基于STM32的步进电机动态加减速控制

Dynamic Acceleration and Deceleration Control of Stepper Motor Based on STM32

针对步进电机7段加减速S曲线在加速度曲线上存在拐点和多个分段区间,使得加速过程存在柔性冲击以及控制算法复杂等不足之处,课题组采用曲线拟合的方法对步进电机7段加减速S曲线进行优化。在保留原7段曲线优良特性的前提下,该方法简化了算法模型,消除了原加速度曲线拐点。基于STM32芯片、步进电机及其驱动器并采用优化后的S曲线进行试验,得到不同初速度和不同增速对应的S曲线离散取点数的关系,实现高效和稳定的动态调速。仿真表明原增速段的3段函数曲线能拟合为1段函数曲线,并保留其优良特性。该研究使步进电机能更平稳调速,并且优化后的S曲线更简洁、易调整、利于维护和修改。

Seven-segment acceleration and deceleration S-curve of the stepper motor has inflection points and many segmentation intervals on the acceleration curve,which results in flexible impact in the acceleration process and complicated control algorithm. In view of the above deficiencies,the curve-fitting method was used to optimize the Scurve of the seven-stage acceleration and deceleration of the stepper motor. Under the premise of retaining the excellent characteristics of the original seven-segment curve,the algorithm model was simplified and the inflection point of the original acceleration curve was eliminated. Based on STM32,stepper motor and its driver,the optimized S-curve was adopted for the stepper motor speed control test,the relationship between the discrete points of S curve corresponding to different initial speeds and different growth rates was obtained,so as to realize the efficient and stable dynamic speed regulation. The simulation shows that the three-stage function curve of the original growth rates section can be fitted to a function curve and its excellent characteristics can be preserved. The experimental results show that the stepper motor can achieve more stable speed regulation,and the optimized S curve is more concise,easy to adjust,and easy to maintain and modify.