CN106559019B - A kind of instantaneous stall self-recovery method of stepper motor and device - Google Patents
A kind of instantaneous stall self-recovery method of stepper motor and device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/34—Monitoring operation
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- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a kind of instantaneous stall self-recovery methods of stepper motor and device, this method to include：Judge whether the driver of stepper motor is in enabled state；If so, reading the angle value of load cell feedback in real time；After setting duration, the current angle value of acquisition load cell feedback；According to the current stepper motor tachometer value that angle value, setting duration, current angle value and host computer are sent, stepper motor is prejudged with the presence or absence of instantaneous stall；If so, according to the current goal angle value that current angle value, setting duration, default stepper motor acceleration value and host computer are sent, whether judgement stepper motor is in commutation scanning mode；If it is not, determining stepper motor there are instantaneous stall and controlling driver and restarted.The instantaneous stall erroneous judgement of stepper motor caused by being scanned due to commutation is avoided based on method disclosed by the invention, also so that closed loop servo system is forced restarting by restarting driver, is improved system self reover ability.
Description
Technical field
The present invention relates to stepper motor technical fields, more specifically to a kind of instantaneous stall self- recoverage of stepper motor
Method and device.
Background technology
Closed loop servo system is mainly by host computer 101, controller 102, driver 103, stepper motor 104 and load
105 are constituted, and structural schematic diagram is as shown in Figure 1.In closed loop servo system, target angle angle value is sent to control by host computer
Device, controller send to driver according to the current angle value that target angle angle value and load cell are fed back and instruct, and keep stepping electric
Machine band dynamic load is rotated further.
But during stepper motor runs at high speed, when introduced by outer force-disturbance or due to vibration it is instantaneous not
When trimming moment is excessive, instantaneous stall will result in.And the target angle angle value and stepper motor constantly sent due to host computer
The difference that the angle value of position is stagnated in stall is continuously increased, and may result in stepper motor and duration occurs in a rotation period
Stall is even uttered long and high-pitched sounds.
Invention content
In view of this, a kind of instantaneous stall self-recovery method of stepper motor of present invention offer and device, existing to solve
In technical solution after instantaneous stall occurs in stepper motor, occur what duration stall was even uttered long and high-pitched sounds in a rotation period
Problem.Technical solution is as follows：
A kind of instantaneous stall self-recovery method of stepper motor, including：
Judge whether the driver of stepper motor is in enabled state；
When the driver is in enabled state, the angle value of load cell feedback is read in real time；
After setting duration, the current angle value of the load cell feedback is acquired；
The current stepper motor sent according to the angle value, the setting duration, the current angle value and host computer
Tachometer value prejudges the stepper motor with the presence or absence of instantaneous stall；
When prejudging the stepper motor there are when instantaneous stall, according to the current angle value, the setting duration, preset
Whether the current goal angle value that stepper motor acceleration value and the host computer are sent judges the stepper motor in commutation
Scanning mode；
When judging that the stepper motor is not at the commutation scanning mode, it is instantaneous stifled to determine that the stepper motor exists
Turn and control the driver to be restarted.
Preferably, it is described according to the angle value, the setting duration, the current angle value and host computer are sent works as
Preceding stepper motor tachometer value prejudges the stepper motor with the presence or absence of instantaneous stall, including：
Judge whether the absolute value of the difference of the current angle value and the angle value is less than actual angle difference DELTA 1,
Δ 1=wt, wherein w is the current stepper motor tachometer value that host computer is sent, and t is the setting duration；
If the absolute value of the difference of the current angle value and the angle value is less than the actual angle difference, prejudge
There are instantaneous stalls for the stepper motor；
If the absolute value of the difference of the current angle value and the angle value is more than or equal to the actual angle difference,
It prejudges the stepper motor and instantaneous stall is not present.
