光纤定位单元的微型步进电机速度控制优化
|
摘要
步进电机速度控制S曲线随电机型号及外力负载不同而改变。在获取光纤定位单元所用步进电机速度控制S曲线时,对传统S曲线生成方法进行优化和改进,采用三次方程的S曲线。通过对光纤定位单元进行走位实验,对比发现定位精度有了明显提高。该方法不仅能够很容易获取不同步进电机在加减速控制中的S曲线,而且在S曲线等脉冲离散过程中,可以跳过共振带而获得最佳曲线离散频率组,适用性好。
The stepper motors S-curve varies with types of stepper motors and mechanical loads.In the process of acquiring a stepper motors S-curve for a fiber positioning unit,this paper optimizes and improves the traditional method of obtaining S-curve and uses the S-curve with cubic equations.The accuracy of positioning of fiber unit was clearly improved as a result of apositioning experiment on a fiber positioning unit.The results show that,this method not only can make it easier to obtain different stepper motors S-curve in the acceleration and deceleration control,but also can get the best curve discrete frequency groups and skip the resonance band in the process of pulse discretization.Thus,this paper concludes that the method can be applied in a wide number of contexts.
The stepper motors S-curve varies with types of stepper motors and mechanical loads.In the process of acquiring a stepper motors S-curve for a fiber positioning unit,this paper optimizes and improves the traditional method of obtaining S-curve and uses the S-curve with cubic equations.The accuracy of positioning of fiber unit was clearly improved as a result of apositioning experiment on a fiber positioning unit.The results show that,this method not only can make it easier to obtain different stepper motors S-curve in the acceleration and deceleration control,but also can get the best curve discrete frequency groups and skip the resonance band in the process of pulse discretization.Thus,this paper concludes that the method can be applied in a wide number of contexts.
引文
[1]蔡荣根,詹虎.暗能量:观测证据和理论研究[J].物理,2011,40(1):18-22.
[2]曹东杰,韩峰,任云燕.单片机控制步进电机按S形曲线升降频设计[J].弹箭与制导学报,2006,26(2):157-159.
[3]崔洁,杨凯,肖雅静,等.步进电机加减速曲线的算法研究[J].电子工业专用设备,2013(8):45-49.
[4]Rou Chiwei,Shih C L,Lee W Y.Planning S-curves in the coordinated PTP motion of multiple-axis machines under velocity acceleration and jerk constrains[J].Journal of the Chinese Institute of Electrical Engineering,2003,10(3):221-234.
[5]王鉴光.电机控制系统[M].北京:机械工业出版社,1994.
[6]王太勇,赵巍,李宏伟,等.基于最小偏差法的步进电机速度控制方法研究[J].机械科学与技术,2005,24(6):699-701.
[7]简毅,刘宝.基于AT91SAM9261的步进电机S曲线加减速控制研究与实现[J].轻工机械,2012(3):62-66.
[8]李为民,胡红专,俞巧云,等.LAMOST并行可控式光纤定位系统定位单元及其控制技术研究[J].仪表技术与传感器,2000(4):33-38.
[2]曹东杰,韩峰,任云燕.单片机控制步进电机按S形曲线升降频设计[J].弹箭与制导学报,2006,26(2):157-159.
[3]崔洁,杨凯,肖雅静,等.步进电机加减速曲线的算法研究[J].电子工业专用设备,2013(8):45-49.
[4]Rou Chiwei,Shih C L,Lee W Y.Planning S-curves in the coordinated PTP motion of multiple-axis machines under velocity acceleration and jerk constrains[J].Journal of the Chinese Institute of Electrical Engineering,2003,10(3):221-234.
[5]王鉴光.电机控制系统[M].北京:机械工业出版社,1994.
[6]王太勇,赵巍,李宏伟,等.基于最小偏差法的步进电机速度控制方法研究[J].机械科学与技术,2005,24(6):699-701.
[7]简毅,刘宝.基于AT91SAM9261的步进电机S曲线加减速控制研究与实现[J].轻工机械,2012(3):62-66.
[8]李为民,胡红专,俞巧云,等.LAMOST并行可控式光纤定位系统定位单元及其控制技术研究[J].仪表技术与传感器,2000(4):33-38.