TW200917643A - Method for controlling acceleration and deceleration of stepping motor and function generating apparatus thereof - Google Patents

Method for controlling acceleration and deceleration of stepping motor and function generating apparatus thereof Download PDF

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Publication number
TW200917643A
TW200917643A TW96137084A TW96137084A TW200917643A TW 200917643 A TW200917643 A TW 200917643A TW 96137084 A TW96137084 A TW 96137084A TW 96137084 A TW96137084 A TW 96137084A TW 200917643 A TW200917643 A TW 200917643A
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Taiwan
Prior art keywords
stepping motor
acceleration
deceleration
interval
pulse signal
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TW96137084A
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Chinese (zh)
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TWI339003B (en
Inventor
Wen-Shang Chuang
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Kinpo Elect Inc
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Publication of TWI339003B publication Critical patent/TWI339003B/en

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Abstract

A method for controlling acceleration and deceleration of a stepping motor and function generating apparatus thereof are provided. The method includes the following steps. Firstly, a plurality of accelerating interval times and a plurality of decelerating interval times are calculated according to a controlling function. Modulating the time, in which the stepping motor moves step by step, through accelerating interval times and decelerating interval times. Therefore, the present invention efficiently decreases the damage of the stepping motor.

Description

^352twf.doc/p 200917643 IX. Description of the Invention: [Technical Field] The present invention relates to a control method for stepping motor acceleration and deceleration, and in particular to a control method for nonlinear acceleration and deceleration of an 'in-age motor . [Prior Art] With the development of the motor industry in the past 100 years, various specifications and types of motors have been widely used in different fields. Because the stepping motor has good angular positioning control characteristics, it has the advantages of low cost and (4) manufacturing. Therefore, the stepping motor can be widely used in various production, manufacturing, inspection equipment, and consumer electronic products, etc., which have mobility and positioning. The reason why the stepping motor has the positioning characteristic is that it is driven by the tooth-by-tooth movement during the driving, so that it can generate good positioning characteristics by controlling and accumulating the number of rotating teeth, but also because it is rotating. The tooth-tooth movement caused by the magnetic field change= occurs, so that if the rotation speed is increased, the frequency of the pulse signal input by the pendulum is controlled to increase the rotation speed. On the other hand, if you want to reduce the speed, you need to control the reduced speed by reducing the frequency of the pulse signal of the input person. FIG. 1 is a graph showing linear acceleration and deceleration of a conventional stepping motor. Please refer to Fig. 1 ' to find that the conventional stepper motor will produce a sharp angle when switching from acceleration to constant speed. This sharp angle changes with the slope of the acceleration. However, if the slope of the acceleration is too large, it is likely to cause an excessive load on the stepping motor, which may cause damage to the stepping motor and noise. 200917643 r352twf.doc/p Figure 2 is not a conventional line diagram corresponding to Figure}. Please refer to Figure 2, you can see that the value of the acceleration curvature of the white stepping motor will be increased from the value of 75 straight line ^ ^ to the 127th step, accelerating the generation of excessive torque, and thus increasing the step drop into ^, = this dramatic change From the above, we can know the possibility of "= step. It will produce a sharp angle and the control of the drama and the acceleration and deceleration, and the damage and the loss of the step will be generated." The field in which the horse is performing acceleration/deceleration = the important problem that must be faced when effectively controlling the stepping motor becomes a stepping motor developed by various manufacturers. [Invention] The present invention provides: _ # i, & The field speed device and the stepping motor are generated in the present invention. The method of controlling the cattle and the column is based on the control method of the acceleration and deceleration of the two-in-one motor, including the next deceleration interval time, and the acceleration interval and the acceleration. At the interval, the gate fish, the middle jaw, and the cymbal are integers greater than 0. Using the upper (N+M+S) revolutions and the deceleration interval time, the modulating stepping motor moves step by step from the predetermined operation to the 笫.