基于STM32的5段式S型交流伺服电机控制方法  

A Method of Five-segment S-type AC Servo Motor Control Based on STM32

作　　者：夏侯命栋 张雄杰[1,2] 王鲍 李东 叶煜力 冯丽 Xiahou Mingdong;Zhang Xiongjie;Wang Bao;Li Dong;Ye Yuli;Feng Li(State Key Laboratory of Nuclear Resources and Environment,East China University of Technology,Nanchang 330013,China;Engineering Research Center of Nuclear Technology Application(Ministry of Education),East China University of Technology,Nanchang 330013,China)

机构地区：[1]东华理工大学核资源与环境国家重点实验室,南昌330013 [2]东华理工大学核技术应用教育部工程研究中心,南昌330013

出　　处：《机电工程技术》2023年第2期42-46,共5页Mechanical & Electrical Engineering Technology

基　　金：国家科技支撑计划资助项目(编号:2021YFC2900700);中国铀业有限公司—东华理工大学核资源与环境国家重点实验室联合创新基金资助项目(编号:NRE2021-03)。

摘　　要：在传统的加减速算法中,由于起点和终点的加速度不连续,易造成电机在运转过程中存在着冲击噪声和抖动现象。因此为实现交流伺服电机运行平稳,减少运行过程中的抖动和噪声,以及提高系统运行效率,减少系统运算量,提出了5段式S型加减速控制算法。同时将该S型控制算法改进后运用到STM32单片机上,以设计小型化、低成本的伺服控制器。采用位移和速度数组遍历查询的方式进行程序的设计,可实现电机速度、位移可调的加速启动、匀速运行和减速停止。为验证该控制器的可行性,将其运用到矿石分选实验平台上进行实际运行测试,利用上位机软件进行实时速度图像采集并对采集的图像进行分析。结果表明:该控制器可在较短时间内完成速度表计算和扫描,从实验平台上采集的图像中可以分析出运行过程中速度过渡较为平滑,电机运行平稳。In the traditional acceleration and deceleration algorithm,because of the discontinuous acceleration of the starting point and the end point,it is easy to cause the impact noise and jitter phenomenon in the running process of the motor.Therefore,in order to achieve stable operation of AC servo motor,reduce jitter and noise during operation,improve system operation efficiency and reduce system calculation,a five segment S-type acceleration and deceleration control algorithm was proposed.At the same time,the improved S-type control algorithm was applied to STM32 single-chip microcomputer to design a miniaturized and low-cost servo controller.The program was designed by traversing the array of displacement and velocity,which could realize the accelerated starting,uniform running and deceleration stopping of the motor with adjustable speed and displacement.In order to verify the feasibility of the controller,the controller was applied to the ore separation experimental platform for actual operation test,and the upper computer software was used to collect real-time speed images and analyze the collected images.The results show that the controller can complete the speedometer calculation and scanning in a short time,and it can be analyzed from the images collected on the experimental platform that the speed transition is smooth and the motor runs smoothly during operation.

关 键 词：伺服电机 5段式S型加减速 STM32 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置]