CN107070328B - Method and system for controlling speed of continuous interval variable acceleration and deceleration stepping motor - Google Patents
Method and system for controlling speed of continuous interval variable acceleration and deceleration stepping motor Download PDFInfo
- Publication number
- CN107070328B CN107070328B CN201710343244.3A CN201710343244A CN107070328B CN 107070328 B CN107070328 B CN 107070328B CN 201710343244 A CN201710343244 A CN 201710343244A CN 107070328 B CN107070328 B CN 107070328B
- Authority
- CN
- China
- Prior art keywords
- speed
- acceleration
- stepping motor
- frequency
- interval
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008569 process Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Images
Classifications
-
- 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
- H02P8/14—Arrangements for controlling speed or speed and torque
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses a method and a system for controlling the speed of a continuous interval variable-acceleration stepping motor, wherein the stepping motor is controlled by dividing frequency based on a system clock, and a discretization processing mode of calculating the speed of the next time point is carried out according to the speed of the current time to realize subdivision control driving of the stepping motor, so that the stepping motor has different accelerations at different constant speed stages.
Description
Technical Field
The invention relates to a method and a system for controlling the speed of a continuous interval variable-acceleration stepping motor.
Background
When the motor is started or accelerated, if the stepping pulse changes too fast, the rotor follows the change of the unpowered signal due to inertia to generate locked rotor or step loss; an overshoot may occur at a stop or deceleration for the same reason. In order to prevent rotation blockage, step loss and step exceeding and improve the working frequency, the stepping motor is controlled to increase or decrease the speed.
At present, technologies such as chopping constant-current driving, pulse width modulation driving, current vector constant-amplitude uniform rotation driving and the like are common, and although the driving technologies can meet the technical requirements of specific occasions, certain flexibility is lacked. The control technology and the defects of the acceleration and deceleration of the current stepping motor are described in detail as follows:
(1) step type acceleration and deceleration
The lifting process of the stepping motor is dispersed into a discontinuous interval, the driving pulse sent by the control device is controlled by a step function, namely the rotating speed of the stepping motor is controlled by a step function to run at a constant speed for a period of time after stepping by 1 step, whether the current speed is consistent with the target speed or not is compared through a feedback mechanism, and if not, a pulse gear is correspondingly added or subtracted. The disadvantage of this method is that the acceleration performance of the stepping motor is not fully utilized, and the acceleration step is high in the high frequency band, the stepping motor will lose step when the speed is stepped, and there is a large overshoot.
(2) Linear acceleration and deceleration
Because the acceleration is constant, a step phenomenon exists, and the effect of the acceleration and deceleration control method is not ideal. The service life of the motor and the mechanical system is influenced, so that the method is suitable for occasions with lower processing speed of the control system and low requirement on the speed increasing and reducing process, and has larger overshoot.
(3) Continuous exponential acceleration and deceleration
The effect is significant, but the acceleration is initially at a maximum and gradually decreases as the speed increases, increasing more and more slowly. The control algorithm of exponential acceleration and deceleration is complex and the realization difficulty is high.
Disclosure of Invention
The invention provides a method and a system for controlling the speed of a continuous interval variable-acceleration stepping motor to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for controlling the speed of a continuous interval variable-acceleration stepping motor is characterized in that the stepping motor is controlled to change acceleration and deceleration based on a system clock frequency division number, and a discretization processing mode of calculating the speed of the next time point is carried out according to the speed of the current time so as to realize subdivision control driving of the stepping motor, so that the stepping motor has different accelerations at different constant speed stages.
The lifting process of the stepping motor is dispersed into a discontinuous interval, and the driving pulse sent by the control device is controlled by the speed and the frequency dividing ratio, namely after the rotating speed of the stepping motor is increased by 1 step, a new driving speed is generated according to the current rotating speed and the frequency dividing ratio.
And carrying out discretization processing on the control time of the stepping motor on the basis of a system clock.
Further, the higher the frequency of the system clock is, the smaller the discretized frequency division number is.
The acceleration value of any time period is the ratio of the difference value of the pulse frequency after the acceleration of the time period and the pulse frequency of the previous time period to the pulse period corresponding to the pulse frequency of the previous time period.
The acceleration time of any time segment is the time of the period corresponding to the pulse frequency of the previous time segment.
Further, the pulse period corresponding to the pulse frequency of the previous time period is a multiple of the system clock.
Further, the pulse frequency of the frequency division of any time segment is matched with the discretization frequency division number.
