步进电机速度控制技术研究

Research on speed control technology of stepper motor

为解决步进电机控制精度和速度曲线的实时实现问题,对其速度控制方法进行研究。以两相混合式步进电机工作原理和数学模型为基础,在Simulink中构建了其开环控制系统模型,设计了一种可实时实现的抛物线形速度给定曲线算法,并与典型的梯形、指数型速度给定曲线算法进行了仿真比较。仿真结果表明,在单位控制周期内,抛物线型加减速曲线的最大无失步转动角度为990°,较其余两种算法至少提高了22%;驱动步进电机无失步转动360°的最小控制周期达到了42 ms,较指数型提高了22.2%。论证了该加减速算法响应速度更快,控制精度更高,降低了失步、过冲现象的发生率,避免了机械柔性冲击,延长系统寿命。

In order to realize the control precision and speed curve of stepper motor in real time, the speed control method was studied.Based on the working principle and mathematical model of two-phase hybrid stepper motor, the model of its open-loop control system was built in Simulink, and a real-time parabolic speed curve algorithm was designed and compared with the typical trapezoidal and exponential speed curve algorithm. The simulation results show that the maximum no-step rotation Angle of the parabolic acceleration and deceleration curve is 990° in unit control period, which is at least 22% higher than the other two algorithms. The minimum control period of driving stepper motor is 42 ms, which is 22.2% higher than that of exponential type. It is proved that the acceleration and deceleration algorithm has faster response speed and higher control precision, reduces the occurrence rate of out of step and overshot, avoids mechanical flexible impact and prolongs the system life.