Control Technology And Experimental Research On Stepping Motor Based On Improved Sliding Mode-PID Strategy

As a widely used external platform,a two degree of freedom system plays a different role in various industries.The stepper motor that drives the position change of the platform has the advantages of simple control and high reliability,and has excellent performance in the field of drive control.Since the large-scale practical application of stepper motors in the last century,despite China’s efforts to catch up in relevant fields,after many years,localization in special occasions will still be hindered by other countries.Therefore,in the context of China’s intelligent manufacturing in 2025,precise control and driving of stepper motors is very important.This article takes an actual engineering project as the background and takes hybrid stepper motors as the research object to analyze complex motor systems.The main research content and conclusions are as follows:(1)Establish an improved control model for electromechanical coupling.Based on the analysis of classical control theory,an improved control algorithm is proposed for this type of complex system:the PID control and Sliding mode control are integrated,the switching function in the sliding mode controller is reasonably selected for the strong coupling nonlinear motor system,the original exponential approach law is improved to obtain a new approach law,and the stability of the designed controller system is proved by using Lyapunov stability theory,Verify the effectiveness of this control method through simulation.The results show that the improved Sliding mode control strategy based on parallel PID can effectively improve the dynamic response process of the system and obtain higher control accuracy of the system,which provides a theoretical basis for the later construction of the multi degree of freedom system test platform.(2)Establish an improved control model for electromechanical coupling.Based on the analysis of classical control theory,an improved control algorithm is proposed for this type of complex system:the PID control and Sliding mode control are integrated,the switching function in the sliding mode controller is reasonably selected for the strong coupling nonlinear motor system,the original exponential approach law is improved to obtain a new approach law,and the stability of the designed controller system is proved by using Lyapunov stability theory,Verify the effectiveness of this control method through simulation.The results show that the improved Sliding mode control strategy based on parallel PID can effectively improve the dynamic response process of the system and obtain higher control accuracy of the system,which provides a theoretical basis for the later construction of the multi degree of freedom system test platform.(3)Experimental verification of two-motor two-degree-of-freedom platform.Aiming at the dual-motor system,in order to achieve precise position control,the system architecture,software and hardware of the platform are designed,and the response results of non-interference step signal,gradient command signal and frequency conversion signal of different controllers are analyzed and compared.In order to reflect the test deviation,the motor of the test system is dynamically sampled,and the error bar graphs of different axes are obtained by curve fitting tool,which verifies the dynamic stability of the improved sliding mode control algorithm with or without interference input.The experimental results show that the whole system can recover to a stable state in a short time,and the displayed error bars are within a reasonable range,which shows that the compound sliding mode control strategy has excellent tracking performance and provides an effective test platform for the subsequent camera system.(4)Experiment on camera target capture system of two-degree-of-freedom platform.The principle of target recognition is analyzed in combination with the two-degree-of-freedom system,and the overall control flow is determined according to the position model of the pan/tilt.The response effects of different parameters of the controller are compared through simulation analysis,and the tracking tests with the input target positions of 100,200,50,-100 and 0 are carried out after the optimization parameters are determined,and the position response,speed change and error feedback are obtained,so as to realize quick point capture and multi-target tracking.According to the test results,the response of the control system is very rapid,and finally it is gradually stable.The experimental error range is within a reasonable range,and the superiority and applicability of the designed controller are verified by experiments.In this paper,through the exploration of the existing classical control methods,combined with the improved sliding mode controller designed by the traditional PID control,the position control of hybrid stepping motor is studied.The analysis shows that the improved sliding mode control method based on parallel PID can improve the fast tracking performance of the system and reduce the steady-state error of the system,which is expected to open up a new way for the current field of precise motor control and promote the further utilization of the motor driving platform,and has certain application value.