阅读说明：本技术 一种步进电机的定位控制方法、装置、设备及介质 (Positioning control method, device, equipment and medium for stepping motor ) 是由 白政巧 施德隆 双慧 于 2019-09-30 设计创作，主要内容包括：本申请公开了一种步进电机的定位控制方法、装置、设备及介质,应用于步进电机的开环控制系统,其中,步进电机的定子和旋转机构上分别设置有霍尔传感器和磁钢,包括：当开环控制系统上电时,则向步进驱动器发送目标控制指令,以驱动步进电机带动旋转机构上的磁钢进行运转；当磁钢处于运转状态时,实时检测标志位的目标读数；当步进电机为正转状态,且目标读数由第一标志位跳变为第二标志位时,或当步进电机为反转状态,且目标读数由第二标志位跳变为第一标志位时,则控制步进电机停止运转,将步进电机的转子的停转位置设置为目标位置,并以目标位置为初始位置对步进电机的运转角度进行定位。通过该方法可以提高步进电机在运转过程中的定位精度。(The application discloses positioning control method, device, equipment and medium of a stepping motor, which are applied to an open-loop control system of the stepping motor, wherein a stator and a rotating mechanism of the stepping motor are respectively provided with a Hall sensor and magnetic steel, and the positioning control method comprises the following steps: when the open-loop control system is powered on, a target control instruction is sent to the stepping driver so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate; when the magnetic steel is in a running state, detecting the target reading of the mark bit in real time; when the stepping motor is in a forward rotation state and the target reading is changed from the first zone bit to the second zone bit, or when the stepping motor is in a reverse rotation state and the target reading is changed from the second zone bit to the first zone bit, the stepping motor is controlled to stop running, the stop position of the rotor of the stepping motor is set as a target position, and the running angle of the stepping motor is positioned by taking the target position as an initial position. The method can improve the positioning precision of the stepping motor in the running process.)

1. The positioning control method of the stepping motor is characterized in that the positioning control method is applied to an open-loop control system of the stepping motor, wherein a stator and a rotating mechanism of the stepping motor in the open-loop control system are respectively provided with a Hall sensor and magnetic steel, and the positioning control method comprises the following steps:

when the open-loop control system is powered on, a target control instruction is sent to a stepping driver for driving the stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate;

when the magnetic steel is in a running state, detecting the target reading of the flag bit in real time; the zone bit can represent the change state of the Hall voltage output by the Hall sensor, and when the Hall voltage output by the Hall sensor is greater than a preset voltage, the zone bit displays a first zone bit; when the output voltage of the Hall sensor is smaller than the preset voltage, the zone bit displays a second zone bit;

when the stepping motor is in a forward rotation state and the target reading jumps from the first zone bit to the second zone bit, or when the stepping motor is in a reverse rotation state and the target reading jumps from the second zone bit to the first zone bit, controlling the stepping motor to stop running, setting a stop position of a rotor of the stepping motor as a target position, and positioning the running angle of the stepping motor by taking the target position as an initial position.

2. The positioning control method according to claim 1, wherein the magnetic steel has a diameter_10mm±3mmThe circular magnetic steel.

3. The positioning control method according to claim 1, characterized in that the hall sensor is of a model SS 495.

4. The positioning control method according to claim 1, wherein the step of sending a target control command to a step driver for driving the stepping motor to drive the magnetic steel on the rotating mechanism to operate includes:

and sending a control instruction with fixed pulse frequency to the stepping driver for driving the stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to run at a constant speed.

5. The positioning control method according to claim 1, wherein the first flag bit is specifically 1, and the second flag bit is specifically 0.

6. The positioning control method according to any one of claims 1 to 5, wherein the preset voltage is less than a maximum Hall voltage output by the Hall sensor.

7. The utility model provides a step motor's positioning control device which characterized in that is applied to step motor's open loop control system, be provided with hall sensor and magnet steel respectively on step motor's the stator and the rotary mechanism among the open loop control system, include:

the system power-on module is used for sending a target control instruction to a stepping driver for driving the stepping motor when the open-loop control system is powered on so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate;

the reading detection module is used for detecting the target reading of the zone bit in real time when the magnetic steel is in a running state; the zone bit can represent the change state of the Hall voltage output by the Hall sensor, and when the Hall voltage output by the Hall sensor is greater than a preset voltage, the zone bit displays a first zone bit; when the output voltage of the Hall sensor is smaller than the preset voltage, the zone bit displays a second zone bit;

and the motor operation module is used for controlling the stepping motor to stop operating when the stepping motor is in a forward rotation state and the target reading jumps from the first zone bit to the second zone bit, or when the stepping motor is in a reverse rotation state and the target reading jumps from the second zone bit to the first zone bit, setting the stop position of the rotor of the stepping motor as a target position and positioning the operation angle of the stepping motor by taking the target position as an initial position.

