CN204578317U - The stepping motor of a kind of S type curve controlled acceleration and deceleration - Google Patents
The stepping motor of a kind of S type curve controlled acceleration and deceleration Download PDFInfo
- Publication number
- CN204578317U CN204578317U CN201520167826.7U CN201520167826U CN204578317U CN 204578317 U CN204578317 U CN 204578317U CN 201520167826 U CN201520167826 U CN 201520167826U CN 204578317 U CN204578317 U CN 204578317U
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- rotating shaft
- speed control
- stepping motor
- control rotating
- fixedly connected
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The purpose of this utility model is to provide the stepping motor of a kind of S type curve controlled acceleration and deceleration.The technical solution of the utility model is: by cap, motor body, rotating shaft with connect plug and form, and motor body inside is also provided with front rotor, front speed control rotating shaft, permanent-magnet steel, rear speed control rotating shaft, rear rotor, coil and stator.Permanent-magnet steel both sides are therein equipped with speed control rotating shaft after a front speed control rotating shaft and respectively, and these two speed control rotating shafts are all the feed speed control adopting the ball bearing of acceleration and deceleration to carry out auxiliary adjustment stepping motor, and coordinate control system.This control system mainly finds out a function that perfect can agree with arbitrary motion control to determine S rate curve, in order to simplified operation process, reduces operand; Be convenient to designer's programming and safeguard.This S curve control mode can be transplanted to the application platform of arbitrary stepping motor, and motor operates steadily, and noise is minimum, meets system requirements completely; There is very high practical value.
Description
Technical field
The utility model relates to areas of information technology, particularly relates to the stepping motor of a kind of S type curve controlled acceleration and deceleration.
Background technology
Since stepping motor is invented, stepping motor obtains in fields such as intelligent industrial control and social productions and applies very widely, the history of existing last 100 years so far.Its speed of service and position are only controlled by frequency and the number of digit pulse, have simple to operate, be easy to the features such as maintenance.The torque factor of stepping motor is the raising along with rotating speed, and its moment reduces gradually.Therefore, will realize ideal control in actual applications, general needs solves two problems: be first good speeds control, make the moment exporting change of the change of speed and motor self agree with as far as possible; Next is the shake and the noise that reduce motor as much as possible, makes it operate more level and smooth.Usually we use integration to solve.
The speed control rotating shaft after the permanent-magnet steel both sides of inside are equipped with a front speed control rotating shaft and one respectively of this stepping motor, these two speed control rotating shafts are all the feed speed control adopting the ball bearing of acceleration and deceleration to carry out auxiliary adjustment stepping motor, and coordinate control system.This control system mainly solves S curve in motion control and is difficult to determine, is difficult to the problem that regulates at any time, finds out one and perfect can agree with function that arbitrary motion controls to determine S rate curve, and it is discrete, obtains complete speed simulation form.Only need the minimum operation speed of given motor, highest running speed and parameter, a complete S curve can being determined, by adjusting this 3 parameters, the smoothness of S curve can be regulated.Therefore, from theory, this control mode is applicable to any one step motor control system.According to used hardware and mechanical facility, coordinating segmentation, by adjusting above 3 parameters, always can find optimized parameter; And this system institute operation parameter is less, and the no-load speed of minimum operation speed and motor, namely highest running speed expects the maximum speed reached.Therefore enormously simplify calculating process, reduce operand; Its computing formula used only has two, makes people very clear, is convenient to designer's programming and safeguards.And this S curve control mode can be transplanted to the application platform of arbitrary stepping motor, and motor operates steadily, and noise is minimum, meets system requirements completely; There is very high practical value.
Utility model content
The purpose of this utility model is to provide the stepping motor of a kind of S type curve controlled acceleration and deceleration.
