CN102664576B - Micro-step control method, device and stepping motor controller - Google Patents
Micro-step control method, device and stepping motor controller Download PDFInfo
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Abstract
The invention is applied to the field of electromechanics, and provides a micro-step control method, a micro-step control device and a stepping motor controller. The method comprises the following steps of: calculating cosine current; generating a current compensation function according to a hysteresis curve; compensating the cosine current according to the current compensation function to generate compensation current; and performing micro-step control on a stepping motor by using the compensation current. The cosine current is compensated according to hysteresis curve data, and the compensation current is used for performing the micro-step control on the stepping motor, so that the stepping uniformity of the micro-step control over the stepping motor is effectively improved, and high-accuracy open loop control is realized; and moreover, the method, the device and the controller are simple in structure, low in cost, easy to implement, low in workload and small in size, and the requirements of a batch production process can be met.
Description
Technical field
The invention belongs to electro-mechanical arts, particularly relate to a kind of micro-step control method, device and controllor for step-by-step motor.
Background technology
In order to reduce the step angle of stepping motor, improve control precision and resolution, industry generally adopts cosine currents control methods to carry out micro-step control to motor, namely the cosine by applying to have certain phase difference on the winding of stepping motor controls electric current, each synchronizing of stepper motor is subdivided into the micro-stepping of more than 2, and then realizes micro-step control.
But, in cosine currents control methods, magnetic hysteresis factor due to iron core has a strong impact on the uniformity of stepping motor stepping (and moment of torsion), and when stepping motor conversion direction, magnetic hysteresis because of magnetic core produces and stops that the change of gear position is lagged behind and control change, cause the uneven and forward step-length of step-length and reverse step-length unequal.
At present, because traditional open-loop control system realizes micro-step control, precision is usually lower, be difficult to meet the requirement of market to stepping motor precision controlling, therefore two kinds of closed-loop control systems are usually adopted stepping position to be demarcated to the uniformity of the stepping (and moment of torsion) realizing micro-step control, one is: adopt the position transducers such as photoelectric encoder, magnetic rotary encoder, light coral chi and magnetic coral chi to form feedback loop, controller, according to feedback data dynamic conditioning controling parameters, realizes the object that linear position controls.The defect of the program is, needs to use expensive position transducer, cost high, and owing to having particular/special requirement to installation dimension, is difficult to the application demand meeting compact products.
It two is: the step angle mapping table using photoelectric encoder or grating scale to record stepping motor in advance to rotate, store in the mode of form, the corner according to target is oppositely tabled look-up, and obtains best step motion control instruction.The defect of the program is, need to demarcate respectively each motor, workload is large, the demand of difficulty or ease meet volume production. art, and, because the path of magnetic hysteresis loop is relevant with the historic state of soft magnetic core winding, if use unified micro-stepping step angle mapping table when winding historic state is different, then location position needs to cover all historic states, staking-out work range index rises, more be difficult to the demand of meet volume production. art, when especially changing the direction of motion in different positions, the error being difficult to predict in various degree can be caused.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of micro-step control method, and be intended to solve existing micro-step control method precision low, cost is high, and size is large, and staking-out work amount is large, the problem of the demand of difficulty or ease meet volume production. art.
The embodiment of the present invention is achieved in that a kind of micro-step control method, and described method comprises the steps:
Calculate cosine currents; Obtain B-H loop function, and be parallelogram function by described B-H loop approximation to function; Current compensation function is generated according to described parallelogram function; According to described current compensation function, described cosine currents is compensated, generate offset current; By described offset current, micro-step control is carried out to stepping motor.
Another object of the embodiment of the present invention is to provide a kind of micro-step control device, and described device comprises:
Current calculation unit, for calculating cosine currents; Described B-H loop approximation to function for obtaining B-H loop function, and is parallelogram function by B-H loop acquisition module; Penalty function generation module, for generating current compensation function according to described parallelogram function; Current compensation unit, for compensating described cosine currents according to described current compensation function, generates offset current; Micro-step control unit, for carrying out micro-step control by described offset current to stepping motor.
