CN104092418A - Device and method for controlling stepping motor - Google Patents
Device and method for controlling stepping motor Download PDFInfo
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- CN104092418A CN104092418A CN201410264201.2A CN201410264201A CN104092418A CN 104092418 A CN104092418 A CN 104092418A CN 201410264201 A CN201410264201 A CN 201410264201A CN 104092418 A CN104092418 A CN 104092418A
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Abstract
The invention belongs to the field of electric control and particularly relates to a device and method for controlling a stepping motor. The device for controlling the stepping motor is composed of a computer, a single-chip microcomputer, a control signal optoelectronic isolation circuit, a linear non-stabilized-voltage supply, an output current control circuit, a driving circuit, a winding current acquisition circuit, a reference voltage comparison circuit and a feedback signal optoelectronic isolation circuit, wherein the computer is in communication with the single-chip microcomputer so that remote setting of parameters of the stepping motor can be achieved, the single-chip microcomputer controls the high-precision rotation, achieved through the stepping motor driving circuit, of the stepping motor according to the set parameters, current signals fed back by the winding current acquisition circuit and the number of actual walking pulses are acquired at the same time, and thus high-precision control over the high-power stepping motor is achieved.
Description
Technical field
The invention belongs to Electromechanical Control field, be specifically related to a kind of control device and method of stepping motor.
Background technology
Because stepping motor has the features such as the slow-speed of revolution, high pulling torque, error do not add up, in precision measurement apparatus field such as high precision displacement platform, high-precision electric turntables, be widely used.
The control mode of stepping motor mostly adopts the open loop control mode of function singleness at present.Its shortcoming has the following aspects:
1) driving pulse frequency accuracy and stability are not high enough and cause that each phase winding energising inconsistent control precision that causes of cycle is low;
2) driving pulse frequency can not require arbitrarily change to cause system frequency and driving frequency generation resonance flutter occurs and utter long and high-pitched sounds according to loading demand and motor speed;
3) segmentation of traditional approach is controlled normally and is realized by manual adjustments driver segmentation toggle switch, can not carry out as required Realtime program modification;
4) due to traditional control device drive current is little and set after can not program control modification be difficult to realize the direct driving to heavy-duty motor, present stage, most methods of using were by kinds of drive such as leading screw or turbine and worms, to sacrifice rotating speed to improve moment of torsion to realize heavy load driving force, but this mode can be introduced between cog meshing error and the between cog backlash of mechanical structured member, kinematic accuracy is declined, in order to solve the problem of kinematic accuracy, Most designers is used and is installed encoder additional as the mode of feedback, but this has increased undoubtedly design cost and has controlled difficulty;
5) most drivers carry semi-fluid self-locking and full stream auto-lock function, when motor is static, on winding, pass through work time half current value or all current value make motor-locking and do not rotate, but when needing manual rotation motor, user need to make control circuit power-off, inconvenient operation.
Due to above-mentioned technical problem, make stepping motor have certain limitation in precision measurement equipment application, be difficult to guarantee driving force and the kinematic accuracy of high-power stepper motor simultaneously, being also difficult to realize by software program control the modification of the own actual demand parameter of user aspect the system integration of testing equipment, be not easy to the automatic control under the system integration.
Summary of the invention
In order to there is technical problem and limitation in technical solution background, the present invention proposes a kind of remote controlled, control precision is high, cost is low and can realize control device and the method for the stepping motor of manual control.
Concrete technical scheme of the present invention is:
A control device for stepping motor, is characterized in that: comprise computer, single-chip microcomputer, control signal photoelectric isolating circuit, linear brute supply, output current control circuit, drive circuit, winding current Acquisition Circuit, reference voltage comparison circuit, feedback signal photoelectric isolating circuit;
Computer and single-chip microcomputer interconnect; Single-chip microcomputer output is connected with the control signal input of drive circuit and the input of output current control circuit respectively after the isolation of control signal photoelectric isolating circuit; The output of output current control circuit is connected with the current signal input of drive circuit; The output of drive circuit is connected with the input of stepping motor and the input of winding current Acquisition Circuit respectively; The output of winding current Acquisition Circuit is connected with the input of reference voltage comparison circuit; The output of reference voltage comparison circuit is connected with single-chip microcomputer after the isolation of feedback signal photoelectric isolating circuit;
On described drive circuit, be provided with linear brute supply.
