CN1858986A - Control method and method for step motor - Google Patents
Control method and method for step motor Download PDFInfo
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- CN1858986A CN1858986A CN 200610084669 CN200610084669A CN1858986A CN 1858986 A CN1858986 A CN 1858986A CN 200610084669 CN200610084669 CN 200610084669 CN 200610084669 A CN200610084669 A CN 200610084669A CN 1858986 A CN1858986 A CN 1858986A
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Abstract
This invention discloses a control method and a control device for a step motor, in which, the control method includes: A, getting a set of control data of step motor magnetic pole coil current corresponding to the rotation speed of the motor and turning the current of the coil to change continuously, B, utilizing the control data of the pole coil current to control the step motor, which increases or reduces coil current slowly according to a movement rule of curves and rotates or brakes the rotor steadily to buffer the inertial action of the rotor to reduce vibration of the motor, at the same time, output of a torque is controlled to reduce vibration and noise of the motor.
Description
Technical field
The present invention relates to stepping motor, particularly make stepping motor work keep the control method and the control device of low noise, low vibration down by lower-speed state.
Background technology
Stepping motor is made up of the electromagnetic pole of the certain phase difference of a plurality of existence, by according to certain order, alternately controls the coil current on these electromagnetic poles, and rotor is in the action of constantly rotating and braking, and the rotor stepping is rotated.Change order and then can change direction of motor rotation; Change the frequency of alternately controlling beat, then the may command motor speed; The break-make of the electric current of control coil is with regard to the rotation of may command motor or stop.
A lot of occasions, to stepping motor all require the excursion of its angular speed bigger, movement position control accurately, motion steadily peace and quiet, compact conformation, volume is small and exquisite.
By using stepping motor, only need to change rotating speed of motor, with regard to the velocity of rotation of other relevant devices of may command (as camera pan-tilt); Change turning to of motor, just can change turning to of The Cloud Terrace; Stop motor, The Cloud Terrace also stops operating easily.Have the motion control of being easy to, advantage that the range of speeds is big, this is the The Cloud Terrace of the most of gamma cameras reason that adopts this type of motor-driven The Cloud Terrace to rotate just.
Stepping motor has a shortcoming, promptly adopts on-off mode control pole coil electric current simply, and when rotating when the motor slow-speed of revolution, motor oscillating is big, and usually, rotating speed is low more, vibrates big more.This is owing to adopt the electric current of on-off mode control coil, the time that makes the electric current increasing of coil and disappear is very short, rotation and braking action to rotor are all very big, because the inertia of rotor itself resists the effect of control of coil when the slow-speed of revolution obvious, and when high rotating speed DeGrain, thereby there is the strong problem of low speed vibration at large in stepping motor.
In a lot of application scenarios, a reduction gearing mechanism is arranged between motor and load, be referred to as decelerator, its mechanical function equivalence is a lever, the parameter of decelerator mainly is a speed reducing ratio, i.e. the ratio of motor speed and load rotational angular velocity.
At present, for the rotational angular velocity that makes the rotating machinery that links to each other with stepping motor within reasonable range and noise little, at first be to make motor speed enough high to avoid vibrating strong low regime, strengthen the speed reducing ratio of decelerator simultaneously, the speed drop of the rotating machinery (camera pan-tilt) that links to each other with stepping motor is got off.For example, suppose that the motor step angle is 3.75 degree, rotating speed is 400PPS (a step per second), then the motor rotational angular velocity is 3.75 degree * 400PPS=1500 degree/second, at this moment, if wanting the The Cloud Terrace rotational angular was 3 degree/seconds, then speed reducing ratio just must be designed to 1500/3=500.
Like this, machine operation is in the high velocity of better performances, controls simply relatively, only needs to adopt an on-off mode control coil electric current just can; But, try one's best little and the big contradiction of speed reducing ratio in order to solve volume requirement, the problem of bringing is exactly that relative complex is wanted in the design of decelerator, tends to adopt structures such as worm screw, cingulum, clutch when external force from directly rotating load (prevent damage transmission mechanism).If use clutch, the signal system that then detects the The Cloud Terrace turned position will be complicated, otherwise when clutch causes the load slippage, can cause the accumulation of kinematic error.