ν number. Time. When the above stepper motor time step The step includes a variable stepping motor in which the stepping motor is gradually moved when the number of steps is changed, and the time is adjusted by the i-th acceleration interval to accelerate the stepping motor. f N<i$(N+S When, i352twf.doc/p 200917643 uses the Nth acceleration interval to modulate the stepper motor so that the stepper motor maintains a certain speed. When (N+S) < i S (N+M+S) Using the (N+M+S+1-i) deceleration interval time to modulate the stepping motor to cause the stepping motor to decelerate 'where S is an integer greater than 〇, i is an integer and (N+M+S) The present invention provides a function generating device that cooperates with the above-described control method for stepping motor acceleration and deceleration. The function generating device includes a multiplier, a divider, and a adding benefit. The multiplication has a first input signal end and a second input signal end. And the first output end, wherein the second signal end is coupled to the first output end. The multiplier is configured to multiply a specific value received by the first signal end and a value on the second signal end. Having a first transmission end, a second transmission end, and a second output end, wherein the first transmission The first divider is coupled to the maximum interval time TS received by the second transmission end as a value output by the multiplier. The adder is configured to add the value of the division output to the minimum interval time τ. And according to the control, the number y. * When the above specific number is y〃, then the control function is .+ ' ' where X represents the number of steps of the stepper motor, y represents the step P represents the fine adjustment convergence factor, and q represents the coarse advance The acceleration and deceleration interval of the motor accelerates and decelerates. The control function calculates the stepping motor when the stepping motor rotates; the interval between the two days and the deceleration interval time, and according to the above-mentioned acceleration inter-step modulation stepping motor, the stepping motor is Accelerated switching to the core or material cut charm _, can present a relatively smooth 200917643 t352twf.d 〇 c / ps into the ::: r method will avoid the violent acceleration than the above features and advantages can be more obvious and easy to understand, below Specifically, in conjunction with the drawings, a detailed description will be given below. [Embodiment] Knowing the technical shooting, the stepping motor is called the acceleration/deceleration mode to drive the $, , ^ into the motor to rotate from the acceleration to the constant speed or by the constant speed switching Lu will produce severe acceleration, and the stepping The motor causes = ° so the 'this hair _ main technical woman's sign is to ride the above-mentioned missing to create a vertical two-function function, and by this control function to adjust the stepping motor on the acceleration and deceleration boring tool, thereby avoiding violent acceleration and loss of synchronization The damage caused by the situation to the stepper motor. In the following, the present invention will be described with reference to the present invention. However, it is not intended to describe the present invention. Those skilled in the art can modify the following embodiments in accordance with the spirit of the present invention, but still belong to the present invention. range. Before explaining the spirit of the present invention by way of example, it is first assumed that the control functions recited in the following embodiments will correspondingly produce a graph as shown in FIG. Please refer to Fig. 3, the vertical axis in Fig. 3 is the pulse interval time, and the horizontal axis is the number of steps in which the stepping motor rotates once. As can be seen from Fig. 3, the smaller the number of steps of the stepping motor in one rotation, the larger the pulse interval time, that is, the stepping motor has a slower rotation speed. Conversely, when the number of steps of the stepping motor is rotated at a time, the smaller the pulse interval time, that is, the stepping motor rotates faster. 200917643 4352twf.doc/p It is worth noting that the control function used to generate the graph shown in Figure 3 is as follows: House + ', where T represents the maximum interval time, I represents the minimum interval time, χ represents Stepping steps, y is the interval between stepping motor acceleration and deceleration, P is the fine tuning convergence factor, and q is the coarse convergence factor. Here, those skilled in the art can adjust the convergence speed of the above control function by changing the micro-test sub-p and the _ convergence factor q. In order to confirm the relationship between the above control function and FIG. First, suppose that T=260,000, p=2, q=6, Ι=5〇〇, χ=1, 2, 3, , ^ in the above control function are substituted into the above control function to obtain the curve shown in Figure 4. Figure. Please use the vertical axis in Figure 4 as the pulse interval time, the unit is the seconds (nan〇See°nd' (four); the horizontal axis in Figure 4 is the number of steps of the stepper motor. The result 'can be used as the basis for controlling the acceleration and deceleration of the stepping motor and the deceleration interval time' to adjust the deceleration of the stepping motor. w Describing the & The acceleration interval is reduced by the interval. The following is an example of the operation of stepping motor acceleration and deceleration. The same applies to the example of the pulse of the pulse signal of the first embodiment of the present invention. The vertical axis in Fig. 5 is the frequency of the pulse signal... Early:,,, ζ, the horizontal axis in Fig. 5 is the number of steps of the stepping motor. The songs S1 to S3 respectively indicate different coarse convergence factors (俨6 , 8, 丨〇) The buccal rate curve of the pulse signal generated. For convenience of explanation, the curve S1 is 200917643 (352 twf.doc/p example and the stepping motor has a total number of steps of rotation of the frequency range of 500 Hz to 5000 Hz. :^ u and pulse - the number of quick steps of the tiger is 236 steps, the number of steps of the deceleration is step by step, the number of steps is 58 steps, etc. , that is, the speed parameter of the speed step can be recognized as the above-mentioned control letter Ps. The 58th acceleration interval