WO2021042637A1

WO2021042637A1 - Method, apparatus and system for controlling stepping motor, and storage medium

Info

Publication number: WO2021042637A1
Application number: PCT/CN2019/129090
Authority: WO
Inventors: 刘元江; 赵雲峰; 王子铭; 贺子和; 周忠厚
Original assignee: 歌尔股份有限公司
Priority date: 2019-09-02
Filing date: 2019-12-27
Publication date: 2021-03-11
Also published as: CN110601617B; CN110601617A

Abstract

A method, apparatus and system for controlling a stepping motor (1003) and a storage medium, the method comprising: providing a sinusoidal S-curve acceleration algorithm; according to a target displacement and a target velocity, by means of the algorithm, calculating and planning a velocity equation of the stepping motor (1003) during movement; and according to the velocity equation, controlling the stepping motor (1003) to operate by a high-performance processor and a driving module (1002) built into a driver. Since the second derivative of the velocity equation thereof is a sine function, i.e. acceleration and jerk equations are both continuous and derivable, and there is no sudden change, same conforms to the characteristic in which the torque of the stepping motor (1003) decreases along with an increase in velocity, thereby making full use of the effective torque of the motor. At the same time, mechanical shock may be weakened, so that the stepping motor (1003) operates more smoothly and reliably.

Description

Stepping motor control method, device, system and storage medium

Technical field

The present invention relates to the technical field of motor driving, in particular to a stepping motor control method, device, system and storage medium.

Background technique

Stepping motors are electromechanical actuators that convert electrical pulse signals into linear or angular displacements. They are the main execution units in modern digital program control systems. They are widely used. However, stepping motors cannot be as effective as ordinary DC motors and AC motors. Under normal use, it must be composed of a dual-loop pulse signal, power drive circuit, etc. to form a control system before it can be used. However, the existing two-phase stepper motor drive system has larger volume, lower accuracy, higher energy consumption, higher cost, etc. problem.

The stepper motor has a no-load starting frequency, that is, the pulse frequency that the stepper motor can start normally under no-load conditions. Therefore, in actual applications, if the starting pulse frequency is higher than this value, the motor may lose synchronization or stall. Therefore, it cannot start normally. The key to solving these problems lies in the speed control when the motor starts. In the prior art, acceleration curve algorithms are generally adopted to control the speed. The acceleration curve algorithms generally have linear and parabolic types. Among them, the linear acceleration curve has the most time. Features such as excellent and simple operation, but this acceleration mode does not consider the characteristics of improving the torque change of the motor. At the same time, due to the sudden change in acceleration when the acceleration starts and when the acceleration is completed, mechanical shock induced vibration will be generated, which will adversely affect the smooth operation of the system.

Therefore, there is a technical problem of how to make the stepper motor run more smoothly to meet the needs of higher applications.

The above content is only used to assist the understanding of the technical solution of the present invention, and does not mean that the above content is recognized as prior art.

Summary of the invention

The main purpose of the present invention is to propose a stepping motor control method, device, system and storage medium, which aims to solve the technical problem of how to make the stepping motor run more smoothly to meet the demands of higher application occasions.

In order to achieve the above objective, the present invention provides a stepping motor control method. The stepping motor control method includes the following steps:

Receiving a data instruction from the host computer, the data instruction including a target displacement and a target speed;

Calculating the instantaneous speed of the stepper motor at each moment in the operation phase according to the target displacement and the target speed through a preset sinusoidal S-curve acceleration algorithm;

The operation of the stepping motor is controlled according to the speed at the time.

Preferably, the calculation of the instantaneous speed of the stepping motor at each moment in the operation phase through a preset sinusoidal S-curve acceleration algorithm according to the target displacement and the target speed specifically includes:

Calculating the jerk and jerk time in the jerk phase according to the target displacement and the target speed;

Determining the uniform acceleration time of the uniform acceleration stage according to the acceleration time;

According to the target displacement, the target speed, the jerk, the jerk time, and the uniform acceleration time, the time speed of the stepping motor at each time in the operation phase is calculated.

Preferably, the calculation of the time speed of the stepping motor at each time in the operation phase according to the target displacement, the target speed, the jerk, the jerk time and the uniform acceleration time specifically includes:

According to the target displacement, the target speed, the jerk, the jerk time, and the uniform acceleration time, the first maximum speed in the jerk phase and the second maximum speed in the uniform acceleration phase are respectively calculated ；

Calculating the maximum acceleration according to the jerk and the jerk time;

According to the jerk, the jerk time, the uniform acceleration time, the first maximum speed, the second maximum speed, and the maximum acceleration, calculate the time speed of the stepping motor at each time during the operation phase .