In addition, it is pointed out that also when motor rotates that the electric current of motor coil is on-off mode control, divided by coil resistance, power consumption is bigger near supply voltage for the peak value of electric current.
And, because machine operation in high velocity, has tangible sound during the motor rotation.
In a word, the characteristics of this type of scheme are reducer structure and position signalling detection mode complexity, and cost is higher, and volume is bigger.
Summary of the invention
The object of the present invention is to provide a kind of Stepping Motor Control method and control device, make stepping motor when low-speed range is worked, vibrate little, noise is low, simultaneously power consumption is little.
To achieve these goals, the invention provides a kind of Stepping Motor Control method, comprising:
Steps A, obtain one group corresponding with the stepping motor rotating speed, and make stepping motor pole coil electric current continually varying stepping motor pole coil Current Control data;
Step B utilizes the stepping motor pole coil Current Control Data Control stepping motor under the corresponding rotating speed.
Above-mentioned method, wherein, in the described steps A, stepping motor pole coil electric current changes continuously by cosine characteristic.
Above-mentioned method, wherein, in the described steps A, stepping motor pole coil Current Control data are the open-loop current control data; Among the described step B, utilize open loop approach control step motor.
Above-mentioned method, wherein, described steps A specifically comprises:
Steps A 2 is carried out the D/A conversion with the cosine characteristic curve;
Steps A 3 produces dynamic current switching control signal according to the cosine characteristic curve after the D/A conversion and the coil current sampled signal of stepping motor;
Steps A 4 is utilized coil current make-and-break signal and dynamic current switching control signal control step motor;
Steps A 5, the amplitude of modification cosine characteristic curve, vibration and noise when stepping motor turns round under this rotating speed are in the preset range, obtain closed loop current control data under this rotating speed;
Steps A 6, repeating step A1～A5, the vibration and the noise that obtain when making the stepping motor running under each rotating speed are in the interior closed loop current control data of preset range;
Steps A 7 utilizes the closed loop current control data to control first stepping motor;
Steps A 8 is utilized initial open loop Current Control Data Control second stepping motor;
Steps A 9 is revised initial open loop Current Control data, and the error between the coil current sampled signal of first stepping motor and second stepping motor is in the preset range, obtains the open-loop current control data under the corresponding rotating speed.
Above-mentioned method, wherein, first stepping motor and second stepping motor are same model, specification stepping motor.
In order better to realize above-mentioned purpose, the present invention also provides a kind of Stepping Motor Control device, comprising:
Stepping motor pole coil Current Control data acquisition module, be used to obtain one group corresponding with the stepping motor rotating speed, and make stepping motor pole coil electric current continually varying stepping motor pole coil Current Control data;
The step motor control module is utilized the stepping motor pole coil Current Control Data Control stepping motor under the corresponding rotating speed.
Above-mentioned device, wherein, described stepping motor pole coil electric current is changed to cosine characteristic continuously to be changed continuously.
Above-mentioned device, wherein, stepping motor pole coil Current Control data are the open-loop current control data; The step motor control module also is used to utilize open loop approach control step motor.
Above-mentioned device, wherein, described stepping motor pole coil Current Control data acquisition module specifically comprises:
Single-chip microcomputer is used to produce the coil current make-and-break signal of stepping motor and the cosine characteristic curve under the different rotating speeds;
The D/A modular converter is used for the cosine characteristic curve is carried out the D/A conversion;
Comparator is used for producing dynamic current switching control signal according to the cosine characteristic curve after the D/A conversion and the coil current sampled signal of stepping motor;
The stepping motor condition judgment module, be used to judge whether vibration and noise when stepping motor turns round meet the demands under each speed, when meeting the demands, also be used to notify monolithic machine maintenance to change the amplitude of cosine characteristic curve, vibration and noise when stepping motor turns round under this rotating speed are in preset range;
Preserve module, be used to preserve and make stepping motor vibration and the noise closed loop current control data that is in preset range in the running;
Stepping motor pole coil open-loop current control data acquisition module, be used to obtain the open-loop current control data, during described open-loop current control data control step motor, the stepping motor current sampling data under the current sampling data of stepping motor and the closed loop current control data coincide or error in preset range.