The technical solution of the utility model is: the stepping motor of a kind of S type curve controlled acceleration and deceleration, it is characterized in that: by cap, motor body, rotating shaft and connect plug composition, described motor body is positioned at the side of cap, described motor body and cap are for being fixedly connected with, described cap is also provided with bearing, described bearing is positioned at the middle part of cap, described bearing and rotating shaft are for being fixedly connected with, described motor body is also provided with front rotor, front speed control rotating shaft, permanent-magnet steel, rear speed control rotating shaft, rear rotor, coil and stator, described front rotor is positioned at the inside of motor body, described front rotor and rotating shaft are for being fixedly connected with, described front speed control rotating shaft is positioned at the side of front rotor, described front speed control rotating shaft with rotating shaft for being fixedly connected with, described permanent-magnet steel is positioned at the side of front speed control rotating shaft, described permanent-magnet steel and rotating shaft are for being fixedly connected with, described rear speed control rotating shaft is positioned at the side of permanent-magnet steel, described rear speed control rotating shaft with rotating shaft for being fixedly connected with, described rear rotor is positioned at the side of rear speed control rotating shaft, described rear rotor and rotating shaft are for being fixedly connected with, described coil is positioned at front speed control rotating shaft, the outside of permanent-magnet steel and rear speed control rotating shaft, described coil and stator are for being fixedly connected with, described stator is positioned at the outside of coil, described stator and motor body are for being fixedly connected with, described rotating shaft is positioned at the inner side of cap and motor body, described rotating shaft runs through bearing, front rotor, front speed control rotating shaft, permanent-magnet steel, rear speed control rotating shaft, rear rotor, coil and stator are for being fixedly connected with.
Further, this stepping motor described is opened loop control element, and the signal sent is pulse control signal.
Further, described bearing is ball bearing.
Further, described front speed control rotating shaft is the ball bearing of these auxiliary acceleration and deceleration in stepping motor inside.
Further, described rear speed control rotating shaft is the ball bearing of these auxiliary acceleration and deceleration in stepping motor inside.
Further, the stitch connecing plug described in is conducting metal material.
The beneficial effects of the utility model are: the speed control rotating shaft after the permanent-magnet steel both sides of inside are equipped with a front speed control rotating shaft and respectively of this stepping motor, these two speed control rotating shafts are all the feed speed control adopting the ball bearing of acceleration and deceleration to carry out auxiliary adjustment stepping motor, and coordinate control system.This step motor control system mainly solves S curve in motion control to be difficult to determine, to be difficult to the problem that regulates at any time, find out a function that perfect can agree with arbitrary motion control to determine S rate curve, and it is discrete, obtain complete speed simulation form.Only need the minimum operation speed of given motor, highest running speed and parameter, a complete S curve can being determined, by adjusting this 3 parameters, the smoothness of S curve can be regulated.Therefore, from theory, this control mode is applicable to any one control system.According to used hardware and mechanical facility, coordinating segmentation, by adjusting above 3 parameters, always can find optimized parameter; And this system institute operation parameter is less, and the no-load speed of minimum operation speed and motor, namely highest running speed expects the maximum speed reached.Therefore enormously simplify calculating process, reduce operand; Its computing formula used only has two, makes people very clear, is convenient to designer's programming and safeguards.And this S curve control mode can be transplanted to the application platform of arbitrary stepping motor, and motor operates steadily, and noise is minimum, meets system requirements completely; There is very high practical value.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is operation principle connection layout of the present utility model.
Fig. 3 is principle formula figure of the present utility model.
Wherein: 1, cap 2, motor body 3, bearing
4, front rotor 5, front speed control rotating shaft 6, permanent-magnet steel
7, rear speed control rotating shaft 8, rear rotor 9, coil
10, stator 11, rotating shaft 12, plug is connect
Embodiment
Below in conjunction with accompanying drawing, brief description is made to embodiment of the present utility model.
As Fig. 1, Fig. 2, the stepping motor of the acceleration and deceleration of a kind of S type curve controlled shown in Fig. 3, is characterized in that: by cap 1, motor body 2, rotating shaft 11 and connect plug 12 and form, described motor body 2 is positioned at the side of cap 1, described motor body 2 and cap 1 are for being fixedly connected with, described cap 1 is also provided with bearing 3, described bearing 3 is positioned at the middle part of cap 1, described bearing 3 and rotating shaft 11, for being fixedly connected with, described motor body 2 are also provided with front rotor 4, front speed control rotating shaft 5, permanent-magnet steel 6, rear speed control rotating shaft 7, rear rotor 8, coil 9 and stator 10, described front rotor 4 is positioned at the inside of motor body 2, described front rotor 4 and rotating shaft 11 are for being fixedly connected with, described front speed control rotating shaft 5 is positioned at the side of front rotor 4, described front speed control rotating shaft 5 with rotating shaft 11 for being fixedly connected with, described permanent-magnet steel 6 is positioned at the side of front speed control rotating shaft 5, described permanent-magnet steel 6 and rotating shaft 11 are for being fixedly connected with, described rear speed control rotating shaft 7 is positioned at the side of permanent-magnet steel 6, described rear speed control rotating shaft 7 with rotating shaft 11 for being fixedly connected with, described rear rotor 8 is positioned at the side of rear speed control rotating shaft 7, and described rear rotor 8 is with rotating shaft 11 for being fixedly connected with, and described coil 9 is positioned at front speed control rotating shaft 5, the outside of permanent-magnet steel 6 and rear speed control rotating shaft 7, described coil 9 and stator 10 are for being fixedly connected with, and described stator 10 is positioned at the outside of coil 9, and described stator 10 and motor body 2 are for being fixedly connected with, described rotating shaft 11 is positioned at the inner side of cap 1 and motor body 2, and described rotating shaft 11 runs through bearing 3, front rotor 4, front speed control rotating shaft 5, permanent-magnet steel 6, rear speed control rotating shaft 7, rear rotor 8, coil 9 and stator 10 are for being fixedly connected with.This stepping motor described is opened loop control element, and the signal sent is pulse control signal.Described bearing 3 is ball bearing.Described front speed control rotating shaft 5 is the ball bearing of these auxiliary acceleration and deceleration in stepping motor inside.Described rear speed control rotating shaft 7 is the ball bearing of these auxiliary acceleration and deceleration in stepping motor inside.The described stitch connecing plug 12 is conducting metal material.
