步進電機是一(yi)種常(chang)用、應(ying)用廣泛(fan)的(de)驅(qu)動(dong)電機，步進電機通常(chang)需要搭配減速(su)(su)設備一(yi)起(qi)使(shi)用，以達到理想(xiang)驅(qu)動(dong)效果；步進電機常(chang)用的(de)減速(su)(su)設備和(he)方法有如減速(su)(su)齒輪箱、編碼器(qi)、控制器(qi)、脈沖信號等。

脈沖(chong)信(xin)號減速：步(bu)(bu)(bu)進(jin)(jin)電機(ji)(ji)轉(zhuan)速度，是根據(ju)輸入(ru)的(de)脈沖(chong)信(xin)號的(de)變(bian)化(hua)(hua)來改(gai)變(bian)的(de)。從(cong)理(li)論(lun)上(shang)講，給(gei)驅動器一(yi)個(ge)脈沖(chong)，步(bu)(bu)(bu)進(jin)(jin)電機(ji)(ji)就(jiu)旋轉(zhuan)一(yi)個(ge)步(bu)(bu)(bu)距角(細分(fen)時為一(yi)個(ge)細分(fen)步(bu)(bu)(bu)距角)。實(shi)際上(shang)，如(ru)果脈沖(chong)信(xin)號變(bian)化(hua)(hua)太快，步(bu)(bu)(bu)進(jin)(jin)電機(ji)(ji)由于(yu)內(nei)部的(de)反向電動勢的(de)阻(zu)尼作用(yong)，轉(zhuan)子與定子之間的(de)磁反應將跟隨不(bu)上(shang)電信(xin)號的(de)變(bian)化(hua)(hua)，將導致堵(du)轉(zhuan)和丟步(bu)(bu)(bu)。

減(jian)(jian)(jian)(jian)速(su)(su)齒輪(lun)(lun)箱減(jian)(jian)(jian)(jian)速(su)(su)：步(bu)(bu)進(jin)電(dian)機搭載(zai)減(jian)(jian)(jian)(jian)速(su)(su)齒輪(lun)(lun)箱一(yi)起使(shi)用(yong)，步(bu)(bu)進(jin)電(dian)機輸(shu)出(chu)高速(su)(su)、低扭矩轉速(su)(su)，連接減(jian)(jian)(jian)(jian)速(su)(su)齒輪(lun)(lun)箱，齒輪(lun)(lun)箱內部減(jian)(jian)(jian)(jian)速(su)(su)齒輪(lun)(lun)組(zu)嚙合驅(qu)動形成的減(jian)(jian)(jian)(jian)速(su)(su)比(bi)，將步(bu)(bu)進(jin)電(dian)機輸(shu)出(chu)的高速(su)(su)降低，而(er)且提升驅(qu)動扭矩，達到理(li)想驅(qu)動效果(guo)；減(jian)(jian)(jian)(jian)速(su)(su)效果(guo)取決(jue)于齒輪(lun)(lun)箱的減(jian)(jian)(jian)(jian)速(su)(su)驅(qu)動比(bi)，減(jian)(jian)(jian)(jian)速(su)(su)比(bi)越大，輸(shu)出(chu)轉速(su)(su)越小，反(fan)之(zhi)亦然(ran)。

曲線(xian)(xian)指(zhi)數(shu)(shu)控制速(su)度(du)：指(zhi)數(shu)(shu)曲線(xian)(xian)，在軟件(jian)編程中，先算(suan)(suan)好時(shi)(shi)間(jian)常數(shu)(shu)存貯在計算(suan)(suan)機(ji)存貯器內，工作時(shi)(shi)指(zhi)向(xiang)選取。通常，完(wan)成步進電(dian)機(ji)的加減速(su)時(shi)(shi)間(jian)為300ms以(yi)上。如(ru)果使用過于(yu)短的加減速(su)時(shi)(shi)間(jian)，對絕大多數(shu)(shu)步進電(dian)機(ji)來說，就會難以(yi)提升步進電(dian)機(ji)的高(gao)速(su)旋轉。

編(bian)碼器(qi)(qi)(qi)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)減速：PID 控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)作為一種簡單而(er)實用(yong)的(de)(de)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)方法(fa) , 在(zai)(zai)步進電(dian)機(ji)驅動(dong)中獲(huo)得(de)了(le)廣泛(fan)的(de)(de)應(ying)用(yong)。它根據給定值 r( t) 與(yu)實際輸出值 c(t) 構成控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)偏差 e( t) , 將偏差的(de)(de)比例 、積分和(he)微分通過線性(xing)(xing)組合(he)構成控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)量(liang) ,對被(bei)控(kong)(kong)(kong)對象進行控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi) 。文獻將集(ji)成位(wei)置傳感器(qi)(qi)(qi)用(yong)于二(er)相混合(he)式步進電(dian)機(ji)中 ,以位(wei)置檢(jian)測器(qi)(qi)(qi)和(he)矢量(liang)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)為基(ji)礎(chu) ,設計(ji)(ji)出了(le)一個可(ke)自(zi)動(dong)調(diao)節的(de)(de) PI 速度控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi) ,此控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)在(zai)(zai)變工(gong)況的(de)(de)條件下能提供令人滿意的(de)(de)瞬態(tai)特性(xing)(xing) 。文獻根據步進電(dian)機(ji)的(de)(de)數(shu)學模(mo)型 ,設計(ji)(ji)了(le)步進電(dian)機(ji)的(de)(de) PID 控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系統 ,采用(yong) PID 控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)算法(fa)得(de)到控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)量(liang) ,從而(er)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)電(dian)機(ji)向指定位(wei)置運(yun)動(dong) 。最后(hou) ,通過仿真(zhen)驗證了(le)該控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)具有(you)較好的(de)(de)動(dong)態(tai)響應(ying)特性(xing)(xing) 。采用(yong) PID 控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)(qi)(qi)具有(you)結構簡單 、魯棒性(xing)(xing)強 、可(ke)靠性(xing)(xing)高等優點 ,但是它無(wu)法(fa)有(you)效應(ying)對系統中的(de)(de)不確定信息 。