Another object of the embodiment of the present invention is to provide a kind of controllor for step-by-step motor comprising above-mentioned micro-step control device.
The embodiment of the present invention is according to B-H loop compensation data cosine currents, the electric current after compensating is adopted to carry out micro-step control to stepping motor, effectively improve the stepping uniformity of stepping motor micro-step control, achieve high-precision opened loop control, and structure is simple, cost is low, be easy to realize, workload is little, and size is little, can the demand of meet volume production. art.
Accompanying drawing explanation
The realization flow figure of the micro-step control method that Fig. 1 provides for first embodiment of the invention;
The realization flow figure of the micro-step control method that Fig. 2 provides for second embodiment of the invention;
Fig. 3 returns curve chart for the magnetic hysteresis of the micro-step control method that second embodiment of the invention provides;
The counter clockwise direction current compensation figure of the micro-step control method that Fig. 4 (a) provides for second embodiment of the invention;
The clockwise direction current compensation figure of the micro-step control method that Fig. 4 (b) provides for second embodiment of the invention;
The realization flow figure of the micro-step control method that Fig. 5 provides for third embodiment of the invention;
The magnetic flux conditions figure of the micro-step control method that Fig. 6 provides for third embodiment of the invention;
The magnetic hysteresis that the micro-step control method that Fig. 7 provides for third embodiment of the invention generates when electric current declines returns curve chart;
The magnetic hysteresis that the micro-step control method that Fig. 8 provides for third embodiment of the invention generates when electric current rises returns curve chart;
Current waveform after the counter clockwise direction compensation of the micro-step control method that Fig. 9 provides for third embodiment of the invention and the contrast relationship figure of cosine currents;
Current waveform after the clockwise direction compensation of the micro-step control method that Figure 10 provides for third embodiment of the invention and the contrast relationship figure of cosine currents;
Current waveform after the arbitrary phase angle change directional compensation of the micro-step control method that Figure 11 provides for third embodiment of the invention and the contrast relationship figure of cosine currents;
Figure 12 shows the realization flow figure of the micro-step control method that fourth embodiment of the invention provides;
The structure chart of the micro-step control device that Figure 13 provides for the embodiment of the present invention;
First exemplary construction figure of the micro-step control device that Figure 14 provides for the embodiment of the present invention;
Second exemplary circuit structure chart of the micro-step control device that Figure 15 provides for the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The embodiment of the present invention is by being used for the micro-step control electric current of stepping motor excitation according to motor coil soft magnetic bodies B-H loop compensation data, without the need to carrying out location position to stepping motor, improve the stepping uniformity of stepping motor micro-step control simply and effectively, achieve high-precision opened loop control.
In embodiments of the present invention, be described for the cosine currents of some coils of motor, the electric current of all coils can use the same method enforcement on the basis considering cosine currents phase difference, and the phase difference calculating of the cosine currents of different coil is prior art, repeats no more herein.
Fig. 1 shows the realization flow of the micro-step control method that first embodiment of the invention provides, and details are as follows:
In step S101, calculate cosine currents;
In step s 102, current compensation function is generated according to B-H loop;
In embodiments of the present invention, when not high to required precision, B-H loop can be approximately parallelogram, to simplify the step asking for current compensation function, improve the inhomogeneities of micro-stepping stepping, when higher to required precision, B-H loop data can be obtained by B-H loop, and ask for current compensation function according to B-H loop data, to realize accurate control.
Certainly, also artificial calculating current penalty function can be passed through, and the current compensation function various mode obtained stores, to call when needed.
In step s 103, according to current compensation function, cosine currents is compensated, generate offset current;
In embodiments of the present invention, according to described current compensation function, calculating is compensated to described cosine currents, be compensated current value, and compensating current control can be realized by programmable current control circuit control drive circuit, also digital frequency synthesis technology method can be adopted to generate pwm signal, adjusted the electric current of coil by the power device of pwm signal driven MOS pipe or Darlington transistor etc., realize compensating current control.
