CN109256994A - Control method, device, system and the storage medium of two-phase stepping motor - Google Patents
Control method, device, system and the storage medium of two-phase stepping motor Download PDFInfo
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- CN109256994A CN109256994A CN201811133168.4A CN201811133168A CN109256994A CN 109256994 A CN109256994 A CN 109256994A CN 201811133168 A CN201811133168 A CN 201811133168A CN 109256994 A CN109256994 A CN 109256994A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000009466 transformation Effects 0.000 claims abstract description 20
- 238000004590 computer program Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005055 memory storage Effects 0.000 claims description 3
- 238000012512 characterization method Methods 0.000 claims description 2
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- 238000009956 embroidering Methods 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
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- Control Of Stepping Motors (AREA)
Abstract
The present invention provides control method, device, system and the storage medium of a kind of control two-phase stepping motor of two-phase stepping motor, comprising: determines the rotary speed information, rotor current location information, the first current information of two-phase stepping motor；According to the rotor current location information, PARK transformation is carried out to first current information, obtains the second current information of the two-phase stepping motor；According to the direct-axis current component of second current information and preset reference value, the direct-axis voltage component of first voltage information is determined；According to preset rotor reference position information, the rotor current location information and the rotary speed information, quadrature axis current reference value is determined；According to the quadrature axis current component of second current information and the quadrature axis current reference value, the quadrature-axis voltage component of the first voltage information is determined to control the two-phase stepping motor work.The control method of stepper motor provided by the invention improves the position tracking ability of two-phase stepping motor.
Description
Technical field
The present invention relates to industrial control field more particularly to a kind of control method of two-phase stepping motor, device, system and
Storage medium.
Background technique
Currently, colour changing mode mainly includes exchange colour changing and stepping closed loop colour changing in control system of embroidering machine.Wherein,
It is current the main direction of development since stepper motor colour changing has the advantages that positioning accuracy is high.Therefore, for embroidery machine system
In the control method of stepper motor often determine colour changing efficiency and colour changing precision.
Two-phase stepping motor control method in existing control system of embroidering machine, generallys use opened loop control, i.e. basis
Setting value directly controls two-phase stepping motor.
However, existing two-phase stepping motor control method, due to only being changed according to setting value two-phase stepping motor
The position tracking ability of color control, two-phase stepping motor is poor, once position, which deviates, to be actively adjusted, causes to embroider
The colour changing stability of machine is poor.
Summary of the invention
The present invention provides control method, device, system and the storage medium of a kind of two-phase stepping motor, to improve two-phase step
Into the position tracking ability of motor.
First aspect of the present invention provides a kind of control method of two-phase stepping motor, comprising:
Determine the rotary speed information, rotor current location information, the first current information of two-phase stepping motor, first electric current
Information is used to characterize the biphase current of the two-phase stepping motor using the coordinate under two-phase stationary coordinate system, and the two-phase is static
Each axis of coordinate system corresponds respectively to a phase current；
According to the rotor current location information, PARK transformation is carried out to first current information, obtains the two-phase
Second current information of stepper motor, second current information are used to hand over using space described in the characterization of the coordinate under straight coordinate system
Biphase current, it includes d-axis and quadrature axis that straight coordinate system is handed in the space；
According to the direct-axis current component of second current information and preset direct-axis current reference value, first voltage is determined
The direct-axis voltage component of information, the first voltage information are used to hand over the coordinate under straight coordinate system to characterize electricity using the space
Pressure；
According to preset rotor reference position information, the rotor current location information and the rotary speed information, determines and hand over
Shaft current reference value；
According to the quadrature axis current component of second current information and the quadrature axis current reference value, first electricity is determined
Press the quadrature-axis voltage component of information；
According to the first voltage information, the two-phase stepping motor work is controlled.
Optionally, the direct-axis current component according to second current information and preset direct-axis current reference value,
Determine the direct-axis voltage component of first voltage information, comprising:
Using the first PID computation model, according to the direct-axis current component of second current information and described preset straight
Shaft current reference value determines the direct-axis voltage component of first voltage information.