Preferably, described according to the current angle value, the setting duration, default stepper motor acceleration value and described
Whether the current goal angle value that host computer is sent judges the stepper motor in commutation scanning mode, including：
Judge current goal angle value that the host computer is sent and the difference of the current angle value absolute value whether
More than practical commutation scanning angle difference DELTA 2,
Wherein, a is default stepper motor acceleration value, and t is the setting duration；
It is swept when the absolute value of the current goal angle value and the difference of the current angle value is more than the practical commutation
When retouching angle difference, judge that the stepper motor is not at commutation scanning mode；
When the current goal angle value and the absolute value of the difference of the current angle value are actually changed less than or equal to described
When to scanning angle difference, judge that the stepper motor is in commutation scanning mode.
Preferably, further include：
When determining that instantaneous stall occurs in the stepper motor, prompt message is generated.
Preferably, the duration t that sets is 200ms.
A kind of instantaneous stall self-resetting devices of stepper motor, including：It is condition judgment module, angle value read module, current
Angle value acquisition module, instantaneous stall anticipation module commutate and determination module and restart control module；
The condition judgment module, for judging whether the driver of stepper motor is in enabled state；
The angle value read module, for when the driver is in enabled state, reading load cell in real time
The angle value of feedback；
The current angle value acquisition module, for after setting duration, acquiring the load cell feedback
Current angle value；
The instantaneous stall prejudges module, for according to the angle value, the setting duration, the current angle value and
The current stepper motor tachometer value that host computer is sent, the stepper motor is prejudged with the presence or absence of instantaneous stall；
The commutation determination module, for when prejudging the stepper motor there are when instantaneous stall, working as anterior angle according to described in
The current goal angle value that angle value, the setting duration, default stepper motor acceleration value and the host computer are sent, judges institute
Stepper motor is stated whether in commutation scanning mode；
It is described to restart control module, for when judging that the stepper motor is not at the commutation scanning mode, determining
The stepper motor is there are instantaneous stall and controls the driver and is restarted.
Preferably, the instantaneous stall anticipation module is specifically used for：
Judge whether the absolute value of the difference of the current angle value and the angle value is less than actual angle difference；If institute
The absolute value for stating the difference of current angle value and the angle value is less than the actual angle difference, then prejudges the stepper motor
There are instantaneous stalls；If it is poor that the absolute value of the difference of the current angle value and the angle value is more than or equal to the actual angle
Value then prejudges the stepper motor and instantaneous stall is not present.
Preferably, the commutation determination module is specifically used for：
Judge current goal angle value that the host computer is sent and the difference of the current angle value absolute value whether
More than the practical scanning angle difference that commutates；When the current goal angle value and the absolute value of the difference of the current angle value are big
When the practical commutation scanning angle difference, judge that the stepper motor is not at commutation scanning mode；When the current mesh
When marking the absolute value of the difference of angle value and the current angle value less than or equal to the practical commutation scanning angle difference, judgement
The stepper motor is in commutation scanning mode.
Preferably, further include：Prompt message generation module；
The prompt message generation module, for when determining that instantaneous stall occurs in the stepper motor, generating prompt letter
Breath.
Preferably, the duration t that sets is 200ms.
Compared to the prior art, what the present invention realized has the beneficial effect that：
A kind of instantaneous stall self-recovery method of stepper motor disclosed by the invention and device, this method include：
When driver is in enabled state, when according to the angle value of load cell feedback, setting duration and setting
The current stepper motor tachometer value that the current angle value and host computer that load cell is fed back after length are sent scans mould in theory
Stepper motor is prejudged with the presence or absence of instantaneous stall under formula；When anticipation stepper motor is there are when instantaneous stall, in conjunction with default
The current goal angle value that stepper motor acceleration value and host computer are sent, further determines whether stepper motor is swept in commutation
State is retouched, erroneous judgement caused by being scanned avoiding problems commutation makes closed loop servo system force again finally by driver is restarted
Start, improves system self reover ability.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is closed loop servo system structural schematic diagram；
Fig. 2 is a kind of instantaneous stall self-recovery method flow chart of stepper motor disclosed in the embodiment of the present invention one；
Fig. 3 is a kind of instantaneous stall self-recovery method partial process view of stepper motor disclosed in the embodiment of the present invention two；
Fig. 4 is the instantaneous stall self-recovery method partial process view of another stepper motor disclosed in the embodiment of the present invention two；
Fig. 5 is a kind of instantaneous stall self-resetting devices structural schematic diagram of stepper motor disclosed in the embodiment of the present invention three.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
The embodiment of the present invention one discloses a kind of instantaneous stall self-recovery method of stepper motor, and it is instantaneous to be applied to stepper motor
Stall self-resetting devices, method flow diagram is as shown in Fig. 2, the instantaneous stall self-recovery method of the stepper motor includes the following steps：
S101, judges whether the driver of stepper motor is in enabled state；
S102 reads the angle value of load cell feedback in real time when driver is in enabled state；
During executing step S102, load cell is set to the execution end of stepper motor and is born with real-time obtain
The angle value of load.
