摘要
针对传统步进电机开环控制下加减速过程中柔性冲击大、失步和过冲等问题,结合STM32单片机提出了一种离散化的、带有电流调节的S曲线加减速控制算法。首先,通过多项式算法构建连续光滑的S曲线,根据矩频特性拟合转速和转矩的关系,联立转速和功率的关系,推导出电流计算方法;然后,对连续的S曲线进行等时间间隔采样,完成对S曲线的离散化;最后,在Keil平台进行算法代码编写,将编译后的工程文件下载到STM32中,通过步进电机的速度和位置跟踪实验验证了算法的有效性。
Aiming at the problems of large flexible impact,out of step,overshoot and so on in the acceleration and deceleration process under the traditional open-loop control of stepping motor,a discrete S-curves acceleration and deceleration control algorithm with current regulation is proposed combined with STM32 single-chip microcomputer.Firstly,the continuous smooth S-curves is constructed by polynomial algorithm,and the relationship between speed and torque is fitted according to the torque frequency characteristics.Then,the relationship between speed and power is simultaneously established,and the current calculation method is derived.Secondly,the continuous S-curves is sampled at equal time interval to complete the discretization of the S-curves.Finally,the algorithm code is compiled on Keil platform,and the compiled project file is downloaded into STM32.The effectiveness of the algorithm is verified through the speed and position tracking experiments of the stepping motor.
作者
徐建明
徐金辉
XU Jianming;XU Jinhui(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)
出处
《浙江工业大学学报》
CAS
北大核心
2024年第4期465-472,共8页
Journal of Zhejiang University of Technology
基金
国家自然科学基金资助项目(61374103)。
关键词
步进电机
S曲线
加减速控制
stepper motor
S-curves
acceleration and deceleration control
