【摘要】 针对步进电机在实际开环运行过程中,由于惯性作用、速度突变或者突加负载的时候易发生失步的问题,对步进电机的数学模型和速度控制数学模型进行了分析研究,对步进电机控制方法和控制算法进行了归纳分析,提出了一种带有光电传感器检测角位置的步进电机闭环控制系统。算法方面采用模糊PID控制策略对步进电机的输出特性进行了优化控制,最大限度地复现了预设的角位移量运行;同时选用指数运行规律的速度控制方法对步进电机进行了有效控制,为了便于微控制器实时处理并对其速度控制规律进行了离散化操作。研究结果表明:闭环控制系统在速度和负载突变时能可靠地避免失步发生,提高系统的精度、可靠性、动态性能和鲁棒性。更多还原

【Abstract】 Aiming at the actual running process of the stepping motor in the open loop state,the problem of step loss is caused by inertia,speed mutation or load.The mathematical model of stepping motor and the mathematical model of speed control were analyzed,the control method and the control algorithm of stepping motor were analyzed.A closed-loop control system with photoelectric sensor detection angle was proposed.The fuzzy PID control strategy was adopted to optimize the output characteristics of the stepping motor,the running of the angular displacement was reappeared farthest.At the same time,the speed control method of the index was used to control the stepping motor.In order to facilitate the real-time processing of the microcontroller,its speed control laws were discretized.The results show that the control system can reliably avoid losing step in speed and load mutation,it can improve the operating accuracy and reliability,dynamic performance and robust performance of the whole control system.更多还原