Stepping Motor Control method of the present invention and control device are by making the Changing Pattern of stepping motor pole coil electric current according to a curve, slowly (with respect to the rising edge of switch and trailing edge precipitous) increases or reduces coil current, rotate gradually or brake rotors, the effect of buffering rotor inertia, thereby reduced the vibration of motor, simultaneously, the sound of control torque output also effectively having reduced vibration and motor operation.
Description of drawings
Fig. 1 is the corresponding relation curve synoptic diagram of rotating speed and moment of torsion;
Fig. 2 is the structural representation of closed loop cosine characteristic curve acquisition system;
Fig. 3 is the structural representation of open loop cosine characteristic curve acquisition system.
Embodiment
Among the present invention, make stepping motor be operated in the stronger slow-speed of revolution district of vibration, improved the Stepping Motor Control mode simultaneously.
At first, the present invention will obtain the Current Control data by certain mode, make the mode of stepping motor pole coil electric current change curve mode into by on-off mode, Changing Pattern according to a curve, slowly (with respect to the rising edge of switch and trailing edge precipitous) increases or reduces coil current, rotate gradually or brake rotors, cushion the effect of rotor inertia, thereby reduced the vibration of motor.
In specific embodiments of the invention, adopt cosine curve, stepping motor pole coil electric current is changed by cosine characteristic.
In the specific embodiments of the invention, the cosine curve expression formula of stepping motor pole coil electric current is as follows:
I(N·ΔT)＝A(-(COS(N·ΔT·π/16))/2+0.5)……(1)
Wherein, I is a stepping motor pole coil electric current, and A is the amplitude of cosine curve, and N is sampled point sequence number (being taken as 0～31 in specific embodiments of the invention), and Δ T is the time interval between the sampled point, and is corresponding with stepper motor speed.
Formula (1) has been expressed the Changing Pattern of electric current in a cycle of rising and descending of stepping motor pole coil.Motor speed is high more, and the cycle of cosine curve is just more little.
When N=32, at the current value of 32 points on every curve, corresponding 32 Current Control data describe in detail after a while.
Certainly, the curve of other types also may have certain effect, can cushion the effect of rotor inertia as SIN function characteristic curve of triangle characteristic curve, trapezoidal characteristic curve and half period etc., reduce the vibration of motor, but in specific embodiments of the invention, be that example describes only with the cosine characteristic curve.
Simultaneously, the present invention is also at rotating speed control Motor torque.
Although adopt the stepping motor pole coil electric current of cosine curve mode, vibration in the time of can reducing motor and slowly run, if but only adopt cosine curve to control a kind of mode, when the extremely low border near the motor normal rotation of motor speed, vibrate still byer force, noise still is difficult to meet design requirement.
The control Motor torque can reduce vibration, and moment of torsion and the rotating speed with motor associates exactly.The moment of torsion of motor and the relation of rotating speed are near shown in Figure 1.
The moment of torsion of motor output had passed through the amplification of decelerator before being added to load, often substantially exceed that to drive load required, especially when the slow-speed of revolution, was added in moment of torsion in the load and can surpasses tens times of demand.The deposit of this moment of torsion is unnecessary, can reduce the moment of torsion of motor output fully.
Therefore, the present invention adjusts the numerical value of A in the expression formula (1) according to different rotating speeds when the electric current of control step motor coil changes with cosine curve, carry out moment of torsion control by the amplitude that the control coil electric current changes, the value of A is big more, and the moment of torsion of motor output is just big more, otherwise then little.When rotating speed is low, reduce the numerical value of A, reduce moment of torsion, improve the numerical value of suitably adjusting A along with rotating speed.Therefore, in the machine operation range of speeds, under the prerequisite that guarantees satisfied driving load, we are provided with the value of different " A " under different rotating speeds, obtained one group of amplitude difference, different cosine curve of cycle, can turn round well when each rotating speed to guarantee motor.
