I am using a two - phase four - wire stepper motor, doing cycle motion, but there will be a lot of vibration in the direction of the switch.. How do I solve it?
No special delay is required. But software should do so to make speed a continuous gradient rather than a mutation.Our analysis of the similar physical projectile's movement: first according to the uniform deceleration, speed is reduced to zero after it becomes the opposite direction of the uniformly accelerated motion.
Usually, the stepper motor gives a "maximum torque" parameter. Depending on the maximum torque and the inertia of the load (including the inertia of the rotor and the driving mechanism of the stepper motor), the acceleration should not be more than that. In actual design, there should be room for more than the maximum allowable value.Of course, what I said above "speed" and "acceleration" is a continuous theoretical value, the actual stepper motor is step by step discrete operation, and the theory of law will always be different. However, as long as this "quantization error" does not exceed a certain limit, it can have satisfactory results.Ideally, the cumulative value of this error is not more than 0.5 steps. That is to say, if in accordance with the "acceleration", "uniform deceleration" theory, go to X when the time step should be t (fractional) position, and the real performance is: go to the location of the X is always equal to four to five homes in integral value. This is the ideal.
Do not change from a speed to a stationary state, or a change from a stationary to a velocity. This "mutation" naturally produces shock vibrations.As for the acceleration magnitude of the "uniform acceleration" and "uniform deceleration", it can be determined according to the performance of the stepping motor and the inertia of the load
