步进电机S曲线调速控制研究

Research on S-curve speed control of stepper motor

研究由单片机控制的步进电机S曲线调速的方法,实现对步进电机精确的控制.分析S形算法的理论及实现,设计了单片机的控制程序;在软件部分开启了重复计数寄存器的功能,减少CPU的消耗.为验证该方法的可行性及有效性,以微处理器STM32F103为控制器,搭建试验平台.试验结果表明:对任意发送的脉冲总数,采用S曲线调速方法,都可以对步进电机实现精准的控制,有效解决了步进电机失步或过冲等问题.

The S-curve speed control method of the stepper motor controlled by the single-chip microcomputer was investigated accurate control of the stepper motor.The theory and implementation of the S-shaped algorithm was analyzed,and the control program of the single-chip microcomputer was designed.At the same time,the function of repeating the counting register was turned on in the software part to reduce the CPU consumption.In order to validate the feasibility and effectiveness of the method,this research built a test platform with the microprocessor STM32F103 as the controller.The results showed that the S-curve speed control method can be used to accurately control the stepper motor for the total number of randomly transmitted pulses,which effectively improves the accuracy in over-stepping or overshooting of stepper motor.