Simultaneously, adopt open loop approach control coil electric current in the specific embodiments of the invention, feedback loop reference signal not, only come the control coil electric current according to the Current Control data of the optimization that obtains in advance, thereby reduce effectively because the fluctuation of feedback signal causes the rough effect of variation of coil current, can reduce vibration and the motor noise (mainly be rotate sound) of motor significantly in conjunction with above-mentioned cosine curve and control torque dual mode again at each rotating speed.
Specific embodiments of the invention are the obtain manner that example describes the different cosine curve of one group of amplitude difference, cycle with the two-phase induction motor.
Because that the decision motor speed is Δ T in the formula (1), Δ T is big more, and motor speed is slow more, otherwise rotating speed is fast more.
Has relation one to one between Δ T and the motor speed, therefore, under the situation that Δ T determines, rotating speed of motor is definite, as long as find the proper A value this moment, make motor under the situation of low-speed running, its noise, vibration can obtain a cosine characteristic curve under this rotating speed within certain scope.
As shown in Figure 2, obtain the schematic diagram of system, comprising for closed loop cosine characteristic curve group of the present invention:
Single-chip microcomputer is used to produce the coil current make-and-break signal of stepping motor and the cosine characteristic curve of different Δ T; The theoretical maximum of the initial value of the amplitude of the waveform of this cosine characteristic curve and coil current sampled signal (motor adds power supply voltage/(coil resistance+sampling resistor) * sampling resistor) is approaching;
The D/A modular converter is used for the cosine characteristic curve that single-chip microcomputer produces is carried out the D/A conversion;
Comparator is used for producing dynamic current switching control signal according to the cosine characteristic curve after the D/A conversion and the coil current sampled signal of stepping motor;
The stepping motor condition judgment module, be used to judge whether vibration and noise when stepping motor turns round meet the demands under this speed, and the amplitude of notice monolithic machine maintenance changing cosine characteristic curve, i.e. A value in the formula (1), vibration and noise when stepping motor turns round under this speed meet the demands.
Stepper motor driving circuit is according to the running of coil current make-and-break signal and current switching control signal control step motor, and to the coil current sampled signal of comparator output stepping motor;
Single-chip microcomputer is revised the amplitude of cosine characteristic curve and can be utilized step-length that the A value is adjusted.
Owing to there is the restriction of aim curve (cosine characteristic curve), make coil current follow the tracks of the fluctuating of aim curve all the time and change.Therefore,, just can change the Changing Pattern of motor coil electric current, use the curve of the shape of appointment to carry out the purpose that the stepping motor segmentation is controlled by changing the cosine characteristic curve.
Obtain the closed loop current control data that system can obtain the coil current value of the cosine characteristic curve under each speed by above-mentioned cosine characteristic curve group.
In the specific embodiments of the invention, adopt 2 kinds of modes that stepping motor is controlled: closed-loop fashion and open loop approach.
Under closed-loop fashion, stepping motor control apparatus of the present invention comprises:
Cosine characteristic curve group storage device is used to preserve the closed loop current control data that obtains the cosine characteristic under each corresponding rotating speed that system obtains by cosine characteristic curve group; The number of the Current Control data of the cosine characteristic under the corresponding rotating speed is relevant with N;
The stepping motor coil current adopts module, is used to obtain the sampled data of the coil current of stepping motor;
The step motor control module is used for adjusting according to the coil current of stepping motor and the cosine characteristic curve under this rotating speed the Current Control data of stepping motor, makes the coil current and the cosine characteristic curves of stepping motor.
Under open loop approach, also need obtain the open-loop current control data.
