阅读说明：本技术 一种步进电机去抖动的方法 (Method for removing jitter of stepping motor ) 是由 谢安国 孟林 顾松 于 2020-04-27 设计创作，主要内容包括：本发明公开一种步进电机去抖动的方法,步进电机在减速阶段的前三分之二路程以恒速运行,在减速阶段的后三分之一路程才减速至零,步进电机在后三分之一路程开始迅速减速直至停止,实质减速时间短、减速幅度大,使得负载在停止时刻的抖动时间短、抖动幅度小,能达到优质的去抖动效果,保障产品的稳定性。(The invention discloses a method for removing jitter of a stepping motor, wherein the stepping motor runs at a constant speed in the first two thirds of the speed reduction stage, the speed is reduced to zero in the last one third of the speed reduction stage, the stepping motor starts to rapidly reduce the speed until the stepping motor stops in the last one third of the speed reduction stage, the actual speed reduction time is short, the speed reduction amplitude is large, the jitter time of a load at the stop moment is short, the jitter amplitude is small, the high-quality jitter removal effect can be achieved, and the stability of a product is guaranteed.)

1. A method for removing jitter of a stepping motor is characterized by comprising the following steps:

after the driver of the stepping motor receives the deceleration instruction, the stepping motor is in 0 to 0 of the deceleration stageOperating at constant speed during the course, the stepping motor being in the deceleration phaseDecelerating to 0 in the journey to the end point.

2. A method of debouncing a stepper motor as defined in claim 1, wherein:

after the driver of the stepping motor receives the deceleration instruction, the stepping motor is in 0 to 0 of the deceleration stageOperating at constant speed during the course, the stepping motor being in the deceleration phaseDecelerating to 0 in the journey to the end point.

3. A method of debouncing a stepper motor as defined in claim 1, wherein:

the step motor driver does not inquire and execute a new command during the rotation of the step motor, and the step motor driver only inquires and executes the new command during an idle period after the step motor decelerates to 0 and stops rotating after the deceleration command is executed.

4. A method of debouncing a stepper motor as defined in claim 2, wherein: taking 6 pulses as the path of the deceleration stage, the stepping motor runs at a constant speed in the path of the 1 st to 4 th pulses of the deceleration stage; the stepping motor runs at a first speed lower than the constant speed in the path of the 4 th to 5 th pulses in the deceleration stage, and the first speed is gradually reduced in the path of the 4 th to 5 th pulses; the stepper motor is operated at a second speed lower than the first speed during the 5 th to 6 th pulse of the deceleration phase, said second speed gradually decreasing to zero during the 5 th to 6 th pulse.

5. A method of debouncing a stepper motor as defined in claim 1, wherein: the constant speed is less than or equal to the maximum speed of stable operation of the stepping motor.

6. A method of debouncing a stepper motor as defined in claim 1, wherein: the actual time used by the stepping motor in the deceleration stage is less than or equal to the preset deceleration time.

7. A method of debouncing a stepper motor as defined in claim 1, wherein:

in a rotation period, after the driver of the stepping motor receives an acceleration instruction, the stepping motor linearly accelerates to a constant speed according to a starting frequency, and the stepping motor runs at the constant speed until the driver receives a deceleration instruction.

Technical Field

The invention relates to the technical field of stepping motors, in particular to a method for removing jitter of a stepping motor.

Background

The stepping motor is an open-loop control motor which converts an electric pulse signal into angular displacement or linear displacement, and is widely applied to products such as automobiles, machines, electric appliances and the like. The stepping driver drives the stepping motor to rotate by a certain angle according to the set direction according to the received pulse signals, the angular displacement can be controlled by controlling the number of pulses, so that accurate positioning is realized, and the rotating speed and the acceleration of the stepping motor can be controlled by controlling the pulse frequency, so that the speed regulation is realized.

The stepping motor drives the load to move through rotation, inertia exists during the load movement, the larger the rotating speed of the stepping motor is, the larger the inertia during the load movement is, and the shake can be generated by the load when the stepping motor stops rotating, so that the stability of the product is poor. In the prior art, a measure is given for reducing the speed to stop in advance in a load debouncing method of a step motor rotation stopping link, but a specific speed reducing method is not given, and practice proves that a specific implementation mode of reducing the speed to stop at a constant speed greatly influences the debouncing effect.

