Development Of Step Servo Controller Based On Pan-boolean PID Control

Stepper motor as an open-loop control element,its working principle is to convert electrical pulse signal into angular displacement or non-linear angular displacement,with high positioning accuracy,small accumulated error during motion,strong system reliability,etc.advantage.At present,two-phase hybrid stepping motors have become the mainstream stepping motors suitable for market demand,and play an active role in the application of various motion control technology fields such as electronics,aerospace engineering,automatic control,and medical treatment.As the degree of modernization is getting higher and higher,the traditional stepper motor open-loop control has been unable to fully meet the needs of modern production due to its slow motion response,easy to lose steps,and lack of robustness [1].The research plan of the stepper motor servo control system is imperative.In the stepper motor servo control system,the quality of the driving device and the quality of the detection device directly affect the control effect of the stepping servo control system.In this paper,a servo drive controller based on a dedicated drive chip is independently designed.In order to improve the shortcomings of the traditional PID control strategy in the stepper servo control system,the pan-Boolean PID control strategy is introduced to meet the higher static and dynamic control performance requirements of modern enterprises for the stepper servo control system.In this paper,based on the mathematical model of the two-phase hybrid stepper motor,a pan-Boolean PID controller model is built in the Matlab / Simulink environment,and the pan-Boolean PID control algorithm and the classic PID control algorithm are applied to the stepper motor servo controller.Compare the output effect of the stepping servo system.Analysis of the results of the MATLAB simulation model shows that:compared with the traditional PID control,when using the pan-Boolean PID algorithm control,the stepper motor closed-loop control state,the current,mechanical torque angular velocity and its electromagnetic torque changes are smoother,When the motor load changes,the actual movement position and speed of the motor can keep consistent with the load,and the changes in electromagnetic torque,current,and mechanical torque angular speed can automatically respond quickly with the change of the motor load.It can be seen that the pan-Boolean PID control algorithm has better anti-interference ability and more stable dynamic control performance in the stepping servo control system,and the simulation results have obtained very satisfactory control results.In order to verify the feasibility and general practicability of the pan-Boolean PID control algorithm,this article uses STC8A8K64S4A12 and TMC5160 as the core control chip and driver chip,respectively,to complete the hardware circuit design of each module.A two-axis plotter experimental platform was used to carry out basic experiments on the stepping servo control system.The experimental results show that the stepping servo control system designed in this paper meets the needs of modern industry,and proves that the pan-Boolean PID control strategy is more superior in the stepping motor servo control system.