Optionally, described according to preset rotor reference position information, the rotor current location information and the revolving speed
Information determines quadrature axis current reference value, comprising:
Model is adjusted using position proportional, according to the rotor current location information and the preset rotor reference position
Information determines the speed reference of the two-phase stepping motor；
The quadrature axis current is determined according to the speed reference and the rotary speed information using the 2nd PID computation model
Reference value.
Optionally, the quadrature axis current component according to second current information and the quadrature axis current reference value, really
The quadrature-axis voltage component of the fixed first voltage information, comprising:
Using the 3rd PID computation model, according to the quadrature axis current component and the quadrature axis current of second current information
Reference value determines the quadrature-axis voltage component of the first voltage information.
Optionally, described according to the first voltage information, control the two-phase stepping motor work, comprising:
According to the rotor current location information, the PARK transformation is carried out to the first voltage information, obtains second
Information of voltage, the second voltage information are used to characterize voltage using the coordinate under the two-phase stationary coordinate system；
The second voltage information is sent to sinusoidal pulse width modulation (SPWM) circuit, so that the SPWM circuit is according to
Second voltage information sends pwm pulse signal to H-bridge drive circuit, and the H-bridge drive circuit is used for according to the pwm pulse
Signal drives the two-phase stepping motor operation.
The second aspect of the invention provides a kind of control device of two-phase stepping motor, comprising:
Information determination module, for determining the rotary speed information, rotor current location information, the first electric current of two-phase stepping motor
Information, first current information are used to characterize the two-phase of the two-phase stepping motor using the coordinate under two-phase stationary coordinate system
Each axis of electric current, the two-phase stationary coordinate system corresponds respectively to a phase current；
Conversion module, for carrying out PARK transformation to first current information according to the rotor current location information,
The second current information of the two-phase stepping motor is obtained, second current information is used to hand under straight coordinate system using space
Coordinate characterizes the biphase current, and it includes d-axis and quadrature axis that straight coordinate system is handed in the space；
Direct-axis voltage component determining module, for according to the direct-axis current component of second current information and preset straight
Shaft current reference value, determines the direct-axis voltage component of first voltage information, and the first voltage information is used to utilize the space
The coordinate under straight coordinate system is handed over to characterize voltage；
Current reference value determining module, for according to preset rotor reference position information, the rotor present bit confidence
Breath and the rotary speed information, determine quadrature axis current reference value；
Quadrature-axis voltage component determining module, for according to second current information quadrature axis current component and the quadrature axis
Current reference value determines the quadrature-axis voltage component of the first voltage information；
Control module, for controlling the two-phase stepping motor work according to the first voltage information.
Optionally, the direct-axis voltage component determining module is specifically used for utilizing the first PID computation model, according to described
The direct-axis current component of second current information and the preset direct-axis current reference value determine the d-axis electricity of first voltage information
Press component；
The quadrature-axis voltage component determining module is specifically used for utilizing the 3rd PID computation model, according to second electric current
The quadrature axis current component of information and the quadrature axis current reference value, determine the quadrature-axis voltage component of the first voltage information.
Optionally, the current reference value determining module, comprising:
Position proportional adjusts unit, for adjusting model using position proportional, according to the rotor current location information and
The preset rotor reference position information, determines the speed reference of the two-phase stepping motor；
PID computing unit, for utilizing the 2nd PID computation model, according to the speed reference and the rotary speed information,
Determine the quadrature axis current reference value.
The control module, comprising:
Second voltage information determination unit is used for according to the rotor current location information, to the first voltage information
PARK inverse transformation is carried out, second voltage information is obtained, the second voltage information is used for using under the two-phase stationary coordinate system
Coordinate characterize voltage；
Driving unit, for sending the second voltage information to Sine Pulse Width Modulation circuit, so that the SPWM
Circuit sends pwm pulse signal according to the second voltage information, to H-bridge drive circuit, and the H-bridge drive circuit is used for basis
The pwm pulse signal drives the two-phase stepping motor operation.
The third aspect of the invention provides a kind of control system of two-phase stepping motor, comprising: at least one processor,
Memory and computer program；
The memory stores the computer program；
The configuration of described at least one processor executes the computer program of the memory storage so that it is described at least
One processor executes the control method for the two-phase stepping motor being related to such as first aspect and optinal plan.