Above-mentioned drive circuit adopts the bridge MOSFET constant current chopper mode Driving Stepping Motor of enjoying a double blessing; Described drive circuit the highest withstand voltage be 50VDC, single-phase maximum output current is 4.5A, grade can be set is 1/2,1/8,1/16,1/32,1/40 and 1/64 to segmentation number, and can realize 20%, 40%, 60% and 80% winding current decay.
The response time of above-mentioned control signal photoelectric isolating circuit and feedback signal photoelectric isolating circuit is 45ns.
Based on above-mentioned control device, now propose this device control method, it is characterized in that, comprise the following steps:
1) parameter setting:
1.1) parameter that computer need to arrange stepping motor by serial ports transfers to single-chip microcomputer, and single-chip microcomputer beams back by the parameter receiving that computer realization is shaken hands and according to content of parameter output control signal; The control signal of single-chip microcomputer output is sent into drive circuit after the isolation of control signal photoelectric isolating circuit; Described control signal comprises segmentation, rotation direction, winding current decay mode;
1.2) computer is sent to single-chip microcomputer by serial ports by driver output current value, and single-chip microcomputer is by output 8bit digital voltage signal after receiving output current value and beaming back that computer realization is shaken hands and search the current value being stored in RAM table corresponding to reference voltage according to output current value;
1.3) the 8bit digital voltage signal of single-chip microcomputer output is sent into output current control circuit after the isolation of control signal photoelectric isolating circuit;
1.4) output current control circuit analog voltage corresponding to the 8bit digital voltage signal receiving converts to and sends into drive circuit;
2) stepping motor drives:
2.1) when completing steps 1) after, the umber of pulse that computer starts by serial ports, stepping motor need to be rotated is sent to single-chip microcomputer, and single-chip microcomputer send back to the umber of pulse of receiving that computer realization is shaken hands and output enable signal makes drive circuit output enable effective through after control signal photoelectric isolating circuit isolation;
2.2) single-chip microcomputer uses self timer generation respective amount and accuracy < 1 * 10
-5, stability < 1 * 10
-7square-wave pulse, and transfer to drive circuit through after control signal photoelectric isolating circuit isolation;
2.3) drive circuit is according to step 1.2) control signal that receives and square-wave pulse is carried out to power amplification to output current value and then Driving Stepping Motor rotates; Described drive circuit adopts the bridge MOSFET constant current chopper mode Driving Stepping Motor of enjoying a double blessing;
2.4), when drive circuit Driving Stepping Motor rotates, winding current Acquisition Circuit gathers the ohmically voltage signal of each phase winding series connection and transfers to reference voltage comparison circuit; Reference voltage comparison circuit compares each phase winding voltage signal absolute value phase adduction and the single-chip microcomputer that collect with reference to zero potential, if equal reference voltage comparison circuit output low level is passed through feedback signal photoelectric isolating circuit and is fed back to single-chip microcomputer, if unequal reference voltage comparison circuit output high level feeds back to single-chip microcomputer through feedback signal photoelectric isolating circuit; The resistance of each phase winding series connection of described winding current Acquisition Circuit is the high-power low value resistance of 2W/0.1 Ω;
2.5), when single-chip microcomputer receives lasting high level or low level, think that stepping motor running is undesired; When single-chip microcomputer receives high and low level alternately, think that stepping motor works well;
3) finish to drive:
When stepping motor completes rotation, single-chip microcomputer sends end mark by serial ports to computer, and drive circuit starts semi-fluid auto-lock function, and stepping motor is quit work.
