A stepper motor is an execution organization that converts electrical pulses into angular displacement. When the stepper driver receives a pulse signal, it drives the stepper motor to scroll a fixed viewpoint (called the "step angle") in the set direction, and its rotation runs at a fixed viewpoint. The ability to control the angular displacement by the number of control pulses to achieve accurate positioning; together with the control pulse frequency to control the speed and acceleration of the motor rolling to reach the purpose of speed regulation. As a special motor for control, stepper motor is widely used in various open-loop control because it has no stacking error (100% accuracy).
Positioning principle and plan
Stepper motor acceleration and deceleration control principle
The stepper motor drive performs an acceleration, constant speed, and deceleration process as it moves from one orientation to another. When the running frequency of the stepping motor is lower than its own starting frequency, it can be directly started with the running frequency and operated at this frequency. When the demand is suspended, it can be directly reduced from the operating frequency to zero speed.
When the stepping motor running frequency fb>fa (starting frequency when starting the load), if the frequency is started directly with the fb frequency, the stepping motor will be out of step or even blocked. Similarly, when the frequency is abruptly stopped at the fb frequency, the stepping motor will overshoot due to the inertia, which affects the positioning accuracy. If the speed is very slow, the stepper motor will not be out of step and overshoot, but it will affect the efficiency of the execution organization.
Therefore, the stepping motor acceleration and deceleration should be ensured to move to the specified position with the fastest speed (or the shortest time) without losing the step and overshoot.
Linear lifting frequency and exponential curve lifting frequency. The exponential curve method has strong stalking ability, but the balance is poor when the speed changes greatly. The straight line method has good smoothness and is suitable for quick positioning methods with large speed changes. With a constant acceleration and lifting, the rules are concise, and it is relatively simple to use software. This article uses this method.
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