Preferably, the first maximum speed of the jerk phase and the uniform acceleration phase are calculated respectively according to the target displacement, the target speed, the jerk, the jerk time and the constant acceleration time The second maximum speed, including:

Calculating the first maximum speed in the jerk phase according to the jerk and the jerk time;

The second maximum speed in the uniform acceleration stage is calculated according to the jerk, the jerk time and the uniform acceleration time.

Preferably, the stepping motor is calculated in the operating phase according to the jerk, the jerk time, the uniform acceleration time, the first maximum speed, the second maximum speed, and the maximum acceleration The time speed at each time, specifically including:

Determining, according to the jerk time, the first running time, and the constant acceleration time, a first running moment at the beginning of the constant acceleration phase and a second running moment at the beginning of the deceleration phase;

Calculate the stepping motor according to the jerk value, the jerk time, the first operating time, the second operating time, the first maximum speed, the second maximum speed, the maximum acceleration The speed at each moment in the operating phase.

Preferably, the first operating time at the beginning of the uniform acceleration phase and the second operating time at the beginning of the deceleration phase are determined according to the jerk time, the first operating time and the uniform acceleration time , Specifically including:

Determining the first operating moment at the beginning of the uniform acceleration phase according to the acceleration time;

The second operating time at the beginning of the deceleration phase is determined according to the first operating time and the uniform acceleration time.

Preferably, the calculation of the maximum acceleration based on the jerk value, the jerk time, the first operating time, the second operating time, the first maximum speed, and the second maximum speed The time speed of the stepping motor at each time during the operation phase specifically includes:

Calculating a first integral constant according to the jerk and the jerk time;

Calculating a second integral constant according to the first integral constant and the second maximum speed;

Calculate the step according to the jerk, the jerk time, the first operating time, the second operating time, the first maximum speed, the first integral constant and the second integral constant The speed of the incoming motor at each moment in the running phase.

In addition, in order to achieve the above object, the present invention also provides a stepping motor control device, the stepping motor control device includes:

The data communication module is used to receive data instructions from the upper computer, the data instructions including target displacement and target speed;

A speed calculation module, configured to calculate the instantaneous speed of the stepper motor at each time during the operation phase according to the target displacement and the target speed;

The motor control module is used to control the operation of the stepping motor according to the speed at the time.

In addition, in order to achieve the above object, the present invention also proposes a stepping motor control device. The stepping motor control device includes a memory, a processor, and steps stored in the memory and capable of running on the processor. Enter the motor control program, and the stepper motor control program is configured with steps for implementing the stepper motor control method as described above.

In addition, in order to achieve the above-mentioned object, the present invention also provides a storage medium that stores a stepping motor control program, and the stepping motor control program is executed by a processor to realize the stepping motor as described above. Steps of the control method.

The stepping motor control method proposed by the present invention receives data instructions from a host computer. The data instructions include a target displacement and a target speed. According to the target displacement and the target speed, the preset sinusoidal S-curve acceleration algorithm is used to calculate the The speed of the stepping motor at each time in the operation phase is controlled according to the speed of the time, so as to calculate the speed of the time by the target displacement and target speed obtained, and control the operation of the stepping motor according to the speed of the time to make the stepping The motor runs more smoothly, which solves the technical problem of how to make the stepper motor run smoothly.

Description of the drawings

FIG. 1 is a schematic diagram of the structure of a stepping motor control system in a hardware operating environment involved in a solution of an embodiment of the present invention;

2 is a schematic flowchart of the first embodiment of the stepping motor control method of the present invention;

Fig. 3 is an exemplary diagram of the first embodiment of the stepping motor control method of the present invention;

4 is a schematic flowchart of a second embodiment of a stepping motor control method according to the present invention;

5 is a schematic flowchart of a third embodiment of a stepping motor control method according to the present invention;

Fig. 6 is a schematic diagram of functional modules of the first embodiment of the stepping motor control device of the present invention.

The realization of the objectives, functional characteristics and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

detailed description

It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

Referring to FIG. 1, FIG. 1 is a structural diagram of a stepping motor control system in a hardware operating environment involved in a solution of an embodiment of the present invention.

As shown in FIG. 1, the stepping motor control system may include: a control module 1001, a driving module 1002, a stepping motor 1003, a host computer 1004, a data storage module 1005, a power module 1006, and a communication module 1007.

The control module uses a 32-bit high-performance embedded processor as the control core, and its firmware has a built-in sinusoidal speed curve algorithm to realize the smooth and reliable acceleration and deceleration of the motor; the communication between the on-chip SPI peripheral of the processor and the motor drive chip is adopted to achieve Read and write the registers of the driver chip to achieve the purpose of configuring the parameters of the driver chip; use the on-chip IIC peripheral of the processor to communicate with the storage chip AT24C16C, so that the parameter data can be saved after power-off.

