CN110138292A - A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor - Google Patents
A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor Download PDFInfo
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- CN110138292A CN110138292A CN201910361111.8A CN201910361111A CN110138292A CN 110138292 A CN110138292 A CN 110138292A CN 201910361111 A CN201910361111 A CN 201910361111A CN 110138292 A CN110138292 A CN 110138292A
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- stepper motor
- service
- output torque
- setting speed
- speed
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004590 computer program Methods 0.000 claims description 20
- 230000010354 integration Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000036039 immunity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/16—Reducing energy dissipated or supplied
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention discloses output torque control method, apparatus, printer and the computer readable storage medium of a kind of stepper motor, method includes: to obtain the current setting speed of service of stepper motor；Wherein, the stepper motor setting speed of service is to preset and be stored in memory；When judging that the stepper motor current setting speed of service is more than preset reference velocity, the current actual rotation speed of corresponding stepper motor is obtained；According to the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor, corresponding adjustment stepper motor output torque.Can be in the load real-time change that stepper motor drives, corresponding adjustment stepper motor output torque improves the service life of stepper motor and the performance of system to reduce the power consumption of stepper motor.
Description
Technical field
The present invention relates to smart machine field, more particularly to a kind of stepper motor output torque control method, apparatus,
Equipment and storage medium.
Background technique
In printer, stepper motor driving IC has " torsion " register, by adjusting the register to adjust stepping
Motor drives the output electric current of IC, to achieve the purpose that adjust torsion.In order to guarantee the stepper motor in printer, output turns
Speed is accurately that stepper motor is generally stepper motor.
In the prior art, electric current will be exported and be set as fixed maximum value to drive stepper motor IC, to avoid step-out, but
It is, when stepper motor is connected to variable load, configures stepper motor with maximum torque drive, in the feelings of motor load very little
Under condition, lead to high power consumption with maximum torque drive.
Summary of the invention
Output torque control method, apparatus, equipment and the storage medium for a kind of stepper motor that the embodiment of the present invention proposes,
Can be in the load real-time change that stepper motor drives, corresponding adjustment stepper motor output torque, to reduce stepper motor
Power consumption improves the service life of stepper motor and the performance of system.
In a first aspect, the embodiment of the invention provides a kind of output torque control methods of stepper motor, comprising:
Obtain the current setting speed of service of stepper motor；Wherein, the stepper motor setting speed of service is to set in advance
It sets and is stored in memory；
When judging that the current setting speed of service of stepper motor is more than preset reference velocity, corresponding stepping horse is obtained
Up to current actual rotation speed；
It is corresponding according to the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor
Adjust stepper motor output torque.
Preferably, further includes:
When judging that the current setting speed of service of stepper motor is no more than preset reference velocity, then stepper motor is controlled
Maximum output torque.
Preferably, motor driving chip is drv8711；Drive the TORQUE of IC register maximum by setting stepper motor
Value is 255, so that the stepper motor maximum output torque.
Preferably, according to the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor
Value, corresponding adjustment stepper motor output torque, specifically:
Calculate the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor；
According to the proportion adjustable coefficient of the difference and adjustable integration time constant, PI output valve is calculated, and according to institute
State the corresponding adjustment stepper motor output torque of PI output valve.
Preferably, the preset reference velocity is 100mm/s.
Second aspect, the embodiment of the invention provides a kind of output torque controller of actuating of stepper motor, acquiring unit is used
In the current setting speed of service of acquisition stepper motor；Wherein, the stepper motor setting speed of service is to preset and deposit
It is stored in memory；
First judging unit judges that the current setting speed of service of stepper motor is more than preset reference velocity for working as
When, obtain the current actual rotation speed of corresponding stepper motor；
Adjustment unit, for the actual rotation speed current according to the current setting speed of service of stepper motor and stepper motor
The difference of degree, corresponding adjustment stepper motor output torque.
Preferably, further includes:
Second judgment unit judges that the current setting speed of service of stepper motor is no more than preset reference velocity for working as
When, then control stepper motor maximum output torque.
Preferably, motor driving chip is drv8711；Drive the TORQUE of IC register maximum by setting stepper motor
Value is 255, so that the stepper motor maximum output torque.