and the 58 interval deceleration interval required for the stepping motor acceleration and deceleration of the week. The above-mentioned % acceleration interval _ and 5 8 _interval deceleration _ time are used to adjust the time during which the stepping motor moves step by step in 352 1 moving steps. The time for stepping up the stepping motor is divided into three parts: acceleration, constant speed and deceleration. The way to drive the stepping motor to move step by step is as follows. The eye is combined with reference to Fig. 4 and Fig. 5. First, assume stepping During the acceleration process, the motor will run 58 rotation steps, and each number of rotation steps will correspond to an acceleration interval. In other words, the number of acceleration steps of the stepping motor is equal to that during the acceleration process. The number of steps required, that is, when the stepper motor is operated to the first number of steps, is equivalent to its operation to step i. For example, when the stepper motor needs to run to the first number of steps By waiting for the first acceleration interval A pulse signal is generated after the interval, so that the stepping motor rotates one step according to the pulse signal to the first rotation step. When the stepping motor needs to run to the second rotation step, 'by waiting for the second acceleration After the interval time, the /pulse signal is generated again, so that the stepping motor accelerates one step to the second number of rotation steps according to the pulse signal. Similarly, when the stepping motor needs to be operated, the third number of rotation steps will be borrowed. A pulse signal is generated after waiting for the third acceleration interval, to 4352twf.doc/p

200917643 causes the stepper motor to accelerate by one revolution step according to the pulse signal. j and so on, it can be found that the stepping motor is accelerated from the step of the i-th step, and is accelerated to the motor, and the motor is turned into a flat state in the last 58 steps. Since the acceleration interval time is: the jth acceleration interval time 2 acceleration interval times >..> the 58th acceleration interval time, and is linearly decreasing. Therefore, according to Fig. 4, all the pulse intervals are reciprocal (1/Xth pulse interval time, 4 integers and GG58) 对应 correspondingly push the frequency of the pulse signal as shown in Fig. 5 to step 58. In the middle of 'can see the pulse signal, the fresh increase into the motor is accelerating. 、 After the stepping motor has been operated until the 58th step, the knife of the constant speed is started to make the stepping motor at the same speed. Therefore, the motor is moved to the state at the 58th step. That is to say, in the first step, 'When the stepping motor needs to run until the code is issued, wait for the 58th acceleration interval to generate a pulse signal' to make the stepping motor rotate according to the pulse signal-step to the first 59 rotation steps = clear ground 'When the stepping motor needs to run to the 6th rotation step, it is also generated by waiting for the 58th acceleration interval - pulse signal to make the stepping motor rotate one step according to the pulse signal To the 60th Korean step. w In other words, the stepper motor runs from the 59th rotation step (step 59) to the 294th rotation step (step 294), and its operation is 11 200917643 1352twf.doc/p. When the stepping motor is in the same step, the waiting time is the same speed. When explaining the deceleration process of the stepping motor, since the deceleration interval time is also based on the above control ^ knows that, after comparing with Fig. 4, the deceleration interval _ can be found, so the second deceleration interval between the time interval and the interval > .. , is: between the two decelerations of the brother' and exhibits a nonlinear decrement. And know, step Γ: the interval between the waiting for each step of the second operation is 2^2? Second brother: The order in which the deceleration interval is used in sequence will be: "The 58 acceleration intervals are reversed, that is, this embodiment = sequentially use the 58th, 57th, 56th, ..., 1 deceleration interval Time to cause the stepper motor to slow down. For example, continue to participate in 4 and Figure 5, when the # stepper motor needs to run to the 295th step, the stepper motor is caused by waiting for the pulse after the 58th deceleration interval. This pulse signal is rotated one step to the 295th step. When the stepping motor needs to run to the 2%th rotation step, the stepping motor is rotated one step further according to the pulse signal by waiting for the 57th deceleration interval to generate a pulse signal again. Turn the number of steps. Similarly, when the stepping motor needs to run to the 297th turning step, 'will generate a pulse signal again after waiting for the 56th deceleration interval time, causing the stepping motor to rotate one step further according to the pulse signal deceleration. 