Working method: this stepping motor speed control rotating shaft 7 after the permanent-magnet steel both sides of motor body 2 inside are equipped with a front speed control rotating shaft 5 and respectively, these two speed control rotating shafts are all the feed speed control adopting the ball bearing of acceleration and deceleration to carry out auxiliary adjustment stepping motor, and coordinate control system.This step motor control system singlechip chip and integrated interface is utilized cap 1 that assembly bearing 3, front rotor 4, front speed control rotating shaft 5, permanent-magnet steel 6, rear speed control rotating shaft 7, rear rotor 8, coil 9 and stator 10 are all encapsulated in control system inside, can reduce the volume of system like this; And the assembling simplifying system forms step.Send pulse signal by the singlechip chip of single-chip computer control system inside and be delivered in control system by integrated interface, then being integrated by control system and analyzed, instruction is passed to stepping motor by power control line, having carried out the control to load.This system adopts S type curve feed speed control to the control of stepping motor.Mainly solve S curve in motion control to be difficult to determine, to be difficult to the problem that regulates at any time, find out one and perfect can agree with function that arbitrary motion controls to determine S rate curve, and it is discrete, obtain complete speed simulation form.
The tangent mode of identical, that opening direction the is contrary parabola of two strips is used to construct a S curve in the middle of this system.Wherein, the parabolical symmetry axis of opening upwards is y-axis, as shown in Figure 3.Parabola y1 is identical with y2 parabolic shape.Therefore the openings of sizes of y1 with y2 is identical, therefore the value of a is equal.
As shown in Figure 3, make parabola y1 and y2 symmetrical about point of contact.The symmetry axis of parabola y2 is x=-b, then the abscissa at point of contact is
Again point of contact coordinate is substituted into two parabolical formula: y1=ax respectively
2+ c1 and y2=-a (x+b)
2+ c2, simultaneous equations can obtain:
summit formula from parabola y2: c2 is the maximum speed in rate curve.C 1 is the toggle speed of motor.
By arranging toggle speed and maximum speed and parabolical openings of sizes a, we can construct a complete S curve completely.And the absolute value of a determines parabolical openings of sizes, a is larger, and opening is larger, and curve is more slow, otherwise curve is steeper.
When t value is less than the abscissa at point of contact, we use the formula of parabola y1 to calculate present speed; When t value is more than or equal to point of contact abscissa, we use the formula of parabola y2 to calculate present speed.So just, the discrete point of rate curve can be obtained.By speed data stored in array, when motor accelerates, read forward fetches data; The reverse read data when decelerating through motor.If heavier loads, can coordinate motor segment realize smoothness run, ensure that motor without lose step and without overshoot.On this basis, we can by accurately controlling the run location of motor to the control of number of motor steps.
In sum, this step motor control system only needs minimum operation speed c1, the highest running speed c2 and parameter a of given motor, can determining a complete S curve, by adjusting this 3 parameters, can regulate the smoothness of S curve.Therefore, from theory, this control mode is applicable to any one step motor control system.According to used hardware and mechanical facility, coordinating segmentation, by adjusting above 3 parameters, always can find optimized parameter; And this system institute operation parameter is less, and the no-load speed of minimum operation speed and motor, namely highest running speed expects the maximum speed reached.Therefore enormously simplify calculating process, reduce operand; Its computing formula used only has two, makes people very clear, is convenient to designer's programming and safeguards.And this S curve control mode can be transplanted to the application platform of arbitrary stepping motor, and motor operates steadily, and noise is minimum, meets system requirements completely; There is very high practical value.