The fourth aspect of the invention provides a kind of storage medium, and computer program, institute are stored on the storage medium
The computer program stated is performed the control method for executing the two-phase stepping motor that first aspect and optinal plan are related to.
Control method, device, system and the storage medium of two-phase stepping motor provided by the invention, by two-phase stepping motor
Current rotating speed, current location and two-phase stator side electric current as feedback quantity, in conjunction with preset direct-axis current and preset position
Two-phase stepping motor is adjusted, the position tracking ability of two-phase stepping motor is improved, when applying to stepper motor, if
The position of two-phase stepping motor deviates, and can be adjusted in time according to feedback quantity, improves colour changing stability.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of two-phase stepping motor control method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another two-phase stepping motor control method provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of step S24 provided in an embodiment of the present invention；
Fig. 4 is a kind of flow diagram of step S26 provided in an embodiment of the present invention；
Fig. 5 is a kind of two-phase stepping motor control principle drawing provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of two-phase stepping motor control device provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of current reference value determining module provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of control module provided in an embodiment of the present invention.
Through the above attached drawings, it has been shown that the specific embodiment of the present invention will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of the inventive concept in any manner with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate idea of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Specification of the invention and the term " first " in above-mentioned attached drawing, " second " etc. are to be used to distinguish similar objects,
Without being used to describe a particular order or precedence order.It should be understood that the data used in this way in the appropriate case can be mutual
It changes, so that the embodiment of the present invention described herein can be real with the sequence other than those of illustrating or describing herein
It applies.
It should be appreciated that in various embodiments of the present invention, the size of the serial number of each process is not meant to execute sequence
It is successive, the execution of each process sequence should be determined by its function and internal logic, the implementation without coping with the embodiment of the present invention
Journey constitutes any restriction.
It should be appreciated that in the present invention, " comprising " and " having " and their any deformation, it is intended that covering is not arranged
His includes, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly
Those of list step or unit, but may include be not clearly listed or for these process, methods, product or equipment
Intrinsic other step or units.
It should be appreciated that in the present invention, " B corresponding with A ", " A and B are corresponding " or " B and A are corresponding " indicate B
It is associated with A, B can be determined according to A.Determine that B is not meant to determine B only according to A according to A, can also according to A and/or
Other information determines B.
Depending on context, as used in this " if " can be construed to " ... when " or " when ... " or
" in response to determination " or " in response to detection ".
It should be noted that the control method of two-phase stepping motor provided by the invention, can be applied not only to embroider
Machine can also be applied to any equipment using two-phase stepping motor, not limit herein the application range of this method.
Fig. 1 is a kind of flow diagram of two-phase stepping motor control method provided in an embodiment of the present invention, such as Fig. 1 institute
Show, the control method of two-phase stepping motor provided by the invention, is applied to controller, including step S11-S16, specific as follows:
S11: the rotary speed information, rotor current location information, the first current information of two-phase stepping motor are determined.
Wherein, controller, it can be understood as the device of control motor start and stop and operation, it can be such as: programmable controller
(PLC), computer, digital signal processor etc..This implement it is of the present invention be related to the main body of method, can be above so-called
Controller.
Rotary speed information, it can be understood as the rotary speed information of two-phase stepping motor when detecting.
Rotor current location information, it can be understood as the location information of the rotor of two-phase stepping motor when detecting.
First current information, for characterizing the two-phase of the two-phase stepping motor using the coordinate under two-phase stationary coordinate system
Electric current.
Two-phase stationary coordinate system, it can be understood as there are two the coordinate systems of quadrant for the tool motionless relative to object of reference, specifically
, each axis of two-phase stationary coordinate system corresponds respectively to a phase current of stepper motor, lags 90 ° between biphase current.
