【摘要】 为了优化开环情况下步进电机的控制,研究运行曲线和传动刚度对步进电机开环控制系统运动情况的影响。依据步进电机运行原理和系统动力学特性,建立控制系统数学模型。设计一种基于正矢函数,高阶平滑的加减速曲线,并与常见的匀加减速曲线和指数型加减速曲线进行了比较仿真。仿真结果表明正矢型加减速曲线能够更好地抑制运动过程中的冲击,减小终点位置的残余振动幅度。该控制方式适用于对运动精度和稳定性有较高要求的场合,在分幅式航空相机的摆扫控制中得到了成功的应用。更多还原

【Abstract】 In order to optimize the open-loop control strategy of stepper motors,the influence of running curve and transmission stiffness to the stepper motor open-loop control system was studied.The mathematical model of the control system was established according to the stepper motor running principles and system dynamics.A versine based acceleration and deceleration curve with high-order smoothness was designed and compared to the ordinary constant and exponential acceleration and deceleration curves by simulation.The results show that versine based curve works better in restraining the impulsion during the running and reducing the amplitude of residual vibration at the end of the running process.The proposed control strategy is suitable for applications that accuracy and stability are highly required and have been successfully applied to scanning control of a step framing arial camera.更多还原