Above an embodiment of the present utility model has been described in detail, but described content being only preferred embodiment of the present utility model, can not being considered to for limiting practical range of the present utility model.All equalizations done according to the utility model application range change and improve, and all should still belong within patent covering scope of the present utility model.
Claims (6)
1. the stepping motor of S type curve controlled acceleration and deceleration, it is characterized in that: by cap, motor body, rotating shaft and connect plug composition, described motor body is positioned at the side of cap, described motor body and cap are for being fixedly connected with, described cap is also provided with bearing, described bearing is positioned at the middle part of cap, described bearing and rotating shaft are for being fixedly connected with, described motor body is also provided with front rotor, front speed control rotating shaft, permanent-magnet steel, rear speed control rotating shaft, rear rotor, coil and stator, described front rotor is positioned at the inside of motor body, described front rotor and rotating shaft are for being fixedly connected with, described front speed control rotating shaft is positioned at the side of front rotor, described front speed control rotating shaft with rotating shaft for being fixedly connected with, described permanent-magnet steel is positioned at the side of front speed control rotating shaft, described permanent-magnet steel and rotating shaft are for being fixedly connected with, described rear speed control rotating shaft is positioned at the side of permanent-magnet steel, described rear speed control rotating shaft with rotating shaft for being fixedly connected with, described rear rotor is positioned at the side of rear speed control rotating shaft, described rear rotor and rotating shaft are for being fixedly connected with, described coil is positioned at front speed control rotating shaft, the outside of permanent-magnet steel and rear speed control rotating shaft, described coil and stator are for being fixedly connected with, described stator is positioned at the outside of coil, described stator and motor body are for being fixedly connected with, described rotating shaft is positioned at the inner side of cap and motor body, described rotating shaft runs through bearing, front rotor, front speed control rotating shaft, permanent-magnet steel, rear speed control rotating shaft, rear rotor, coil and stator are for being fixedly connected with.
2. the stepping motor of a kind of S type curve controlled acceleration and deceleration according to claim 1, it is characterized in that: this stepping motor described is opened loop control element, and the signal sent is pulse control signal.
3. the stepping motor of a kind of S type curve controlled acceleration and deceleration according to claim 1, is characterized in that: described bearing is ball bearing.
4. the stepping motor of a kind of S type curve controlled acceleration and deceleration according to claim 1, is characterized in that: described front speed control rotating shaft is the ball bearing of these auxiliary acceleration and deceleration in stepping motor inside.
5. the stepping motor of a kind of S type curve controlled acceleration and deceleration according to claim 1, is characterized in that: described rear speed control rotating shaft is the ball bearing of these auxiliary acceleration and deceleration in stepping motor inside.
6. the stepping motor of a kind of S type curve controlled acceleration and deceleration according to claim 1, is characterized in that: described in connect plug stitch be conducting metal material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520167826.7U CN204578317U (en) | 2015-03-24 | 2015-03-24 | The stepping motor of a kind of S type curve controlled acceleration and deceleration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520167826.7U CN204578317U (en) | 2015-03-24 | 2015-03-24 | The stepping motor of a kind of S type curve controlled acceleration and deceleration |
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| Publication Number | Publication Date |
|---|---|
| CN204578317U true CN204578317U (en) | 2015-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520167826.7U Expired - Fee Related CN204578317U (en) | 2015-03-24 | 2015-03-24 | The stepping motor of a kind of S type curve controlled acceleration and deceleration |
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| Country | Link |
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| CN (1) | CN204578317U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110286653A (en) * | 2019-06-14 | 2019-09-27 | 杭州爱科科技股份有限公司 | Speed calculation method for arbitrary curve movement S feed speed control |
| CN113342081A (en) * | 2021-06-25 | 2021-09-03 | 大连法斯特尔机电有限责任公司 | Efficient servo motor acceleration and deceleration control method |
-
2015
- 2015-03-24 CN CN201520167826.7U patent/CN204578317U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110286653A (en) * | 2019-06-14 | 2019-09-27 | 杭州爱科科技股份有限公司 | Speed calculation method for arbitrary curve movement S feed speed control |
| CN113342081A (en) * | 2021-06-25 | 2021-09-03 | 大连法斯特尔机电有限责任公司 | Efficient servo motor acceleration and deceleration control method |
| CN113342081B (en) * | 2021-06-25 | 2023-11-14 | 大连法斯特尔机电有限责任公司 | Acceleration and deceleration control method for servo motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20160324 |
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| CF01 | Termination of patent right due to non-payment of annual fee |