The power supply module converts the externally input 24V voltage into 3.3V through the power supply chip AOZ1282CI, which can supply power to the control module, the drive module, the communication module and the data storage module.

The data storage module saves drive parameters such as subdivision, current, S-curve acceleration steps, target speed, drive CAN.ID, etc. through an external storage chip AT24C16C, so that these important parameters are not lost after power failure, so that the drive It can be used normally after power-on again, without resetting the parameters.

The communication module can realize CAN communication through the on-chip CAN peripherals of the high-performance embedded processor and cooperate with the CAN transceiver chip SN65HVD230; it can receive control commands and data from the control card or PLC through this communication interface, and can also receive The commands and data sent from the host computer realize the control function of the drive and the reading and writing of parameters.

The drive module adopts a high-performance stepping drive chip TMC2660. The direction and pulse interface of the drive chip are controlled through the IO port of the main control chip to realize the direction and speed control of the motor. The control is realized through the SPI peripheral of the main control chip. Reading and writing of the parameters of the drive chip.

Further, the power module includes a voltage divider circuit through which the power interface voltage is connected to the AD peripheral interface of the high-performance main control chip, so that the main control chip can read the current voltage value, and the main control chip The chip has a built-in power management mechanism. When the external input voltage is too low or too high, the driver will throw out the corresponding alarm information.

Further, the communication module is CAN bus communication, using the CAN peripherals of the high-performance main control chip, and cooperates with the external CAN transceiver chip SN65HVD230 to achieve a communication rate of up to 1 Mbps; Mechanisms such as timeout retransmission and heartbeat monitoring make CAN communication more reliable and stable.

Further, the jerk of the sine acceleration curve is a sine function, which can be continuously derived, while the jerk of the trapezoidal and parabolic acceleration curve is a step function, and there is a step transformation, which makes the speed change of the motor not stable enough, and the sine The curve can avoid this problem. The sine curve better conforms to the characteristic that the torque of the stepper motor decreases with the increase of speed, makes full use of the effective torque of the motor, and at the same time can reduce the mechanical shock.

Those skilled in the art can understand that the device structure shown in FIG. 1 does not constitute a limitation on the stepper motor control system, and may include more or fewer components than shown, or a combination of certain components, or different components Layout.

As shown in FIG. 1, the data storage module 1005 as a storage medium may include an operating system, a communication module, a user interface module, driver parameters, and a stepper motor control program.

In the stepping motor control device shown in Figure 1, the communication module 1007 is mainly used to connect to a host computer or a control card to receive control commands or data; the present invention calls the stepping motor control stored in the data storage module 1005 through the control module 1001 Program and do the following:

Further, the control module 1001 can call the stepping motor control program stored in the data storage module 1005, and also perform the following operations:

Calculating the maximum acceleration according to the jerk and the jerk time;

Calculating a first integral constant according to the jerk and the jerk time;

In this embodiment, by receiving a data instruction from a host computer, the data instruction includes a target displacement and a target speed. According to the target displacement and the target speed, a preset sinusoidal S-curve acceleration algorithm is used to calculate that the stepping motor is in the running phase. The time speed at each time, the stepping motor is controlled to operate according to the time speed, so that the time speed is calculated by the acquired target displacement and target speed, and the stepping motor is controlled according to the time speed to make the stepping motor run more smoothly. The technical problem of how to make the stepper motor run smoothly.

Based on the above hardware structure, an embodiment of the stepping motor control method of the present invention is proposed.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of a first embodiment of a stepping motor control method of the present invention.

In the first embodiment, the stepping motor control method includes the following steps:

Step S10: Receive a data instruction from the host computer, where the data instruction includes a target displacement and a target speed.

It should be noted that the executive body of this embodiment can be the control module of the stepper motor control system, or other devices that can realize the same or similar functions. This embodiment does not limit this, and the control module is used as the control module in this embodiment. Examples are explained.

It should be understood that the user inputs the target displacement and target speed. The target displacement and target speed are two values set by the user according to requirements. The target speed is the maximum speed reached by the stepper motor during the operation phase. The numerical range of the speed is not limited in this embodiment.

Step S20: Calculate the instantaneous speed of the stepping motor at each instant in the operation phase according to the target displacement and the target speed through a preset sinusoidal S-curve acceleration algorithm.

