Search

CN-122020880-A - Simulation method, system, equipment and medium for high-precision output of stepping motor

CN122020880ACN 122020880 ACN122020880 ACN 122020880ACN-122020880-A

Abstract

The application provides a simulation method, a system, equipment and a medium for high-precision output of a stepping motor, and belongs to the technical field of high-precision power output of stepping motors. The method comprises the steps of determining a first stepping angle of a target stepping motor in running time according to the stepping angle, the stepping period and the running time of the target stepping motor, setting a speed waveform adjusting parameter, determining a second stepping angle according to the speed waveform adjusting parameter, the stepping angle, the stepping period and the running time, determining a total rotation angle function of the target stepping motor according to the first stepping angle and the second stepping angle, determining an angular velocity function in the running time of the target stepping motor based on the total rotation angle function, and determining a corresponding angular acceleration function in the running time of the target stepping motor according to the angular velocity function of the target stepping motor. The dynamic changes of the angle, the speed and the acceleration of the stepping motor in each stepping period are accurately reproduced, and the simulation result is highly consistent with the actual running state of the physical prototype. The simulation accuracy of the stepping motor is improved.

Inventors

  • WU CHANGCHUN

Assignees

  • 四川长虹空调有限公司

Dates

Publication Date
20260512
Application Date
20260106

Claims (10)

  1. 1. The simulation method for the high-precision output of the stepping motor is characterized by comprising the following steps of: acquiring the step angle, the step period and the running time of a target stepping motor; determining a first stepping angle of the target stepping motor in the running time according to the stepping angle, the stepping period and the running time of the target stepping motor; Setting a speed waveform adjusting parameter, determining a second stepping angle according to the speed waveform adjusting parameter, the step angle, the stepping period and the running time, and determining a total rotation angle function of the target stepping motor according to the first stepping angle and the second stepping angle; Determining an angular velocity function in the running time of the target stepping motor based on the total rotation angle function, and determining a corresponding angular acceleration function in the running time of the target stepping motor according to the angular velocity function of the target stepping motor; and forming a simulation adjustment mechanism for the total corner function, the angular velocity function and the angular acceleration function of the target stepping motor in the running time based on the speed waveform adjustment parameters to perform simulation adjustment.
  2. 2. The method of claim 1, wherein said determining a first step angle of the target stepper motor during run time based on a step angle, a step period, and run time of the target stepper motor comprises: Determining an operation time duty ratio according to the ratio of the operation time and the stepping period of the target stepping motor, and rounding the operation time duty ratio through a rounding function to obtain a rounding time duty ratio; and determining a first stepping angle in the running time according to the rounding time duty ratio and the stepping angle of the target stepping motor.
  3. 3. The method of claim 2, wherein the setting the speed waveform adjustment parameter, determining the second step angle based on the speed waveform adjustment parameter, the step angle, the step period, and the run time, comprises: setting a speed waveform adjusting parameter which is an adjustable parameter with an adjusting range of 0 to 1; And determining a step angle adjustable item based on the speed waveform adjusting parameter and the step angle.
  4. 4. A method according to claim 2 or 3, wherein said determining a second step angle based on the speed waveform adjustment parameter, the step angle, the step period and the run time, further comprises: Determining a linear item of the target stepping motor in the current stepping period according to the stepping angle, the stepping period and the relative time of the target stepping motor in the current stepping period; Determining a sine correction term according to the stepping period of the target stepping motor, the adjustable step angle term and the relative time in the current stepping period; A second step angle is determined based on the linear term and the positive selected correction term within the current step period.
  5. 5. The method of claim 4, wherein determining the total rotation angle function of the target stepper motor from the first and second step angles comprises: Obtaining a total rotation angle function of the target stepping motor based on the addition of the first stepping angle and the second stepping angle of the target stepping motor; The total rotation angle function is a target stepping motor angle output function, and the total rotation angle of the target stepping motor is adjusted by adjusting the running time and the speed waveform adjusting coefficient of the target stepping motor.
  6. 6. The method of claim 1, wherein determining an angular velocity function for a target stepper motor run time based on the total rotation angle function, and determining a corresponding angular acceleration function for the target stepper motor run time from the angular velocity function for the target stepper motor, comprises: performing first-order derivation on the running time according to the total rotation angle function to obtain an angular velocity function in the running time of the target stepping motor; Performing second-order derivation on the running time according to the angular velocity function of the target stepping motor to obtain a corresponding angular acceleration function in the running time of the target stepping motor; the angular acceleration function is an angular acceleration function output by the target stepping motor.
  7. 7. The method of claim 6, wherein said performing a simulated adjustment of a total rotation angle function, an angular velocity function, and an angular acceleration function formation simulated adjustment mechanism of said target stepper motor during run time based on said speed waveform adjustment parameters comprises: when the speed waveform adjusting parameter is 1, the sine correction term is zero, the angular speed function is constant and is a linear term, and the total rotation angle function is a constant speed model; When the speed waveform adjusting parameter is zero, the sine correction term is the maximum value, and the angular speed function fluctuates between zero and 2 times of the linear term; and when the speed waveform adjusting parameter is larger than zero and smaller than 1, obtaining the simulation output of the total rotation angle, the angular speed and the angular acceleration of the target stepping motor by adjusting the speed waveform adjusting parameter.
  8. 8. A simulation system for high-precision output of a stepper motor, comprising: The target parameter acquisition unit is used for acquiring the step angle, the step period and the running time of the target stepping motor; A step angle determining unit, configured to determine a first step angle of the target stepper motor in the running time according to the step angle, the step period and the running time of the target stepper motor; The total rotation angle determining unit is used for setting a speed waveform adjusting parameter, determining a second stepping angle according to the speed waveform adjusting parameter, the step angle, the stepping period and the running time, and determining a total rotation angle function of the target stepping motor according to the first stepping angle and the second stepping angle; The angular acceleration determining unit is used for determining an angular velocity function in the running time of the target stepping motor based on the total rotation angle function and determining a corresponding angular acceleration function in the running time of the target stepping motor according to the angular velocity function of the target stepping motor; and the simulation adjusting unit is used for forming a simulation adjusting mechanism for the total corner function, the angular velocity function and the angular acceleration function of the target stepping motor in the running time based on the speed waveform adjusting parameters to carry out simulation adjustment.
  9. 9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; A memory storing a computer program; A processor, when executing a program stored in the memory, performs the steps of a simulation method for high-precision output of a stepper motor according to any one of claims 1 to 7.
  10. 10. A computer-readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, implements the steps of a simulation method of high-precision output of a stepper motor as claimed in any one of claims 1 to 7.