S103, after setting duration, the current angle value of acquisition load cell feedback；
S104, according to the current stepper motor tachometer value that angle value, setting duration, current angle value and host computer are sent,
Stepper motor is prejudged with the presence or absence of instantaneous stall；
During executing step S104, for the usage scenario of different system, when for setting duration, that is, self- recoverage
Between can specifically be arranged, in practice process, the self- recoverage duration of 200ms, for the implementation effect of external disturbance closed loop servo system
It is more coherent.
S105, when anticipation stepper motor is there are when instantaneous stall, foundation current angle value, setting duration, default stepping are electric
The current goal angle value that machine acceleration value and host computer are sent, whether judgement stepper motor is in commutation scanning mode；
S106 determines stepper motor there are instantaneous stall and controls when judging that stepper motor is not at commutation scanning mode
Driver processed is restarted.
It should be noted that when driver is not at enabled state, step S107 is executed, is terminated.
It should also be noted that, when prejudging stepper motor there is no when instantaneous stall, step S108 is executed, stepper motor is just
Often operation.
It should also be noted that, when judging that stepper motor is in commutation scanning mode, step S109, stepper motor are executed
Normal operation.
It should also be noted that, delay startup is the first stage of stepper motor execution action, with closed loop servo system
It is enabled to execute, when driver is restarted, the condition of delay startup is met, on the one hand meets the limit of No Load Start frequency
System, has on the other hand taken into account low rate start, takes full advantage of under stepper motor tick-over state output torque with respect to bigger
Inherent characteristic, therefore also just improve system self reover ability.
It should also be noted that, when determining that instantaneous stall occurs in stepper motor, prompt message can also be generated, failure carries
Showing device receives the prompt message can carry out prompt stepper motor failure in a preset form；Such as fault cues device can be
Warning light, warning light flicker light or convert display color and can indicate stepper motor failure.
The instantaneous stall self-recovery method of a kind of stepper motor disclosed by the embodiments of the present invention, when driver is in enabled state
When, work as anterior angle according to what load cell after the angle value of load cell feedback, setting duration and setting duration was fed back
The current stepper motor tachometer value that angle value and host computer are sent, to stepper motor with the presence or absence of instantaneous stifled under theoretical scan pattern
Rotate into capable anticipation；When prejudging stepper motor there are when instantaneous stall, sent in conjunction with default stepper motor acceleration value and host computer
Current goal angle value, further determine stepper motor whether in commutation scanning mode, avoiding problems commutation scanning lead
The erroneous judgement of cause makes closed loop servo system force restarting, improves system self reover ability finally by driver is restarted.
Embodiment two
The instantaneous stall self-recovery method of the stepper motor in conjunction with disclosed in the embodiments of the present invention one, it is as shown in Figure 2 to walk
In rapid S104, according to the current stepper motor tachometer value that angle value, setting duration, current angle value and host computer are sent, to step
Stepper motor whether there is the specific implementation procedure that instantaneous stall is prejudged, as shown in figure 3, including the following steps：
S201, judges whether the absolute value of the difference of current angle value and angle value is less than actual angle difference；
|θ2-θ1| ＜ Δs 1
Wherein, θ2For current angle value, θ1For angle value, Δ 1 is actual angle difference；
Δ 1=wt
Wherein, w is the current stepper motor tachometer value that host computer is sent, and t is setting duration.
