基于AT91SAM9261的步进电机S曲线加减速控制研究与实现  

Research and Implementation of S Curve Acceleration and Deceleration Control for Step Motor Based on AT91SAM9261

作　　者：简毅[1] 刘宝[1] 

机构地区：[1]重庆大学机械工程学院,重庆400030

出　　处：《轻工机械》2012年第3期62-66,共5页Light Industry Machinery

摘　　要：步进电机按照S型曲线加减速时不存在柔性冲击,适合于高速运动。采用了嵌入式ARM片上系统AT91SAM9261作为控制平台,研究了其脉冲产生机制,对S曲线加减速的算法及其曲线方程作了分析推导并研究了将曲线转化为脉冲的离散实现过程;然后列举了实际运动中可能出现的加减速情况并针对各情况分析了实时运动控制过程。最后通过脉冲测试证明,所提出的加减速算法及运动控制方法可行有效,能够适应各种不同运动参数,提高了步进电机的效率和稳定性。When the step motor accelerates or decelerates to S curve,there is no soft impact,which is good for high-speed motion.The embedded ARM soc AT91SAM9261 was adopted as the control platform to study the pulse generating mechanism.The algorithm and equation of S curve was analyzed and derived.Moreover,the paper also described the process of discretization which converts curve to pulse.Next,the possible cases of acceleration and deceleration status in actual motion,which were determined by real time motion control,were listed.Finally,the pulse testing indicates that the algorithm and motion control methods of acceleration and deceleration proposed are feasible and can be applied to motions with various parameters as well as improve the efficiency and stability of step motor.

关 键 词：步进电机 运动控制 S曲线加减速 嵌入式 AT91SAM9261系统 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TM383.6[自动化与计算机技术—控制科学与工程]