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西南交通大学硕士研究生学位论文第I页摘要步进电机作为一种将电脉冲信号转换成相应角位移的执行器件，具有定位精度高、动态力矩大、控制简单等特点，可以直接采用数字脉冲信号进行开环控制。为了实现步进电机的平稳快速运动，提高电机加速能力以及减小启停过程对电机的冲击，防止失步，合理的加减速运行曲线设计是非常重要的。本文通过建立基于MATLAB/Simulink的步进电机控制系统仿真模型，研究运行曲线对步进电机控制性能的影响，实现对步进电机转动速度和控制精度的优化，该仿真模型也为预测其它步进电机系统的工作性能提供了一种途径。本文对步进电机开环控制系统进行研究，首先建立了基于Simulink的步进电机控制系统仿真模型，在此基础上对梯形和抛物线两种运行曲线进行仿真，并对两种运行曲线的仿真结果进行比较分析。为满足系统的应用需求，在实验平台上采用VerilogHDL硬件描述语言设计步进电机控制IP核，实现对步进电机的精确控制。本文对步进电机的结构和工作原理进行了介绍，总结并分析了步进电机的数学模型，以及步进电机细分驱动技术的基本原理。通过对步进电机加减速控制方法的研究，设计了一种用于实时控制的抛物线运行曲线。本文基于步进电机数学方程，结合Simulink提供的参考模型建立了步进电机仿真模型，该模型可以通过对电机参数的修改实现通用化。并建立了步进电机细分驱动模块，可根据需求更改细分数、额定电流值和电压值，从而对步－进电机实现细分驱动控制仿真。本文对步进电机速度控制方法进行研究，基于系统实时性、精确性的要求，结合步进电机矩频特性曲线，推导了抛物线运行曲线数学方程，并与梯形运行曲线进行了对比仿真。仿真结果表明，抛物线运行曲线具有更优的开环控制特性，提高了步进电机的转动速度和控制精度。为验证抛物线运行曲线的控制性能，本文基于步进电机控制系统的硬件实验平台，采用自顶向下的方法，使用VerilogHDL语言设计了步进电机控制系统IP软核，对相应子模块以及顶层模块进衍了仿真验证。分别对以上两种运仔曲线进行转动速度和控制周期的实验，实验结果与仿真结果基本一致。结果表明采用抛物线运行曲线在单位控制周期内可明显提升步进电机的转动速度，同时也提高了控制精度。关键词：步进电机；开环控制系统；加减速运行曲线；Simulink;VerilogHDL西南交通大学硕士研究生学位论文第II页AbstractSteppermotorisakindofexecutedevicewhichconvertingelectricalpulsesignalintoangulardisplacement,ithashighpositioningaccuracy,dynamictorque,simplecontrolandsoon.Itcanbeuseddirectlyforopenloopcontrolbydigitalpulsesignal.Inordertoachievethesteppingmotorofthesteadyandrapidmovement,improvingtheabilityofmotorspeedandreducetheimpactonmotorstart-stopprocess,preventingoutofstep,whichdesignreasonabledecelerationoperationcurveisveryimportant.Inthispaper,throughtheestablishmentofsteppingmotorcontrolsystemsimulationmodelbasedonSimulink,therunningcurveeffecttheperformanceofthesteppermotorcontrolwasstudied.Theoptimizationtherotationalspeedandcontrolaccuracyofsteppermotorhasbeenrealized.Besidesthesimulationmodelcanbeappliedtodifferentmotorsystemperfonnanceprediction.Inthispaper,thesteppermotoropen-loopcontrolsystemwasstudied,thefirstestablishedthesteppermotorcontrolsystembasedonSimulinlιasimulationmodelbasedonthetrapezoidandparabolictwooperationcurvewassimulated,andcomparingthesimulationresultsoftwokindsofcurveanalysis.Basedonthesystemapplicationrequirements,VerilogHDLhardwaredescriptionlanguageisusedtodesigntheexperimentplatformbasedonstepmotorrunnmgcurveaccelerationanddecelerationcontrolmodule,accuratecontrolofthesteppermotorwasrealized.Inthispaper,thestructureandworkingprincipleofsteppermotorareintroduced,summarizesandanalyzesthemathematicalmodelofsteppermotor,andthebasicprincipleofsteppingmotorsubdivisiondrivetechnology.Throughthestudyofstepmotoranddecelerationcontrolmethod,themathematicalequationofparaboliccurveisdeduced,andwithtrapezoidalcurvefortwoalgorithmcarriesoutacomparativeanalysisonthecontrolcharacteristicsofthemotor.Thisarticleisbasedonthemathematicalmodelofsteppermotor,combinedwithSimulinkprovidesthereferencemodelofstepmotorwhichsimulationmodelisestablished,themodel’sparameterscanbemodifiedtoachievegeneralization.EstablishedinSimulinkenvironmentandsteppermotorcuπentsubdivisiondrivermodule,thesubdividenumberoffunctionmoduleandthedrivecurrentandvoltagevaluecanbemodifiedaccordingtothedemand,thusfordifferentmotortorealizesubdivisiondrivecontrolsimulation.Inthispaper,thesteppingmotoranddecelerationcontrolmethodarestudied,basedon西南交通大学硕士研究生学位论文第III页thedemandofsystemreal-timeperfonnance,stability,accuracy,combinedwithsteppermotortorque-speedcharacteristiccurve,theparaboliccurvemathematicalequationisdeduced,andcomparedwithtrapezoidaloperationcurvesimulation.Thesimulationresultsshowthattheparaboliccurvehasbetteropen-loopcontrolcharacteristics,improvethesteppingmotorrotationspeedandcontrolprecision.Thisarticleisbasedonstepmotorcontrolsystemhardwareexperimentplatform,usingthetop-downapproach,usingVerilogHDLlanguageinaccordancewiththemotorrunningcu凹eaccelerationanddecelerationcontrolalgorithm,designedthesteppermotorcontrolsystembasedonIPsoftcore,andforeachmoduleandthetopmodulearesimulatedandvalidated.Controltheoutputoftheabovetwokindsofoperationcurvecontrastexperiment,theexperimentalresultsoverallconformstothesimulationresults,usingparaboliccurveinunitcontrolcyclesignificantlyimprovedtherotationalspeedofthemotor,butalsoimprovethecontrolprecision.Keywords:Steppermotor;Openloopcontrolsystem;Decelerationcurve:Simulink;VerilogHDL西南交通大学硕士研究生学位论文第IV页目录第1章绪论．．．．……............…··…...............….........................…................................….....................11.1课题研究的目的和意义·······………·················……........…··……........…...............········11.2国内外发展现状...........................................................................…..............................21.2.1步进电机控制系统仿真的发展现状...............…............................................21.2.2步进电机加减速运行曲线研究现状.......................……................….................41.3本文研究内容......................................……......................................................................6第2章步进电机控制系统的基础知识.........................................…….................…................82.1步进电机控制系统概述.................….......…·····························································….82.2两相混合式步进电