基于STM32的步进电机离散化S形曲线加减速控制方法

Discrete S-curve Acceleration and Deceleration Control Method for Stepper Motors Based on STM32

步进电机是一种将脉冲信号转换为相应角位移的执行元件,具有控制简单、无累计误差等优点,广泛应用于工业控制领域。然而步进电机直接以较高速度启动或者停止时,由于电机的惯性原因,可能会发生失步或者过冲,解决失步或过冲是步进电机定位控制的关键。该文基于对STM32的研究,提出了一种离散化的S形曲线加减速控制方法,很好地实现了对步进电机的加减速精确控制。采用S形曲线加减速控制可以很好地解决失步或过冲这类问题。

Stepper motor is an actuator that converts a pulse signal to a corresponding angular displacement. It has the advantages of simple control,no cumulative error,and is widely used in in dustrial control field. However,when stepper motor starts or stops at a higher speed directly,motor inertia may occur out of step or overshoot. Solving out of step or overshoot is the key to stepper motor positioning controls. A discrete S-curve acceleration and deceleration control method based on the study of STM32 was proposed. It realizes precise control of the acceleration and deceleration of stepper motor. By the proposed method,such problems can be solved very well based on S-curve acceleration and deceleration control.