8. A positioning control apparatus of a stepping motor, comprising:

a memory for storing a computer program;

a processor for implementing the steps of a method of controlling the positioning of a stepper motor as claimed in any of claims 1 to 6 when executing said computer program.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of a positioning control method of a stepping motor according to any one of claims 1 to 6.

Technical Field

The invention relates to the technical field of motor control, in particular to a positioning control method, a positioning control device, positioning control equipment and a positioning control medium for a stepping motor.

Background

The stepping motor is a main executing element in a numerical control system, and can convert an electric pulse signal into angular displacement and linear displacement, so that the stepping motor is widely applied in actual life. However, in the open-loop control system of the stepping motor, an encoder is usually not installed, and there is no angle feedback in the open-loop control system, so that in the point-to-point positioning control of the stepping motor, when the acceleration of the stepping motor is high, the stepping motor is out of step, so that the given angle and the actual rotation angle of the stepping motor are not equal, and thus the positioning accuracy of the stepping motor in the operation process is poor. At present, no effective solution exists for the phenomenon.

Therefore, it is an urgent technical problem to be solved by those skilled in the art how to further improve the positioning accuracy of the stepping motor in the operation process.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a method, an apparatus, a device and a medium for controlling positioning of a stepping motor, so as to further improve the positioning accuracy of the stepping motor during operation. The specific scheme is as follows:

a positioning control method of a stepping motor is applied to an open-loop control system of the stepping motor, wherein a stator and a rotating mechanism of the stepping motor in the open-loop control system are respectively provided with a Hall sensor and magnetic steel, and the positioning control method comprises the following steps:

when the open-loop control system is powered on, a target control instruction is sent to a stepping driver for driving the stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate;

when the magnetic steel is in a running state, detecting the target reading of the flag bit in real time; the zone bit can represent the change state of the Hall voltage output by the Hall sensor, and when the Hall voltage output by the Hall sensor is greater than a preset voltage, the zone bit displays a first zone bit; when the output voltage of the Hall sensor is smaller than the preset voltage, the zone bit displays a second zone bit;

when the stepping motor is in a forward rotation state and the target reading jumps from the first zone bit to the second zone bit, or when the stepping motor is in a reverse rotation state and the target reading jumps from the second zone bit to the first zone bit, controlling the stepping motor to stop running, setting a stop position of a rotor of the stepping motor as a target position, and positioning the running angle of the stepping motor by taking the target position as an initial position.

Preferably, the magnetic steel is circular magnetic steel with the diameter of 10mm +/-3 mm.

Preferably, the hall sensor is of a type SS 495.

Preferably, the process of sending a target control instruction to a step driver for driving the stepping motor to drive the magnetic steel on the rotating mechanism to operate includes:

and sending a control instruction with fixed pulse frequency to the stepping driver for driving the stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to run at a constant speed.

Preferably, the first flag bit is specifically 1, and the second flag bit is specifically 0.

Preferably, the preset voltage is smaller than the maximum hall voltage output by the hall sensor.

Correspondingly, the invention also discloses a positioning control device of the stepping motor, which is applied to an open-loop control system of the stepping motor, wherein a stator and a rotating mechanism of the stepping motor in the open-loop control system are respectively provided with a Hall sensor and magnetic steel, and the positioning control device comprises:

the system power-on module is used for sending a target control instruction to a stepping driver for driving the stepping motor when the open-loop control system is powered on so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate;

the reading detection module is used for detecting the target reading of the zone bit in real time when the magnetic steel is in a running state; the zone bit can represent the change state of the Hall voltage output by the Hall sensor, and when the Hall voltage output by the Hall sensor is greater than a preset voltage, the zone bit displays a first zone bit; when the output voltage of the Hall sensor is smaller than the preset voltage, the zone bit displays a second zone bit;

and the motor operation module is used for controlling the stepping motor to stop operating when the stepping motor is in a forward rotation state and the target reading jumps from the first zone bit to the second zone bit, or when the stepping motor is in a reverse rotation state and the target reading jumps from the second zone bit to the first zone bit, setting the stop position of the rotor of the stepping motor as a target position and positioning the operation angle of the stepping motor by taking the target position as an initial position.