S202 prejudges stepping electricity if the absolute value of the difference of current angle value and angle value is less than actual angle difference
There are instantaneous stalls for machine；
S203 prejudges step if the absolute value of the difference of current angle value and angle value is more than or equal to actual angle difference
Instantaneous stall is not present in stepper motor.
The instantaneous stall self-recovery method of a kind of stepper motor disclosed by the embodiments of the present invention, by comparing current angle value and
The absolute value of the difference of angle value and actual angle difference are realized under theoretical scan pattern to stepper motor with the presence or absence of instantaneous
Stall is prejudged；When prejudging stepper motor there are when instantaneous stall, sent out in conjunction with default stepper motor acceleration value and host computer
Whether the current goal angle value sent further determines stepper motor in commutation scanning mode, and avoiding problems commutations to scan
Caused erroneous judgement makes closed loop servo system force restarting, improves system self reover ability finally by driver is restarted.
The instantaneous stall self-recovery method of the stepper motor in conjunction with disclosed in the embodiments of the present invention one, it is as shown in Figure 2 to walk
In rapid S105, the current goal angle according to angle value, setting duration, default stepper motor acceleration value and host computer transmission
Value, whether judgement stepper motor is in the specific in implementation procedure of commutation scanning mode, as shown in figure 4, including the following steps：
S301, judges whether the absolute value of the difference for the current goal angle value and current angle value that host computer is sent is more than
Practical commutation scanning angle difference；
|α1-θ2| ＞ Δs 2
Wherein, α1For the current goal angle value that host computer is sent, θ2For current angle value, Δ 2 is practical commutation scan angle
Spend difference；
Wherein, a is default stepper motor acceleration value, and t is setting duration.
S302, when the absolute value of the difference of current goal angle value and current angle value is poor more than practical commutation scanning angle
When value, judgement stepper motor is not at commutation scanning mode；
S303, when the absolute value of the difference of current goal angle value and current angle value is less than or equal to practical commutation scan angle
When spending difference, judgement stepper motor is in commutation scanning mode.
The instantaneous stall self-recovery method of a kind of stepper motor disclosed by the embodiments of the present invention, when driver is in enabled state
When, work as anterior angle according to what load cell after the angle value of load cell feedback, setting duration and setting duration was fed back
The current stepper motor tachometer value that angle value and host computer are sent, to stepper motor with the presence or absence of instantaneous stifled under theoretical scan pattern
Rotate into capable anticipation；When anticipation stepper motor is there are when instantaneous stall, by comparing current goal angle value and current angle value
The absolute value of difference and practical commutation scanning angle difference, further determine whether stepper motor is in commutation scanning mode, this
Erroneous judgement caused by commutation scanning is avoided, so that closed loop servo system is forced restarting finally by driver is restarted, improves
System self reover ability.
Embodiment three
Based on the instantaneous stall self-recovery method of stepper motor, this hair disclosed in the embodiments of the present invention one and embodiment two
Bright embodiment three, which then corresponds to, discloses the instantaneous stall of stepper motor for executing the above-mentioned instantaneous stall self-recovery method of stepper motor certainly
Recovery device, structural schematic diagram is as shown in figure 5, the instantaneous stall self-resetting devices of stepper motor 400 include：Condition judgment module
401, angle value read module 402, current angle value acquisition module 403, instantaneous stall anticipation module 404, commutation determination module
405 and restart control module 406；
Condition judgment module 401, for judging whether the driver of stepper motor is in enabled state；
Angle value read module 402, for when driver is in enabled state, reading load cell feedback in real time
Angle value；
Current angle value acquisition module 403, for after setting duration, acquisition load cell feedback to work as anterior angle
Angle value；
Instantaneous stall prejudges module 404, for what is sent according to angle value, setting duration, current angle value and host computer
Current stepper motor tachometer value, stepper motor is prejudged with the presence or absence of instantaneous stall；
Commutate determination module 405, for when anticipation stepper motor is there are when instantaneous stall, foundation current angle value to be set
The current goal angle value that duration, default stepper motor acceleration value and host computer are sent, whether judgement stepper motor, which is in, is changed
To scanning mode；
Control module 406 is restarted, for when judging that stepper motor is not at commutation scanning mode, determining that stepper motor is deposited
In instantaneous stall and controls driver and restarted.
