Research On Synchronization And Precision Motion Control Of Multiple Stepping Motors

As an executing component, a stepping motor has characteristics of simple control, accurate positoning and so on and is applied in many fields. Because of the high demand for mechanism performance and product quality, more stepping motors need to be controlled and run in phase in many control fields, such as military affairs, avigation, robot control and so forth. So it has an important significance to deeply study on multiple stepping motors synchronization control and improve their motion control precision.This thesis is based on the research on a multi-manipulator tooth arrangement robot. A software program is adopted to realize synchronization and precison motion control of multiple stepping motors taking a digital I/O card as the hardware base of stepping motor control. The key of this control method is the software program, which decides whether the synchronization control can be realized. Firstly, the whole structure and working theory of the multi-manipulator tooth arrangement robot are discussed. Secondly, the control methods of one stepping motor and timing methods are analyzed in detail and a software realization method of precision motion control of one stepping motor is proposed. Thirdly, the control methods of mass stepping motors and multi-task control mechanism of Windows operating system are further analysed and a strategy of multiple stepping motors synchronization control based on PC and I/O cards is brought forth. Finally, a synchronization control program is programmed for 50 stepping motors of the multi-manipulator tooth arrangement robot and an experiment is executed. The result shows that when the strategy of multiple stepping motors synchronization control propsed in this thesis is applied in the multi-manipulator tooth arrangement robot, the structure will experience a uniform force. Which eliminates the tooth arranging obstacle produced by the deformity of structure, increases the agility of control, shortens the tooth arranging time and improves the tooth arranging efficiency. The research of this thesis also offers an effective control method for the multiple stepping motors synchronization control in other fields and breaks a wide path for the application of multiple stepping motors.