In step S104, by offset current, micro-step control is carried out to stepping motor.
In embodiments of the present invention, by offset current, the control electric current in motor coil is revised, current change quantity makes the control electric current after compensation in the change procedure increased or reduce, magnetic flux is corresponding change in real time thereupon, to ensure that controlling electric current by cosine carries out effective, real-time micro-step control to motor, improve the inhomogeneities of micro-stepping stepping, achieve high-precision opened loop control, and structure is simple, cost is low, is easy to realize, and workload is little, size is little, can the demand of meet volume production. art.
Fig. 2 shows the realization flow of the micro-step control method that second embodiment of the invention provides, and details are as follows:
In step s 201, cosine currents is calculated;
In step S202, obtain B-H loop function, and be parallelogram function by this B-H loop approximation to function;
In embodiments of the present invention, B-H loop is approximately parallelogram, replaces B-H loop function by asking for parallelogram function, significantly can simplify and calculate and reduce staking-out work amount, especially stepping uniformity is improved, successful for the micro-step control not high to required precision.
In step S203, generate current compensation function according to parallelogram function;
In embodiments of the present invention, the magnetic flux that the magnetizing field of coil current produces is as shown in the oblique void line of crossing initial point in Fig. 3, and as can be seen from Figure 3, when electric current changes in the process of minimizing by increasing, the magnetic flux change that curent change Δ I can cause is approximately 0; Similarly, when electric current changes in the process of increase by minimizing, the magnetic flux change that curent change Δ I can cause also is approximately 0.
Can obviously find out in figure 3, when cosine currents time differential is from when just becoming negative, penalty function is-Δ I/2; When cosine currents time differential from negative become positive time, penalty function is Δ I/2.It should be noted that, if can compensate according to the parallelogram function of solid line peripheral in Fig. 3 when cosine currents is big current, if the parallelogram function that can form according to two horizontal dotted line in Fig. 3 and two oblique solid lines according to actual current value when cosine currents is small area analysis compensates.
In step S204, according to current compensation function, cosine currents is compensated, generate offset current;
In step S205, by offset current, micro-step control is carried out to stepping motor.
Fig. 4 (a) and Fig. 4 (b) are respectively current compensation figure when current compensation figure when cosine currents rotates counterclockwise and cosine currents rotate clockwise, and wherein dotted line is the cosine currents before compensating, and is embodied as the cosine currents after compensation.
When cosine currents rotates counterclockwise, electric current suddenly falls Δ I at valley, to skyrocket Δ I at peak value; When cosine currents rotates clockwise, electric current valley skyrocket Δ I, at peak value, Δ I falls suddenly, make magnetic hysteresis loop jump to another parallel hypotenuse from a hypotenuse of parallelogram, avoid hysteresis, thus realize the stepping uniformity of micro-step control.
In embodiments of the present invention, ignore the impact of other windings on magnetic flux, think that magnetic flux is only relevant with present current value with history magnetic flux, magnetic hysteresis loop is approximately parallelogram, by compensating this Parallelogram extraction penalty function, under the prerequisite not high to micro-step control accuracy requirement, significantly can simplify calculating, and there is obvious correction effect.
Fig. 5 shows the realization flow of the micro-step control method that third embodiment of the invention provides, and details are as follows:
In step S301, calculate cosine currents;
In step s 302, B-H loop data when generating State Transferring between two according to the multiple historic states preset;
In embodiments of the present invention, according to required segmentation number, historic state number is set, segmentation number is the quantity that motor segments step stop position in a circular motion, if segmentation number is N, historic state number is that 4N can obtain good control precision, certainly, historic state number can be reduced as required to reduce surveying work amount, also can increase historic state number as required to improve control precision.
As one embodiment of the invention, B-H loop data comprise magnetic flux and current value.
For the motor of same model, if historic state number is 4N, then core material is divided in the running 4N state, and by measuring B-H loop data S when obtaining State Transferring between two
n={ F
n, I
n, wherein S
nbe the B-H loop data under the n-th historic state, F
nfor the magnetic flux under the n-th historic state, I
nit is the current value that under the n-th historic state, magnetic flux is corresponding, B-H loop data when obtaining State Transferring between two can all obtain by measuring according to the actual requirements, also a part of B-H loop data can be obtained by measuring, remaining B-H loop data is generated again, to reduce surveying work amount by interpolation.
