Research Of Stepping Moter Subdivision Drive Control

Stepper motor is an actuator based on the principle of electromagnetism.It has the characteristics of a movement with every pulse.When running,Stepper motor doesn't have any accumulated error so that it is of high accuracy.Its rotating speed only depends on the pulse's frequency.Especially when using open loop control,it would be at low cost.Because of these advantages,stepping motor has been used in economic production widely.However,stepping motor is likely to have a problem of oscillation during starting phase.Besides,it is easy to have an overshoot phenomenon during the stop phase.In order to avoid the oscillation and the overshoot,it is of great significance to design the smooth curve of acceleration and deceleration and to control the stepping motor by the subdivision drive.It first introduces the current situation of domestic and foreign research and the significance of the research in step motor subdivision drive control.And then it introduces the model T,S type and versine type curve of three methods for acceleration,and then to establish the mathematical model of stepper motor.On the basis of the mathematical model of Stepper motor,it emulates the model T,S type and three methods for accelerating simulation of versed sine.The simulation results show that the speed curve of motor is smooth by using S-curve and positive vector curve.Through simulation of the Proteus,it is verified that the jitter of the motor can be reduced and the errors caused by slippage and overrush can be reduced by the higher subdivision drive.Based on the analysis of the theory,it presents in chapter 3 that STM32F103 as the controller by controlling the BH-MSD4805 step motor drive to control the step motor to achieve the segmentation purpose.In the experiment,A phase winding current waveform is measured with an oscilloscope under different fine fractions and compared with the previous simulation,The higher the fine fraction,the smoother the current of the stepper motor's phase A winding and the closer to the sine curve.In theexperiment with load subdivision,the precision of stepping motor running under 2subdivision and 16 subdivision is studied.The reduction of error in load running indicates that the precision of step motor can be improved by increasing the fine fraction and reducing the step loss.The research results can be applied to precision guide rail control,3D printer and other scenes to improve control accuracy and reduce equipment costs.