It should be noted that the control module of the stepper motor control system uses a high-performance embedded processor as the control core, and its firmware has a built-in preset sinusoidal S-curve acceleration algorithm to achieve stable and reliable motor acceleration and deceleration. It uses the processor’s on-chip SPI The communication between the peripheral and the motor drive chip realizes reading and writing of the register of the drive chip, thereby achieving the purpose of configuring the parameters of the drive chip, which is not limited in this embodiment.

It should be understood that the jerk of the preset sine S-curve acceleration algorithm is a sine function and can be derived continuously, while the jerk of trapezoidal and parabolic acceleration curves is a step function, and there is a step transformation, which makes the motor speed The change is not stable enough, and the sine curve can avoid this problem. The sine curve better conforms to the characteristic that the torque of the stepper motor decreases with the increase of speed, makes full use of the effective torque of the motor, and at the same time can reduce the mechanical shock.

It is understandable that after obtaining the target displacement and target speed, the stepper motor control device calculates the target displacement and target speed through its built-in preset sinusoidal S-curve acceleration algorithm to obtain the time of the stepping motor's operation phase Speed, the speed at the moment is the running speed at each moment.

It should be understood that the operation phase of a stepper motor includes an acceleration phase and a constant speed phase. The acceleration phase includes an acceleration phase, a uniform acceleration phase, and a deceleration phase. The acceleration phase is a phase in which the acceleration is continuously increasing. The phase is a phase in which the acceleration is constant, and the de-acceleration phase is a phase in which the acceleration is continuously decreasing.

It can be understood that the sequence of the operating phases of the stepping motor in this embodiment is the acceleration phase, the uniform acceleration phase, the deceleration phase, and the uniform speed phase, that is, the stepping motor continuously accelerates when it starts to run, and when it reaches the maximum speed ( Decrease the maximum speed in the acceleration phase), no longer continue to accelerate, but maintain the maximum speed to run at a constant speed. The speed change of the stepping motor is shown in Fig. 3, the period from t ₀ to t ₁ is the acceleration stage, the period from t ₁ to t ₂ is the uniform acceleration stage, the period from t ₂ to t ₃ is the deceleration stage, and the period _{after t 3} is the uniform speed.

Step S30, controlling the operation of the stepping motor according to the speed at the time.

It should be noted that the acceleration phase of the stepping motor in the prior art is not stable, and in this embodiment, the acceleration phase is divided into an acceleration phase, a uniform acceleration phase, and a deceleration phase, and a preset sinusoidal S-curve acceleration algorithm is used. Calculate the speed at the time, and control the operation of the stepping motor according to the speed at the time, so that the speed of the stepping motor is increased at the optimal speed to maintain its stability.

In this embodiment, by receiving a data instruction from a host computer, the data instruction includes a target displacement and a target speed. According to the target displacement and the target speed, a preset sinusoidal S-curve acceleration algorithm is used to calculate that the stepping motor is in the running phase. The time speed at each time, the stepping motor is controlled to operate according to the time speed, so that the time speed is calculated by the obtained target displacement and target speed, and the stepping motor is controlled according to the time speed to make the stepping motor run more smoothly. The technical problem of how to make the stepper motor run smoothly.

In one embodiment, as shown in FIG. 4, a second embodiment of the stepping motor control method of the present invention is proposed based on the first embodiment. The step S20 includes:

Step S201: Calculate jerk and jerk time in the jerk phase according to the target displacement and the target speed.

It should be noted that the jerk in the jerk phase can be calculated according to the following formula, and the jerk can be accurately calculated according to this formula.

Wherein, J _P is added jerk acceleration phase, V _P is the target speed, S _P is a target displacement.

The jerk time in the jerk phase can be calculated according to the following formula, and the jerk time can be accurately calculated according to this formula.

Wherein, t _J is added plus acceleration time acceleration phase, V _P is the target speed, S _P is a target displacement.

Step S202: Determine the uniform acceleration time of the uniform acceleration stage according to the acceleration time.

It should be noted that the uniform acceleration time is recorded as t _C _{, and t J} =t _C is set in this algorithm, that is, the acceleration time is the same as the uniform acceleration time, and the uniform acceleration time is the running time of the uniform acceleration stage, even if it is added The running time of the acceleration phase and the uniform acceleration phase are the same.

Step S203: Calculate the instantaneous speed of the stepping motor during the operation phase according to the target displacement, the target speed, the jerk, the jerk time, and the constant acceleration time.

It will be appreciated that the present embodiment come to jerk time t _J, jerk J _P, uniform acceleration time t _C, the target and the target displacement speed V _P S _P is a known quantity calculated by the above step, therefore, be According to the target speed V _P , the target displacement S _P , the _{jerk time t J} , the jerk J _P and the constant acceleration time t _C , the time speed of the stepping motor in the operation phase is calculated.

