步進驅動之定位控制

Abstract

像印表機和X-Y平檯這些辦公室及工業自動化產品裡，因數位驅動步進馬 達能簡單地以開迴路方式滿足位置控制的要求而廣受歡迎。但為了提高系 統的效率和可靠度 , 我們可以加上一個增量型編碼器而將它改成閉迴路 的形式。在這篇論文□，我們以C語言發展了一套步進馬達系統的模擬程 式，討論了閉迴路步進馬達系統的控制策略，並以力矩/速度/切換角的特 性圖來解釋我們的控制策略。在這之中，我們發展了一種減速方法，雖然 這種方法並非最省時間之作法，但這方法對負載的變化有抵抗能力，而這 種能力正是其他方法所欠缺接著我們將在電腦之中模擬出這種策略並將其 結果與一般開迴路步進馬達系統作比較，從這些比較之中，這種控制策略 的確產生較大的加速能力，並使步進馬達能在較高速領域中平滑運轉，雖 然我們在個人電腦上實作仍有些個題尚待解決，但我們仍將這可能的實作 方式寫在最後部份。 In the OA and FA products such as printer and X-Y table , the popularity of stepping motor is due to their ease to accomplish the position control in digital pulse with simple open-loop configuration . For better reliabilty and efficiency , an incremental encoder is appended to form a closed-loop configuration . In this paper , a simulation of stepping motor system in C language is developed . We discuss the control strategy of closed-loop stepping motor system and interpret this control strategy from torque/speed/switching angle chart . In this control strategy , we designed a new method for deceleration in closed-loop stepping motor system . Although it is not the time optimal solution ,it possesses the advantage of robustness on load variation which is deficient in other control strategy. Subquently we verify this control strategy in computer simulation and compare its performance with normal open-loop stepping motor system . From these comparisons ,closed-loop stepping motor system indeed has higher acceleration capacity and could run at higher speed in a smooth manner . Finally we advise a possible implementation in personal computer , although it still exhibits some problem under conquest .