During specific implementation, when motor operation, two stator side electric currents of two-phase stepping motor can be acquired, are recycled
Two stator side electricity of two-phase stepping motor are synthesized two-phase stepping by Clarke (CLARK) transformation by two-phase stationary coordinate system
The biphase current of motor.Wherein, biphase current can be divided into the current component and β axis of α axis direction according to two-phase stationary coordinate system
The current component in direction.CLARK transformation can be used for transforming to physical quantity in two-phase stationary coordinate system.
In addition, rotary speed information, the rotor current location information for above-mentioned two-phase stepping motor can be compiled by photoelectricity
Code device acquisition obtains.
S12: according to the rotor current location information, PARK transformation is carried out to first current information, is obtained described
Second current information of two-phase stepping motor.
Wherein, PARK transformation is handed under straight coordinate system for the physical quantity under two-phase stationary coordinate system to be transformed to space, empty
Between hand over the straight coordinate system to include d-axis and quadrature axis.
Second current information is used to hand over the coordinate under straight coordinate system to characterize the biphase current using space.
During specific implementation, after determining the first current information, controller is immediately referring to current location, to the first electricity
Stream information carries out PARK transformation, obtains the second current information in the case where straight coordinate system is handed in space, and it is possible to determine the second electric current
Information hands over the direct-axis current component in the d-axis direction of straight coordinate system and the quadrature axis current component of quadrature axis method in space, so as to two
Phase current carries out analyzing the voltage for determining and inputting a SPWM circuit.
S13: according to the direct-axis current component of second current information and preset direct-axis current reference value, first is determined
The direct-axis voltage component of information of voltage.
Wherein, direct-axis current reference value can be understood as the electric current in the d-axis direction of the second current information set by user
Value, reference value can be arranged in conjunction with actual conditions.
During specific implementation, after obtaining the direct-axis current component of the second current information, the second electric current can be calculated
The difference of the direct-axis current component of information and preset direct-axis current reference value, and first voltage information is adjusted according to the difference
DC voltage component adjusts the operation of two-phase stepping motor with this
The first voltage information is used to hand over the coordinate under straight coordinate system to characterize voltage using the space.
S14: according to preset rotor reference position information, the rotor current location information and the rotary speed information, really
Determine quadrature axis current reference value.
Wherein, the quadrature axis point that quadrature axis current reference value is understood that require the second current information of setting according to control
Amount.
During specific implementation, two can be determined according to rotor reference position information and rotor current location information
The speed reference of phase step motor determines quadrature axis current reference value further according to speed reference and the difference of rotary speed information.
S15: according to the quadrature axis current component of second current information and the quadrature axis current reference value, described is determined
The quadrature-axis voltage component of one information of voltage.
Wherein, quadrature axis current reference value can be understood as the quadrature axis current value that user sets first voltage, and reference value can
To combine actual conditions to be arranged.
It, can in the quadrature axis current component and quadrature axis current reference value for obtaining the second current information during specific implementation
To calculate the quadrature axis current component of the second current information and the difference of quadrature axis current reference value, the is adjusted according to the difference is corresponding
The quadrature-axis voltage component of one information of voltage, the operation of two-phase stepping motor is adjusted with this
S16: according to the first voltage information, the two-phase stepping motor work is controlled.
During specific implementation, the first voltage information for transforming to two-phase stationary coordinate system can be sent to two-phase step
Into the driving device of motor, the control information to two-phase stepping motor is contained in the first voltage information with this and controls two-phase
The operation of stepper motor, meanwhile, above-mentioned controller continues to acquire biphase current, rotary speed information and the rotor of two-phase stepping motor
Current location information, to continue to determine first voltage information to control two-phase stepping motor.The above process realizes
The three closed-loop vectors control of the electric current loop, position ring and speed ring of two-phase stepping motor.
Two-phase stepping motor control method provided by the invention, by the current rotating speed of two-phase stepping motor, current location and
Two stator side electric currents adjust two-phase stepping motor in conjunction with preset direct-axis current and preset position as feedback quantity
It is whole, the position tracking ability of two-phase stepping motor is improved, it, can be according to anti-when the position of two-phase stepping motor deviates
Feedback amount is adjusted in time, and when applying to embroidery machine, colour changing stability can be improved.