In this embodiment, the jerk and jerk time in the jerk phase are calculated according to the target displacement and target speed, and the jerk time in the jerk phase is determined according to the jerk time, so that the calculated target speed, jerk, and jerk time are determined. , Uniform acceleration time, target displacement and target speed are used to calculate the instantaneous speed of the stepping motor during the operation phase.

In one embodiment, as shown in FIG. 5, a third embodiment of the stepping motor control method of the present invention is proposed based on the first embodiment or the second embodiment. In this embodiment, the description is based on the second embodiment. The step S203 includes:

Step S2031, according to the target displacement, the target speed, the jerk, the jerk time, and the uniform acceleration time, respectively calculate the first maximum speed of the jerk phase and the first speed of the uniform acceleration phase 2. Maximum speed.

It should be noted that the first maximum speed in the jerk phase is calculated according to the jerk and the jerk time, and the second maximum speed in the uniform acceleration phase is calculated according to the jerk, the jerk time and the constant acceleration time, and the first maximum speed is The maximum speed in the acceleration phase, and the second maximum speed is the maximum speed in the uniform acceleration phase.

It should be understood that the formula for calculating the first maximum speed in the jerk phase according to the jerk and the jerk time is as follows, and the first maximum speed can be accurately calculated according to this formula.

Among them, V ₁ is the first maximum speed in the _{jerk phase, t J} is the jerk time, and J _P is the jerk.

The formula for calculating the second maximum speed in the uniform acceleration phase according to the jerk, the jerk time and the uniform acceleration time is as follows, and the second maximum speed can be accurately calculated according to this formula.

Among them, V ₂ is the second maximum speed in the uniform acceleration stage, t _J is the jerk time, and J _P is the jerk.

Step S2032: Calculate the maximum acceleration according to the jerk and the jerk time.

It should be understood that the formula for calculating the maximum acceleration based on the jerk and the jerk time is as follows, and the maximum acceleration can be accurately calculated according to the formula.

Among them, a _P is the maximum acceleration, t _J is the jerk time, and J _P is the jerk.

Step S2033: Calculate the time of the operation phase of the stepping motor according to the jerk, the jerk time, the uniform acceleration time, the first maximum speed, the second maximum speed, and the maximum acceleration speed.

It should be noted that the first operation time at the beginning of the constant acceleration phase is determined according to the acceleration time, and the second operation time at the beginning of the deceleration phase is determined according to the first operation time and the constant acceleration time. At time, the first integral constant is calculated according to the jerk and the jerk time, the second integral constant is calculated according to the first integral constant and the second maximum speed, and the second integral constant is calculated according to the jerk and the jerk time , The first operation time, the second operation time, the first maximum speed, the first integral constant, and the second integral constant calculate the speed at the time.

According to the acceleration time to determine the first operating moment at the beginning of the uniform acceleration phase, it can be understood that the initial time is 0, the acceleration time has been calculated by the above steps, and the acceleration phase is the first operation phase The first stage is followed by the uniform acceleration stage. Therefore, according to the acceleration time, the first operation time at the beginning of the uniform acceleration stage can be obtained. The first operation time is recorded as t _1. For example, the acceleration time is 2S, then That is to say, the acceleration phase lasts for 2S and then changes to the uniform acceleration phase, that is, the uniform acceleration phase starts with the 2nd second, that is, the first running moment is the 2nd second.

According to the first operating time and the uniform acceleration time, the second operating time at the beginning of the deceleration phase is determined. It can be understood that, as shown in FIG. 3, the first operating time and the uniform acceleration time have been changed from the above steps. It is calculated that the uniform acceleration stage is the second stage, and the deceleration stage is the third stage. Therefore, according to the first operation time and uniform acceleration time, the second operation time at the beginning of the deceleration stage can be obtained. Denoted as t ₂ , for example, the jerk time is 2S, and the uniform acceleration time is the same as the jerk time is also 2S. Therefore, the first running time is 2S and the second running time is 4S.

The formula for calculating the first integral constant according to the jerk and the jerk time is as follows, and the first integral constant can be accurately calculated according to the formula.

Among them, C ₀ is the first integral constant, t _J is the jerk time, and J _P is the jerk.

The formula for calculating the second integration constant according to the first integration constant and the second maximum speed is as follows, and the second integration constant can be accurately calculated according to the formula.

C ₁ =V ₂ -C ₀ ;

Among them, C ₁ is the second integral constant, C ₀ is the first integral constant, and V ₂ is the second maximum speed.

