步进电动机快速平稳起动控制算法研究

Control Algorithms Study on Starting Quickly and Smoothly of Stepper Motor

通过分析步进电动机在加减速时发生失步、过冲等现象的原因,结合步进电动机驱动离合器实现自动离合控制系统的特点,提出了步进电动机在最佳起动频率下起动,然后按指数曲线加减速的方法。采用TMS320F28035作为步进电动机控制器的主控芯片,建立最佳起动频率的数学模型,按指数曲线确定各级频率及相应延时时间。实验结果表明,该方法可避免步进电动机起动时的失步和振荡现象,提高了定位精度,满足离合器快速分离的使用要求,为叉车实现自动离合提供了一定的理论依据。

The reasons of losing step or overshooting during acceleration or deceleration were analyzed.According to the characteristic of the control system for stepper motor driving the clutch to realize automatic clutch,the method of stepper motor starting under the best starting frequency and accelerating or decelerating accordance with an exponential curve was proposed.The main control chip of TMS320F28035 was used for stepper motor controller,the mathematical model of the optimal starting frequency was established,each frequency and corresponding delay times were determined as the exponential curve.Test results prove that this method can avoid losing step and oscillation when startup,improve the positioning accuracy and satisfy the requirement of the clutch fast separation,and provides the basis for the automatic clutch of forklifts.