The pulse frequency v (n) for any time period has the value:
v(n)＝(fclk/2)^2[ln(n-m-1)+1/(n-m-1)-ln(n-m)+2/fclk/m]，
wherein fclk is the system clock Hz; m is a division count value, and 2(m-n) and 2(m-n-1) are division numbers based on a system clock.
The implementation system based on the control method comprises a main control module, a driving circuit and the stepping motor, wherein the main control module controls the driving circuit by adopting a continuous interval variable acceleration stepping motor speed control method, and the driving circuit drives the stepping motor so as to realize that the stepping motor has different accelerations at different constant speed stages.
Compared with the prior art, the invention has the beneficial effects that:
(1) the digital discretization effective control implementation scheme of the stepping motor is easier to realize the algorithm by using a digital logic control device, and the development period is shortened;
(2) the discrete function relation of the speed of the stepping motor at the next time point, the frequency division number of a system clock and the speed at the current time is realized, different accelerated speeds are realized at different constant speed stages, the acceleration performance of the stepping motor is fully utilized, the acceleration step is stable particularly at a high frequency band, and the stepping motor cannot be out of step when the speed is higher;
(3) the control mode of simulating continuous variable acceleration and deceleration to the maximum extent realizes the step-variable acceleration process, solves the common problems of locked rotor, step loss and step overshoot of the conventional acceleration and deceleration scheme of the stepping motor, and has smaller overshoot.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a diagram of an environment in which the present invention may be used;
FIG. 2 is a simulation graph of the acceleration control algorithm based on the frequency-varying ratio of the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As introduced in the background art, in the prior art, the stepped acceleration and deceleration does not fully utilize the acceleration performance of the stepping motor, and the stepping motor is out of step when the speed is stepped in a high-frequency range, and a linear acceleration and deceleration control mode is adopted.
The invention adopts a step-by-step motor subdivision and change acceleration step-by-step driving mode, the lifting process of the step motor is dispersed into a discontinuous interval, and the driving pulse sent by the control device is controlled by the speed and the frequency dividing ratio, namely, after the rotating speed of the step motor is increased by 1 step, a new driving speed is generated according to the current rotating speed and the frequency dividing ratio. The method is simple to realize, different accelerations exist at different constant speed stages, the acceleration performance of the stepping motor is fully utilized, particularly, the acceleration step is stable at a high frequency stage, and the stepping motor cannot be out of step when the speed is stepped. Therefore, on different frequency steps, within the range of meeting the requirement of acceleration, the step-variable acceleration process is realized, and the common problems of locked rotor, step loss and step exceeding of the conventional acceleration and deceleration scheme of the stepping motor are solved;
because the frequency dividing ratio and the current speed are functions, the discretization processing mode is easier to realize through the control of the logic programming device, and the complexity of the logic device algorithm is solved.
The digital simulation of continuous acceleration solves the problem of large overshoot in other modes.
a(n+1)＝(v(n+1)-v(n))/Δt(n)---------------------(1)
Note: a (n +1) is the acceleration value of the next time period, and the unit is Hz/s; v (n +1) is the pulse frequency Hz after acceleration of the next time segment; v (n) is the original pulse frequency Hz; Δ t (n) is the pulse period s corresponding to the original frequency, and the speed of the frequency is accelerated from v (n) to v (n +1) by the time T (n) of a v (n) period.
v(n)＝fclk/2(m-n)-------------------------------(2)
v(n+1)＝fclk/2(m-n-1)-------------------------------(3)
Δt(n)＝1/v(n)＝2(m-n)/fclk-----------------------(4)
Note: v (n), v (n +1) is the pulse frequency Hz of frequency division before and after acceleration; fclk is the system clock Hz; m is a frequency division count value; the initial speeds v (0) ═ fclk/2m, 2(m-n) and 2(m-n-1) are frequency division numbers based on the system clock, i.e., the higher the frequency, the smaller the frequency division number.
Substituting (2) and (3) into (1) can obtain:
a(n+1)＝[fclk/2(m-n-1)-fclk/2(m-n)]/[2(m-n)/fclk]-----(5)
a(n+1)＝[fclk/2(m-n)]^2/(m-n-1)-------------(6)
the integral operation is performed by equations (1) and (6), and considering the initial speed v (0) ═ fclk/2m, it can be obtained:
v(n)＝(fclk/2)^2[ln(n-m-1)+1/(n-m-1)-ln(n-m)+2/fclk/m](7)
in an exemplary embodiment of the present application, as shown in fig. 1, an implementation system based on the above control method includes a main control module, a driving circuit and a stepping motor, wherein the main control module controls the driving circuit by using a continuous interval variable acceleration stepping motor speed control method, and the driving circuit drives the stepping motor to realize that the stepping motor has different accelerations at different constant speed stages.
