基于STM32和RL-RTX的步进电机控制系统设计

Design of the control system of stepping motor based on STM32 and RL-RTX

文中在STM32嵌入式微处理器和MDK的RL-RTX实时内核上,设计一种步进电机速度控制的方案,提出一种基于步长的T型、S型升降频算法。设计中采用位置闭环控制步进电机,避免了电机失步现象,实现了快速准确定位。文中给出硬件设计的框图,介绍驱动电路和通信电路的设计,阐述了基于步长算法的T型和S型曲线模型的原理,在基于MODBUS通讯协议上设计了友好的PC上位机通信软件,实现了精确的控制。

In this paper a novel designed technology is presented for the control of the stepper motor based on the STM32 embedded microprocessor and the RL-RTX kernel of the MDK. Two algorithms to accelerate or decelerate the frequency of the T curve and S curve were propounded based on steps. In order to avoiding the phenomenon of the out-of-step and achieving a rapid,accurate positioning,a closedloop control of stepper motor was used in the design.This paper presents a block diagram of the hardware design,and elaborates the principle of the algorithms to accelerate or decelerate the frequency of the T curve and S curve.Following the MODBUS protocol,a friendly PC communication software was designed and it realized the accurate control.