Disclosure of Invention

The invention provides a method for removing jitter of a stepping motor, which solves the problem that the jitter removing effect of the existing stepping motor cannot be improved by improving a speed reduction method.

The invention solves the technical problem by the following technical scheme:

a method for removing jitter of step motor features that after the driver of step motor receives the speed-reducing instruction, the step motor is in the speed-reducing stage from 0 to 0Operating at constant speed during the course, the stepping motor being in the deceleration phaseDecelerating to 0 in the journey to the end point.

Further, after the driver of the stepping motor receives the deceleration command, the stepping motor is in 0 to 0 of the deceleration stageOperating at constant speed during the course, the stepping motor being in the deceleration phaseDecelerating to 0 in the journey to the end point.

Further, the stepping motor driver does not inquire and execute the new command during the rotation of the stepping motor, and the stepping motor driver inquires and executes the new command only during an idle period after the stepping motor decelerates to 0 and stops rotating after the deceleration instruction is executed.

Further, 6 pulses are taken as the path of the deceleration stage, and the stepping motor runs at a constant speed in the path of 1 st to 4 th pulses of the deceleration stage; the stepping motor runs at a first speed lower than the constant speed in the path of the 4 th to 5 th pulses in the deceleration stage, and the first speed is gradually reduced in the path of the 4 th to 5 th pulses; the stepper motor is operated at a second speed lower than the first speed during the 5 th to 6 th pulse of the deceleration phase, said second speed gradually decreasing to zero during the 5 th to 6 th pulse.

Further, the constant speed is less than or equal to the maximum speed at which the stepping motor stably operates.

Further, the actual time used by the stepping motor in the deceleration stage is less than or equal to the preset deceleration time.

Further, in a rotation period, after the stepping motor driver receives an acceleration instruction, the stepping motor linearly accelerates to a constant speed according to the starting frequency, and the stepping motor runs at the constant speed until the deceleration instruction is received.

Compared with the prior art, the method has the following characteristics:

1. the stepping motor runs at a constant speed in the first two thirds of the speed reduction stage, the speed is reduced to zero in the last one third of the speed reduction stage, the stepping motor starts to rapidly reduce the speed in the last one third of the speed reduction stage until the speed is stopped, the actual speed reduction time of the stepping motor is short, the speed reduction amplitude is large, the shaking time of the load at the stopping moment is short, the shaking amplitude is small, and the high-quality shaking removing effect can be achieved;

2. the stepping motor driver does not inquire and execute a new command in the rotation period of the stepping motor, and only after the deceleration command is executed, the stepping motor decelerates to 0 and stops rotating in the idle period, namely, the stepping motor driver does not inquire and execute the new command in the acceleration, constant speed and deceleration stages of the stepping motor, so that the superposition of 2 commands of acceleration, constant speed, acceleration and deceleration, constant speed and deceleration and the superposition of 3 commands of acceleration, constant speed and deceleration are avoided, and unnecessary jitter is avoided, and the jitter removal effect is ensured.

Drawings

FIG. 1 is a flow chart of a debouncing method during a deceleration phase according to the present invention.

Detailed Description

The present invention will be further described with reference to the following examples, but the present invention is not limited to these examples.

The load moves under the driving of the rotation of the stepping motor, because the moving load has inertia, when the stepping motor stops rotating, the load stops moving, at the moment, the load can shake, the higher the rotating speed of the stepping motor is, the larger the shake generated when the load stops is, and the longer the shake time is. Therefore, in order to improve the stability of the product, the invention reduces the jitter of the load by improving the deceleration method of the deceleration stage of the stepping motor.

The invention provides a method for removing jitter of a stepping motor, which comprises the following steps: after the driver of the stepping motor receives the deceleration instruction, the stepping motor is in 0 to 0 of the deceleration stageOperating at constant speed during the course, the stepping motor being in the deceleration phaseDecelerating to 0 in the journey to the end point.

