and the magnetic field direction generated by the rotor through the Hall sensor;
and determining the position of the rotor through the intensity and the direction of the magnetic field generated by the rotor, and judging whether the stepping motor is reset or not through whether the position of the rotor is the same as the position of the stator.
7. The method for powering up a stepper motor as defined in claim 5, wherein said determining whether said stepper motor is stationary further comprises:
and if the homing time is greater than or equal to the preset time threshold, the stepping motor is not homing, and automatically adjusting the power supply power value of the stepping motor to the rated power value.
8. A stepping motor powered anti-shake device, the device comprising:
the power-off module is used for judging whether the system controller of the stepping motor is electrified successfully or not, and if the system controller is electrified successfully, the power switch of the stepping motor is disconnected;
the adjusting module is used for adjusting the power value of the power supply of the stepping motor to a preset power threshold value and opening the power switch;
and the recovery module is used for judging whether the stepping motor is reset or not, and if the stepping motor is reset, recovering the power supply power value to a rated power value, wherein the rated power value is larger than the preset power threshold value.
9. A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the stepping motor power-on anti-shake method of any one of claims 1-7 when the computer program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of the stepping motor power-on anti-shake method according to any one of claims 1 to 7.
CN202311255916.7A 2023-09-26 2023-09-26 Stepping motor power-on anti-shake method and device, computer equipment and storage medium Pending CN117277882A (en)

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CN202311255916.7A CN117277882A (en) 2023-09-26 2023-09-26 Stepping motor power-on anti-shake method and device, computer equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311255916.7A CN117277882A (en) 2023-09-26 2023-09-26 Stepping motor power-on anti-shake method and device, computer equipment and storage medium

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CN117277882A true CN117277882A (en) 2023-12-22

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