It should be noted that this algorithm also includes the jerk equation in the acceleration process, as follows, according to the equation, the jerk can be accurately calculated.

Among them, t _J is the jerk time, J _P is the jerk, t ₁ is the first running moment, t ₂ is the second running moment, t ₃ is the third running moment, and the third running moment is the end of the deceleration phase The moment of time, t is the current moment.

Further, it also includes an acceleration equation in the acceleration process, as follows, according to which the acceleration can be accurately calculated.

Among them, t _J is the jerk time, J _P is the jerk, t ₁ is the first running moment, t ₂ is the second running moment, t ₃ is the third running moment, a _P is the maximum acceleration, and t is the current moment.

Further, it also includes the speed equation of the acceleration process, as follows, according to the equation, the speed can be accurately calculated.

Among them, t _J is the jerk time, J _P is the jerk, t ₁ is the first running moment, t ₂ is the second running moment, t ₃ is the third running moment, a _P is the maximum acceleration, and t is the current moment, V ₁ is the first maximum speed, C ₀ is the first integral constant, and C ₁ is the second integral constant.

Therefore, the second integral constant will be calculated according to the first integral constant and the second maximum speed obtained in the above steps, and the second integral constant will be calculated according to the jerk, the jerk time, the first operating time, and the first The second running time, the first maximum speed, the first integral constant, and the second integral constant are substituted into the speed equation of the acceleration process to calculate the instantaneous speed, that is, the speed that the stepper motor should maintain at each moment. Controlling the operation of the stepping motor according to the speed at the time can make the stepping motor run more smoothly.

It can be understood that the operation phase of a stepper motor also includes a deceleration phase. The acceleration phase and the deceleration phase are symmetrical, and the corresponding deceleration phase corresponds to the acceleration phase. The time speed can also be calculated by the speed equation, and the step speed can be controlled according to the time speed. The decelerated operation of the stepping motor makes the stepping motor run more smoothly.

In this embodiment, the first maximum speed of the jerk phase and the uniform acceleration phase are respectively calculated according to the target displacement, the target speed, the jerk, the jerk time, and the uniform acceleration time. Calculate the maximum acceleration according to the jerk and the jerk time; according to the jerk, the jerk time, the constant acceleration time, the first maximum speed, the second The maximum speed and the maximum acceleration calculate the time speed of the stepping motor during the operation phase, so that these values calculated in the above steps are substituted into the speed equation to calculate the time speed, and the stepping motor is controlled according to the time speed to make the step The motor runs more smoothly.

In addition, the embodiment of the present invention also provides a storage medium, the storage medium stores a stepping motor control program, and when the stepping motor control program is executed by a processor, the following operations are implemented:

Further, when the stepper motor control program is executed by the processor, the following operations are also implemented:

According to the target displacement and the target speed, calculating the instantaneous speed of the stepping motor during the operation phase includes:

According to the target displacement, the target speed, the jerk, the jerk time, and the uniform acceleration time, the time speed of the stepping motor in the operation phase is calculated.

Calculating the maximum acceleration according to the jerk and the jerk time;

According to the jerk, the jerk time, the uniform acceleration time, the first maximum speed, the second maximum speed, and the maximum acceleration, the time speed of the stepping motor during the operation phase is calculated.

Calculate the stepping motor according to the jerk value, the jerk time, the first operating time, the second operating time, the first maximum speed, the second maximum speed, the maximum acceleration The speed at the moment of the running phase.

Calculating a first integral constant according to the jerk and the jerk time;

The time speed is calculated according to the jerk, the jerk time, the first operating time, the second operating time, the first maximum speed, the first integral constant, and the second integral constant.

In this embodiment, by receiving a data instruction from a host computer, the data instruction includes a target displacement and a target speed; according to the target displacement and the target speed, a preset sinusoidal S-curve acceleration algorithm is used to calculate that the stepping motor is in the running phase Time speed at each time; to control the operation of the stepping motor according to the time speed, so as to calculate the time speed from the acquired target displacement and target speed, and control the operation of the stepping motor according to the time speed to make the stepping motor run more smoothly, The technical problem of how to make the stepper motor run smoothly is solved.

In addition, referring to FIG. 6, an embodiment of the present invention also proposes a stepping motor control device, and the stepping motor control device includes:

The data communication module 10 is used to receive a data instruction from the upper computer, and the data instruction includes a target displacement and a target speed;

It should be noted that the execution body of this embodiment may be a control module of a stepper motor control system, or may be other devices that can implement the same or similar functions, which is not limited in this embodiment.

