摘要
在机器人多轴电机控制过程中,发现带载情况下如果电机起步速度过快会导致电机堵转问题,很需要一种可以实现电机匀加速的精确控制方法;文章借助于STM32F103,通过其I/O口输出矩形波脉冲序列的方式控制步进电机驱动器或伺服驱动器,从而实现对步进电机的位置和速度控制;通过修改定时器值实现梯形加减速轨迹,使步进电机运行具有较好加减速性能;另外,由于STM32F103芯片具有高速定时器,可以通过配置定时器输出和插补运算相结合方法,实现对多轴(多个电机)的控制;该方法对于嵌入式步进电机控制器的开发具有很好的参考价值。
In the process of motor controlling robot, it is found that, under the load condition, it will cause the motor to stop running provided that the motor starts too fast, based on this, it is necessary to develop a method being able to precise control the uniform acceleration. The paper, with the help of STM32F103, achieved the control against stepper motor driver or servo driver by means of its I/O port outputting rectangular wave pulse sequence, so as to control the position and speed of the stepper motor. By modifying the timer value, the trapezoidal acceleration and deceleration trajectory was realized, in this way, the stepping motor could achieve better acceleration and deceleration performance. In addition, since STM32F103 chip was equipped with multichannel timer, which can be combined by configuring timer output and interpolation operation, so as to achieve the robot control with multi-axis (multiple motors). Such method has a good reference value for the development of embedded stepper motor controller.
作者
王昊天
于乃功
Wang Haotian;Yu Naigong(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China;Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing 100124,China;Digital Community Ministry of Education Engineering Research Center,Beijing 100124,China)
出处
《计算机测量与控制》
2019年第9期95-99,108,共6页
Computer Measurement &Control
基金
国家自然科学基金项目(61573029)
关键词
机器人
定时器
多路脉冲输出
梯型加减速算法
步进电机控制器
robot
timer
multi-channel pulse output
trapezoid acceleration and deceleration algorithm
stepper motor controller