Preferably, adjustment unit, specifically:
Difference obtains module, turns for calculating the current setting speed of service of stepper motor and the current reality of stepper motor
The difference of dynamic speed；；
Computing module, for according to the difference proportion adjustable coefficient and adjustable integration time constant, calculate PI it is defeated
It is worth out, and according to the corresponding adjustment stepper motor output torque of the PI output valve.
Preferably, the preset speed is 100mm/s.
The third aspect, the embodiment of the invention provides a kind of printers, including controller, motor driving chip and stepping
Motor；Wherein, the motor driving chip is electrically connected with the stepper motor；The controller includes memory and processing
Device, the memory and the drive motor chip are connected to the processor, and are stored with computer in the memory
Program, the computer program can be executed by the processor to realize following steps:
Obtain the current setting speed of service of stepper motor；Wherein, the stepper motor setting speed of service is to set in advance
It sets and is stored in memory；
When judging that the current setting speed of service of stepper motor is more than preset reference velocity, corresponding stepping horse is obtained
Up to current actual rotation speed；
It is corresponding according to the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor
Adjust stepper motor output torque.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage
Medium includes the computer program of storage, wherein controls the computer-readable storage medium in computer program operation
Equipment executes the output torque control method of stepper motor as described in relation to the first aspect where matter.
In said one embodiment, judge that the current setting speed of service of stepper motor is more than preset reference velocity working as
When, obtain the current actual rotation speed of corresponding stepper motor, then according to the current setting speed of service of stepper motor with
The difference of the current actual rotation speed of stepper motor, corresponding adjustment stepper motor output torque, avoids stepper motor defeated always
Peak torque out, to not need to reduce step with maximum torque drive stepper motor again in stepper motor light load
Into the power consumption of motor, the service life of stepper motor and the performance of system are improved.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow diagram of the output torque control method for the stepper motor that first embodiment of the invention provides.
Fig. 2 is the structural schematic diagram for the PI controller that first embodiment of the invention provides.
Fig. 3 is the structural schematic diagram of the output torque controller of actuating for the stepper motor that second embodiment of the invention provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
First embodiment of the invention:
It, can be by referring to Fig. 1, first embodiment of the invention provides a kind of output torque control method of stepper motor
The output torque control equipment of stepper motor executes, particularly, by one in the output torque control equipment of stepper motor
Or multiple processors execute, and include at least following steps:
S101 obtains the current setting speed of service of stepper motor；Wherein, the stepper motor setting speed of service is pre-
First it is arranged and is stored in memory.
S102 is obtained corresponding when judging that the current setting speed of service of stepper motor is more than preset reference velocity
The current actual rotation speed of stepper motor.
In the present embodiment, stepper motor is a kind of control motor that electric impulse signal is converted to swing offset, is passed through
" pulse frequency " is controlled to control the revolving speed of stepper motor, it is to be understood that stepper motor described in the present embodiment refers to step
Into motor.(i.e. pulse its rotor just turns (certain angle, the angle are determined by the number of poles of stepper motor), and this
A pulse is to want qualified pulse just can be with driving motor rotor, it may be assumed that needing to meet the pulse of certain voltage just can be with, therefore its
Strong interference immunity, revolving speed are accurate).
Wherein, the stepper motor control process are as follows: after first accelerating at the uniform velocity.Specifically, when judging that stepper motor is current
When the speed of service is set no more than preset reference velocity, then stepper motor maximum output torque is controlled.When judging stepper motor
When the current setting speed of service is more than preset reference velocity, the current actual rotation speed of corresponding stepper motor is obtained.
For example, it is assumed that the stepper motor setting speed of service is provided with 50mm/s, 100mm/s, 150mm/s, 200mm/s, 250mm/
S, it is assumed that preset reference velocity is 150mm/s, then it is acceleration that the speed of service, which is arranged, in 50mm/s to 150mm/s in stepper motor
Stage needs to control stepper motor maximum output torque at this time so that the running speed of stepper motor reaches 150mm/s.But
Be, when stepper motor setting the speed of service reach 150mm/s after, it is contemplated that stepper motor in low speed there are inertia load with
And friction load, there are inertia load when acceleration, at the uniform velocity when there are friction loads, therefore when the setting speed of service is more than in advance
If reference value when, the friction load of the stepper motor reduces, at this point, then no longer need to control again stepper motor output most
Large torque accelerates stepper motor, it is only necessary to according to the current actual rotation speed of stepper motor to adjust stepper motor output
Torque.The dragging of stepper motor is improved by corresponding adjustment stepper motor output torque to reduce the power consumption of stepper motor
Torque.