The speed calculation module 20 is configured to calculate the instantaneous speed of the stepping motor at each time during the operation phase by using a preset sinusoidal S-curve acceleration algorithm according to the target displacement and the target speed;

It should be understood that the jerk of the preset sine S-curve acceleration algorithm is a sine function and can be continuously derived, while the jerk of trapezoidal and parabolic acceleration curves is a step function, and there is a step transformation, which makes the motor speed The change is not stable enough, and the sine curve can avoid this problem. The sine curve better conforms to the characteristic that the torque of the stepper motor decreases with the increase of speed, makes full use of the effective torque of the motor, and at the same time can reduce the mechanical shock.

It can be understood that the sequence of the operating phases of the stepping motor in this embodiment is the acceleration phase, the uniform acceleration phase, the deceleration phase, and the uniform speed phase, that is, the stepping motor continuously accelerates when it starts to run, and when it reaches the maximum speed ( Decrease the maximum speed in the acceleration phase), and no longer continue to accelerate, but keep the maximum speed at a constant speed. The speed change of the stepping motor is shown in Fig. 3, the period from t ₀ to t ₁ is the acceleration stage, the period from t ₁ to t ₂ is the uniform acceleration stage, the period from t ₂ to t ₃ is the deceleration stage, and the period _{after t 3} is the uniform speed.

The motor control module 30 is used for controlling the operation of the stepping motor according to the speed at the time.

It should be noted that the acceleration phase of the stepping motor in the prior art is not stable, and in this embodiment, the acceleration phase is divided into an acceleration phase, a uniform acceleration phase, and a deceleration phase, and the time is calculated by the sinusoidal speed curve algorithm. Speed, and control the operation of the stepping motor according to the speed at the time, so that the speed of the stepping motor is increased at the optimal speed to maintain its stability.

In an embodiment, the speed calculation module 20 is further configured to calculate the jerk and the jerk time in the jerk phase according to the target displacement and the target speed; determine the jerk according to the jerk time Uniform acceleration time in the acceleration phase; calculating the instantaneous speed of the stepping motor during the operation phase according to the target displacement, the target speed, the jerk, the jerk time, and the constant acceleration time.

In one embodiment, the speed calculation module 20 is further configured to calculate the jerk phase according to the target displacement, the target speed, the jerk, the jerk time, and the constant acceleration time. Calculate the maximum acceleration according to the jerk and the jerk time; calculate the maximum acceleration according to the jerk, the jerk time, the uniform acceleration time, The first maximum speed, the second maximum speed, and the maximum acceleration calculate the instantaneous speed of the stepping motor during the operation phase.

In an embodiment, the speed calculation module 20 is further configured to calculate the first maximum speed in the jerk phase according to the jerk and the jerk time; according to the jerk and the jerk time And the uniform acceleration time to calculate the second maximum speed of the uniform acceleration stage.

In one embodiment, the speed calculation module 20 is further configured to determine the first running time and the total speed at the beginning of the constant acceleration phase according to the jerk time, the first running time, and the constant acceleration time. The second operating time at the beginning of the acceleration phase; according to the jerk value, the jerk time, the first operating time, the second operating time, the first maximum speed, the second Maximum Speed The maximum acceleration calculates the instantaneous speed of the stepping motor during the operation phase.

In one embodiment, the speed calculation module 20 is further configured to determine the first operating moment at the beginning of the uniform acceleration phase according to the jerk time; determine according to the first operating time and the uniform acceleration time The second operating moment at the beginning of the deceleration phase.

In an embodiment, the speed calculation module 20 is further configured to calculate a first integral constant according to the jerk and the jerk time; calculate a second integral constant according to the first integral constant and the second maximum speed Integral constant; calculated according to the jerk, the jerk time, the first operating time, the second operating time, the first maximum speed, the first integral constant and the second integral constant Time speed.

For other embodiments or specific implementation methods of the stepping motor control device of the present invention, reference may be made to the foregoing method embodiments, which will not be repeated here.

It should be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, It also includes other elements not explicitly listed, or elements inherent to the process, method, article, or device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or device that includes the element.

The sequence numbers of the foregoing embodiments of the present invention are only for description, and do not represent the superiority or inferiority of the embodiments.

Through the description of the above implementation manners, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is better.的实施方式。 Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a computer-readable storage medium as described above (such as ROM/RAM, magnetic disk, optical disk), including several instructions to make a smart stepper motor control device (can be a mobile phone, computer, stepper motor control device, air conditioner, or network stepper motor control device, etc.) Perform the methods described in the various embodiments of the present invention.

The above are only preferred embodiments of the present invention, and do not limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technical fields , The same reason is included in the scope of patent protection of the present invention.