297 rotation steps. By analogy, it can be found that the stepping motor runs from the 295th turning step (step 295) to the 352th turning step (step 352), 12 200917643 4-352twf.do〇/p The interval between waiting for each step of operation is decelerated. In addition, the stepping motor is decelerated in a non-linear manner and is symmetrical with its portion in acceleration. It can be seen from the above results that the stepping motor will be in a relatively smooth state after being gradually shifted from the acceleration to the constant speed day and from the constant speed to the deceleration. In this way, stepping motor out of step and excessive load on the mechanism can be avoided. FIG. 6 is a graph showing an acceleration curve with respect to the stepping motor of FIG. 5. f i Please refer to Fig. 6, in which the horizontal axis represents the number of steps of the stepping motor, the vertical axis represents the acceleration, and the curves S4 to S6 represent the coarse convergence factors 浐6, 8, and 〇, respectively, and the acceleration curve. As can be seen from Fig. 6, the curve of the acceleration of the stepping motor is gentler and there is no change in the sharp acceleration. Compared with the acceleration curve shown in the prior art of FIG. 2, when the conventional stepping motor rotates to a certain step (ie, step 127), a sharp acceleration change is generated (that is, the value of the acceleration is decreased from the value 75 to 〇). Therefore, the present embodiment can effectively improve the change in the violent acceleration. Through the above embodiments, a stepping motor acceleration and deceleration can be summarized (control method, the control method is as follows. FIG. 7A is a flowchart of a control method for stepping motor acceleration and deceleration according to an embodiment of the present invention. 7A, in step S700, providing a fine adjustment convergence factor p, a coarse convergence convergence factor q, a maximum interval time T, a minimum interval time I, and a control function less +/-, where X represents the number of steps of the stepping motor, and y represents the step In step S710, N acceleration interval times and one deceleration interval time are calculated according to the above control function, wherein only 乂 is greater than 1313 O52twf.doc/p 200917643 integer. S720 towel, temporarily storing the N acceleration interval times and the y deceleration interval times. In step S73〇+, using the acceleration interval time and the deceleration interval time, the stepping motor is modulated at (N+M+S) The time of the stepwise movement in the number of rotation steps, wherein when the stepping motor is scheduled to run to the ith number of rotation steps, the step of modulating the stepwise movement of the stepping motor is as shown in Fig. 7B. Please refer to Fig. 7B. In step S731, the value of 丨 is initialized, where i is an integer and 〇<ig(N+M+S). In step S732, when i$N, the stepping motor is modulated by the ith acceleration interval time. So that the stepping motor is accelerated. For example, when the stepping motor is scheduled to run to the ith number of rotation steps 'and i^N', in step S732, it may be utilized after waiting for the i-th acceleration interval time. a pulse signal 'to cause the stepping motor to rotate one step to the i-th turning step according to the pulse signal. In step S733, when N<i$(N+S)Bf, the Nth acceleration interval is used to adjust the step The motor is advanced so that the stepping motor maintains a certain rotation speed. For example, when the stepping motor is scheduled to run to the ith number of rotation steps, and N < iS (N + S), in step S733, the waiting is available a pulse signal generated after the Nth acceleration interval, so that the stepping motor rotates one step to the i-th rotation step according to the pulse signal. In step S734, when (N+S) <i^(N +M+S), so that the stepper motor is decelerated, where S is an integer greater than 0, 1 is an integer, and 〇<i$ (N+M+S). In other words, when the stepping motor is scheduled to operate to the ith number of rotation steps, and (N+S) <i$(N+M+S), in step S734, 'waiting for the first (N+M+S) +1-i) A pulse signal 14 4352twf.doc/p 200917643 generated after a deceleration interval, causing the stepper motor to rotate according to the pulse signal - step to the ith rotation step. Then 'just The variables in the flow chart are set to be the same as the above values, that is, set N=58, M=236, S=58, T=260, 〇〇〇, p=2, q=6, 1=500, x=l The result of the stepping motor acceleration and deceleration of the first embodiment can be obtained by 2, 3, .... Π In addition, when the stepping motor can adopt the stepwise acceleration/deceleration mode,

Change the speed after a few steps. The present invention will be described below by way of another example. Cover 2 Embodiment FIG. 8 is a graph showing the frequency of the pulse signal according to the second embodiment of the present invention. Please refer to FIG. 8 , where the vertical axis is the pulse signal of the ^: bit is Hz 'the horizontal axis is the number of steps of the stepping motor, and the curve s7~s is not coarse adjustment convergence factor q=6, 8, 1 () The resulting curve. Next, j = stepping motor step-wise acceleration and deceleration operation. In order to facilitate the explanation, ^ is the mm" step as the interval of the speed change, and the total number of steps required for the rotation of the cow, = is 350 steps, and the number of steps in the 1st force is 190#, and the number of steps is 190#. 8〇, step: the number of steps is 80 steps, the number of intervals of equal change, therefore, the stepping motor f is in the 'step as the speed is 8_〇), and the deceleration interval is also the same as ^ interval time first , the number of steps to be accelerated and the number of steps to be decelerated: [in, you can calculate (10) the difficulty of the motor plus ^ control function and the deceleration interval time. After that, temporarily accumulate the interval between the acceleration interval of *, and Using the above-mentioned acceleration interval $ ° speed interval time and reduction to adjust the stepping motor stepwise movement time. Complex ~ deceleration interval time, ,, medium, in the modulation stepper motor 15 200917643 ^352twf.doc / p =: ===Deceleration of 3 parts. When the === 2, the time is _ into the heart ===== f is the predetermined value (10 times). In other words, the stepping motor is at the same speed. After the operation step, it will rotate to the first number of rotation steps, that is, when the stepping