S103, according to the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor
Value, corresponding adjustment stepper motor output torque.
In the present embodiment, the actual rotation speed current according to the current setting speed of service of stepper motor and stepper motor
The difference of degree, corresponding adjustment stepper motor output torque, specifically:
Referring to fig. 2, the current setting speed of service of stepper motor and the current actual rotation speed of stepper motor are obtained
Difference, and take the difference as in PI input value input PI controller, so that PI controller is according to the adjustable of the difference
Ratio system and adjustable integral constant, are calculated PI output valve；Then according to the corresponding adjustment stepping of the PI output valve
Motor output torque.Wherein, the controller with proportional-plus-derivative control law claims PI controller, and output signal m (t) is simultaneously
Proportional reflects input signal e (t) and its integral, that is:
K is proportion adjustable coefficient；IT is adjustable integration time constant.For example, it is assumed that step
The setting speed of service current into motor is 150mm/s, and the current actual rotation speed of stepper motor is 145mm/s, then stepping
The difference of the current setting speed of service of motor and the current actual rotation speed of stepper motor is 5mm/s, using the difference as
PI input value inputs in PI controller, and PI controller obtains the output valve of PI controller according to difference ratio coefficient, difference integral,
And the output result of the PI controller is sent into the output torque control equipment of stepper motor, and if difference exists, PI controller
Starting, the output torque control equipment of stepper motor will correspond to adjustment stepper motor outputting torsion, until difference is 0, i.e., not
It adjusts again.
To sum up, it when judging that the current setting speed of service of stepper motor is more than preset reference velocity, obtains and corresponds to
The current actual rotation speed of stepper motor, it is then current according to the current setting speed of service of stepper motor and stepper motor
Actual rotation speed difference, corresponding adjustment stepper motor output torque avoids stepper motor maximum output torque always, from
And in stepper motor light load, it does not need to reduce the power consumption of stepper motor with maximum torque drive stepper motor again,
Improve the service life of stepper motor and the performance of system.
On the basis of the above embodiments, in one embodiment of the present invention, motor driving chip is drv8711；Pass through
The TORQUE maximum value that stepper motor driving IC register is arranged is 255, so that the stepper motor maximum output torque.
It is, of course, understood that the TORQUE maximum value can be set to 250 or 245 etc., can also be set according to concrete condition
It is fixed, here, the present invention is not specifically limited.Certainly, the model of the motor driving chip also may be set according to actual conditions,
The present invention repeats no more herein.The present embodiment passes through " torsion " register of configuration driven IC, outputs it electric current and is set as most
Big value, so that output electric current is bigger, torsion is bigger.
On the basis of the above embodiments, in one embodiment of the present invention, the preset reference velocity is 100mm/
s.Certainly, it should be noted that in other embodiments, the preset reference velocity may be 99mm/s or 102mm/
S etc., here, the present invention is not specifically limited.
Second embodiment of the invention:
Referring to Fig. 2, second embodiment of the invention provides a kind of output torque controller of actuating of stepper motor, including；
Acquiring unit 10, for obtaining the current setting speed of service of stepper motor；Wherein, the stepper motor setting fortune
Scanning frequency degree is to preset and be stored in memory；
First judging unit 20 judges that the current setting speed of service of stepper motor is more than preset reference velocity for working as
When, obtain the current actual rotation speed of corresponding stepper motor.
Adjustment unit 30, for the setting speed of service and stepper motor current actual rotation current according to stepper motor
The difference of speed, corresponding adjustment stepper motor output torque.
Preferably, further includes:
Second judgment unit judges that the current setting speed of service of stepper motor is no more than preset reference velocity for working as
When, then control stepper motor maximum output torque.
Preferably, driving the TORQUE maximum value of IC register by setting stepper motor is 255, so that the step
Into motor maximum output torque.