Above-mentioned steps 2.5) running of stepping motor is undesired loses step phenomenon for stepping motor; Concrete processing is as follows:
The high and low level pulse number of reference voltage comparison circuit output feeds back to single-chip microcomputer after the isolation of feedback signal photoelectric isolating circuit, single-chip microcomputer calculates the actual amount of current pulses passing through of winding according to the reciprocal multiplication of high level pulse number and segmentation, in order to judge stepping motor, whether lose step phenomenon, if lose step, single-chip microcomputer sends the compensating motion that compensated pulse is realized stepping motor.
Above-mentioned steps 2.5) running of stepping motor is undesired is the stall phenomenon of stepping motor; Specific as follows:
When single-chip microcomputer receives from reference voltage comparison circuit output signal often for high level pulse is when count, single-chip microcomputer is controlled immediately to enable to lose efficacy and is made drive circuit stop output driving current, motor stops operating, and single-chip microcomputer sends stepping motor rotation abnormality mark by serial ports to computer; Described abnormality mark explanation motor rotation blockage.
If when in said method, user needs hand rotation stepping motor, computer sends manual control command by serial ports to single-chip microcomputer, Single-chip Controlling drive circuit Enable Pin lost efficacy, and motor loses auto-lock function, can hand rotation.
The invention has the advantages that:
1, the present invention has realized the direct driving of high-power stepper motor, avoids low-power stepper motor by sacrificing rotating speed, to realize the limitation of moment of torsion;
2, the present invention adopts single-chip microcomputer to produce the driving pulse of high accuracy, has improved stability and precision that stepping motor rotates;
3, the present invention arranges winding current Acquisition Circuit and feeds back by gathering the mode of winding current pulse, has realized motion compensation, has avoided losing step phenomenon;
4, the present invention is by the communication of computer and single-chip microcomputer, realization drives the Long-distance Control of parameter (segmentation number, rotation direction, winding current, decay mode) and operational factor (rotation direction, rotational pulse number) to stepping motor, avoid the inconvenient factor of manual operation or outer setting, be conducive to the integrated control of system;
5, after working as stepping motor motion in the present invention, single-chip microcomputer can send end mark to computer; When stepping motor occurs that stall etc. is abnormal, single-chip microcomputer can send abnormality mark to computer, is conducive to the automatic control of system;
When 6, the present invention is by the remote controlled stepping motor dead electricity of computer, realize manual operation, the unfavorable factor of having avoided the outside method of cutting off the electricity supply to bring.
accompanying drawing explanation
Fig. 1 is structure diagram of the present invention.
1-computer, 2-single-chip microcomputer, 3-control signal photoelectric isolating circuit, the linear non-voltage stabilizing electricity of 4-, 5-output current control circuit, 6-drive circuit, 7-winding current Acquisition Circuit, 8-reference voltage comparison circuit, 9-feedback signal photoelectric isolating circuit, 10-stepping motor.
Embodiment
As shown in Figure 1, the present invention includes computer 1, single-chip microcomputer 2, control signal photoelectric isolating circuit 3, linear brute supply 4, output current control circuit 5, drive circuit 6, winding current Acquisition Circuit 7, reference voltage comparison circuit 8, feedback signal photoelectric isolating circuit 9;
Computer 1 interconnects with single-chip microcomputer 2; Single-chip microcomputer 2 outputs are connected with the control signal input of drive circuit 6 and the input of output current control circuit 5 respectively after 3 isolation of control signal photoelectric isolating circuit; The output of output current control circuit 5 is connected with the current signal input of drive circuit 6; The output of drive circuit 6 is connected with the input of stepping motor 10 and the input of winding current Acquisition Circuit 7 respectively; The output 7 of winding current Acquisition Circuit is connected with the input of reference voltage comparison circuit 8; The output of reference voltage comparison circuit 8 is connected with single-chip microcomputer 2 after 9 isolation of feedback signal photoelectric isolating circuit;
On drive circuit 6, be provided with linear brute supply 4.