Correspondingly, the invention also discloses a positioning control device of the stepping motor, which comprises:

a memory for storing a computer program;

a processor for implementing the steps of a positioning control method of a stepping motor as disclosed in the foregoing when executing the computer program.

Accordingly, the present invention also discloses a computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the positioning control method of a stepping motor as disclosed in the foregoing.

Therefore, in the invention, firstly, a Hall sensor is arranged on a stator of the stepping motor in an open-loop control system of the stepping motor, and magnetic steel is arranged on a rotating mechanism; when the open-loop control system is powered on, a target control instruction is sent to a stepping driver for driving the stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate. When the magnetic steel is in a running state, the Hall sensor on the stator of the stepping motor can detect the changed Hall voltage due to the Hall effect. In the process, the zone bit can represent the change state of the Hall voltage detected by the Hall sensor, and can display the first zone bit when the Hall voltage output by the Hall sensor is greater than or equal to the preset voltage, and can display the second zone bit when the Hall voltage output by the Hall sensor is less than the preset voltage. When the stepping motor is in a forward rotation state and the target reading of the mark bit is changed from the first mark bit to the second mark bit, or when the stepping motor is in a reverse rotation state and the target reading of the mark bit is changed from the second mark bit to the first mark bit, the stepping motor is controlled to stop running, so that the stopping position of a rotor of the stepping motor can be at the same position when the stepping motor rotates forwards or reversely. Then, the stop position of the rotor of the stepping motor is set as a target position, and the operation of the stepping motor is controlled with the target position as an initial position. Therefore, the initial position of the stepping motor in the operation process is set through the change of the flag bit and the forward and reverse rotation of the stepping motor, and then the stepping motor is controlled to position the operation angle of the stepping motor by taking the initial position as a starting point, so that the problem that the given angle of the stepping motor is not equal to the actual rotation angle in the actual operation process can be avoided, and the positioning accuracy of the stepping motor in the operation process can be further improved. Correspondingly, the positioning control device, the equipment and the medium of the stepping motor, which are provided by the invention, also have the beneficial effects.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a flowchart of a positioning control method for a stepping motor according to an embodiment of the present invention;

FIG. 2 is a schematic view of the installation of a magnetic steel and a Hall sensor on a stepping motor;

FIG. 3 is a schematic illustration of determining the location of a target;

FIG. 4 is a block diagram of an open loop control system for a stepper motor;

fig. 5 is a structural diagram of a positioning control device of a stepping motor according to an embodiment of the present invention;

fig. 6 is a structural diagram of a positioning control apparatus for a stepping motor according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a positioning control method of a stepping motor according to an embodiment of the present invention, where the positioning control method of the stepping motor is applied to an open-loop control system of the stepping motor, and a stator and a rotating mechanism of the stepping motor in the open-loop control system are respectively provided with a hall sensor and magnetic steel, and the positioning control method includes:

step S11: when the open-loop control system is powered on, a target control instruction is sent to a stepping driver for driving a stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate;

in this embodiment, in order to improve the positioning accuracy of the stepping motor during the operation, a new positioning control method for the stepping motor is provided, in the positioning control method, firstly, a hall sensor is provided on the stator of the stepping motor in the open-loop control system of the stepping motor, and a magnetic steel is provided on the rotating mechanism of the open-loop control system.

When the open-loop control system of the stepping motor is powered on, firstly, a target control instruction is sent to a stepping driver for driving the stepping motor, and the stepping motor is driven to drive the magnetic steel on the rotating mechanism to operate. It is conceivable that the running magnet steel generates a corresponding magnetic field when the magnet steel is in a running state, in which state the hall sensor arranged on the stator of the stepping motor will detect a corresponding hall voltage due to the hall effect.