It is referring to fig. 2 the flow diagram of another two-phase stepping motor control method provided in an embodiment of the present invention
Referring to described in Fig. 2, on the basis of Fig. 1, which may include step S21-S26, specifically
It is as follows:
S21: the rotary speed information, rotor current location information, the first current information of two-phase stepping motor are determined.
S22: according to the rotor current location information, PARK transformation is carried out to first current information, is obtained described
Second current information of two-phase stepping motor.
S23: utilizing the first PID computation model, according to the direct-axis current component of second current information and described default
Direct-axis current reference value, determine the direct-axis voltage component of first voltage information.
Wherein, the first PID computation model is understood that as according to direct-current component and direct-axis current reference value
Difference adjusts the model of the direct-axis voltage component of first voltage information, can be in electric current loop to two using the first PID computation model
Phase step motor is controlled.
S24: according to preset rotor reference position information, the rotor current location information and the rotary speed information, really
Determine quadrature axis current reference value.
S25: the 3rd PID computation model is utilized, according to the quadrature axis current component of second current information and the quadrature axis
Current reference value determines the quadrature-axis voltage component of the first voltage information.
Wherein, the 3rd PID computation model, it is possible to understand that be according to quadrature axis current component and quadrature axis current reference value
Difference adjusts the model of quadrature-axis voltage component, can be carried out in electric current loop to two-phase stepping motor using the 3rd PID computation model
Control.
S26: according to the first voltage information, the two-phase stepping motor work is controlled.
Step S21, the technical term of S22, S24, S26, technical effect, technical characteristic and optional embodiment can join
Understand according to step S11, S12, S14, S16 shown in FIG. 1, for duplicate content, is not repeated herein.
Fig. 3 is a kind of flow diagram of step S24 provided in an embodiment of the present invention.
Referring to FIG. 3, step S24 may include: in one of implementation steps
S241: adjusting model using position proportional, is joined according to the rotor current location information and the preset rotor
Location information is examined, determines the speed reference of the two-phase stepping motor.
Wherein, position proportional adjusts model and is understood that adjust revolving speed according to the difference of predeterminated position and physical location
Model.
Rotor reference position information can be understood as the set point information of rotor-position.
During specific implementation, by the difference input position ratio of rotor current location information and rotor reference position information
Example adjusts the speed reference of two-phase stepping motor of the model to be exported, thus position ring to two-phase stepping motor into
Row control.
S242: the friendship is determined according to the speed reference and the rotary speed information using the 2nd PID computation model
Shaft current reference value
Wherein, the 2nd PID computation model is understood that determine quadrature axis according to the difference of speed reference and rotary speed information
The model of current reference value.
During specific implementation, by the difference input position proportion adjustment model of speed reference and rotary speed information to
The quadrature axis current reference value exported, to control in speed ring two-phase stepping motor.
Fig. 4 is a kind of flow diagram of step S26 provided in an embodiment of the present invention.
Referring to FIG. 4, step S26 may include: in one of implementation steps
S261: according to the rotor current location information, carrying out PARK inverse transformation to the first voltage information, obtains the
Two information of voltage.
Wherein, the second voltage information is used to characterize voltage using the coordinate under the two-phase stationary coordinate system.
S262: sending the second voltage information to Sine Pulse Width Modulation circuit so that the SPWM circuit according to
The second voltage information sends pwm pulse signal to H-bridge drive circuit.
Wherein, the H-bridge drive circuit is used to drive the two-phase stepping motor to run according to the pwm pulse signal.
During specific implementation, by second voltage information input SPWM circuit, SPWM circuit is exported to H-bridge drive circuit
Four road pwm pulse signals, so that four controlled in H-bridge drive circuit switch on-off, H-bridge drive circuit drives two-phase accordingly
Stepper motor operation.
Fig. 5 is two-phase stepping motor control principle drawing provided in an embodiment of the present invention.