Wherein, drive circuit 6 adopts the bridge MOSFET constant current chopper mode Driving Stepping Motor of enjoying a double blessing; Described drive circuit the highest withstand voltage be 50VDC, single-phase maximum output current is 4.5A, it is 1/2,1/8,1/16,1/32,1/40 and 1/64 that segmentation number can arrange grade, and can realize 20%, 40%, 60% and 80% winding current decay, can control drive current by changing the reference voltage level of current settings end, make according to actual needs stepping motor winding current smooth-out, make to rotate more stable;
In addition, in this device control signal photoelectric isolating circuit 3 and feedback signal photoelectric isolating circuit 9 for response time be only 45ns, be far smaller than the driving pulse cycle, can not affect the impulse response of drive circuit 6;
Control signal photoelectric isolating circuit 3 and feedback signal photoelectric isolating circuit 9 avoid single-chip microcomputer 2 to be activated the impact of circuit 6 large electric currents for isolating single-chip microcomputer 2;
Due to the drive circuit bridge MOSFET constant current chopper mode Driving Stepping Motor of enjoying a double blessing, power output is large, therefore adopts linear brute supply 4 (maximum output current 8A) for drive circuit 6 power supplies;
Above-mentioned, be the description to structure of the present invention and vitals function, below control method of the present invention is introduced, concrete steps are as follows:
Step 1) parameter setting:
Step 1.1) parameter that computer need to arrange stepping motor by serial ports transfers to single-chip microcomputer, and single-chip microcomputer beams back by the parameter receiving that computer realization is shaken hands and according to content of parameter output control signal;
Wherein, control signal comprises segmentation, rotation direction, winding current decay mode;
Step 1.2) control signal of single-chip microcomputer output is sent into drive circuit after the isolation of control signal photoelectric isolating circuit;
Step 1.3) computer is sent to single-chip microcomputer by serial ports by driver output current value, and single-chip microcomputer is by output 8bit digital voltage signal after receiving output current value and beaming back that computer realization is shaken hands and search the current value being stored in RAM table corresponding to reference voltage according to output current value;
Step 1.4) the 8bit digital voltage signal of single-chip microcomputer output is sent into output current control circuit after the isolation of control signal photoelectric isolating circuit;
Step 1.5) output current control circuit analog voltage corresponding to the 8bit digital voltage signal receiving converts to and sends into drive circuit;
When completing steps 1), single-chip microcomputer starts Driving Stepping Motor after receiving control signal that computer sends, output current value; Carry out following steps:
Step 2) stepping motor drives:
Step 2.1) when completing steps 1) after, the umber of pulse that computer starts by serial ports, stepping motor need to be rotated is sent to single-chip microcomputer, and single-chip microcomputer send back to the umber of pulse of receiving that computer realization is shaken hands and output enable signal makes drive circuit output enable effective through after control signal photoelectric isolating circuit isolation;
Step 2.2) single-chip microcomputer uses self timer generation respective amount and accuracy < 1 * 10
-5, stability < 1 * 10
-7square-wave pulse, and transfer to drive circuit through after control signal photoelectric isolating circuit isolation;
Step 2.3) drive circuit is according to step 1.2) control signal that receives and square-wave pulse is carried out to power amplification to output current value and then Driving Stepping Motor rotates; Described drive circuit adopts the bridge MOSFET constant current chopper mode Driving Stepping Motor of enjoying a double blessing;
Step 2.4), when drive circuit Driving Stepping Motor rotates, winding current Acquisition Circuit gathers the ohmically voltage signal of each phase winding series connection and transfers to reference voltage comparison circuit; Reference voltage comparison circuit compares each phase winding voltage signal absolute value phase adduction and the single-chip microcomputer that collect with reference to zero potential, if equal reference voltage comparison circuit output low level is passed through feedback signal photoelectric isolating circuit and is fed back to single-chip microcomputer, if unequal reference voltage comparison circuit output high level feeds back to single-chip microcomputer through feedback signal photoelectric isolating circuit;
Wherein, the resistance of each phase winding series connection of winding current Acquisition Circuit is the high-power low value resistance of 2W/0.1 Ω;
In this step, because the electrical current of two phase windings of stepping motor differs 90 ° of phase places, and each step angle progressively increases to lowest high-current value according to segmentation number from zero current and switches on, only at each phase winding, replacing each phase winding voltage signal absolute value sum is constantly zero, therefore, when stepping motor runs well, reference voltage comparison circuit can export that high and low level replaces pulse signal;
Step 2.5), when single-chip microcomputer receives lasting high level or low level, think that stepping motor running is undesired; When single-chip microcomputer receives high and low level alternately, think that stepping motor works well;
Step 3) finish to drive:
When stepping motor completes rotation, single-chip microcomputer sends end mark by serial ports to computer, and drive circuit starts semi-fluid auto-lock function, and stepping motor is quit work.