Description

Simulation method, system, equipment and medium for high-precision output of stepping motor Technical Field The application belongs to the technical field of high-precision power output of a stepping motor, and particularly relates to a simulation method, a system, equipment and a medium for high-precision output of the stepping motor. Background In the field of multi-body dynamics simulation, particularly in simulation analysis of household motion mechanisms, dynamic behavior modeling of a stepping motor has been a difficulty. Conventional simulation methods generally employ two simplified models: And (3) a constant speed model, namely simplifying the output of the stepping motor into continuous and uniform angular speed. The model completely ignores the "step" pulse characteristics inherent to stepper motors. The STEP function model uses a cubic polynomial to realize smooth transition of the angle output. The model, while simulating acceleration and deceleration processes, has a continuous and smooth curve output that is also incapable of reproducing the speed fluctuations and jerk characteristics of the stepper motor during each step cycle. Because the existing traditional model can not accurately reflect the actual pulse power output of the stepping motor, the simulation result is seriously deviated from physical reality, and the accuracy of the power output simulation of the high-precision stepping motor is lacking. For example, when simulating the power device of the air conditioner sliding door mechanism, the traditional model cannot reproduce abnormal shaking phenomenon generated by motor stepping impact and structural gap coupling, so that the simulation cannot effectively early warn potential design risks in the design stage, and the simulation is seriously dependent on later prototype tests, thereby increasing development cost and time. Disclosure of Invention In view of the problem that the conventional model cannot reproduce abnormal jitter phenomenon generated by motor stepping impact and structural gap coupling, so that simulation cannot effectively early warn potential design risks in a design stage and accuracy of high-precision stepping motor power output simulation is lacking, the application provides a high-precision stepping motor output simulation method, system, equipment and medium. The dynamic changes of the angle, the speed and the acceleration of the stepping motor in each stepping period are accurately reproduced, and the simulation result is highly consistent with the actual running state of the physical prototype. The simulation accuracy of the stepping motor is improved. The embodiment of the application provides a simulation method for high-precision output of a stepping motor, which comprises the following steps: acquiring the step angle, the step period and the running time of a target stepping motor; determining a first stepping angle of the target stepping motor in the running time according to the stepping angle, the stepping period and the running time of the target stepping motor; Setting a speed waveform adjusting parameter, determining a second stepping angle according to the speed waveform adjusting parameter, the step angle, the stepping period and the running time, and determining a total rotation angle function of the target stepping motor according to the first stepping angle and the second stepping angle; Determining an angular velocity function in the running time of the target stepping motor based on the total rotation angle function, and determining a corresponding angular acceleration function in the running time of the target stepping motor according to the angular velocity function of the target stepping motor; and forming a simulation adjustment mechanism for the total corner function, the angular velocity function and the angular acceleration function of the target stepping motor in the running time based on the speed waveform adjustment parameters to perform simulation adjustment. Further, the determining the first stepping angle of the target stepping motor in the running time according to the stepping angle, the stepping period and the running time of the target stepping motor includes: Determining an operation time duty ratio according to the ratio of the operation time and the stepping period of the target stepping motor, and rounding the operation time duty ratio through a rounding function to obtain a rounding time duty ratio; and determining a first stepping angle in the running time according to the rounding time duty ratio and the stepping angle of the target stepping motor. Further, the setting the speed waveform adjusting parameter, determining a second step angle according to the speed waveform adjusting parameter, the step angle, the step period and the running time includes: setting a speed waveform adjusting parameter which is an adjustable parameter with an adjusting range of 0 to 1; And determining a step angle adjustable item based on