Step S12: when the magnetic steel is in a running state, detecting the target reading of the mark bit in real time;

the zone bit can represent the change state of the Hall voltage output by the Hall sensor, and when the Hall voltage output by the Hall sensor is greater than a preset voltage, the zone bit displays a first zone bit; when the output voltage of the Hall sensor is smaller than the preset voltage, the zone bit displays a second zone bit;

step S13: when the stepping motor is in a forward rotation state and the target reading is changed from the first zone bit to the second zone bit, or when the stepping motor is in a reverse rotation state and the target reading is changed from the second zone bit to the first zone bit, controlling the stepping motor to stop running, setting the stop position of the rotor of the stepping motor as a target position, and positioning the operation angle of the stepping motor by taking the target position as an initial position.

It can be understood that, in the process of operating the stepping motor, since the operating speed of the stepping motor is too fast, the hall voltage detected by the hall sensor may also change by a relatively large margin, so in this embodiment, in order to better detect the change of the hall voltage output by the hall sensor, a flag is further set in the open-loop control system of the stepping motor in advance, that is, the target reading of the flag is used to represent the change state of the hall voltage output by the hall sensor.

Specifically, when the hall voltage output by the hall sensor is greater than or equal to the preset voltage, the zone bit can display the first zone bit, and when the hall voltage output by the hall sensor is less than the preset voltage, the zone bit can display the second zone bit. The values of the first flag bit and the second flag bit may be set arbitrarily, and are not limited specifically here as long as the change state of the hall voltage output by the hall sensor can be distinguished.

Assuming that the preset voltage is TH1 and the Hall voltage output by the Hall sensor is V_outWhen the Hall voltage V output by the Hall sensor_outWhen the Hall voltage V output by the Hall sensor is greater than or equal to TH1, the flag bit can display a first flag bit_out< TH1, the flag will indicate the second flag.

Referring to fig. 2 and 3, fig. 2 is a schematic view of an installation of a magnetic steel and a hall sensor on a stepping motor, and fig. 3 is a schematic view of determining a target position. When the stepping motor is in a forward rotation state, namely the stepping motor runs from the point A to the point B, and the target reading of the mark bit jumps from the first mark bit to the second mark bit, or when the stepping motor is in a reverse rotation state, namely the stepping motor runs from the point B to the point A, and the target reading of the mark bit jumps from the second mark bit to the first mark bit, the stepping motor is controlled to stop running, and the stop position of the rotor of the stepping motor is set as the target position. Obviously, the purpose of this step is to ensure that the selected position of the target position is consistent in the forward rotation state and the reverse rotation state during the forward and reverse rotation of the stepping motor, so as to improve the reliability and accuracy of the target position during the setting process. When the stepping motor is stopped and the stop position of the rotor of the stepping motor is set as the target position, the operation angle of the stepping motor is positioned by taking the target position as the initial position. This is illustrated here by a specific example.

Referring to fig. 4, fig. 4 is a structural diagram of an open-loop control system of a stepping motor, when a switch control system of the stepping motor is powered on, an angle command generator in the switch control system sends a forward pulse command to a stepping driver, and the stepping motor driver drives the stepping motor to rotate. When the target reading of the mark position is detected to be changed from the first mark position to the second mark position, the angle instruction generator stops sending a forward pulse instruction to the stepping driver, the stepping motor stops rotating, at the moment, the stop position of the rotor of the stepping motor is set as a target position, and then the target position is used as an initial position to carry out positioning control on the operation angle of the stepping motor.

If the rotor of the stepping motor stops at the target position, that is, if the rotor of the stepping motor stops at the position of the hall sensor, and the rotor of the stepping motor needs to be operated and positioned from the target position to the point a, at this time, the angle command generator sends a forward pulse command to the driver of the stepping motor, and the corresponding angle is theta₂When the angle command generator sends the forward pulse command to the stepping motor driver, the rotor of the stepping motor stops rotating to the point A.

When the stepping motor is in a forward rotation state, namely when a rotor of the stepping motor needs to rotate from a point A to a point B, the angle instruction generator sends a negative pulse instruction to the stepping motor driver, and the stepping motor driver drives the stepping motor to rotate; when the target reading of the mark bit is detected to be changed from the first mark bit to the second mark bit, the angle instruction generator stops sending a negative pulse instruction to the stepping motor driver, at the moment, the rotor of the stepping motor stops rotating, under the condition, the stop position of the rotor of the stepping motor is set as the target position, namely, the position where the rotor of the stepping motor stops at the Hall sensor is set as the target position, and then the angle instruction generator sends the negative pulse instruction to the stepping motor driver again, wherein the corresponding angle is theta₁When the negative pulse command is sent, the rotor of the stepping motor stops at the point B.

