基于时间细分技术的高精度自动定位控制方法研究

摘要

针对采用步进电机进行微步驱动时易出现"爬行"和步距角过大的现象,提出了一种基于时间细分技术的高精度自动定位控制方法,并研制了相应的控制系统.该方法通过在每个电机步距运动时间内对反馈元件进行高频采样,实现了对步距的细分和对运动的闭环控制.控制系统采用嵌入式微处理器和现场可编程逻辑阵列构建,并与采用步进电机直接驱动滚珠丝杆的机械载物台进行联机测试.测试结果表明,系统可以控制步进电机在不进行高倍细分的条件下的精确定位,具有较高的应用价值.%Aiming at the phenomenon of "crawling" and large step angle in micro-step driving by using step motor, the highly precise automatic locating control method based on time subdivision is proposed, and corresponding control system is studied and developed.With this method,for related moving time period of each step distance, the feedback component is sampled in high frequency to implement subdivision of step distance and closed-loop control of movement.The control system is composed of embedded microprocessor and field programmable logic gate array ( FPGA ); and joining with the roller screw machinery loader that directly driven by the step motor for integrated test.The result of test indicates that the system is able to control step motor preeisely locating without high degree subdivision, and features high applicable value.