Be specially:
A, basis are preset historic state number and are calculated magnetic flux;
The phase angle that stepper motor rotates by historic state number 16 is corresponding is divided into 16 states, and the segmentation of stepper motor step stop position is determined by the magnetic flux acting in conjunction of each coil, the therefore all corresponding target magnetic flux (F in the phase angle of each state
0-F
16), its functional relation, see Fig. 6, namely controls the thin stepwise rotation of motor by the magnetic flux of each historic state, in order to satisfied permanent moment of torsion demand for control, motor segmentation step control objectives magnetic flux is be cosine function about the function at segmentation step control phase angle,
wherein F is magnetic flux peak, F
nfor the magnetic flux under the n-th historic state, n is historic state sequence number, and for 2 phase motors, the target magnetic flux of two phase coils is about the function at phase angle to be phase difference be two cosine functions of 90 degree.
B, the current value corresponding according to magnetic flux acquisition;
In embodiments of the present invention, magnetic flux F is obtained by calculating or measuring
0-F
16corresponding current value I
0-I
16.In an initial condition, with magnetic flux F
1for control objectives, see Fig. 6, from 0, electric current is improved gradually, and monitor the magnetic flux of coil with magnetic flux meters device (such as using milli tesla instrument), until magnetic flux reaches F
0, and record electric current I now
0, to obtain the B-H loop data S under this historic state
0={ F
0, I
0, then with S
0={ F
0, I
0be starting point, reduce electric current, simultaneously recording flux amount data, until magnetic flux reduces to F
8, record current value I now
8, to obtain the B-H loop data S under the 8th historic state
8={ F
8, I
8, after this increase electric current again, until magnetic flux is increased to F
1, record now current value I
1, and obtain the B-H loop data S under the first historic state
1={ F
1, I
1, repeatedly, reduce electric current, until magnetic flux is increased to F
7, record now current value I
7, and obtain the B-H loop data S under the 7th historic state
7={ F
7, I
7, increase electric current, until magnetic flux is increased to F
2, record now current value I
2, and obtain the B-H loop data S under the second historic state
2={ F
2, I
2... S
16={ F
16, I
16, wherein S
0={ F
0, I
0and S
16={ F
16, I
16identical, be respectively initial position and final position.
In step S303, described point is carried out, to generate B-H loop collection to B-H loop data during State Transferring between two;
In embodiments of the present invention, when electric current declines, respectively by B-H loop data (S during each State Transferring
0-S
7, S
9-S
15) the B-H loop data S corresponding with minimum current
8between carry out described point, see Fig. 7, the wherein empty magnetic flux being tiltedly scribed ss magnetizing field and producing, dotted line C
nfor the B-H loop that interpolation generates, when electric current rises, respectively by B-H loop data (S during each State Transferring
1-S
15) the B-H loop data S corresponding with maximum current
16between carry out described point, see Fig. 8, the wherein empty magnetic flux being tiltedly scribed ss magnetizing field and producing, to obtain many B-H loop C
i, j, the function F of magnetic flux about electric current that this B-H loop is corresponding
i, jand its inverse function I (I)
i, j(F), due to S
7-S
15with S
8between described point curve and S
0with S
8between described point curves overlapped, S
1-S
7with S
16between described point curve and S
8with S
16between described point curves overlapped, therefore can omit S
7-S
15with S
8between described point, and S
1-S
7with S
8between described point, to reduce workload.
Such as, to S
0to S
8described point is to obtain a B-H loop C
0,8, the function F of magnetic flux about electric current that this B-H loop is corresponding
0,8and its inverse function I (I)
0,8(F), successively to the B-H loop data described point (row filter can be advanced to get rid of repetition described point at described point) during any two State Transferring, to generate B-H loop collection { C
0,8, C
1,8, C
2,8, C
3,8, C
4,8, C
5,8, C
6,8, C
7,8, C
8,9, C
8,10, C
8,11, C
8,12, C
8,13, C
8,14, C
8,15, C
8,16.