Referring to Fig. 5 it is found that photoelectric encoder obtains the rotary speed information spd and rotor current location information of two-phase stepping motor
θ, while the biphase current information of two-phase stepping motor is acquired, which may include the electric current i of two stator sidesaAnd ib。
CLARK is carried out to biphase current first and carries out corresponding first current information of transformation acquisition, first current information
Current component i including α axis directionαWith the current component i of β axis directionβ, then according to photoelectric encoder obtain rotor it is current
Location information θ carries out PARK transformation to biphase current, obtains the second current information, which includes direct-axis current
Component idWith quadrature axis current component iq。
By the direct-axis current component i of the second current informationdWith preset direct-axis current reference valueInput the first subtracter
In, and the i that will be obtaineddWithDifference input the first PID computation model in, the first PID computation model export first voltage letter
The direct-axis voltage component of breath
The rotor current location information θ that photoelectric encoder is obtained and preset rotor reference position informationInput second
In subtracter, and by obtained θ andDifference be input to position proportional adjust model in, the position proportional adjust model output
The speed reference spd of two-phase stepping motor*.By speed reference spd*The 2nd PID computation model is inputted with rotary speed information spd
In, obtain quadrature axis current reference value
By quadrature axis current reference valueWith the quadrature axis current component i of the second current informationqThe 3rd PID computation model is inputted, is obtained
To the quadrature-axis voltage component of first voltage information
In the direct-axis voltage component of first voltage informationWith quadrature-axis voltage componentAccording to rotor current location
Information θ carries out PARK inverse transformation to first voltage information, obtains second voltage information, second voltage information includes α axis direction
Current componentWith the current component of β axis direction
By second voltage information input SPWM circuit, which gives not hate according to second voltage information does not change driver
In H-bridge drive circuit send pwm pulse signal, H-bridge drive circuit according to pwm pulse signal drive two-phase stepping motor transport
Row.
Two-phase stepping motor control method provided by the invention, by the current rotating speed of two-phase stepping motor, current location and
Two stator side electric currents adjust two-phase stepping motor in conjunction with preset direct-axis current and preset position as feedback quantity
It is whole, the position tracking ability of two-phase stepping motor is improved, it, can be according to anti-when the position of two-phase stepping motor deviates
Feedback amount is adjusted in time, and when applying to embroidery machine, colour changing stability can be improved.
Fig. 6 is a kind of structural schematic diagram of two-phase stepping motor control device provided in an embodiment of the present invention.
Referring to FIG. 6, two-phase stepping motor control device 30, may include:
Information determination module 31, for determining the rotary speed information, rotor current location information, the first electricity of two-phase stepping motor
Stream information.
Wherein, first current information is used to characterize the two-phase stepping electricity using the coordinate under two-phase stationary coordinate system
Each axis of the biphase current of machine, the two-phase stationary coordinate system corresponds respectively to a phase current.
Conversion module 32, for carrying out PARK change to first current information according to the rotor current location information
It changes, obtains the second current information of the two-phase stepping motor.
Wherein, second current information is used to hand over the coordinate under straight coordinate system to characterize the biphase current using space,
It includes d-axis and quadrature axis that straight coordinate system is handed in the space.
Direct-axis voltage component determining module 33, for according to the direct-axis current component of second current information and preset
Direct-axis current reference value determines the direct-axis voltage component of first voltage information.
Wherein, the first voltage information is used to hand over the coordinate under straight coordinate system to characterize voltage using the space.
Direct-axis voltage component determining module 33 is specifically used for utilizing the first PID computation model, be believed according to second electric current
The direct-axis current component of breath and the preset direct-axis current reference value, determine the direct-axis voltage component of first voltage information.
Current reference value determining module 34, for according to preset rotor reference position information, the rotor current location
Information and the rotary speed information, determine quadrature axis current reference value.
Quadrature-axis voltage component determining module 35, for according to second current information quadrature axis current component and the friendship
Shaft current reference value determines the quadrature-axis voltage component of the first voltage information.
Quadrature-axis voltage component determining module 35 is specifically used for utilizing the 3rd PID computation model, be believed according to second electric current
The quadrature axis current component of breath and the quadrature axis current reference value, determine the quadrature-axis voltage component of the first voltage information.
Control module 36, for controlling the two-phase stepping motor work according to the first voltage information.
Fig. 7 is a kind of structural schematic diagram of current reference value determining module provided in an embodiment of the present invention.
