CN118100709A

CN118100709A - Control method and device of stepping motor, motor controller and storage medium

Info

Publication number: CN118100709A
Application number: CN202211468303.7A
Authority: CN
Inventors: 徐锦清; 朱良红; 章文凯; 魏育芳; 史欧阳; 杨都; 郭双林; 孙书川
Original assignee: GD Midea Air Conditioning Equipment Co Ltd
Current assignee: GD Midea Air Conditioning Equipment Co Ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2024-05-28

Abstract

The invention discloses a control method and a device of a stepping motor, a motor controller and a storage medium, wherein the stepping motor is controlled by adopting a half-step excitation mode, and the method comprises the following steps: when the plurality of stepping motors work simultaneously, at least one stepping motor in the plurality of stepping motors is subjected to the error shooting control. Therefore, when the plurality of stepping motors adopt the beat control, the number of motor phases which are opened at the time of peak power is reduced compared with the plurality of stepping motors during synchronous control, so that the peak power of the stepping motors is reduced, and the cost of a driving power supply is reduced.

Description

Control method and device of stepping motor, motor controller and storage medium

Technical Field

The present application relates to the field of motor control technologies, and in particular, to a method and apparatus for controlling a stepper motor, a motor controller, and a storage medium.

Background

At present, a four-phase stepping motor is generally adopted to drive devices such as an indoor air outlet wind swinging fan blade and an outdoor electronic expansion valve of an air conditioner to operate, and the four-phase stepping motor adopts a four-phase eight-beat driving mode, namely adopts a 1-2-direction excitation mode. When a plurality of (for example, more than 2) stepping motors are simultaneously driven, the motor operates in a state of 4-phase-2 phase alternate on (when 2 stepping motors are used) and 8-phase-4 phase alternate on (when 4 stepping motors are used), the peak power is the power when 4-phase on (when 2 stepping motors are used) and 8-phase on (when 4 stepping motors are used), the problem of high peak power exists, and the power design requirement on a driving power supply is high and the cost is high.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide a control method of a stepping motor, which reduces the number of motor phases turned on at the time of peak power by performing a false beat control on at least one of a plurality of stepping motors, thereby reducing the peak power of the stepping motor and thus reducing the cost of a driving power supply.

A second object of the present invention is to propose a computer readable storage medium.

A third object of the present invention is to propose a motor controller.

A fourth object of the present invention is to provide a control device for a stepping motor.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a method for controlling a stepper motor, the stepper motor being controlled by a half-step excitation method, the method comprising: when the plurality of stepping motors work simultaneously, at least one stepping motor in the plurality of stepping motors is subjected to the error shooting control.

According to the control method of the stepping motor, when a plurality of stepping motors work simultaneously, at least one stepping motor in the plurality of stepping motors is subjected to error shooting control, wherein the stepping motors are controlled in a half-step excitation mode, and therefore the number of motor phases of the stepping motors which are opened in two adjacent power-on beats can be changed. Therefore, when the plurality of stepping motors adopt the beat control, the number of motor phases which are opened at the time of peak power is reduced compared with the plurality of stepping motors during synchronous control, so that the peak power of the stepping motors is reduced, and the cost of a driving power supply is reduced.

According to an embodiment of the present invention, when the number of stepping motors is an even number, performing a beat control on at least one stepping motor of the plurality of stepping motors includes: half of the plurality of stepper motors are controlled according to a first energization beat, and the other half of the plurality of stepper motors are controlled according to a second energization beat, wherein the first energization beat and the second energization beat are staggered by one beat.

According to one embodiment of the present invention, an even number of the plurality of stepper motors is retarded or advanced by one beat.

According to an embodiment of the present invention, when the number of stepping motors is an odd number, performing a beat control on at least one stepping motor of the plurality of stepping motors includes: and controlling odd-numbered stepping motors in the plurality of stepping motors according to the first electrifying beats and controlling even-numbered stepping motors in the plurality of stepping motors according to the second electrifying beats, wherein the first electrifying beats and the second electrifying beats are staggered by one beat.

According to one embodiment of the present invention, an odd one of the plurality of stepper motors is retarded or advanced by one beat.

According to one embodiment of the invention, the stepper motor is a four-phase stepper motor.

To achieve the above object, according to a second aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a control program for a stepping motor, which when executed by a processor, implements the control method for a stepping motor of any one of the foregoing embodiments.

According to the computer readable storage medium of the embodiment of the present invention, by executing the computer program of the above-described control method of the stepping motor, by performing the beat control on at least one of the plurality of stepping motors, the number of motor phases that are turned on at the peak power is reduced, thereby reducing the peak power of the stepping motor, and thus reducing the cost of the driving power supply.