When the stepping motor is in a reverse rotation state, namely when a rotor of the stepping motor needs to rotate from a point B to a point A, the angle instruction generator sends a forward pulse instruction to the stepping motor driver, and the stepping motor driver drives the stepping motor to rotate; when the target reading of the zone bit is detected to be changed from the second zone bit to the first zone bit, the angle instruction generator stops sending a forward pulse instruction to the driver of the stepping motor, at the moment, the rotor of the stepping motor stops rotating, in this case, the stop position of the rotor of the stepping motor is set as the target position, namely, the position where the rotor of the stepping motor stops at the Hall sensor is set as the target position, and then, the angle instruction generator again sends a forward pulse instruction to the driver of the stepping motorSending a forward pulse command with a corresponding angle theta₂When the forward pulse command is sent, the rotor of the stepping motor stops at the point A.

Therefore, in the positioning control method for the stepping motor provided by the embodiment, no matter the rotor of the stepping motor runs from the point a to the point B or the rotor of the stepping motor runs from the point B to the point a, the rotor needs to run to the target position first and then run from the target position to the point B or the point a, so that the problem that the given angle is inconsistent with the actual rotation angle in the actual running process of the stepping motor is solved, and the positioning accuracy of the stepping motor in the running process can be further improved.

In this embodiment, firstly, a hall sensor is arranged on a stator of the stepping motor in an open-loop control system of the stepping motor, and a magnetic steel is arranged on the rotating mechanism; when the open-loop control system is powered on, a target control instruction is sent to a stepping driver for driving the stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to operate. When the magnetic steel is in a running state, the Hall sensor on the stator of the stepping motor can detect the changed Hall voltage due to the Hall effect. In the process, the zone bit can represent the change state of the Hall voltage detected by the Hall sensor, and can display the first zone bit when the Hall voltage output by the Hall sensor is greater than or equal to the preset voltage, and can display the second zone bit when the Hall voltage output by the Hall sensor is less than the preset voltage. When the stepping motor is in a forward rotation state and the target reading of the mark bit is changed from the first mark bit to the second mark bit, or when the stepping motor is in a reverse rotation state and the target reading of the mark bit is changed from the second mark bit to the first mark bit, the stepping motor is controlled to stop running, so that the stopping position of a rotor of the stepping motor can be at the same position when the stepping motor rotates forwards or reversely. Then, the stop position of the rotor of the stepping motor is set as a target position, and the operation of the stepping motor is controlled with the target position as an initial position. Therefore, the initial position of the stepping motor in the operation process is set through the change of the flag bit and the forward and reverse rotation of the stepping motor, and then the stepping motor is controlled to position the operation angle of the stepping motor by taking the initial position as a starting point, so that the problem that the given angle of the stepping motor is not equal to the actual rotation angle in the actual operation process can be avoided, and the positioning accuracy of the stepping motor in the operation process can be further improved.

Based on the above embodiments, the present embodiment further describes and optimizes the technical solution, and as a preferred implementation, the magnetic steel is specifically a circular magnetic steel with a diameter of 10mm ± 3 mm.

Specifically, can set up the magnet steel into the circular magnet steel that the diameter is 10mm 3mm, because circular magnet steel compares in the magnet steel of other shapes, can produce more even magnetic field, just so can make hall sensor detected hall voltage more accurate and reliable.

Moreover, in practical application, the diameter of the circular magnetic steel can be set to be 10mm +/-3 mm, so that the occupied area of the magnetic steel on the rotating mechanism can be reduced, and the normal operation of the stepping motor in the actual use process can be ensured, so that the stability and the reliability of the stepping motor in the operation process are further ensured.

Based on the above embodiments, this embodiment further describes and optimizes the technical solution, and as a preferred implementation, the model of the hall sensor is specifically SS 495.

In this embodiment, the hall sensor is set as the SS495, because the SS495 can not only quickly and sensitively detect the hall voltage generated by the magnetic steel during the operation process, but also the SS495 can stably operate within the temperature range of-40 ℃ to 150 ℃, so that the positioning control method of the stepping motor provided by the application can be applied to more complex application scenes.