In step 2.5, stepping motor turns round undesired being divided in two kinds of situations in addition, is respectively the stall phenomenon of losing step phenomenon and stepping motor of stepping motor
When step 2.5) running of stepping motor is undesired for stepping motor, loses step phenomenon; Concrete processing is as follows:
The high and low level pulse number of reference voltage comparison circuit output feeds back to single-chip microcomputer after the isolation of feedback signal photoelectric isolating circuit, single-chip microcomputer calculates the actual amount of current pulses passing through of winding according to the reciprocal multiplication of high level pulse number and segmentation, in order to judge stepping motor, whether lose step phenomenon, if lose step, single-chip microcomputer sends the compensating motion that compensated pulse is realized stepping motor.
When step 2.5) running of stepping motor is undesired is the stall phenomenon of stepping motor; Specific as follows:
When single-chip microcomputer receives from reference voltage comparison circuit output signal often for high level pulse is when count, single-chip microcomputer is controlled immediately to enable to lose efficacy and is made drive circuit stop output driving current, motor stops operating, and single-chip microcomputer sends stepping motor rotation abnormality mark by serial ports to computer; Described abnormality mark explanation motor rotation blockage.
Use control device of the present invention, if when stepping motor dead electricity user needs hand rotation stepping motor, computer sends manual control command by serial ports to single-chip microcomputer, and Single-chip Controlling drive circuit Enable Pin lost efficacy, and motor loses auto-lock function, can hand rotation.
Claims (7)
1. a control device for stepping motor, is characterized in that: comprise computer, single-chip microcomputer, control signal photoelectric isolating circuit, linear brute supply, output current control circuit, drive circuit, winding current Acquisition Circuit, reference voltage comparison circuit, feedback signal photoelectric isolating circuit;
Computer and single-chip microcomputer interconnect; Single-chip microcomputer output is connected with the control signal input of drive circuit and the input of output current control circuit respectively after the isolation of control signal photoelectric isolating circuit; The output of output current control circuit is connected with the current signal input of drive circuit; The output of drive circuit is connected with the input of stepping motor and the input of winding current Acquisition Circuit respectively; The output of winding current Acquisition Circuit is connected with the input of reference voltage comparison circuit; The output of reference voltage comparison circuit is connected with single-chip microcomputer after the isolation of feedback signal photoelectric isolating circuit;
On described drive circuit, be provided with linear brute supply.
2. the control device of stepping motor according to claim 1, is characterized in that: described drive circuit adopts the bridge MOSFET constant current chopper mode Driving Stepping Motor of enjoying a double blessing; Described drive circuit the highest withstand voltage be 50VDC, single-phase maximum output current is 4.5A, grade can be set is 1/2,1/8,1/16,1/32,1/40 and 1/64 to segmentation number, and can realize 20%, 40%, 60% and 80% winding current decay.
3. the control device of stepping motor according to claim 2, is characterized in that: the response time of described control signal photoelectric isolating circuit and feedback signal photoelectric isolating circuit is 45ns.