To achieve the above object, an embodiment according to a third aspect of the present invention provides a motor controller, including: the control method of the stepping motor of any one of the foregoing embodiments is implemented when the processor executes the program.

According to the motor controller provided by the embodiment of the invention, the computer program of the control method of the stepping motor is executed by the processor, and the number of motor phases which are opened at the time of peak power is reduced by performing the error shooting control on at least one stepping motor in the plurality of stepping motors, so that the peak power of the stepping motor is reduced, and the cost of a driving power supply is reduced.

To achieve the above object, according to a fourth aspect of the present invention, there is provided a control device for a stepping motor, the stepping motor being controlled by a half-step excitation method, the control device comprising: the determining module is used for determining the number of the stepping motors which work simultaneously; and the control module is used for performing error shooting control on at least one stepping motor in the plurality of stepping motors when the number of the stepping motors which work simultaneously is a plurality of.

According to the control device for the stepping motor, disclosed by the embodiment of the invention, the number of the stepping motors which work simultaneously is determined through the determining module, and when a plurality of stepping motors work simultaneously through the control module, at least one stepping motor in the plurality of stepping motors is subjected to beat control, wherein the stepping motors are controlled in a half-step excitation mode, so that the number of motor phases of the stepping motors which are opened in two adjacent power-on beats can be changed. Therefore, when the plurality of stepping motors adopt the beat control, the number of motor phases which are opened at the time of peak power is reduced compared with the plurality of stepping motors during synchronous control, so that the peak power of the stepping motors is reduced, and the cost of a driving power supply is reduced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a schematic diagram of connection in which 2 stepper motors in the related art operate simultaneously;

fig. 2 is a timing chart of the energization state of 2 stepper motor synchronous controls in the related art;

Fig. 3 is a schematic diagram of connection of 4 stepper motors in the related art operating simultaneously;

Fig. 4 is a timing chart of the energization state of the synchronous control of the 4 stepping motors in the related art;

Fig. 5 is a flow chart of a control method of a stepping motor according to an embodiment of the present invention;

FIG. 6 is a timing diagram of the power-on state of 2 stepper motor staggered control in accordance with an embodiment of the present invention;

FIG. 7 is a timing diagram of the power-on state of the 4 stepper motors staggered control in accordance with one embodiment of the invention;

FIG. 8 is a system schematic diagram of a motor controller according to one embodiment of the invention;

fig. 9 is a schematic structural view of a control device of a stepping motor according to an embodiment of the present invention.

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 and intended to explain the present invention and should not be construed as limiting the invention.

The present application has been made in view of the following problems:

In the related art, as shown in fig. 1,2 stepper motors M1 and M2 are four-phase stepper motors, and a half-step excitation method, i.e., 1-2 phase excitation is adopted, so that one cycle has 8 energization beats T1 to T8, and the order of the 8 energization beats is AD-A-AB-B-BC-C-CD-D. When 2 stepping motors M1 and M2 work simultaneously, a synchronous control method is adopted, a control time sequence diagram is shown in fig. 2, and when T1, an A phase winding and a D phase winding of the stepping motors M1 and M2 are opened, so that a total of 4 phase windings are opened when T1; at T2, the a-phase windings of stepper motors M1 and M2 are open, so that a total of 2-phase windings are open at T2; at T3, the a-phase and B-phase windings of stepper motors M1 and M2 are open, so a total of 4-phase windings are open at T3; at T4, the B-phase windings of stepper motors M1 and M2 are open, so a total of 2-phase windings are open at T4; at T5, the B-phase and C-phase windings of stepper motors M1 and M2 are open, so a total of 4-phase windings are open at T5; at T6, the C-phase windings of stepper motors M1 and M2 are open, so a total of 2-phase windings are open at T6; at T7, the C-phase and D-phase windings of stepper motors M1 and M2 are open, so a total of 4-phase windings are open at T2; at T8, the D-phase windings of stepper motors M1 and M2 are open, so a total of 2-phase windings are open at T8. Therefore, when the 2 stepping motors M1 and M2 employ the synchronous control method, the peak power is the power when the 4-phase winding is turned on.