Referring to FIG. 7, current reference value determining module 34, may include:
Position proportional adjusts unit 341, for adjusting model using position proportional, according to the rotor current location information
With the preset rotor reference position information, the speed reference of the two-phase stepping motor is determined.
PID computing unit 342 is believed for utilizing the 2nd PID computation model according to the speed reference and the revolving speed
Breath, determines the quadrature axis current reference value.
Fig. 8 is a kind of structural schematic diagram of control module provided in an embodiment of the present invention.
Referring to FIG. 8, control module 36, may include:
Second voltage information determination unit 361, for believing the first voltage according to the rotor current location information
Breath carries out PARK inverse transformation, obtains second voltage information.
Wherein, the second voltage information is used to characterize voltage using the coordinate under the two-phase stationary coordinate system.
Driving unit 362, for sending the second voltage information to Sine Pulse Width Modulation circuit, so that described
SPWM circuit sends pwm pulse signal according to the second voltage information, to H-bridge drive circuit.
Wherein, the H-bridge drive circuit is used to drive the two-phase stepping motor to run according to the pwm pulse signal.
Two-phase stepping motor control device provided by the invention, by the current rotating speed of two-phase stepping motor, current location and
Two stator side electric currents adjust two-phase stepping motor in conjunction with preset direct-axis current and preset position as feedback quantity
It is whole, the position tracking ability of two-phase stepping motor is improved, it, can be according to anti-when the position of two-phase stepping motor deviates
Feedback amount is adjusted in time, and when applying to embroidery machine, colour changing stability can be improved.
Of the invention also provides a kind of control system of two-phase stepping motor, comprising: at least one processor, memory with
And computer program；
The memory stores the computer program；
The configuration of described at least one processor executes the computer program of the memory storage so that it is described at least
One processor executes the control method of two-phase stepping motor involved in Fig. 1-Fig. 4.
The present invention also provides a kind of storage medium, computer program, the computer are stored on the storage medium
Program is performed the control method of two-phase stepping motor involved in execution Fig. 1-Fig. 4.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of control method of two-phase stepping motor characterized by comprising
Determine the rotary speed information, rotor current location information, the first current information of two-phase stepping motor, first current information
For characterizing the biphase current of the two-phase stepping motor, the two-phase static coordinate using the coordinate under two-phase stationary coordinate system
Each axis of system corresponds respectively to a phase current；
According to the rotor current location information, PARK transformation is carried out to first current information, obtains the two-phase stepping
Second current information of motor, second current information are used to hand over the coordinate under straight coordinate system to characterize the two-phase using space
Electric current, it includes d-axis and quadrature axis that straight coordinate system is handed in the space；
According to the direct-axis current component of second current information and preset direct-axis current reference value, first voltage information is determined
Direct-axis voltage component, the first voltage information be used for using the space hand over the coordinate under straight coordinate system characterize voltage；
According to preset rotor reference position information, the rotor current location information and the rotary speed information, quadrature axis electricity is determined
Flow reference value；
According to the quadrature axis current component of second current information and the quadrature axis current reference value, the first voltage letter is determined
The quadrature-axis voltage component of breath；
According to the first voltage information, the two-phase stepping motor work is controlled.
2. the method according to claim 1, wherein the direct-axis current according to second current information point
Amount and preset direct-axis current reference value, determine the direct-axis voltage component of first voltage information, comprising:
Using the first PID computation model, according to the direct-axis current component of second current information and the preset d-axis electricity
Reference value is flowed, determines the direct-axis voltage component of first voltage information.
3. the method according to claim 1, wherein it is described according to preset rotor reference position information, it is described
Rotor current location information and the rotary speed information, determine quadrature axis current reference value, comprising:
Model is adjusted using position proportional, is believed according to the rotor current location information and the preset rotor reference position
Breath, determines the speed reference of the two-phase stepping motor；
The quadrature axis current reference is determined according to the speed reference and the rotary speed information using the 2nd PID computation model
Value.
