【作者】 王晓峰；

【导师】 吕东澔；

【作者基本信息】 内蒙古科技大学 ， 控制工程（专业学位）， 2020， 硕士

【摘要】 随着21世纪电子、计算机和控制技术的飞速发展,相关的技术产业变革也是日星月异。步进电机因其具有成本较低、控制方式方法简单等优点,被广泛地应用在工业领域和电子领域。然而,由于步进电机属于特种电机,与交流电源相连接是无法工作的。只有使用专门的驱动器,才可以使步进电机正常工作。而步进电机运行的稳定性和精准性除了与它自身特性有联系以外,在很大程度上也由控制方式和启停控制算法所决定。所以,在研究步进电机控制系统的同时也要设计加入合适启动停止算法。本文根据课题的研究背景,首先介绍了混合式步进电机的相关特点及当前步进电机的国内外研究现状。其次,在已有文献的基础上,本文根据研究设计的内容,介绍了控制系统的研究策略以及硬件结构。再次,对涉及到的硬件,包括步进电机、步进电机驱动器等设备进行比较和选型,然后对实际中广泛应用的梯型启停算法和S型启停算法进行改进,建立新的梯型-S型结合算法数学模型,并且分析了新型算法相对于其他算法的优点。然后,对硬件进行调试,包括细分驱动器DRV8825的测量以及步进电机驱动器拓展版和消纹器的设计制作等工作,同时,使用keil5软件编写包括串口协议、电机驱动、新型控制算法在内的子程序和主程序。最后,在机械平台上进行实际验证,由于机械结构是四个步进电机带动三轴运转。各个轴运转的步数和距离不同,本文以X轴举例,验证最后带动运转1cm、1mm距离时,误差满足设计要求,可以实现精准控制。本课题在硬件方面,选择STM32F407为主控制芯片,负责控制信号的输出,选择DRV8825为驱动芯片,设计了一种新的梯型-S型控制算法,通过keil5软件的编程,在实际机械平台的验证,从而得出了新型梯型-S型启停算法能够实现对步进电机高精准控制的结论。更多还原

【Abstract】 With the rapid development of modern electronic technology,computer technology and control technology,technological changes are also changing with each passing day.At present,stepping motors have been widely used in industrial and electronic fields.The reason why they are widely used is that they have the advantages of low cost and simple control methods.However,because the stepping motors belongs to direct current motor,they cannot be connected directly to alternating current and DC power supply.In order to make the stepping motors work properly,special control equipment,stepping motor drivers,must be used.In addition to its own characteristics,the running stability and accuracy of the stepping motor are largely determined by the control mode and the start-stop control algorithm.Therefore,in actual research on the stepping motor control system,it is also necessary to study the motor start-stop algorithm.According to the research background of the subject,this paper first introduces the relevant characteristics of hybrid stepper motors and the current research status of stepping motors at home and abroad.Secondly,based on the existing literature,this paper introduces the research strategy and hardware structure of the control system based on the content of the research design.For the next,compare and select the hardware,including stepping motors,stepping motor drivers and other equipment.In this paper,the ladder-type start-stop algorithm and s-type start-stop algorithm which are widely used in practice are improved,a new mathematical model of the ladder-s type algorithm is established,and the advantages of the new algorithm over other algorithms are analyzed.Then,the hardware is debugged,including the measurement of the subdivided driver DRV8825 and the drawing of the stepping motor driver and the filter.At the same time,the subroutines including serial protocol,motor driver,and new control algorithms are written using keil5 software.Finally,the actual verification is performed on the mechanical platform.because the distance of the three-axis stepping motor drives the shaft is different.This article uses the X axis as an example to verify that when the final drive is driven by a distance of 1cm and 1mm,the error meets the design requirements and accurate control can be achieved.In terms of hardware,this paper uses STM32F407 as the main control chip and selects DRV8825 as the stepping motor drive chip.A new ladder-S control algorithm is designed,which is verified on the actual mechanical platform through the programming of keil5 software.It is concluded that the new control algorithm can realize the precise control of stepping motor.更多还原