Accelerated phase pulse frequency change for

From (6), (7) type can see, in accelerating stage, the pulse frequency rising, and acceleration with quadratic function increase. The accelerated methods step by step motor

running very favorable, because starting, acceleration gentle, once stepping motor has a certain speed, acceleration increase quickly. On the one hand, make acceleration smooth

transition, which is beneficial to rotary joints improve the positioning accuracy of the machine, on the other hand, it can shorten the accelerated process, improve fast performance.
For reduction stage, in accordance with the above similar analysis method, it can be concluded that pulse frequency characteristic expression for:
Among them, A = - δ, B = (2 T1 - δ) 2, C = 8 δ, T1 for reduction start pulse cycle, δ for reduction stage adjacent two pulse cycle of increment. Due to the T1 > > δ, then B

= 4 t12, by (8), (9) type can see, pulse frequency in reduction phase decreases, and acceleration is negative, the absolute value with quadratic function decrease. This

reduction performance of stepping motor equally beneficial, it makes the stepping motor in the reduction to stop smoothly without impact and improve the positioning accuracy of

the machine.
To sum up, it can be concluded that the design of the pulse frequency characteristics (see chart 3).
Figure 3 pulse frequency characteristic
Experiments and summarizes
This method has been successfully applied to I design intelligent motion control unit, by developing Windows environment control software, vc + + design good control interface

interface, convenient to
rotary union the motion way, speed, acceleration and deceleration choice and position control, have a certain degree of intelligence. The control unit to reduce the

PC was holding time, so that in the motor running at the same time to
fiber optic rotary joint complete other work, so as to realize the three strut into motor deceleration and speed and position

control. And the use of the subdivision drive power and improve the step precision and positioning accuracy.