4. the method according to claim 1, wherein the quadrature axis current according to second current information point
Amount and the quadrature axis current reference value, determine the quadrature-axis voltage component of the first voltage information, comprising:
Using the 3rd PID computation model, referred to according to the quadrature axis current component of second current information and the quadrature axis current
Value, determines the quadrature-axis voltage component of the first voltage information.
5. the method according to claim 1, wherein described according to the first voltage information, control described two
Phase step motor work, comprising:
According to the rotor current location information, PARK inverse transformation is carried out to the first voltage information, obtains second voltage letter
Breath, the second voltage information are used to characterize voltage using the coordinate under the two-phase stationary coordinate system；
The second voltage information is sent to Sine Pulse Width Modulation circuit, so that the SPWM circuit is according to second electricity
Information is pressed, sends pwm pulse signal to H-bridge drive circuit, the H-bridge drive circuit is used to drive according to the pwm pulse signal
Move the two-phase stepping motor operation.
6. a kind of control device of two-phase stepping motor characterized by comprising
Information determination module, for determining that the rotary speed information, rotor current location information, the first electric current of two-phase stepping motor are believed
Breath, first current information are used to characterize the two-phase electricity of the two-phase stepping motor using the coordinate under two-phase stationary coordinate system
Stream, each axis of the two-phase stationary coordinate system correspond respectively to a phase current；
Conversion module, for carrying out PARK transformation to first current information, obtaining according to the rotor current location information
Second current information of the two-phase stepping motor, second current information are used to hand over the coordinate under straight coordinate system using space
The biphase current is characterized, it includes d-axis and quadrature axis that straight coordinate system is handed in the space；
Direct-axis voltage component determining module, for according to the direct-axis current component of second current information and preset d-axis electricity
Reference value is flowed, determines the direct-axis voltage component of first voltage information, the first voltage information is used to hand over using the space straight
Coordinate under coordinate system characterizes voltage；
Current reference value determining module, for according to preset rotor reference position information, the rotor current location information and
The rotary speed information determines quadrature axis current reference value；
Quadrature-axis voltage component determining module, for the quadrature axis current component and the quadrature axis current according to second current information
Reference value determines the quadrature-axis voltage component of the first voltage information；
Control module, for controlling the two-phase stepping motor work according to the first voltage information.
7. device according to claim 6, which is characterized in that the direct-axis voltage component determining module is specifically used for benefit
With the first PID computation model, referred to according to the direct-axis current component of second current information and the preset direct-axis current
Value, determines the direct-axis voltage component of first voltage information；
The quadrature-axis voltage component determining module is specifically used for utilizing the 3rd PID computation model, according to second current information
Quadrature axis current component and the quadrature axis current reference value, determine the quadrature-axis voltage component of the first voltage information.
8. device according to claim 6, which is characterized in that the current reference value determining module, comprising:
Position proportional adjusts unit, for adjusting model using position proportional, according to the rotor current location information and described
Preset rotor reference position information, determines the speed reference of the two-phase stepping motor；
PID computing unit, according to the speed reference and the rotary speed information, is determined for utilizing the 2nd PID computation model
The quadrature axis current reference value；
The control module, comprising:
Second voltage information determination unit, for being carried out to the first voltage information according to the rotor current location information
PARK inverse transformation, obtains second voltage information, and the second voltage information is used to utilize the seat under the two-phase stationary coordinate system
Mark characterization voltage；
Driving unit, for sending the second voltage information to Sine Pulse Width Modulation circuit, so that the SPWM circuit
According to the second voltage information, pwm pulse signal is sent to H-bridge drive circuit, the H-bridge drive circuit is used for according to
Pwm pulse signal drives the two-phase stepping motor operation.
9. a kind of control system of two-phase stepping motor characterized by comprising at least one processor, memory and meter
Calculation machine program；
The memory stores the computer program；
The configuration of described at least one processor executes the computer program of the memory storage so that it is described at least one
Processor executes the control method of two-phase stepping motor a method as claimed in any one of claims 1 to 5.
10. a kind of storage medium, which is characterized in that be stored with computer program, the computer journey on the storage medium
Sequence is performed the control method that perform claim requires the described in any item two-phase stepping motors of 1-5.
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