基于S曲线的步进电机加减速的控制

Stepper motor's acceleration and speed control based on S-curve

针对不同约束条件下步进电机加减速的控制问题,首先分析了S曲线算法原理,寻找S曲线算法与其它常见的步进电机运动控制算法之间的联系。然后在分析S曲线传统的七段模型后,提出了基于S曲线的步进电机加速度和速度控制方法,并讨论了当约束参数发生变化时实际的S曲线规划方法。最后,给出了不同约束条件下步进电机的加减速仿真曲线。研究结果表明,这种方法可以满足不同约束条件下步进电机加减速的控制。

Aiming at studying on stepper-motor＇s acceleration and speed control under different constrains, the S-curve algorithm was firstly analyzed, the connections between S-curve algorithm and other algorithms used for motor control were given. After the analysis of the tradi- tional 7-sections model of S-curve, the S-based control method for stepper-motor＇s acceleration and speed was presented, also the solutions on how to plan S-curve were discussed. Finally, the simulation results under different constraints were given. The research results show that this control method can be well used for stepper-motor＇s control under different constraints.