motor constant speed is from the first step to the tenth step, it will run to the above The first number of rotation steps. Similarly, when the stepping motor is scheduled to rotate to the second number of rotation steps, the second acceleration interval is waited for, and a pulse signal is generated after waiting for the second acceleration interval to The stepping motor is driven by the pulse signal to rotate one step. Then, the above steps are repeated again until the pulse signal formed by the second acceleration interval is used, and the number of times of driving the stepping motor reaches t to the first predetermined value (10 times) In other words, the stepping motor at this time is also rotated to the second number of steps after 10 steps of constant speed operation, that is, when the stepping motor is running at the same speed from step 11 to step 20 Then, it will run to the second number of rotation steps. By analogy, when the stepping motor is scheduled to rotate to the 3rd to 8th rotation steps, 'wait for the 3rd to 8th pulse interval, and After waiting for the 3rd to 8th acceleration interval time, a pulse signal is generated to drive the stepping motor to rotate one step by using the pulse signal. After that, the above steps are repeated again until 16 l 352 twf.doc/p 200917643 3 to 8 Acceleration interval The number of times the pulse reaches reaches the first predetermined value (1 time). k, which drives the stepping horse to rotate to the 3rd to 8th rotation steps, so 'when the stepping motor does not rotate to the 30th, 40th , 50, 6 〇, the table stepper motor has been divided into the following stepping motor in the constant speed process two. The number of nine turning steps to the 27th turning step is also expected from step 270). The stepping motor protects the second step from the 81st step to the stepping motor and rotates to the speed of the 9th turning step. Therefore, the acceleration interval is waiting for the 8th acceleration and waiting for the 8th pulse. After the signal is generated by using the pulse signal to drive the step ===, the above steps are repeated again until the , , and one steps are turned. The generated -pulse signal, which drives the stepper to set the value (10 times). / The number of times the motor has reached the first-pre-turning stepping motor is also 10 steps after the constant speed operation, and then the step is run to "90 money", that is, the #stepping speed is from the 81st = two to run. To the ninth rotation step, infer the action of the 91th step to the 27th D^M~27 rotation steps of the 9th _step number (that is, from the operation into the motor from the ninth rotation step ( Steps 81 to 90) In the process of each step (steps 261 to 270), the interval between the operation and the motor temple is the same, so step 17 at this time [352twf.doc/p 200917643 When entering the deceleration process of the motor, it must be understood that the stepping motor should continuously reduce the number of steps per ι in the process of deceleration of the incoming lamp, so the first to eighth deceleration intervals are sequentially The order of use will be opposite to the first to eighth acceleration intervals, that is, the present embodiment is to sequentially step through the eighth, seventh, sixth, ..., and one deceleration between the decelerations to cause the stepping motor. For example, please continue to refer to FIG. 8. When the stepping motor is scheduled to rotate to 28 rotation steps, first, wait for the 8th deceleration interval. Time, and wait for the 8th deceleration interval to generate a pulse signal to use the pulse signal to ride the step to the rotation step. After that, read the above steps until the 8th reduction interval is formed. The rushing signal, which drives the stepping motor to a second predetermined value 〇〇). In other words, after the stepping motor runs at the same speed for 1 step, it will rotate until the 28th shop frr recording 'also #丨料料·帛271 step to step 280, it will run. To the 28th rotation step described. Phase f, when the stepping motor is scheduled to rotate to the 29th rotation step, first 'wait for the 7th deceleration interval time, and wait for the 7th deceleration interval to generate a pulse signal to utilize the pulse signal Drive the stepper motor to rotate one step. Thereafter, the above steps are repeated again until the number of times the stepping motor is driven reaches the second predetermined value (1 time) by the pulse signal formed by the seventh deceleration interval. In other words, the stepping motor at this time will rotate to the 29th rotation step after 10 steps of constant speed operation, that is, when the stepping motor constant speed is from the 281th step to the 290th step, Will run to the 29th number of steps described. 18 B52twf.doc/p 200917643 By analogy, it can be found that the stepping motor runs from the 2nd turning step 271 280 steps) to the 35th turning step (the first step). The number of steps (10) is required to wait for the interval to be continuously decreased, so the stepping motor is in a decelerating state. In addition, since the real = a pre-depreciation value is equal to the second predetermined value, the step motor decelerating 4 is symmetrical with the portion thereof at the acceleration. The result of ί+ Ϊ上^ can be seen that after stepwise movement, the stepping motor will appear in a stepped form when the knife is applied to the constant speed and when it is switched from constant speed to deceleration without causing severe acceleration. change. In this way, it can be avoided and the spoon is burdened. The above-mentioned speed change/Hx 10 steps is taken as an example. However, the user can limit the speed to change the interval and adjust the acceleration and deceleration curves of different step forms.