In step s 304, current compensation function is generated according to B-H loop collection;
According to { C
0,8, C
1,8, C
2,8, C
3,8, C
4,8, C
5,8, C
6,8, C
7,8, C
8,9, C
8,10, C
8,11, C
8,12, C
8,13, C
8,14, C
8,15, C
8,16extract various states conversion time function I
0,8(F), I
1,8(F), I
2,8(F), I
3,8(F), I
4,8(F), I
5,8(F), I
6,8(F), I
7,8(F), I
9,8(F), I
8,10(F), I
8,11(F), I
8,12(F), I
8,13(F), I
8,14(F), I
8,15(F), I
8,16(F) as current compensation function.
In step s 304, according to current compensation function, cosine currents is compensated, generate offset current;
In step S305, by offset current, micro-step control is carried out to stepping motor.
In embodiments of the present invention, when needs control motor continues to rotate clockwise, first I is applied to motor
0electric current, think motor coil now state be S
0, circle magnetic flux is now F
0, then according to B-H loop C
0,8corresponding current compensation function I
0,8(F) cosine currents is compensated, and regulate the change of electric current by drive circuit, then apply electric current I to coil successively at interval of a time cycle (being determined by control rate)
0,8(F
7), I
0,8(F
6) ..., I
0,8(F
8), so far motor gets the hang of S
8, then according to B-H loop C
8,16corresponding current compensation function I
0,8(F), then electric current I is applied to coil successively at interval of a time cycle
8,16(F
9), I
8,16(F
10) ..., I
8,16(F
16).So far complete the control of a current cycle, subsequent periodic repeats the step motor control that can realize uniform angular velocity.Current waveform after compensation and the contrast relationship of cosine currents are see Fig. 9.
When needs control motor continues counterclockwise rotation, first apply I to motor
16electric current, think motor coil now state be S
16, circle magnetic flux is now F
16, then according to B-H loop C
16,8corresponding current compensation function I
16,8(F), then electric current I is applied to coil successively at interval of a time cycle (being determined by control rate)
16,8(F
7), I
16,8(F
6) ..., I
16,8(F
8), so far motor gets the hang of S
8, then according to B-H loop C
8,0corresponding current compensation function I
8,0(F), then electric current I is applied to coil successively at interval of a time cycle
8,0(F
7), I
8,0(F
6) ..., I
8,0(F
0).So far complete the control of a current cycle, subsequent periodic repeats the step motor control that can realize uniform angular velocity.Control the contrast relationship of current waveform and cosine currents see Figure 10.
Counterclockwise motion is changed into by motion clockwise when needs control motor, method is also similar, B-H loop is selected with the historic state that the phase place of steering position is corresponding, then select current compensation function according to B-H loop, finally according to penalty function, cosine currents is implemented to compensate the current value after obtaining compensation.
Illustrate below.Suppose that control task is: first reach clockwise and to move 17/16 tooth pitch position, namely 405 degree of phase place places, then control motor counter motion, require to keep each micro-stepping stepping of motor in control procedure more even.First first control motor clockwise according to said method above and move to 405 degree of phase places, coil state is S
3, then select magnetic hysteresis loop C
30, control motor inverse clock and move to 360 phase places, coil state is S
0, then continue to apply to control electric current according to the control method of inverse clock and implement to control, in the motion of * point inverse clock, the current waveform after compensation and the contrast relationship of cosine currents are see Figure 11.
Be appreciated that 405 degree of above-mentioned phase angles are a common phase angle, implementer can select arbitrary phase angle as required, with the B-H loop that similar method choice is corresponding, turns to realizing arbitrary phase angle place.
Generally speaking, for any coil of motor, when cosine currents becomes minimizing from increase, control electric current relative to the violent reduction of cosine currents, that is now start to apply a negative offset current to cosine currents, when cosine currents becomes increase from minimizing, control electric current relative to the violent increase of cosine currents, that is now start to apply a positive offset current to cosine currents.