Furthermore, after the stepping motor driver receives the deceleration command, the stepping motor is in 0 to 0 of the deceleration stageOperating at constant speed during the course, the stepping motor being in the deceleration phaseDecelerating to 0 in the journey to the end point. The invention accordingly provides a flow chart as shown in fig. 1: in the constant speed operation stage, the step motor driver inquires whether a deceleration instruction is received, when the deceleration instruction is received, the step motor rotates at a constant speed by (n-k) pulse numbers, wherein n is the total pulse number of the step motor in the three stages of acceleration, constant speed and deceleration, k is the pulse number in the deceleration stage, and then the step motor still rotates at the constant speedA number of pulses and finallyAnd reducing the speed to 0 in the corresponding journey, and when the speed reduction instruction is not received, continuously inquiring to wait for the speed reduction instruction.

The deceleration method of the invention is explained by k being 6: the stepping motor runs at a constant speed in the path of 1 st to 4 th pulses in the deceleration stage; the stepping motor runs at a first speed lower than the constant speed in the path of the 4 th to 5 th pulses in the deceleration stage, and the first speed is gradually reduced in the path of the 4 th to 5 th pulses; the stepper motor is operated at a second speed lower than the first speed during the 5 th to 6 th pulse of the deceleration phase, said second speed gradually decreasing to zero during the 5 th to 6 th pulse.

The experimental process of the invention is as follows: the method comprises the steps of taking 6 pulses as 1 rotation period, using different rotation periods by different stepping motors according to the rotation performance of the stepping motors, grabbing a waveform of a load by using an oscilloscope and a photoelectric converter at the position where each rotation period is finished, and selecting deceleration data with the minimum waveform jitter by observing the jitter amplitude and time of the waveform. The invention finally obtains the waveform with the minimum load jitter by a deceleration method that the stepping motor operates at a constant speed in the first two thirds of the deceleration stage and decelerates to zero in the last one third of the deceleration stage through a large amount of experimental data.

Taking an MKT stepping motor as an example for analysis, the stepping angle of the MKT stepping motor is 1.8 degrees, the stepping motor rotates 1.8 degrees every time one pulse is given, and 6 pulses correspond to 10.8 degrees. The invention collects the waveform of the load at each 10.8 degrees, and by observing the waveform, the invention can find that when the constant running speed of the stepping motor exceeds 1.6 ms/step, the actual rotation angle of the stepping motor after the stepping motor goes by 6 steps deviates 10.8 degrees, and the larger the constant speed is, the larger the deviation is, therefore, when the invention carries out subsequent analysis, the constant speed is set to be 1.6 ms/step, namely, the constant speed is less than or equal to the maximum speed of the stable running of the stepping motor.

In the analysis of the MKT stepper motor, the stepper motor starts to decelerate through the 4 th pulse (7.2 °) until the 5 th pulse (9.0 °) comes, the 5 th pulse (9.0 °) comes and continues to decelerate, and decelerates to 0 before the 6 th pulse (10.8 °), and an oscilloscope is used to acquire a load oscillogram, so as to obtain: the time consumption of 6 pulses is about 10ms, the jitter amplitude is about 300mV and is gradually reduced, and the jitter time is about 20 ms; without the deceleration action, the time consumed by 6 pulses is about 10ms, the jitter amplitude is about 450mV and is slowly reduced, and the jitter time is about 35 ms. Compared with the prior art, the jitter amplitude of the technical scheme is reduced by 33%, the jitter time is reduced by 43%, and the jitter removing effect of the technical scheme is better.

The stepping motor starts to decelerate at two thirds of the distance traveled (10.8 DEG), and the constant speed is recorded as V₀(ms/step), the first speed is V₁(ms/step), the second speed is V₂(ms/step), the time t spent in the deceleration phase can be roughly recorded as t ═ V₀*4+V₁*1+V₂*1. The time for stopping the operation of each stepping motor is limited, namely, a preset deceleration time exists, and in the invention, the actual used time t of the stepping motor in the deceleration stage is less than or equal to the preset deceleration time.

Further, the driver of the stepping motor does not inquire and execute a new command during the rotation of the stepping motor, and the driver of the stepping motor only inquires and executes the new command during an idle period after the deceleration command is executed, the stepping motor decelerates to 0 and stops rotating, so that unnecessary jitter caused by command superposition is avoided, and the stability of a product is guaranteed. The new command is an acceleration command, a constant speed command, and a deceleration command for a new rotation period other than the present rotation period.

In a rotation period, after the driver of the stepping motor receives an acceleration instruction, the stepping motor linearly accelerates to a constant speed according to a starting frequency, and the stepping motor runs at the constant speed until the driver receives a deceleration instruction.