Preferably, adjustment unit 30, specifically:
Difference obtains module, turns for calculating the current setting speed of service of stepper motor and the current reality of stepper motor
The difference of dynamic speed；
Computing module, for according to the difference proportion adjustable coefficient and adjustable integration time constant, calculate PI it is defeated
It is worth out, and according to the corresponding adjustment stepper motor output torque of the PI output valve.
Preferably, the preset speed is 100mm/s.
Third embodiment of the invention:
Third embodiment of the invention provides a kind of printer, including controller, motor driving chip and stepper motor；
Wherein, the motor driving chip is electrically connected with the stepper motor；The controller includes memory and processor, described
Memory and the drive motor chip are connected to the processor, and computer program, institute are stored in the memory
Stating computer program can be executed by the processor to realize following steps:
Obtain the current setting speed of service of stepper motor；Wherein, the stepper motor setting speed of service is to set in advance
It sets and is stored in memory；When judging that the current setting speed of service of stepper motor is more than preset reference velocity, obtain
The current actual rotation speed of corresponding stepper motor；It is current according to the current setting speed of service of stepper motor and stepper motor
Actual rotation speed difference, corresponding adjustment stepper motor output torque.
Wherein, in the present embodiment, the printer further includes that can be realized the essential component of printing institute, for example, answering
Including at least print head, paper delivery mechanism etc..Certainly it can also include more components, structure or circuit, specifically refer to existing
Some printers, this will not be repeated here by the present invention.
Fourth embodiment of the invention:
Fourth embodiment of the invention provides a kind of computer readable storage medium, the computer readable storage medium packet
Include the computer program of storage, wherein where controlling the computer readable storage medium in computer program operation
Equipment executes the output torque control method of the stepper motor as described in above-described embodiment.
Wherein, illustratively, the computer program can be divided into one or more units, one or more
A unit is stored in the memory, and is executed by the processor, to complete the present invention.One or more of units
It can be the series of computation machine program instruction section that can complete specific function, the instruction segment is for describing the computer program
Implementation procedure in printer.
The printer may include, but are not limited to processor, memory.It will be understood by those skilled in the art that described show
It is merely intended to the example of printer, does not constitute the restriction to printer, may include components more more or fewer than diagram,
Perhaps certain components or different components are combined, such as the printer can also include input-output equipment, network insertion
Equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the control centre of the printer utilizes the various pieces of various interfaces and the entire printer of connection.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of printer.The memory can mainly include storing program area and storage data area, wherein storing program area can
Application program needed for storage program area, at least one function (such as sound-playing function, image player function etc.) etc.；It deposits
Storage data field, which can be stored, uses created data (such as audio data, phone directory etc.) etc. according to mobile phone.In addition, memory
It may include high-speed random access memory, can also include nonvolatile memory, such as hard disk, memory, plug-in type hard disk,
Intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash
Card), at least one disk memory, flush memory device or other volatile solid-state parts.
Wherein, if the unit that the printer integrates is realized in the form of SFU software functional unit and as independent product
When selling or using, it can store in a computer readable storage medium.Based on this understanding, in present invention realization
The all or part of the process in embodiment method is stated, relevant hardware can also be instructed to complete by computer program, institute
The computer program stated can be stored in a computer readable storage medium, which, can when being executed by processor
The step of realizing above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code, the computer
Program code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer can
Reading medium may include: any entity or device, recording medium, USB flash disk, mobile hard that can carry the computer program code
Disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
It is that the content that the computer-readable medium includes can be fitted according to the requirement made laws in jurisdiction with patent practice
When increase and decrease, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier wave letter
Number and telecommunication signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (9)
1. a kind of output torque control method of stepper motor characterized by comprising
Obtain the current setting speed of service of stepper motor；Wherein, the stepper motor setting speed of service is to preset simultaneously
It is stored in memory；
When judging that the current setting speed of service of stepper motor is more than preset reference velocity, obtains corresponding stepper motor and work as
Preceding actual rotation speed；
According to the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor, corresponding adjustment
Stepper motor output torque.
2. the output torque control method of stepper motor according to claim 1, which is characterized in that further include:
When judging that the current setting speed of service of stepper motor is no more than preset reference velocity, then stepper motor output is controlled
Peak torque.
3. the output torque control method of stepper motor according to claim 1, which is characterized in that motor driving chip is
drv8711；TORQUE maximum value by register in setting stepper motor driving chip is 255, so that the stepping
Motor maximum output torque.
