基于动态规划的对焦步进电机控制

邝先验; 周亚龙; 吴玉刚

基于动态规划的对焦步进电机控制

江西理工大学电气工程与自动化学院, 江西赣州 341000

详细信息

作者简介:
邝先验（1976-），男，博士，教授。主要研究方向：智能交通系统、系统建模与仿真、智能控制与信息技术。E-mail：xianyankuang@163.com

中图分类号: TN216
计量
- 文章访问数: 118
- HTML全文浏览量: 38
- PDF下载量: 35
- 被引次数: 0
出版历程
- 收稿日期: 2020-06-17
- 修回日期: 2020-08-10
- 刊出日期: 2022-02-20

Control of Focusing System of Stepper Motor Based on Dynamic Programming

College of Electrical Engineering and Automation, Jiangxi University of Technology, Ganzhou 341000, China

摘要

摘要: 为了解决STM（stepper motor）镜头中步进电机低频对焦慢、高频失步跑焦的问题，通过分析对焦过程中电机的加减速动作，结合步进电机加减速曲线，设计了一种适用于STM镜头驱动的步进电机开环控制算法。算法根据步进电机速度在单位控制周期内不变，把步进电机位置控制问题转换为单位控制周期内脉冲输出问题，实现了速度控制与位置控制的巧妙结合。设计并搭建了STM镜头对焦电机控制电路，工程实验结果表明：该算法提高了步进电机开环控制的精度，有效地减小了由于步进电机过冲和失步带来的跑焦问题。
- STM镜头 /
- 步进电机 /
- 动态规划算法 /
- 加减速曲线 /
- 位置控制
Abstract: To solve the problems of slow focusing in a stepper motor lens, caused by a stepper motor used for low-frequency driving, and the lack of focus, caused by an out-of-step stepper motor used for high-frequency driving, the open-loop control algorithm of a stepper motor for an STM lens is designed by analyzing the motor's acceleration and deceleration action and its acceleration-deceleration curves during the focusing process. Based on the constant speed of the motor during the unit control period, the algorithm transforms the position control problem of the stepper motor into a pulse output problem in the unit control cycle, which realizes a skillful combination of speed control and position control. The control circuits are built for the STM lens focusing motor. The experimental results show that this algorithm can improve the open-loop control precision of the stepper motor, effectively suppressing the out-of-focus problem caused by overshoot and out-of-step stepper motors.
- STM lens /
- stepper motor /
- dynamic programming /
- acceleration-deceleration curve /
- position control

HTML全文

图 1 镜头一般对焦过程

Figure 1. General focus process of lens

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图 2 STM镜头控制组件系统框图

Figure 2. STM lens control component system diagram

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图 3 控制序列搜索流程图

Figure 3. Control sequence search flow chart

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图 4 2000脉冲步的速度变化曲线

Figure 4. Velocity curve of 2000 pulse steps

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图 5 4000脉冲步的速度变化曲线

Figure 5. Velocity curve of 4000 pulse steps

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图 6 不同控制算法的图像清晰度对比

Figure 6. Comparison of image definition of different control algorithm

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图 7 不同控制算法的对焦时间对比

Figure 7. Comparison of focusing time of different control algorithms

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表 1 单向步进的位移误差

Table 1. Displacement error of one-way step

Pulses	Target trip	Actual trip	Time/ms
40	500	498	125
60	500	490	83.3
80	500	487	62.5
100	500	470	50
120	500	350	41.7
150	500	169	30

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表 2 步进电机具体参数

Table 2. Specific parameters of stepping motor

Parameters	Value
Voltage range	DC 5.0 V(range from 3.0 V to 6.0 V)
Coil impedance	20 Ω±7%
Number of phase	2 Phase
Step angle	18°/Step
Force	350 g(AT 550 pps 5.0 V)
Temperature range	−40℃ to 70℃
Maximum speed	More than 2000 pps

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表 3 2000脉冲步的解序列

Table 3. Solution sequence of 2000 pulse steps

Acceleration phase	0	4	13	22	29	37	44	51	58	64	70	75	80	84	88	91	94	96
Deceleration phase	96	94	91	88	84	80	75	70	64	58	51	44	37	29	22	13	4	0

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表 4 4000脉冲步的加速阶段解序列

Table 4. Acceleration phase sequence of 4000 pulse steps

Acceleration phase	0	4	13	22	30	38	45	51	58	64	70	75	80	84
Acceleration phase	88	91	94	96	98	99	100	100	100	100	100	100	100	100

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表 5 步进电机的常规开环控制

Table 5. Conventional open loop control of stepping motor

Target trip	Speed/pps	Time/ms	Actual trip
600	40	150	595
600	100	60	560
1000	40	250	990
1000	100	100	975
2000	40	500	2000
2000	100	200	1958
4000	40	1000	3994
4000	100	400	3910

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表 6 步进电机的动态规划开环控制

Table 6. Dynamic programming and open loop control of stepping motor

Target trip	Time/ms	Actual trip
600	140	599
1000	180	1001
2000	260	2003
4000	420	4001

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参考文献(13)

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