Figure 12 shows the realization flow of the micro-step control method that fourth embodiment of the invention provides, and details are as follows:
In step S401, demagnetization process is carried out to wound core;
In embodiments of the present invention, by carrying out demagnetization to improve precision further to wound core.
In step S402, calculate cosine currents;
In step S403, generate current compensation function according to B-H loop;
In step s 404, according to current compensation function, cosine currents is compensated, generate offset current;
In step S405, by offset current, micro-step control is carried out to stepping motor;
In step S406, whether checking motor micro-step control precision reaches preset standard;
If so, then do-nothing operation is performed;
If not, then performing step S407 increases history sample status number, and returns and re-execute step S403.
In embodiments of the present invention, each micro-stepping amount of spin of motor can be measured by the higher photoelectric encoder of service precision, and calculate the variance yields of this amount of spin, if when variance yields is greater than preset standard, then the precision of motor micro-step control can not reach preset standard, if when variance yields is less than preset standard, then the precision of motor micro-step control can reach preset standard.
In embodiments of the present invention, by current compensation function, the control electric current in motor coil is revised, for electric current by being increased in the process of minimizing, control electric current relative to the violent reduction of cosine currents, when cosine currents becomes increase from minimizing, control electric current relative to the violent increase of cosine currents, and magnetic flux is corresponding change in real time thereupon, effective to the carrying out of motor to ensure controlling electric current by cosine, real-time micro-step control, achieve open loop micro-step control, effectively improve the stepping uniformity of stepping motor micro-step control, and structure is simple, cost is low, be easy to realize, workload is little, size is little, can the demand of meet volume production. art.
Figure 13 shows the structure of the micro-step control device that one embodiment of the invention provides, and for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.
As one embodiment of the invention, this micro-step control device can be applied in various controllor for step-by-step motor, and this device comprises:
Current calculation unit 71, for calculating cosine currents;
Penalty function generation unit 72, for generating current compensation function according to B-H loop;
Current compensation unit 73, for compensating cosine currents according to current compensation function, generates offset current;
Micro-step control unit 74, for carrying out micro-step control by offset current to stepping motor.
Figure 14 shows the first exemplary construction of the micro-step control device that the embodiment of the present invention provides, and for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.
Penalty function generation unit 72 comprises:
This B-H loop approximation to function for obtaining B-H loop function, and is parallelogram function by B-H loop function acquisition module 721;
Penalty function generation module 722, for generating current compensation function according to parallelogram function.
In embodiments of the present invention, when cosine currents time differential is from when just becoming negative, described current compensation function is-Δ I/2; When cosine currents time differential from negative become positive time, current compensation function is Δ I/2.
Figure 15 shows the second exemplary construction of the micro-step control device that the embodiment of the present invention provides, and for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.
Penalty function generation unit 72 can also comprise:
B-H loop data acquisition module 723, for generating B-H loop data during State Transferring between two according to the multiple historic states preset;
B-H loop collection generation module 724, for carrying out described point, to generate B-H loop collection to B-H loop data during State Transferring between two;
Penalty function generation module 725, for generating current compensation function according to B-H loop collection.
The embodiment of the present invention is according to B-H loop compensation data cosine currents, the electric current after compensating is adopted to carry out micro-step control to stepping motor, achieve open loop micro-step control, effectively improve the stepping uniformity of stepping motor micro-step control, and structure is simple, cost is low, be easy to realize, workload is little, and size is little, can the demand of meet volume production. art.
These are only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a micro-step control method, is characterized in that, described method comprises the steps:
Calculate cosine currents;
Obtain B-H loop function, and be parallelogram function by described B-H loop approximation to function;
Current compensation function is generated according to described parallelogram function;
According to described current compensation function, described cosine currents is compensated, generate offset current;
By described offset current, micro-step control is carried out to stepping motor.