Based on the above embodiments, this embodiment further describes and optimizes the technical solution, and as a preferred implementation, the above steps: send the target control instruction to the step driver who drives step motor to the process that the magnet steel that drives step motor on driving rotary mechanism carries out the operation includes:

and sending a control instruction with fixed pulse frequency to a stepping driver for driving the stepping motor so as to drive the stepping motor to drive the magnetic steel on the rotating mechanism to run at a constant speed.

It can be understood that when a control command with fixed pulse frequency is sent to a stepping driver for driving the stepping motor, the stepping motor can run at a constant speed, and therefore the magnetic steel on the rotating mechanism is driven to run at a constant speed. When the magnetic steel on the rotating mechanism runs at a uniform speed, the Hall effect generated by the magnetic steel can also change at a uniform speed, so that the Hall voltage detected by the Hall sensor is stable, large-amplitude jitter cannot occur, and the display result of the target reading on the mark position can be more accurate and reliable.

Based on the above embodiments, this embodiment further describes and optimizes the technical solution, and as a preferred implementation, the first flag bit is specifically 1, and the second flag bit is specifically 0.

Specifically, in this embodiment, the first flag bit is set to 1, and the second flag bit is set to 0, and it is conceivable that when the flag bit displays the change state of the hall voltage output by the hall sensor through 0 and 1, the display result of the flag bit is simpler and more intuitive. Moreover, through the arrangement mode, the programming work of staff in the process of compiling the zone bits can be relatively simplified, and the reading process of the zone bit display results can be simpler and more convenient.

Based on the above embodiments, the present embodiment further describes and optimizes the technical solution, and as a preferred implementation, the preset voltage is smaller than the maximum hall voltage output by the hall sensor.

Considering that in practical applications, the hall voltage output by the hall sensor is generally lower than the maximum hall voltage output by the hall sensor when the rotating speed of the stepping motor is high, and this condition lasts for a relatively long time, in this embodiment, in order to relatively prolong the time displayed by the first flag and the second flag on the flag, the preset voltage is set to be smaller than the maximum hall voltage output by the hall sensor. Obviously, by the arrangement mode, the probability of misjudgment and missed judgment in the process of determining the target position can be relatively reduced, and therefore the positioning accuracy of the stepping motor in the operation process can be further improved.

Referring to fig. 5, fig. 5 is a structural diagram of a positioning control device of a stepping motor according to an embodiment of the present invention, the positioning control device includes:

the system power-on module 21 is configured to send a target control instruction to a step driver for driving the step motor when the open-loop control system is powered on, so as to drive the step motor to drive the magnetic steel on the rotating mechanism to operate;

the reading detection module 22 is used for detecting the target reading of the zone bit in real time when the magnetic steel is in a running state; the zone bit can represent the change state of the Hall voltage output by the Hall sensor, and when the Hall voltage output by the Hall sensor is greater than a preset voltage, the zone bit displays a first zone bit; when the output voltage of the Hall sensor is smaller than the preset voltage, the zone bit displays a second zone bit;

and the motor operation module 23 is configured to control the stepping motor to stop operating when the stepping motor is in a forward rotation state and the target reading jumps from the first flag bit to the second flag bit, or when the stepping motor is in a reverse rotation state and the target reading jumps from the second flag bit to the first flag bit, set a stall position of a rotor of the stepping motor as a target position, and position an operation angle of the stepping motor by using the target position as an initial position.

The positioning control device of the stepping motor disclosed by the embodiment of the invention has the beneficial effects of the positioning control method of the stepping motor disclosed by the embodiment of the invention.

Referring to fig. 6, a structure diagram of a positioning control device of a stepping motor according to an embodiment of the present invention includes:

a memory 31 for storing a computer program;

a processor 32 for implementing the steps of a positioning control method of a stepping motor as disclosed in the foregoing when executing a computer program.

The positioning control equipment of the stepping motor disclosed by the embodiment of the invention has the beneficial effects of the positioning control method of the stepping motor disclosed by the embodiment of the invention.

Accordingly, the present invention also discloses a computer readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the positioning control method for a stepping motor as disclosed in the foregoing.

The computer-readable storage medium disclosed by the embodiment of the invention has the beneficial effects of the positioning control method of the stepping motor disclosed by the embodiment of the invention.

The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The positioning control method, device, equipment and medium of the stepping motor provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the above embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.