Research On Control Method Of Stepping Motor Based On Speed Given Curve

With the rapid development of electronic information technology in the 21 st century,a series of related technology industries have undergone great changes.Stepping motor is an electromagnetic device which converts electric pulse signal into corresponding angular displacement.It has simple control and wide application fields,such as 3D printer,robot,precision medical equipment,etc.stepping motor plays an important role as the electric actuator.But the inherent characteristics of the stepper motor lead to some defects in operation,such as out of step,locked rotor,low frequency vibration and other problems.The development of the stepping motor drive technology and the optimization of the control strategy have solved a series of problems in the stepper motor.According to the research background of the subject,the main research object of this paper is stepper motor,and the research goal is to accurately control its angular displacement.Before that,the structure,torque frequency characteristics and other inherent characteristics of the stepper motor are introduced,and its working principle and mathematical model are further analyzed.Based on the understanding of the existing stepper motor drive technology,the subdivision drive technology is mainly studied.In order to optimize the open-loop control system of stepper motor,this paper analyzes the existing speed setting algorithm under open-loop control,and proposes a speed setting curve algorithm which is more in line with the torque frequency characteristics of stepper motor and has better acceleration and deceleration flexibility.Then,according to the working principle and driving mode of stepping motor,the simulation model of open-loop control system of stepping motor is established,and the control effect of given speed algorithm is verified by the simulation model.Finally,according to the background of the project,a hardware experimental platform with STM32 as the core is built to debug each module of the hardware control system and complete the programming with keil integrated software development environment.Through simulation and experiment,it is verified that the new S-shaped speed curve algorithm has better open-loop performance and can realize accurate control of angular displacement of two-phase hybrid stepping motor.