The acquisition module of open-loop current control data comprises as shown in Figure 3:
Closed loop cosine characteristic curve group is obtained system, is used to export the vibration that makes stepping motor of corresponding each rotating speed and closed loop current control data that noise meets the demands to first stepper motor driving circuit;
The open-loop current control data obtains system, is used to export the open-loop current control data of corresponding each rotating speed to second stepper motor driving circuit;
Stepping motor coil current judge module, (the two is the model stepping motor all identical with specification with second stepping motor to be used to receive first stepping motor, and load is identical) the coil current sampled signal, and judge between the coil current sampled signal of first stepping motor and second stepping motor error whether within the specific limits, if error within the specific limits, notice open-loop current control data obtains system and preserves open-loop current control data under this rotating speed, otherwise notice open-loop current control data obtains system and adjusts the open-loop current control data, error between the coil current sampled signal of first stepping motor and second stepping motor keeps within the specific limits, and preserve open-loop current control data this rotating speed under by preserving the module (not shown) this moment.
Because when the closed loop current control data under the corresponding rotating speed is worked first stepping motor under specific rotating speed, vibration and noise all satisfy the demands, therefore when using the open-loop current control data, the coil current sampled signal of first stepping motor and second stepping motor is fitted like a glove, or the error between the two is when keeping within the specific limits, when corresponding open-loop current control data also can make second stepping motor work under specific rotating speed, vibration and noise all satisfied the demands.
By repeating the open-loop current control data that can obtain under the friction speed.
Certainly, also can only utilize a stepping motor, obtain the coil current sampled signal with the control of closed loop current control data earlier, utilize the open-loop current control data to control this stepping motor then, coil current sampled signal or error consistent with coil current sampled signal under the closed loop current control data kept within limits.
Under open loop approach, stepping motor control apparatus of the present invention comprises:
Open-loop current control data storage device is used to preserve the open-loop current control data corresponding with the closed loop current control data with cosine characteristic;
The step motor control module, be used for realizing Stepping Motor Control according to the open-loop current control data, promptly under different speed, the open-loop current control data of correspondence is input to stepper motor driving circuit, the coil current that makes stepping motor is by aforesaid cosine characteristic curvilinear motion.
Below in conjunction with the two-phase stepping motor of camera pan-tilt, and N=32 is that example is described in more detail the present invention.
Two-phase stepping motor, two pole coils are arranged, will be with 2 Current Control Data Control independently, the electric current of controlling in one of them coil rises, the electric current of another coil descends simultaneously, a coil current decline, another electric current rise then, and so repeatedly, the may command rotor rotates towards a direction; If put upside down the control order of two coils, then motor counter-rotating.
At first the motor drive direction parameter of the stepping motor by step motor control module input is determined the order of control coil electric current;
Motor speed parameter by the input of step motor control module is determined the maximum speed that motor will reach in rotation subsequently; And minimum speed is set at current rotating speed;
According to current rotating speed, the step motor control module is selected 32 closed loop current control datas or the open-loop current control data under the corresponding rotating speed;
The initial current of two coils is set, for the coil that electric current will rise, the Current Control data when N=0 is set, the Current Control data the when coil that electric current will descend is provided with N=16;
Every the time of Δ T,, the Current Control data of two coils are updated to next data respectively according to 32 closed loop current control datas or open-loop current control data; After 32 closed loop current control datas or open-loop current control data have all adopted, stepping motor also is in present speed, then recycling these 32 closed loop current control datas or open-loop current control data are controlled stepping motor, till stepping motor enters into next speed.
According to predetermined motor stroke at each rotating speed in the acceleration, deceleration process, when motor is finished stroke at current rotating speed, when raising to higher one-level rotating speed, upgrade 32 closed loop current control datas or open-loop current control data, promptly select 32 closed loop current control datas or open-loop current control data under the corresponding rotating speed according to the stepping motor rotating speed, repeat above-mentioned steps, finish the running under the new rotating speed, be elevated to maximum speed up to motor speed.
When the step motor control module receives the instruction of brake, with current rotating speed is that starting point reduces speed now, according to predetermined motor stroke at each rotating speed in the acceleration, deceleration process, upgrade the Current Control data, finish the running under the new rotating speed, stroke when finishing minimum speed cuts off the electric current of two coils simultaneously, and motor stops.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (13)
1. a Stepping Motor Control method is characterized in that, comprising:
Steps A, obtain one group corresponding with the stepping motor rotating speed, and make stepping motor pole coil electric current continually varying stepping motor pole coil Current Control data;
Step B utilizes the stepping motor pole coil Current Control Data Control stepping motor under the corresponding rotating speed.
