华东师范大学学报（自然科学版） ›› 2025, Vol. 2025 ›› Issue (6): 39-45.doi: 10.3969/j.issn.1000-5641.2025.06.005

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痰染片制片系统中步进电机启停控制算法的优化设计与实现

庄泉洁1, 陈子娇2, 肖志睿1, 刘洪英2,*()   

  1. 1. 上海澜澈生物科技有限公司, 上海　200241
    2. 华东师范大学 上海市多维度信息处理重点实验室, 上海　200241
  • 收稿日期:2024-04-11 出版日期:2025-11-25 发布日期:2025-11-29
  • 通讯作者: 刘洪英 E-mail:hyliu@ee.ecnu.edu.cn

Optimized design and implementation of stepper motor start-stop control algorithm in the sputum smear slide preparation system

Quanjie ZHUANG1, Zijiao CHEN2, Zhirui XIAO1, Hongying LIU2,*()   

  1. 1. Shanghai Lanche Biological Technology Co. Ltd., Shanghai　200241, China
    2. Shanghai Key Laboratory of Multidimensional Information Processing, East China Normal University, Shanghai　200241, China
  • Received:2024-04-11 Online:2025-11-25 Published:2025-11-29
  • Contact: Hongying LIU E-mail:hyliu@ee.ecnu.edu.cn

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摘要：

步进电机在整个全自动痰染片制片的工作流程中发挥着关键作用. 在电机的启动和停止过程中, 电机速度常常会发生急剧变化, 因此一个良好的电机启停控制算法显得尤为重要. 首先, 需要避免电机在突然高速启动时因所需力矩过大而导致的过载现象, 以保护电机不受损坏. 其次, 在减速过程中, 应防止高速运转的电机突然停止, 以减少对电机的惯性冲击, 降低由此产生的运动偏差. 致力于优化步进电机的启停控制算法, 在启停阶段采用S型曲线来实现电机转速的平稳变化. 这种S型速度变化曲线基于Logistic函数设计, 能够确保电机在启动和停止时速度平稳变化, 避免突然加速或减速带来的冲击. 同时, 电机的整体运动采用7段式加减速优化算法, 以实现对电机的有效控制. 以系统中的x方向电机控制为例, 仿真实验验证了该算法的有效性, 步进电机在启停区间, 其转速与时间的曲线呈S型变化, 保证了电机启停的平稳性. 实测结果显示, 采用S型加减速启停控制算法, 位置误差被控制在 ±0.05 mm以内, 相比梯形控制算法带来的 ±0.9 mm位置误差, 有了显著的减小, 这表明S型加减速启停控制算法在减小位置误差方面取得了良好效果.

关键词: 步进电机, 启停控制, 7段式S型加减速控制算法, 位置误差

Abstract:

Stepper motors play a key role in the workflow of automatic sputum smear slide preparation and staining. During the startup and shutdown processes of a motor, the rapid changes experienced by the motor speed necessitate excellent motor startup and shutdown control algorithms. First, the overload phenomenon caused by the excessive torque required during the sudden high-speed startup of the motor should be avoided to protect the motor from damage. Second, during deceleration, sudden stoppage of the high-speed rotating motor should be prevented to reduce the inertial impact on the motor and minimize the resulting motion deviation. This study aimed to optimize the startup and shutdown control algorithms for stepper motors. During the startup and shutdown stages, an S-shaped curve was adopted to achieve smooth changes in motor speed. This S-shaped speed change curve was designed based on the Logistic function, to ensure smooth changes in motor speed during startup and shutdown, thereby avoiding the impact caused by sudden acceleration or deceleration. A 7-segment acceleration and deceleration optimization algorithm was employed to achieve effective control of the motor overall motion. Simulation experiments were conducted to verify the effectiveness of the algorithm. The stepper motor exhibited an S-shaped change in its speed-time curve during the startup and shutdown intervals, ensuring smooth startup and shutdown of the motor. Actual test results show that after adopting the S-shaped acceleration and deceleration startup and shutdown control algorithm, the positional error was within ±0.05 mm, a significant reduction compared to the ±0.9 mm caused by the trapezoidal control algorithm. This demonstrates that the S-shaped acceleration and deceleration startup and shutdown control algorithms achieve remarkable results in reducing positional errors.

Key words: stepper motor, start-stop control, 7-segment S-shaped acceleration and deceleration control algorithm, positional error

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