步进电机加减速控制优化设计

Optimization design of acceleration and deceleration control for stepping motor

现代工业控制中越来越多地用到了步进电机,其主要作用在于快速定位,传统的步进电机加减速按照形态分类有梯型、指数型和S型,梯形加减速在加速终点和减速起点会发生速度突变造成冲击,会发生失步、堵转和过冲;指数型在减速起点会出现这种情况;S型加减速虽然可以解决这类问题,但是其过于复杂。在对比了三种加减速方式后提出了改进型的S曲线加减速,使用新的函数将传统的七段S型曲线简化为五段,对比梯形和指数型不再有速度上的突变,而对比于传统七段S型曲线这种方式不仅使速度保持平滑还使加减速算法相对简单,更重要的是在控制器读取离散点处理得到对应频率所造成误差可以极大地减小,满足大范围快速定位以及路径规划之类系统的需求。

More and more of modem industrial control are used of stepping motor. Its main function is quick locationing. The traditional stepping motor acceleration and deceleration algorithm according to the morphological classification is trapezoidal type,exponential type and S type. At the starting of deceleration and end of acceleration of the trapezoidal types the speed mutation causes out of step,locked-rotor and overshoot. Exponential types in the starting of deceleration point appears this kind of circumstance. S-curve acceleration and deceleration can solve the problem,but it is too complicated. Based on the comparison of three kinds of acceleration and deceleration mode,this paper puts forward improved S-curve acceleration and deceleration. The new function is used to simplify the traditional seven segment S-curve to five segments, and the contrast between the trapezoidal and exponential type is no longer a mutation on the speed. Compared with the traditional seven segment S curve,this approach not only keeps a smooth for the acceleration and deceleration speed also makes the algorithm is relatively simple; more importantly is that controller reads the errors at the discrete points obtained by the corresponding frequency can be reduced greatly,which meets the demand for the wide range and rapid positioning and path planning.