Fig. 2 shows that the overshoot of the scheme is 17%, which is lower than the overshoot of 23% -85% in the prior art, and the algorithm control is simpler to implement.
Therefore, the above formula realizes the discrete function relation of the speed of the stepping motor at the next time point, the frequency division number of the system clock and the speed at the current time, different accelerations are achieved at different constant speed stages, the acceleration performance of the stepping motor is fully utilized, the acceleration step is stable particularly in a high-frequency band, and the stepping motor cannot be out of step when the speed is stepped.
In summary, the present invention can realize:
(1) the discretization, simplicity and effective control implementation scheme of the stepping motor reduces the difficulty in realizing the algorithm;
(2) different acceleration exists in different constant speed stages, the acceleration performance of the stepping motor is fully utilized, particularly, the acceleration step is stable in a high-frequency stage, and the stepping motor cannot be out of step when stepping at a high speed, so that the problem of reducing the step loss of stepping at a high speed is solved.
(3) The control mode of simulating continuous variable acceleration and deceleration to the maximum extent realizes the step-variable acceleration process, solves the common problems of locked rotor, step loss and step overshoot of the conventional acceleration and deceleration scheme of the stepping motor, and realizes the problem of reducing overshoot.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (9)
1. A method for controlling the speed of a continuous interval variable-acceleration stepping motor is characterized by comprising the following steps: the stepping motor based on the system clock frequency division number control is subjected to variable acceleration and deceleration, and a discretization processing mode of calculating the speed at the next time point is carried out according to the current time speed so as to realize subdivision control driving of the stepping motor, so that the stepping motor has different accelerations at different constant speed stages;
the pulse frequency v (n) for any time period has the value:
v(n)＝(fclk/2)^2[ln(n-m-1)+1/(n-m-1)-ln(n-m)+2/fclk/m]，
wherein fclk is the system clock Hz; m is a division count value, and 2(m-n) and 2(m-n-1) are division numbers based on a system clock.
2. The method for controlling the speed of a continuously variable-interval acceleration stepper motor as claimed in claim 1, wherein: the lifting process of the stepping motor is dispersed into a discontinuous interval, and the driving pulse sent by the control device is controlled by the speed and the frequency dividing ratio, namely after the rotating speed of the stepping motor is increased by 1 step, a new driving speed is generated according to the current rotating speed and the frequency dividing ratio.
3. The method for controlling the speed of a continuously variable-interval acceleration stepper motor as claimed in claim 1, wherein: and carrying out discretization processing on the control time of the stepping motor on the basis of a system clock.
4. A method of controlling the speed of a continuously variable-interval, variable-acceleration stepper motor as claimed in claim 3, characterized by: the higher the frequency of the system clock, the smaller the discretized frequency division number.
5. The method for controlling the speed of a continuously variable-interval acceleration stepper motor as claimed in claim 1, wherein: the acceleration value of any time period is the ratio of the difference value of the pulse frequency after the acceleration of the time period and the pulse frequency of the previous time period to the pulse period corresponding to the pulse frequency of the previous time period.
6. The method for controlling the speed of a continuously variable-interval acceleration stepper motor as claimed in claim 1, wherein: the acceleration time of any time segment is the time of the period corresponding to the pulse frequency of the previous time segment.
7. The method for controlling the speed of a continuously variable-interval acceleration stepper motor as claimed in claim 5, wherein: and the pulse period corresponding to the pulse frequency of the previous time period is a multiple of the system clock.
8. The method for controlling the speed of a continuously variable-interval acceleration stepper motor as claimed in claim 1, wherein: the pulse frequency of the frequency division of any time segment is matched with the discretization frequency division number.
