步进电机期望控制脉冲的无抖动输出方法

Desired pulse no jitter output method for stepping motor control

为了提高步进电机在开环控制情况下的速度跟踪控制性能,提出了基于脉冲周期控制参数值条件更新的期望脉冲无抖动输出方法。首先,根据相邻时刻的两个期望脉冲周期值间的数学关系,构建了全时域的时序分析模型,分析了脉冲抖动输出现象;然后,归纳总结了脉冲无抖动输出的控制参数值更新条件;最后,根据归纳总结的控制参数值更新条件,采用超高速集成电路硬件描述语言,构建了脉冲无抖动输出的控制器知识产权(intellectual property,IP)核。理论分析结果和实验结果均表明,该方法能够有效解决因控制参数值无约束更新而导致的脉冲抖动输出问题,进而有利于提高步进电机期望速度跟踪控制性能。

In order to improve the speed tracking performance of stepping motor under open loop control, the desired pulse no jitter output （DPNJO） method is proposed based on conditional updating of a control parameter,which was used to control the period of output pulse.First of all, according to the possible mathematics relationships of two adjacent desired pulse periods,the timing analysis model was built and the pulse jitter output phenomenon was analyzed.Then, update conditions of the control parameter without pulse jitter output was summarized.At last, according to the update conditions summarized above,a controller IP core was built using VHSIC hardware description language （VHDL）. Theoretical and experimental results indicate that this DPNJO method can effectively solve the pulse jitter output problem caused by unconstrained update of the control parameter, and improve the speed tracking control performance of stepping motor.