It should be noted that the instantaneous stall self-resetting devices of stepper motor 400 may also include prompt message generation module；It carries
Show information generating module, for when determining that instantaneous stall occurs in stepper motor, generating prompt message.
It should also be noted that, instantaneous stall anticipation module is specifically used for：
Judge whether the absolute value of the difference of current angle value and angle value is less than actual angle difference；If current angle value
It is less than actual angle difference with the absolute value of the difference of angle value, then prejudging stepper motor, there are instantaneous stalls；If current angular
The absolute value of value and the difference of angle value is more than or equal to actual angle difference, then prejudges stepper motor and instantaneous stall is not present.
It should also be noted that, commutation determination module is specifically used for：
It is practical to judge whether the absolute value of the difference for the current goal angle value and current angle value that host computer is sent is more than
Commutate scanning angle difference；When the absolute value of the difference of current goal angle value and current angle value is more than practical commutation scan angle
When spending difference, judgement stepper motor is not at commutation scanning mode；When the difference of current goal angle value and current angle value
When absolute value is less than or equal to practical commutation scanning angle difference, judgement stepper motor is in commutation scanning mode.
The instantaneous stall self-resetting devices of a kind of stepper motor disclosed by the embodiments of the present invention, when driver is in enabled state
When, work as anterior angle according to what load cell after the angle value of load cell feedback, setting duration and setting duration was fed back
The current stepper motor tachometer value that angle value and host computer are sent, to stepper motor with the presence or absence of instantaneous stifled under theoretical scan pattern
Rotate into capable anticipation；When prejudging stepper motor there are when instantaneous stall, sent in conjunction with default stepper motor acceleration value and host computer
Current goal angle value, further determine stepper motor whether in commutation scanning mode, avoiding problems commutation scanning lead
The erroneous judgement of cause makes closed loop servo system force restarting, improves system self reover ability finally by driver is restarted.
Detailed Jie has been carried out to a kind of instantaneous stall self-recovery method of stepper motor provided by the present invention and device above
It continues, principle and implementation of the present invention are described for specific case used herein, and the explanation of above example is only
It is the method and its core concept for being used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weight
Point explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
For the device disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so fairly simple, the phase of description
Place is closed referring to method part illustration.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the element that the process, method, article or equipment including a series of elements is intrinsic,
Further include either the element intrinsic for these process, method, article or equipments.In the absence of more restrictions,
The element limited by sentence "including a ...", it is not excluded that in the process, method, article or equipment for including the element
In there is also other identical elements.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of instantaneous stall self-recovery method of stepper motor, which is characterized in that including：
Judge whether the driver of stepper motor is in enabled state；
When the driver is in enabled state, the angle value of load cell feedback is read in real time；
After setting duration, the current angle value of the load cell feedback is acquired；
The current stepper motor rotating speed sent according to the angle value, the setting duration, the current angle value and host computer
Value, the stepper motor is prejudged with the presence or absence of instantaneous stall；
When prejudging the stepper motor there are when instantaneous stall, according to the current angle value, the setting duration, stepping is preset
Whether the current goal angle value that motor acceleration value and the host computer are sent judges the stepper motor in commutation scanning
State；
When judging that the stepper motor is not at the commutation scanning mode, determine the stepper motor there are instantaneous stalls simultaneously
The driver is controlled to be restarted.
2. according to the method described in claim 1, it is characterized in that, it is described according to the angle value, it is the setting duration, described
The current stepper motor tachometer value that current angle value and host computer are sent carries out the stepper motor with the presence or absence of instantaneous stall
Anticipation, including：
Judge whether the absolute value of the difference of the current angle value and the angle value is less than actual angle difference DELTA 1,
Δ 1=wt, wherein w is the current stepper motor tachometer value that host computer is sent, and t is the setting duration；
If the absolute value of the difference of the current angle value and the angle value be less than the actual angle difference, anticipation described in
There are instantaneous stalls for stepper motor；
If the absolute value of the difference of the current angle value and the angle value is more than or equal to the actual angle difference, prejudge
Instantaneous stall is not present in the stepper motor.
