Abstract:

Based on acceleration/deceleration curves and control scheme,the operation smoothness and noise of stepping motor were analyzed and studied.According to the relation between angular acceleration and angular velocity (a-ω equation),the S-type,e/e-type and Cos-type acceleration/deceleration curves were constructed respectively,in which the flexible impact can be avoided.Then,the control scheme of stepping motor was optimized, including that the smoothness of stepping motor's speed transition was improved,that the controller's calculation speed was enhanced because of calculation's simplification by iterative algorithm,and that storage resources were saved through real-time calculation.The noise experimental results show that compared with the traditional drive scheme,the stepping motor system,which adopts Cos-type acceleration/deceleration curve and real-time control scheme,operates smoothly and has lesser noise during startup process.

Key words: stepping motor, acceleration/deceleration curve, iterative algorithm, real-time control, noise

摘要：

基于步进电机的加减速曲线和控制方案两方面对步进电机的运行平稳性及噪声进行了分析和研究。首先通过角加速度和角速度的关系式(a-ω方程)构造出不产生柔性冲击的S型、e/e型及Cos型步进电机加减速曲线;其次优化步进电机控制方案,包括改善步进电机速度过渡的平滑性,运用迭代算法简化计算以提高控制器的运算速度,采用实时计算的方式节省存储资源。噪声实验结果表明,与传统的驱动方案相比,采用Cos型加减速曲线和实时控制方案的步进电机系统运行平稳,启动过程噪声明显减小。
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关键词: 步进电机, 加减速曲线, 迭代算法, 实时控制, 噪声