(4) 'Method of accelerating another stepping motor acceleration and deceleration' This control method can also be expressed using the flowcharts θ 7^ and 7B) described in the first embodiment. Here, in the portion of Fig. 7A, the first embodiment is the same as the first embodiment, and therefore no further description is given. The difference between this embodiment and the first real example is that the steps from step 732 to step 734 in Fig. 7B are effective. For example, the method of step s732 is implemented in this embodiment. When the stepping motor is scheduled to run to the ith number of rotation steps, and: using a pulse signal generated after the ith acceleration interval, = The stepper motor rotates one step. Thereafter, the above steps are repeated again until the number of times the up=pulse signal drives the stepping motor reaches the first predetermined value. For example, when the iSN is used, the present embodiment can utilize the second step of the acceleration interval to perform the acceleration step by stepping the __ shape. Where N is an integer greater than 〇 and is used to indicate the number of rotation steps that the stepper motor consumes during acceleration. In addition, the method of the present embodiment to achieve step S733 includes: when the stepping motor is scheduled to run to the ith number of rotation steps, and N<is(N+S), the following may be generated after waiting for the Nth deceleration interval time. A pulse signal is used to drive the stepper motor to rotate one step. Thereafter, the above steps are repeated again until the number of times the pulse signal drives the stepping motor reaches the first predetermined value. Thereby, when N<i$(N+S), the present embodiment can modulate the stepping motor 'with the Nth acceleration interval time to cause the stepping motor to maintain a certain speed. Where S is an integer greater than 〇 and is used to indicate the number of rotation steps that the stepper motor consumes during the constant speed process. In addition, the method of step S734 is implemented in this embodiment, including: when the stepping motor is scheduled to run to the ith number of rotation steps, and

At this time, the pulse signal generated after the (N+M+S+1-i) deceleration interval time is waited for to drive the stepping motor to rotate one step. Thereafter, the above steps are repeated again until the number of times the pulse signal drives the stepping motor reaches the second predetermined value. Thereby, when (N+S) < ig(N+M+S), the embodiment will use the (N+M+S+1 -i) deceleration interval time to modulate the stepping motor, so as to cause The stepper motor performs a deceleration in a stepped manner. Where M is an integer greater than 0 and is used to indicate the number of rotational steps the stepper motor consumes during deceleration. It should be noted that the first preset value and the second preset value mentioned above are the number of intervals for changing the speed of the stepping motor, that is, the number of intervals in the above-mentioned embodiment 20 200917643 f352twf.doc/p. 10" step. In addition, in the first and second embodiments, the stepping motor can be adjusted to the highest speed by different q values, and: and referring to FIG. 5 and FIG. 8 ', when the q value is small, The stepper motor can reach a predetermined speed in a smaller number of steps (ie, the required time is shorter). When the q-value car is over, the stepping motor reaches a predetermined number of steps, and the number of steps passes is longer (that is, the time is longer). Therefore, the user can adjust the size of the q value according to the demand = the time when the stepping motor reaches the predetermined speed. & Third Embodiment Before performing the explanation of the second embodiment, it must be understood that the first embodiment and the second embodiment are both based on the graph of the control function shown in FIG. 4 to generate and control the stepping motor acceleration and deceleration. The required acceleration interval and deceleration interval. It is also known that the acceleration interval time and the deceleration interval time will be related to the performance of the stepping motor in the acceleration/deceleration control. Therefore, how to generate the above control function will be a very important part of the first embodiment and the second embodiment. Therefore, the function generating means for generating the above-described control function will be enumerated below so that the spirit of the present invention can be more clearly understood by those skilled in the art. ▲ Figure 9 is a block diagram showing the function generating apparatus of the embodiment of the present invention. As shown in Fig. 9, the function generating device _ includes a multiplier (10), a divider coffee and an adder (4). The multiplier 91 has a first input signal terminal, a parent input signal terminal 912 and a first output terminal 913, wherein the second input terminal 912 is consuming to the first output terminal 913. The divider (4) has a first transmission end 92, a second transmission end 922 and a second output end milk, wherein the first transmission end 921 is transferred to the first round end 913. The adder has a first connection 21 200917643 t352 twf. doc/p terminal 93 and a second connection end 932 and a third output end 933, wherein the first connection end 931 is coupled to the second output end 923. In the overall operation, the multiplier 910 is configured to multiply the specific value (y/y received