2. the method for claim 1, is characterized in that, when cosine currents time differential is from when just becoming negative, described current compensation function is-Δ I/2; When cosine currents time differential from negative become positive time, current compensation function is Δ I/2.
3. the method for claim 1, is characterized in that, the described step according to B-H loop generation current compensation function is specially:
B-H loop data when generating State Transferring between two according to the multiple historic states preset;
Described point is carried out to described B-H loop data, to generate B-H loop collection;
Current compensation function is generated according to B-H loop collection.
4. the method for claim 1, is characterized in that, also comprises the steps: before the step of described calculating cosine currents
Demagnetization process is carried out to wound core.
5. the method for claim 1, is characterized in that, described by described offset current stepping motor carried out to the step of micro-step control after also comprise the steps:
Whether checking motor micro-step control precision reaches preset standard;
If so, then do-nothing operation is performed;
If not, then increase history sample status number, and return and re-execute the described step generating current compensation function according to B-H loop.
6. a micro-step control device, it is characterized in that, described device comprises current calculation unit, penalty function generation unit, current compensation unit and micro-step control unit, and described penalty function generation unit comprises B-H loop acquisition module and penalty function generation module;
Described current calculation unit, for calculating cosine currents;
Described B-H loop approximation to function for obtaining B-H loop function, and is parallelogram function by described B-H loop function acquisition module;
Described penalty function generation module, for generating current compensation function according to described parallelogram function;
Described current compensation unit, for compensating described cosine currents according to described current compensation function, generates offset current;
Described micro-step control unit, for carrying out micro-step control by described offset current to stepping motor.
7. device as claimed in claim 6, it is characterized in that, described penalty function generation unit comprises:
B-H loop data acquisition module, for generating B-H loop data during State Transferring between two according to the multiple historic states preset;
B-H loop collection generation module, for carrying out described point to described B-H loop data, to generate B-H loop collection;
Penalty function generation module, for generating current compensation function according to described B-H loop collection.
8. a controllor for step-by-step motor, is characterized in that, the micro-step control device in described controllor for step-by-step motor is the micro-step control device as described in any one of claim 6 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210126333.XA CN102664576B (en) | 2012-04-26 | 2012-04-26 | Micro-step control method, device and stepping motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210126333.XA CN102664576B (en) | 2012-04-26 | 2012-04-26 | Micro-step control method, device and stepping motor controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102664576A CN102664576A (en) | 2012-09-12 |
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| CN113078859B (en) * | 2021-04-22 | 2022-04-29 | 浙江沪龙科技股份有限公司 | Step motor system subdivision adaptive interpolation method |
| CN113386475B (en) * | 2021-04-30 | 2022-10-11 | 深圳市博思得科技发展有限公司 | Paper feeding precision calibration method and calibration system |
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| CN1146661A (en) * | 1996-06-06 | 1997-04-02 | 中国人民解放军第二炮兵工程学院 | High-precision fine stepping method and control system for step motor |
| US6967460B1 (en) * | 2004-07-22 | 2005-11-22 | Service & Quality Technology Co., Ltd. | Error-correction apparatus for step-motor transmission system and a method for the same |
| CN102158161A (en) * | 2011-02-21 | 2011-08-17 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN102263536A (en) * | 2011-07-25 | 2011-11-30 | 李军科 | Stepping motor subdivided driving device for current vector constant amplitude control |
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| JPS63174592A (en) * | 1987-01-13 | 1988-07-19 | Fuji Xerox Co Ltd | Current controller for motor |
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| CN1146661A (en) * | 1996-06-06 | 1997-04-02 | 中国人民解放军第二炮兵工程学院 | High-precision fine stepping method and control system for step motor |
| US6967460B1 (en) * | 2004-07-22 | 2005-11-22 | Service & Quality Technology Co., Ltd. | Error-correction apparatus for step-motor transmission system and a method for the same |
| CN102158161A (en) * | 2011-02-21 | 2011-08-17 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN102263536A (en) * | 2011-07-25 | 2011-11-30 | 李军科 | Stepping motor subdivided driving device for current vector constant amplitude control |
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