9. An implementation system based on the control method according to any one of claims 1 to 8, characterized in that: the stepping motor acceleration control system comprises a main control module, a driving circuit and a stepping motor, wherein the main control module controls the driving circuit by adopting a continuous interval acceleration-variable stepping motor speed control method, and the driving circuit drives the stepping motor so as to realize that the stepping motor has different accelerations at different constant speed stages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343244.3A CN107070328B (en) | 2017-05-16 | 2017-05-16 | Method and system for controlling speed of continuous interval variable acceleration and deceleration stepping motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343244.3A CN107070328B (en) | 2017-05-16 | 2017-05-16 | Method and system for controlling speed of continuous interval variable acceleration and deceleration stepping motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107070328A CN107070328A (en) | 2017-08-18 |
| CN107070328B true CN107070328B (en) | 2020-04-24 |
Family
ID=59609464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710343244.3A Active CN107070328B (en) | 2017-05-16 | 2017-05-16 | Method and system for controlling speed of continuous interval variable acceleration and deceleration stepping motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107070328B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107866811B (en) * | 2017-10-24 | 2019-12-27 | 北京镁伽机器人科技有限公司 | Over-step self-adjusting method, motion control component and robot |
| CN108199629A (en) * | 2017-12-21 | 2018-06-22 | 迈克医疗电子有限公司 | A kind of method for controlling stepping motor and device |
| CN110927922A (en) * | 2019-12-19 | 2020-03-27 | 中国科学院长春光学精密机械与物理研究所 | Device and method for rapidly switching multiplying power of optical system |
| CN113489393B (en) * | 2021-06-29 | 2023-03-24 | 中国科学院合肥物质科学研究院 | Subdivision driving method of permanent magnet stepping motor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101944873A (en) * | 2010-09-17 | 2011-01-12 | 中国科学院上海技术物理研究所 | Acceleration and speed reduction control method for stepper motor |
| CN102904512A (en) * | 2012-10-30 | 2013-01-30 | 北京信息科技大学 | Control system and control method for step motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3625272B2 (en) * | 2000-09-29 | 2005-03-02 | 矢崎総業株式会社 | Stepper motor initial setting device and initial setting method |
-
2017
- 2017-05-16 CN CN201710343244.3A patent/CN107070328B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101944873A (en) * | 2010-09-17 | 2011-01-12 | 中国科学院上海技术物理研究所 | Acceleration and speed reduction control method for stepper motor |
| CN102904512A (en) * | 2012-10-30 | 2013-01-30 | 北京信息科技大学 | Control system and control method for step motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107070328A (en) | 2017-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107070328B (en) | Method and system for controlling speed of continuous interval variable acceleration and deceleration stepping motor | |
| EP3171234B1 (en) | Control device, control method, information processing program, and recording medium | |
| CN102780449B (en) | Tower crane rotation speed regulation control equipment, system and method and tower crane | |
| JP2011501292A (en) | Jerk limited trajectory planning system and method for path planner | |
| CN109462352B (en) | Motor control method, device and computer readable storage medium | |
| CN101832287A (en) | Method and device for speed regulation of fan and communication system | |
| CN109981008A (en) | Infusion control method and its equipment with stepper motor | |
| CN111245332A (en) | Motor speed control method and control system | |
| CN105673540B (en) | The rotation speed regulating method of fan, the adjustment of rotational speed system of device and fan | |
| CN104753415B (en) | Start-up and shut-down control method, system and the stepper motor of stepper motor | |
| CN109209604B (en) | Integral anti-saturation control method for electric control silicone oil fan | |
| CN108282122A (en) | A kind of permanent magnet synchronous motor weak magnetism speed expansion method of high dynamic response | |
| CN110940059B (en) | Air conditioning equipment control method, device and equipment | |
| CN111342733A (en) | Method and device for starting control of variable frequency compressor and computer storage medium | |
| CN110460274B (en) | Trapezoidal speed regulation control algorithm of stepping motor | |
| CN111350686A (en) | Control method and control device | |
| US20070047927A1 (en) | Digital noise reduction for motors | |
| CN110725806A (en) | Fan rotating speed control method and device and server | |
| CN108665518B (en) | Control method and system for adjusting animation speed | |
| CN111371378B (en) | Method and apparatus for speed control | |
| CN109873577A (en) | A kind of improved permanent magnet synchronous motor Control of Chaotic Synchronization device | |
| CN101092967A (en) | Control method for fan | |
| CN109742987B (en) | Variable speed regulation control method of stepping motor based on variable frequency interruption of timer | |
| CN108880389B (en) | Motor drive control method and system and control method for driving air compressor | |
| CN107623465B (en) | Braking method, braking unit and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220613 Address after: 266555 No. 98 Xiangjiang Road, Huangdao District, Qingdao City, Shandong Province Patentee after: CLP kesiyi Technology Co.,Ltd. Address before: 266555 No. 98 Xiangjiang Road, Qingdao economic and Technological Development Zone, Shandong Patentee before: THE 41ST INSTITUTE OF CHINA ELECTRONICS TECHNOLOGY Group Corp. |
|
| TR01 | Transfer of patent right |