4. the output torque control method of stepper motor according to claim 1, which is characterized in that worked as according to stepper motor
The difference of preceding the setting speed of service and the current actual rotation speed of stepper motor, corresponding adjustment stepper motor output torque,
Specifically:
Calculate the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor；；
According to the proportion adjustable coefficient of the difference and adjustable integration time constant, PI output valve is calculated, and according to the PI
The corresponding adjustment stepper motor output torque of output valve.
5. the output torque control method of stepper motor according to claim 3, which is characterized in that the preset reference
Speed is 100mm/s.
6. a kind of output torque controller of actuating of stepper motor, which is characterized in that
Acquiring unit, for obtaining the current setting speed of service of stepper motor；Wherein, the speed of service is arranged in the stepper motor
To preset and being stored in memory；
First judging unit, for obtaining when judging that the current setting speed of service of stepper motor is more than preset reference velocity
Take the actual rotation speed that corresponding stepper motor is current；
Adjustment unit, for according to the current setting speed of service of stepper motor and the current actual rotation speed of stepper motor
Difference, corresponding adjustment stepper motor output torque.
7. the output torque controller of actuating of stepper motor according to claim 1, which is characterized in that further include:
Second judgment unit, for when judge the current setting speed of service of stepper motor be no more than preset reference velocity when,
Then control stepper motor maximum output torque.
8. a kind of printer, including controller, motor driving chip and stepper motor；Wherein, the motor driving chip with
The stepper motor electrical connection；It is characterized in that, the controller includes memory and processor, the memory and institute
It states drive motor chip to be connected to the processor, computer program, the computer program is stored in the memory
It can be executed by the processor to realize following steps:
Obtain the current setting speed of service of stepper motor；Wherein, the stepper motor setting speed of service is to preset simultaneously
It is stored in memory；
When judging that the current setting speed of service of stepper motor is more than preset reference velocity, obtains corresponding stepper motor and work as
Preceding actual rotation speed；
According to the difference of the stepper motor current setting speed of service and the current actual rotation speed of stepper motor, corresponding adjustment
Stepper motor output torque.
9. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium includes the calculating of storage
Machine program, wherein equipment where controlling the computer readable storage medium in computer program operation is executed as weighed
Benefit require any one of 1 to 5 described in stepper motor output torque method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910361111.8A CN110138292A (en) | 2019-04-30 | 2019-04-30 | A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910361111.8A CN110138292A (en) | 2019-04-30 | 2019-04-30 | A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor |
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| Publication Number | Publication Date |
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| CN110138292A true CN110138292A (en) | 2019-08-16 |
Family
ID=67575940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910361111.8A Pending CN110138292A (en) | 2019-04-30 | 2019-04-30 | A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201846302U (en) * | 2010-10-22 | 2011-05-25 | 山东科汇电力自动化有限公司 | Controller for speed governing system of switched reluctance motor used for spindle of weaving machine |
| CN105071731A (en) * | 2015-08-04 | 2015-11-18 | 重庆邮电大学 | Efficient acceleration control method for permanent-magnet synchronous motor |
| CN107015420A (en) * | 2016-01-28 | 2017-08-04 | 奥林巴斯株式会社 | Lens driving apparatus and lens driving method |
| CN107395079A (en) * | 2017-08-30 | 2017-11-24 | 深圳市天祜智能有限公司 | Improve the control method of cooking machine instantaneous power |
-
2019
- 2019-04-30 CN CN201910361111.8A patent/CN110138292A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201846302U (en) * | 2010-10-22 | 2011-05-25 | 山东科汇电力自动化有限公司 | Controller for speed governing system of switched reluctance motor used for spindle of weaving machine |
| CN105071731A (en) * | 2015-08-04 | 2015-11-18 | 重庆邮电大学 | Efficient acceleration control method for permanent-magnet synchronous motor |
| CN107015420A (en) * | 2016-01-28 | 2017-08-04 | 奥林巴斯株式会社 | Lens driving apparatus and lens driving method |
| CN107395079A (en) * | 2017-08-30 | 2017-11-24 | 深圳市天祜智能有限公司 | Improve the control method of cooking machine instantaneous power |
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Application publication date: 20190816 |