4. a control method for the control device described in the arbitrary claim of claim 1-3, is characterized in that, comprises the following steps:
1) parameter setting:
1.1) parameter that computer need to arrange stepping motor by serial ports transfers to single-chip microcomputer, and single-chip microcomputer beams back by the parameter receiving that computer realization is shaken hands and according to content of parameter output control signal; The control signal of single-chip microcomputer output is sent into drive circuit after the isolation of control signal photoelectric isolating circuit; Described control signal comprises segmentation, rotation direction, winding current decay mode;
1.2) computer is sent to single-chip microcomputer by serial ports by driver output current value, and single-chip microcomputer is by output 8bit digital voltage signal after receiving output current value and beaming back that computer realization is shaken hands and search the current value being stored in RAM table corresponding to reference voltage according to output current value;
1.3) the 8bit digital voltage signal of single-chip microcomputer output is sent into output current control circuit after the isolation of control signal photoelectric isolating circuit;
1.4) output current control circuit analog voltage corresponding to the 8bit digital voltage signal receiving converts to and sends into drive circuit;
2) stepping motor drives:
2.1) when completing steps 1) after, the umber of pulse that computer starts by serial ports, stepping motor need to be rotated is sent to single-chip microcomputer, and single-chip microcomputer send back to the umber of pulse of receiving that computer realization is shaken hands and output enable signal makes drive circuit output enable effective through after control signal photoelectric isolating circuit isolation;
2.2) single-chip microcomputer uses self timer generation respective amount and accuracy < 1 * 10
-5, stability < 1 * 10
-7square-wave pulse, and transfer to drive circuit through after control signal photoelectric isolating circuit isolation;
2.3) drive circuit is according to step 1.2) control signal that receives and square-wave pulse is carried out to power amplification to output current value and then Driving Stepping Motor rotates; Described drive circuit adopts the bridge MOSFET constant current chopper mode Driving Stepping Motor of enjoying a double blessing;
2.4), when drive circuit Driving Stepping Motor rotates, winding current Acquisition Circuit gathers the ohmically voltage signal of each phase winding series connection and transfers to reference voltage comparison circuit; Reference voltage comparison circuit compares each phase winding voltage signal absolute value phase adduction and the single-chip microcomputer that collect with reference to zero potential, if equal reference voltage comparison circuit output low level is passed through feedback signal photoelectric isolating circuit and is fed back to single-chip microcomputer, if unequal reference voltage comparison circuit output high level feeds back to single-chip microcomputer through feedback signal photoelectric isolating circuit; The resistance of described each phase winding series connection is the high-power low value resistance of 2W/0.1 Ω;
2.5), when single-chip microcomputer receives lasting high level or low level, think that stepping motor running is undesired; When single-chip microcomputer receives high and low level alternately, think that stepping motor works well;
3) finish to drive:
When stepping motor completes rotation, single-chip microcomputer sends end mark by serial ports to computer, and drive circuit starts semi-fluid auto-lock function, and stepping motor is quit work.
5. the control method of control device according to claim 4, is characterized in that, described step 2.5) running of stepping motor is undesired for stepping motor, loses step phenomenon; Concrete processing is as follows:
The high and low level pulse number of reference voltage comparison circuit output feeds back to single-chip microcomputer after the isolation of feedback signal photoelectric isolating circuit, single-chip microcomputer calculates the actual amount of current pulses passing through of winding according to the reciprocal multiplication of high level pulse number and segmentation, in order to judge stepping motor, whether lose step phenomenon, if lose step, single-chip microcomputer sends the compensating motion that compensated pulse is realized stepping motor.
6. the control method of control device according to claim 4, is characterized in that, described step 2.5) running of stepping motor is undesired is the stall phenomenon of stepping motor; Concrete processing is as follows:
When single-chip microcomputer receives from reference voltage comparison circuit output signal often for high level pulse is when count, single-chip microcomputer is controlled immediately to enable to lose efficacy and is made drive circuit stop output driving current, motor stops operating, and single-chip microcomputer sends stepping motor rotation abnormality mark by serial ports to computer; Described abnormality mark is motor rotation blockage.