As shown in fig. 3, the 4 stepping motors M1 to M4 are four-phase stepping motors, and are excited in a half-step excitation manner, i.e., 1-2 phases, so that 8 energization beats T1 to T8 are provided in one cycle, and the order of 8 energization beats is AD-A-AB-B-BC-C-CD-D. When the 4 stepping motors M1 and M2 work simultaneously, a synchronous control method is adopted, a control time sequence diagram is shown in fig. 4, and when the stepping motor T1 is in a T1 state, 8-phase windings are opened; at T2, there is 4 phase winding open; at T3, there is 8 phase winding open; at T4, there is 4 phase winding open; at T5, there is 8 phase winding open; at T6, there is 4 phase winding open; at T7, there is 8 phase winding open; at T8, there is a 4-phase winding open. Therefore, when the 4 stepping motors M1 and M2 adopt the synchronous control method, the peak power is the power when the 8-phase winding is turned on.

Therefore, the control room of the synchronous control method is adopted for a plurality of stepping motors, the problem of high peak power exists, the power design requirement on the driving power supply is high, and the cost is high.

Based on this, the embodiment of the invention provides a control method, a device, a motor controller and a storage medium for a stepping motor, which reduce the number of motor phases which are turned on at peak power by performing a dead beat control on at least one stepping motor of a plurality of stepping motors, thereby reducing the peak power of the stepping motor and reducing the cost of a driving power supply.

The following describes a control method, apparatus, motor controller, and storage medium of a stepping motor according to an embodiment of the present invention with reference to the accompanying drawings.

It should be noted that, in the stepping motor of this embodiment, the half-step excitation mode is adopted to control, so that the number of motor phases of the stepping motor which are opened at two adjacent power-on beats will change, and if all excitation modes are adopted to control, the number of motor phases of the stepping motor which are opened at each power-on beat is the same, so that the power will not change.

Fig. 5 is a flow chart of a control method of a stepping motor according to an embodiment of the present invention. As shown in fig. 5, the method includes:

S101, when a plurality of stepping motors work simultaneously, performing error shooting control on at least one stepping motor in the plurality of stepping motors.

Specifically, when a plurality of stepping motors are operated simultaneously, the number of motor phases which are turned on when the peak power is reduced by performing the beat control on at least one of the plurality of stepping motors. When the number of the stepping motors is only one, the stepping motors are directly controlled according to the preset power-on beats.

For example, when 2 stepper motors M1 and M2 are operated simultaneously, the stepper motors M1 and M2 are excited with 1-2 phases, and the number of motor phases on each stepper motor is 2-1-2-1-2-1-2-1. When stepper motor M2 is staggered by one beat, as shown in fig. 6,3 phase windings are open at T1 to T8, and the method of this embodiment reduces the number of motor phases open at peak power and the peak power is reduced by 25% compared to at most 4 phase windings open when 2 stepper motors M1 and M2 are synchronously controlled.

When 3 stepper motors M1 to M3 are operated simultaneously, the stepper motor M2 is staggered for one beat of control, and when T1 to T8, the sequence of the open motor phases is 5-4-5-4-5-4-5-4, compared with the situation that when 3 stepper motors M1 to M3 are synchronously controlled, at most 6 phase windings are open, the method of the embodiment reduces the number of the open motor phases at peak power, and the peak power is reduced by 16.7%.

When 4 stepper motors M1 to M4 are operated simultaneously, the stepper motor M2 is staggered for one beat of control, and when T1 to T8 are operated, the sequence of the open motor phases is 7-5-7-5-7-5-7-5, compared with the case that the maximum number of 8 phase windings are opened when the 4 stepper motors M1 to M4 are operated synchronously, the method of the embodiment reduces the number of the open motor phases at peak power, and the peak power is reduced by 12.5 percent.

In the above embodiment, by performing the beat control on at least one of the plurality of stepping motors, the number of motor phases that are turned on at the peak power is reduced, so that the peak power of the stepping motor is reduced, and thus the cost of the driving power supply is reduced.

In some embodiments, when the number of stepper motors is even, performing the beat control on at least one stepper motor of the plurality of stepper motors includes: half of the plurality of stepper motors are controlled according to a first energization beat, and the other half of the plurality of stepper motors are controlled according to a second energization beat, wherein the first energization beat and the second energization beat are staggered by one beat.

Specifically, when the number of the stepping motors is even, one half of the plurality of stepping motors is controlled according to the first power-on beat, and the other half of the plurality of stepping motors is controlled according to the second power-on beat, so that the number of motor phases which are opened at the time of peak power is further reduced.

For example, as shown in fig. 7, when 4 stepper motors M1 to M4 are simultaneously operated, the stepper motors M2 and M4 are staggered by one beat for control, and the sequence of open motor phases is 6-6-6-6-6 at T1 to T8, the method of the present embodiment further reduces the number of open motor phases at peak power by 25% compared to when only one stepper motor M2 is staggered by one beat, at most 7 phase windings are open.