Claims

A stepping motor control method, characterized in that, the stepping motor control includes the following steps:

Receiving a data instruction from the host computer, the data instruction including a target displacement and a target speed;

Calculating the instantaneous speed of the stepper motor at each moment in the operation phase according to the target displacement and the target speed through a preset sinusoidal S-curve acceleration algorithm;

The operation of the stepping motor is controlled according to the speed at the time.
The stepping motor control method according to claim 1, wherein the operation phase includes an acceleration phase, a uniform acceleration phase, and a deceleration phase;

According to the target displacement and the target speed, calculating the time speed of the stepping motor at each time in the operation phase through a preset sinusoidal S-curve acceleration algorithm, which specifically includes:

Calculating the jerk and jerk time in the jerk phase according to the target displacement and the target speed;

Determining the uniform acceleration time of the uniform acceleration stage according to the acceleration time;

According to the target displacement, the target speed, the jerk, the jerk time, and the uniform acceleration time, the time speed of the stepping motor at each time in the operation phase is calculated.
The stepping motor control method according to claim 2, wherein the step is calculated according to the target displacement, the target speed, the jerk, the jerk time, and the constant acceleration time. The speed of the incoming motor at each time during the operation phase, including:

According to the target displacement, the target speed, the jerk, the jerk time, and the uniform acceleration time, the first maximum speed in the jerk phase and the second maximum speed in the uniform acceleration phase are respectively calculated ；

Calculating the maximum acceleration according to the jerk and the jerk time;

According to the jerk, the jerk time, the uniform acceleration time, the first maximum speed, the second maximum speed, and the maximum acceleration, calculate the time speed of the stepping motor at each time during the operation phase .
The stepping motor control method according to claim 3, wherein said calculation of said target displacement, said target speed, said jerk, said jerk time and said constant acceleration time respectively The first maximum speed in the acceleration phase and the second maximum speed in the uniform acceleration phase specifically include:

Calculating the first maximum speed in the jerk phase according to the jerk and the jerk time;

The second maximum speed in the uniform acceleration stage is calculated according to the jerk, the jerk time and the uniform acceleration time.
The stepping motor control method according to claim 3, wherein the stepping motor control method according to the jerk, the jerk time, the uniform acceleration time, the first maximum speed, and the second maximum speed Calculating the speed of the stepping motor at each time during the operation phase with the maximum acceleration specifically includes:

Determining, according to the jerk time, the first running time, and the constant acceleration time, a first running moment at the beginning of the constant acceleration phase and a second running moment at the beginning of the deceleration phase;

Calculate the stepping motor according to the jerk value, the jerk time, the first operating time, the second operating time, the first maximum speed, the second maximum speed, the maximum acceleration The speed at each moment in the operating phase.
The stepping motor control method according to claim 5, wherein the first operation at the beginning of the uniform acceleration phase is determined according to the jerk time, the first operation time, and the uniform acceleration time The time and the second operating time at the beginning of the deceleration phase specifically include:

Determining the first operating moment at the beginning of the uniform acceleration phase according to the acceleration time;

The second operating time at the beginning of the deceleration phase is determined according to the first operating time and the uniform acceleration time.
The stepping motor control method according to claim 5, characterized in that, according to the jerk value, the jerk time, the first operating time, the second operating time, the first The maximum speed and the second maximum speed The maximum acceleration calculation of the time speed of the stepping motor at each time during the operation phase specifically includes:

Calculating a first integral constant according to the jerk and the jerk time;

Calculating a second integral constant according to the first integral constant and the second maximum speed;

Calculate the step according to the jerk, the jerk time, the first operating time, the second operating time, the first maximum speed, the first integral constant and the second integral constant The speed of the incoming motor at each moment in the running phase.
A stepping motor control device, characterized in that, the stepping motor control device includes:

The data communication module is used to receive data instructions from the upper computer, the data instructions including target displacement and target speed;

A speed calculation module, configured to calculate the instantaneous speed of the stepping motor at each instant in the operation phase according to the target displacement and the target speed through a preset sinusoidal S-curve acceleration algorithm;

The motor control module is used to control the operation of the stepping motor according to the speed at the time.
A stepping motor control system, characterized in that the stepping motor control system includes: a control module, a power supply module, a data storage module, a communication module, a drive module, a host computer, a stepping motor, and the data storage A stepping motor control program on the module that can be run on the control module, and the stepping motor control program is configured to implement the steps of the stepping motor control method according to any one of claims 1 to 7.
A storage medium, characterized in that a stepper motor control program is stored on the storage medium, and a stepper motor control program is stored on the storage medium. When the stepper motor control program is executed by a processor, the The steps of the stepping motor control method described in any one of 1 to 7 are required.