by the first round-in signal terminal 911 and the value on the second input signal terminal 912, and output the above through the first output terminal 913. In addition, the divider 92 is used to divide the channel time (T) received by the second transmission terminal 922 by the value output by the multiplier 910. Finally, the addition f 930 sets the second connection terminal 932. The minimum interval of reception (1) is added to the value rotated by the division 920, and the above control function ^ = + + 1 is generated through the third output 933, where 乂 represents the number of steps of the stepping motor, y 弋y into the motor acceleration and deceleration interval, p represents a fine adjustment of the arrogance factor, q represents a coarse adjustment convergence factor. The control method of the stepping motor acceleration and deceleration of the present invention and its function generating device have at least the following Advantages: _^ By using the - control function, calculate the acceleration gate interval and deceleration interval time required for stepping motor acceleration and deceleration, and adjust the stepping motor acceleration and deceleration according to the above-mentioned acceleration interval time and deceleration interval time. The stepping horse is presented with a smoother sorrow when the speed is constant to constant speed and the constant speed to deceleration. Thus, the invention can avoid the change of the violent acceleration and cause the stepping motor to be damaged and out of step. - Control function, calculate the acceleration 3 interval and deceleration interval time required for stepping motor acceleration and deceleration, and adjust the stepping motor to increase or decrease 22 ^352twf.doc according to the above-mentioned inter-acceleration deceleration interval time. /p 200917643 speed. By this, the 'stepping motor will use the step-like acceleration and deceleration method to reduce the phenomenon of sharp acceleration and deceleration. 3. The complexity of generating the control function is low and easy to implement on the product. The above has been disclosed in the preferred embodiments, and it is not intended to limit the invention to those skilled in the art, and it is possible to make some modifications and refinements without departing from the spirit and scope of the invention. The scope of the present invention is defined by the scope of the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 depicts a graph of linear acceleration and deceleration of a conventional stepper motor. 2 is a graph showing an acceleration curve of a conventional stepping motor corresponding to the drawing. FIG. 3 is a graph showing a pulse interval time versus a step number according to an embodiment of the present invention. The pulse interval time is plotted against the graph. Figure 5 is a graph showing the frequency versus step of the pulse signal according to the first embodiment of the present invention (under different coarse convergence factor q). Figure 5 is a flow chart of the control of the stepping motor of the first embodiment of the present invention. Figure 7B is a detailed flow chart of step S730 of Figure 7A. 23 1352ί\ Γ (1οε/ρ 200917643 FIG. 8 is a graph showing the frequency versus step number of the pulse signal according to the second embodiment of the present invention (under different coarse convergence factor q). FIG. 9 is a block diagram of a function generating apparatus according to an embodiment of the present invention. [Main component symbol description] S700, S710, S720, S730, S731 to S734: Stepping motor control method according to an embodiment of the present invention, each step 900: function generating device 910: multiplier 911: first input signal terminal 912: Two input signal terminals 913: first output terminal 920: divider 921: first transmission terminal 922: second transmission terminal 923: second output terminal 930: adder 931: first connection terminal 932: second connection terminal 933: Third output 24

Claims (1)

  1. 200917643 352twf.doc/p X. Patent application scope: Two == two methods, including the following steps: speed interval time, where + some plus time interval and the deceleration interval time, modulation
    $进 = the time of stepwise movement in (N + lang) rotation steps, which = the step of modulating the stepwise movement of the boring motor when the stepping motor is scheduled to run to the ith rotation step includes: At 1 o'clock, the stepping motor is modulated by the ith acceleration interval to accelerate the stepping motor; ^ when N<iS(N+S), the step is modulated by the sf acceleration interval time a motor such that the stepper motor maintains a constant speed; and when (N+S) < i S (N+M+S), utilizes the (N+M+s+li) deceleration interval time adjustment The stepping motor is changed such that the stepping motor decelerates 'where S is an integer greater than 〇, i is an integer and 〇<丨$丨n+M+S). 2. The control method of stepping motor acceleration and deceleration according to claim 1, wherein the step of “modulating the stepping motor by using the ith acceleration interval time” comprises: after the ith acceleration interval Generating a pulse signal; and using the pulse signal to drive the stepping motor to rotate one step. 3. The control method of stepping motor acceleration and deceleration according to claim 1, wherein the step of modulating the stepping motor by the ith acceleration interval comprises: a. waiting for the ith acceleration interval After the time, a pulse signal is generated; 25 200917643 352twf.doc/pb. The stepping motor is driven to rotate by the pulse signal; and the steps a and b are repeated until the pulse signal drives the stepping motor to a number of times The first predetermined value is as follows: 4. The control method of stepping motor acceleration and deceleration according to claim 1, wherein the stepping motor is modulated by 苐 N acceleration intervals, the steps of: A pulse signal is generated after the interval between the acceleration intervals; and the stepping motor is driven to rotate by using the pulse signal. 