In the above embodiment, when the number of stepping motors is even, by performing the beat control on half of the plurality of stepping motors, the number of motor phases that are turned on at the time of the peak power is further reduced, thereby further reducing the peak power of the stepping motors.

In some embodiments, an even stepper motor of the plurality of stepper motors delays by one beat or advances by one beat.

That is, the peak value of the motor phase number of the stepping motor on can be shifted regardless of whether the step is delayed by one beat or advanced by one beat.

For example, when the stepping motor is three-phase or four-phase, the motor phase sequence of the stepping motor is 2-1-2-1-2-1-2-1, and when the even stepping motor is delayed by one beat or advanced by one beat, the motor phase sequence of the even motor is 1-2-1-2-1-2-1-2. When the stepping motor is five phases, the motor phase sequence of the stepping motor is 3-2-3-2-3-2-3-2, and when the even stepping motor is delayed by one beat or advanced by one beat, the motor phase sequence of the even motor is 2-3-2-3-2-3-2-3. Thus, the peak value of the motor phase number of the stepping motor on can be staggered whether the step motor is delayed by one beat or advanced by one beat.

In some embodiments, when the number of stepper motors is an odd number, performing the beat control on at least one stepper motor of the plurality of stepper motors includes: and controlling odd-numbered stepping motors in the plurality of stepping motors according to the first electrifying beats and controlling even-numbered stepping motors in the plurality of stepping motors according to the second electrifying beats, wherein the first electrifying beats and the second electrifying beats are staggered by one beat.

Specifically, when the number of the stepping motors is even, the odd stepping motors in the stepping motors are controlled according to the first power-on beat, and the even stepping motors in the stepping motors are controlled according to the second power-on beat, so that the number of motor phases which are opened in the peak power is further reduced.

For example, when 3 stepper motors M1-M3 are operated simultaneously, the stepper motor M2 is staggered by one beat of control, and the number of open motor phases is 5-4-5-4 at T1-T8, the method of the present embodiment reduces the number of open motor phases at peak power compared to at most 6 phase windings open when 3 stepper motors M1-M3 are operated simultaneously.

When 5 stepper motors M1 to M5 are operated simultaneously, the stepper motors M2 and M4 are staggered for one beat for control, and the sequence of the open motor phases is 8-7-8-7-8-7-8-7 when T1 to T8, compared with the method that only one stepper motor M2 is staggered for one beat, at most 9 phase windings are open, the method of the embodiment further reduces the number of the open motor phases at peak power, and the peak power is reduced by 20 percent compared with synchronous control.

In the above embodiment, when the number of stepping motors is odd, by performing the beat control on half of the even stepping motors, the number of motor phases that are turned on at the time of peak power is further reduced, thereby further reducing the peak power of the stepping motors.

In some embodiments, an odd one of the plurality of stepper motors is retarded or advanced by one beat.

Further, in some embodiments, an even stepper motor of the plurality of stepper motors is retarded or advanced by one beat.

Specifically, the odd-numbered stepping motor may be delayed by one beat or advanced by one beat, or the odd-numbered stepping motor may be delayed by one beat or advanced by one beat, so long as the peak value of the motor phase number of the stepping motor on is staggered.

It should be noted that, the odd-numbered stepper motor and the even-numbered stepper motor cannot be simultaneously subjected to the beat control, so that the peak value of the number of motor phases of the stepper motor which is turned on is not staggered.

In some embodiments, the stepper motor is a four-phase stepper motor.

In practical applications, the stepping motor is not limited to a four-phase stepping motor, and a stepping motor controlled by a half-step excitation method may be used in the control method of the present embodiment.

In summary, according to the control method of the stepper motor in the embodiment of the invention, when a plurality of stepper motors work simultaneously, at least one stepper motor in the plurality of stepper motors is controlled by a staggered beat, wherein the stepper motors are controlled by a half-step excitation mode, so that the number of motor phases of the stepper motors which are opened at two adjacent power-on beats can be changed. Therefore, when the plurality of stepping motors adopt the beat control, the number of motor phases which are opened at the time of peak power is reduced compared with the plurality of stepping motors during synchronous control, so that the peak power of the stepping motors is reduced, and the cost of a driving power supply is reduced.

Corresponding to the above embodiments, the embodiments of the present invention further provide a computer readable storage medium having stored thereon a control program for a stepper motor, which when executed by a processor, implements the control method for a stepper motor of any of the foregoing embodiments.

Corresponding to the above embodiment, the embodiment of the invention also provides a motor controller. As shown in fig. 8, the motor controller 100 includes: the control method of the stepper motor of any of the foregoing embodiments is implemented when the processor 120 executes the program, and the memory 110, the processor 120, and the control program of the stepper motor stored in the memory 110 and capable of running on the processor 120.