7. the control method of control device according to claim 4, is characterized in that:
When if user needs hand rotation stepping motor, computer sends manual control command by serial ports to single-chip microcomputer, and Single-chip Controlling drive circuit Enable Pin lost efficacy, and motor loses auto-lock function, can hand rotation.
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| CN201410264201.2A CN104092418B (en) | 2014-06-13 | A kind of control device and method of motor |
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|---|---|---|---|
| CN201410264201.2A CN104092418B (en) | 2014-06-13 | A kind of control device and method of motor |
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| CN104092418A true CN104092418A (en) | 2014-10-08 |
| CN104092418B CN104092418B (en) | 2016-11-30 |
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| CN106568506A (en) * | 2016-11-03 | 2017-04-19 | 上海交通大学 | Synchronous real-time scanning linear multichannel acquisition method for arc spectrum |
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| CN104702183A (en) * | 2015-02-16 | 2015-06-10 | 北京航天发射技术研究所 | Multifunctional universal stepping motor driver |
| CN105375840A (en) * | 2015-12-25 | 2016-03-02 | 重庆红江机械有限责任公司 | Closed-loop control type unipolar stepper motor controller |
| CN107134956A (en) * | 2016-02-26 | 2017-09-05 | 欧姆龙株式会社 | Control device, control program and recording medium |
| CN107134956B (en) * | 2016-02-26 | 2020-02-07 | 欧姆龙株式会社 | Control device, control program, and recording medium |
| CN106253774A (en) * | 2016-08-11 | 2016-12-21 | 江苏理工学院 | Step motor control system |
| CN106568505A (en) * | 2016-11-03 | 2017-04-19 | 上海交通大学 | Arc spectrum synchronous real-time scanning linear multichannel acquisition device |
| CN106568505B (en) * | 2016-11-03 | 2018-12-25 | 上海交通大学 | A kind of arc spectrum synchronization real time scan Linear Multi-channel acquisition device |
| CN106568506B (en) * | 2016-11-03 | 2019-03-12 | 上海交通大学 | A kind of arc spectrum synchronization real time scan Linear Multi-channel acquisition method |
| CN106568506A (en) * | 2016-11-03 | 2017-04-19 | 上海交通大学 | Synchronous real-time scanning linear multichannel acquisition method for arc spectrum |
| CN107104615A (en) * | 2017-05-24 | 2017-08-29 | 杭州三花研究院有限公司 | The method and control system of controlled motor |
| CN108599642A (en) * | 2018-05-23 | 2018-09-28 | 西安明松电子科技有限公司 | A kind of driving of high-precision five phase step motor and control device and method |
| CN109197047A (en) * | 2018-08-02 | 2019-01-15 | 山东省计算中心（国家超级计算济南中心） | A kind of encoder autocontrol method suitable for cell breeding seeder |
| CN109197047B (en) * | 2018-08-02 | 2020-10-23 | 山东省计算中心（国家超级计算济南中心） | Automatic encoder control method suitable for community breeding seeder |
| CN110045283A (en) * | 2019-05-07 | 2019-07-23 | 广东工业大学 | A kind of motor operation detection system and method |
| CN113014162A (en) * | 2021-04-02 | 2021-06-22 | 广东惠利普智能科技股份有限公司 | Method for eliminating vibration noise of air door of electric appliance caused by stepping motor |
| CN113659889A (en) * | 2021-08-12 | 2021-11-16 | 飞瑞医疗器械(嘉兴)有限公司 | Control method and system of electric beam limiter, readable storage medium and electric beam limiter |
| CN113659889B (en) * | 2021-08-12 | 2023-12-29 | 飞瑞医疗器械(嘉兴)有限公司 | Control method and system of electric beam limiter, readable storage medium and electric beam limiter |
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