2. method according to claim 1 is characterized in that, in the described steps A, stepping motor pole coil electric current changes continuously by cosine characteristic.
3. method according to claim 2 is characterized in that, in the described steps A, stepping motor pole coil Current Control data are the open-loop current control data; Among the described step B, utilize open loop approach control step motor.
4. method according to claim 3 is characterized in that, described steps A specifically comprises:
Steps A 1 produces the coil current make-and-break signal of stepping motor and the cosine characteristic curve under the different rotating speeds;
Steps A 2 is carried out the D/A conversion with the cosine characteristic curve;
Steps A 3 produces dynamic current switching control signal according to the cosine characteristic curve after the D/A conversion and the coil current sampled signal of stepping motor;
Steps A 4 is utilized coil current make-and-break signal and dynamic current switching control signal control step motor;
Steps A 5, the amplitude of modification cosine characteristic curve, vibration and noise when stepping motor turns round under this rotating speed are in the preset range, obtain closed loop current control data under this rotating speed;
Steps A 6, repeating step A1～A5, the vibration and the noise that obtain when making the stepping motor running under each rotating speed are in the interior closed loop current control data of preset range;
Steps A 7 utilizes the closed loop current control data to control first stepping motor;
Steps A 8 is utilized initial open loop Current Control Data Control second stepping motor;
Steps A 9 is revised initial open loop Current Control data, and the error between the coil current sampled signal of first stepping motor and second stepping motor is in the preset range, obtains the open-loop current control data under the corresponding rotating speed.
5. method according to claim 4 is characterized in that, first stepping motor and second stepping motor are same model, specification stepping motor.
6. method according to claim 2 is characterized in that, in the described steps A, stepping motor pole coil Current Control data are the closed loop current control data; Among the described step B, utilize closed-loop fashion control step motor.
7. method according to claim 6 is characterized in that, described steps A specifically comprises:
Steps A 1 produces the coil current make-and-break signal of stepping motor and the cosine characteristic curve under the different rotating speeds;
Steps A 2 is carried out the D/A conversion with the cosine characteristic curve;
Steps A 3 produces dynamic current switching control signal according to the cosine characteristic curve after the D/A conversion and the coil current sampled signal of stepping motor;
Steps A 4 is utilized coil current make-and-break signal and dynamic current switching control signal control step motor;
Steps A 5, the amplitude of modification cosine characteristic curve, vibration and noise when stepping motor turns round under this rotating speed are in the preset range, obtain closed loop current control data under this rotating speed;
Steps A 6, repeating step A1～A5, the vibration and the noise that obtain when making the stepping motor running under each rotating speed are in the interior closed loop current control data of preset range.
8. a Stepping Motor Control device is characterized in that, comprising:
Stepping motor pole coil Current Control data acquisition module, be used to obtain one group corresponding with the stepping motor rotating speed, and make stepping motor pole coil electric current continually varying stepping motor pole coil Current Control data;
The step motor control module is utilized the stepping motor pole coil Current Control Data Control stepping motor under the corresponding rotating speed.
9. device according to claim 8 is characterized in that, described stepping motor pole coil electric current is changed to cosine characteristic continuously to be changed continuously.
10. device according to claim 9 is characterized in that, stepping motor pole coil Current Control data are the open-loop current control data; The step motor control module also is used to utilize open loop approach control step motor.
11. device according to claim 10 is characterized in that, described stepping motor pole coil Current Control data acquisition module specifically comprises:
Single-chip microcomputer is used to produce the coil current make-and-break signal of stepping motor and the cosine characteristic curve under the different rotating speeds;
The D/A modular converter is used for the cosine characteristic curve is carried out the D/A conversion;
Comparator is used for producing dynamic current switching control signal according to the cosine characteristic curve after the D/A conversion and the coil current sampled signal of stepping motor;
The stepping motor condition judgment module, be used to judge whether vibration and noise when stepping motor turns round meet the demands under each speed, when meeting the demands, also be used to notify monolithic machine maintenance to change the amplitude of cosine characteristic curve, vibration and noise when stepping motor turns round under this rotating speed are in preset range;
Preserve module, be used to preserve and make stepping motor vibration and the noise closed loop current control data that is in preset range in the running;
Stepping motor pole coil open-loop current control data acquisition module, be used to obtain the open-loop current control data, during described open-loop current control data control step motor, the stepping motor current sampling data under the current sampling data of stepping motor and the closed loop current control data coincide or error in preset range.