3. according to the method described in claim 1, it is characterized in that, it is described according to the current angle value, the setting duration,
The current goal angle value that default stepper motor acceleration value and the host computer are sent, judges whether the stepper motor is in
Commutate scanning mode, including：
Whether the current goal angle value and the absolute value of the difference of the current angle value for judging the host computer transmission are more than
Practical commutation scanning angle difference DELTA 2,
Wherein, a is default stepper motor acceleration value, and t is the setting duration；
When the current goal angle value and the absolute value of the difference of the current angle value are more than the practical scan angle that commutates
When spending difference, judge that the stepper motor is not at commutation scanning mode；
It is swept when the absolute value of the current goal angle value and the difference of the current angle value is less than or equal to the practical commutation
When retouching angle difference, judge that the stepper motor is in commutation scanning mode.
4. according to the method described in claims 1 to 3 any one, which is characterized in that further include：
When determining that instantaneous stall occurs in the stepper motor, prompt message is generated.
5. according to the method described in claims 1 to 3 any one, which is characterized in that the duration t that sets is 200ms.
6. a kind of instantaneous stall self-resetting devices of stepper motor, which is characterized in that including：Condition judgment module, angle value are read
Module, instantaneous stall anticipation module, commutates and determination module and restarts control module at current angle value acquisition module；
The condition judgment module, for judging whether the driver of stepper motor is in enabled state；
The angle value read module, for when the driver is in enabled state, reading load cell feedback in real time
Angle value；
The current angle value acquisition module, for after setting duration, acquiring the current of the load cell feedback
Angle value；
The instantaneous stall prejudges module, for according to the angle value, the setting duration, the current angle value and upper
The current stepper motor tachometer value that machine is sent, the stepper motor is prejudged with the presence or absence of instantaneous stall；
The commutation determination module, for when prejudging the stepper motor there are when instantaneous stall, according to the current angle value,
The current goal angle value that the setting duration, default stepper motor acceleration value and the host computer are sent, judges the step
Whether stepper motor is in commutation scanning mode；
It is described to restart control module, described in when judging that the stepper motor is not at the commutation scanning mode, determining
Stepper motor is there are instantaneous stall and controls the driver and is restarted.
7. device according to claim 6, which is characterized in that the instantaneous stall anticipation module is specifically used for：
Judge whether the absolute value of the difference of the current angle value and the angle value is less than actual angle difference；If described work as
The absolute value of the difference of preceding angle value and the angle value is less than the actual angle difference, then prejudges the stepper motor and exist
Instantaneous stall；If the absolute value of the difference of the current angle value and the angle value is more than or equal to the actual angle difference,
It then prejudges the stepper motor and instantaneous stall is not present.
8. device according to claim 6, which is characterized in that the commutation determination module is specifically used for：
Whether the current goal angle value and the absolute value of the difference of the current angle value for judging the host computer transmission are more than
Practical commutation scanning angle difference；When the current goal angle value and the absolute value of the difference of the current angle value are more than institute
When stating practical commutation scanning angle difference, judge that the stepper motor is not at commutation scanning mode；When the current goal angle
When the absolute value of angle value and the difference of the current angle value is less than or equal to the practical commutation scanning angle difference, described in judgement
Stepper motor is in commutation scanning mode.
9. according to the device described in claim 6~8 any one, which is characterized in that further include：Prompt message generation module；
The prompt message generation module, for when determining that instantaneous stall occurs in the stepper motor, generating prompt message.
10. according to the device described in claim 6~8 any one, which is characterized in that the duration t that sets is 200ms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710037769.4A CN106559019B (en) | 2017-01-18 | 2017-01-18 | A kind of instantaneous stall self-recovery method of stepper motor and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710037769.4A CN106559019B (en) | 2017-01-18 | 2017-01-18 | A kind of instantaneous stall self-recovery method of stepper motor and device |
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| CN111917352B (en) * | 2020-08-07 | 2024-01-30 | 北京经纬恒润科技股份有限公司 | Method and device for processing locked rotor of brushless DC motor without position sensor |
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