Corresponding to the above embodiment, the embodiment of the invention also provides a control device of the stepping motor. As shown in fig. 9, the stepping motor is controlled by a half-step excitation method, and the control device includes: a determination module 10 and a control module 20.

Wherein the determining module 10 is used for determining the number of stepper motors which work simultaneously; the control module 20 is configured to perform a beat control on at least one of the plurality of stepper motors when the number of stepper motors that are simultaneously operating is plural.

In some embodiments, the control module 20 is further configured to: when the number of the stepping motors is even, one half of the stepping motors are controlled according to the first electrifying beats, and the other half of the stepping motors are controlled according to the second electrifying beats, wherein the first electrifying beats and the second electrifying beats are staggered by one beat number.

In some embodiments, the control module 20 is further configured to: when the number of the stepping motors is odd, the odd stepping motors in the plurality of stepping motors are controlled according to the first electrifying beats, and the even stepping motors in the plurality of stepping motors are controlled according to the second electrifying beats, wherein the first electrifying beats and the second electrifying beats are staggered by one beat number.

In some embodiments, the stepper motor is a four-phase stepper motor.

It should be noted that, the specific implementation manner of the control device for a stepper motor according to the embodiment of the present invention corresponds to the specific implementation manner of the control method for a stepper motor according to the embodiment of the present invention, and will not be described herein.

According to the control device for the stepping motor, disclosed by the embodiment of the invention, the stepping motor is controlled in a half-step excitation mode, so that the number of motor phases of the stepping motor which are opened in two adjacent power-on beats can be changed, when the plurality of stepping motors are controlled in a staggered mode, the number of motor phases which are opened in the peak power is reduced compared with the number of motor phases of the plurality of stepping motors in the synchronous control mode, and the peak power of the stepping motor is reduced, so that the cost of a driving power supply is reduced.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first," "second," and the like, as used in embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any particular number of features in the present embodiment. Thus, a feature of an embodiment of the invention that is defined by terms such as "first," "second," etc., may explicitly or implicitly indicate that at least one such feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or more, for example, two, three, four, etc., unless explicitly defined otherwise in the embodiments.

In the present invention, unless explicitly stated or limited otherwise in the examples, the terms "mounted," "connected," and "fixed" as used in the examples should be interpreted broadly, e.g., the connection may be a fixed connection, may be a removable connection, or may be integral, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, it may be directly connected, or indirectly connected through an intermediate medium, or may be in communication with each other, or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific embodiments.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. The control method of the stepping motor is characterized in that the stepping motor is controlled by adopting a half-step excitation mode, and the method comprises the following steps:

And when the stepping motors work simultaneously, performing error shooting control on at least one stepping motor of the stepping motors.

2. The method of claim 1, wherein, when the number of the stepper motors is an even number, performing the beat control on at least one of the plurality of stepper motors, comprises:

And controlling one half of the stepping motors according to a first energization beat and controlling the other half of the stepping motors according to a second energization beat, wherein the first energization beat and the second energization beat are staggered by one beat number.

3. The method of claim 2, wherein an even one of the plurality of stepper motors is retarded by one beat or advanced by one beat.

4. The method of claim 1, wherein, when the number of the stepper motors is an odd number, performing the beat control on at least one of the plurality of stepper motors, comprises:

and controlling odd-numbered stepping motors in the stepping motors according to a first energization beat, and controlling even-numbered stepping motors in the stepping motors according to a second energization beat, wherein the first energization beat and the second energization beat are staggered by one beat.

5. The method of claim 4, wherein an odd one of the plurality of stepper motors is retarded by one beat or advanced by one beat.

6. The method of claim 4, wherein an even one of the plurality of stepper motors is retarded by one beat or advanced by one beat.

7. The method of any one of claims 1-6, wherein the stepper motor is a four-phase stepper motor.

8. A computer-readable storage medium, on which a control program of a stepping motor is stored, which control program, when executed by a processor, implements the control method of a stepping motor according to any one of claims 1-7.

9. A motor controller comprising a memory, a processor and a control program for a stepper motor stored on the memory and operable on the processor, the processor implementing the control method for a stepper motor as claimed in any one of claims 1 to 7 when executing the control program for a stepper motor.

10. A control device for a stepping motor, wherein the stepping motor is controlled by a half-step excitation method, the control device comprising:

the determining module is used for determining the number of the stepping motors which work simultaneously;

and the control module is used for performing error shooting control on at least one stepping motor in the plurality of stepping motors when the number of the stepping motors which work simultaneously is a plurality of.