12. device according to claim 9 is characterized in that, stepping motor pole coil Current Control data are the closed loop current control data; The step motor control module also is used to utilize closed-loop fashion control step motor.
13. device according to claim 10 is characterized in that, described stepping motor pole coil Current Control data acquisition module specifically comprises:
Single-chip microcomputer is used to produce the coil current make-and-break signal of stepping motor and the cosine characteristic curve under the different rotating speeds;
The D/A modular converter is used for the cosine characteristic curve is carried out the D/A conversion;
Comparator is used for producing dynamic current switching control signal according to the cosine characteristic curve after the D/A conversion and the coil current sampled signal of stepping motor;
The stepping motor condition judgment module, be used to judge whether vibration and noise when stepping motor turns round meet the demands under each speed, when meeting the demands, also be used to notify monolithic machine maintenance to change the amplitude of cosine characteristic curve, vibration and noise when stepping motor turns round under this rotating speed are in preset range;
Preserve module, be used to preserve and make stepping motor vibration and the noise closed loop current control data that is in preset range in the running.
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| CN 200610084669 CN1858986A (en) | 2006-05-29 | 2006-05-29 | Control method and method for step motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101388634B (en) * | 2007-09-12 | 2011-06-15 | 东方马达株式会社 | Step motor controlling apparatus |
| CN102109855A (en) * | 2010-12-21 | 2011-06-29 | 天津市亚安科技电子有限公司 | Method and system for adjusting motor speed curve of holder |
| CN102843082A (en) * | 2012-09-06 | 2012-12-26 | 山东省科学院自动化研究所 | Self-adaptive control algorithm of pointer of stepper motor type motormeter |
| CN103581514A (en) * | 2012-08-06 | 2014-02-12 | 苏州工业园区凯艺精密科技有限公司 | Automatic tracking, recording and broadcasting device |
| CN108883704A (en) * | 2016-03-22 | 2018-11-23 | 捷豹路虎有限公司 | traction controller and method |
| WO2020108468A1 (en) * | 2018-11-27 | 2020-06-04 | 歌尔股份有限公司 | Method for driving stepper motor, driver thereof, and computer-readable storage medium |
-
2006
- 2006-05-29 CN CN 200610084669 patent/CN1858986A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101388634B (en) * | 2007-09-12 | 2011-06-15 | 东方马达株式会社 | Step motor controlling apparatus |
| CN102109855A (en) * | 2010-12-21 | 2011-06-29 | 天津市亚安科技电子有限公司 | Method and system for adjusting motor speed curve of holder |
| CN102109855B (en) * | 2010-12-21 | 2013-11-20 | 天津市亚安科技股份有限公司 | Method and system for adjusting motor speed curve of holder |
| CN103581514A (en) * | 2012-08-06 | 2014-02-12 | 苏州工业园区凯艺精密科技有限公司 | Automatic tracking, recording and broadcasting device |
| CN102843082A (en) * | 2012-09-06 | 2012-12-26 | 山东省科学院自动化研究所 | Self-adaptive control algorithm of pointer of stepper motor type motormeter |
| CN102843082B (en) * | 2012-09-06 | 2014-12-24 | 山东省科学院自动化研究所 | Self-adaptive control algorithm of pointer of stepper motor type motormeter |
| CN108883704A (en) * | 2016-03-22 | 2018-11-23 | 捷豹路虎有限公司 | traction controller and method |
| WO2020108468A1 (en) * | 2018-11-27 | 2020-06-04 | 歌尔股份有限公司 | Method for driving stepper motor, driver thereof, and computer-readable storage medium |
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