5. The control unit of the stepping motor acceleration and deceleration described in claim 1 of the patent scope is used. The acceleration step is used to modulate the stepping motor, and the steps include: a: waiting for the Nth acceleration interval to generate a pulse signal; b. driving the step by using the pulse signal The motor rotates-step; and repeats the above steps a and b until the number of times the pulse signal drives the stepping motor reaches the first predetermined value. 6. The stepping motor acceleration and deceleration as described in claim 1 The control method 'where the step of modulating the stepping motor by using the (N+M+S+1-i) deceleration interval time comprises: specializing in the (N+M+S+1 -i) deceleration interval After the time, a pulse signal is generated; and the stepping motor is driven to rotate one step by using the pulse signal. 7. The method for controlling the stepping motor acceleration and deceleration according to the first aspect of the patent application, wherein "the use of the (N+M+) The steps of S+1 -i) deceleration interval time modulation of the stepping motor include: 26 4352twf.doc/p 200917643 a. Waiting for the (N+M+S+li) deceleration interval to generate a pulse signal b. driving the stepping motor to rotate one step by using the pulse signal; and repeating steps a and b above until the number of times the pulse signal drives the stepping motor reaches a second predetermined value. The control method of stepping motor acceleration and deceleration described in the item : Initialize the value of i. 9. The control method of stepping motor acceleration and deceleration as described in the scope of the patent application includes: temporarily storing the acceleration interval and the deceleration interval. The control method of the motor motor acceleration and deceleration further includes: a trimming convergence factor P and a coarse convergence factor q · a maximum interval time T and a minimum interval time ι; 'k for the control function, and the control The function is: 7 = p + / ' where 'X represents the number of steps of the stepper motor, and ^ represents the interval between acceleration and deceleration of the stepper motor. 11. The size of the acceleration interval as described in item i of the patent application scope is: # "::二,间>弟2 acceleration interval>···〉第:3 > ^二The deceleration interval is: Deceleration interval deceleration interval >.·. > Nth deceleration interval ^. Between 27 4352twf.doc/p 200917643 12. The method for controlling the acceleration and deceleration of the motor with less acceleration as described in item 1 of the scope of the patent application, wherein the acceleration interval and the magnitude of the deceleration interval are respectively nonlinear. Decrement. 13. A function generating device for controlling a stepping motor acceleration/deceleration method according to claim 1, comprising: a multiplier 'having a first input signal end, a second input signal end, and a first An output terminal, the second input signal terminal is coupled to the first output terminal ′, and the multiplier is configured to multiply a specific value received by the first input signal terminal and a value on the second input signal terminal a one-way divider having a first transmission end, a second transmission end, and a first output end coupled to the first output end, and the dividing benefit is used to transmit the second transmission The maximum interval time T received by the terminal is divided by the value output by the multiplier; and the one-adder has a first connection end, a second connection end, and a f-th output end 'the first connection end Coupling to the second output end, and the adder is configured to add the value rotated by the divider to a minimum interval time I and generate a control function y, wherein when the specific value is ~ The control function is: T less pA ′ /, medium 'X represents the number of steps of the stepping motor, y represents the interval time of acceleration and deceleration of the stepping motor, 卩 represents a fine adjustment convergence factor, and q represents a coarse adjustment convergence factor. 28
TW96137084A 2007-10-03 2007-10-03 Method for controlling acceleration and deceleration of stepping motor and function generating apparatus thereof TWI339003B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104852648A (en) * 2014-08-13 2015-08-19 北汽福田汽车股份有限公司 Method and system for driving rotation of stepping motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202016103652U1 (en) 2016-07-07 2016-07-21 Ju-Tan Chen Workpiece clamping device with changeable clamping angle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104852648A (en) * 2014-08-13 2015-08-19 北汽福田汽车股份有限公司 Method and system for driving rotation of stepping motor
CN104852648B (en) * 2014-08-13 2017-07-11 北汽福田汽车股份有限公司 The method and system that Driving Stepping Motor is rotated

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