摘要：介绍一种步进电机快速定位系统的设计方法，并应用相轨迹对定位系统进行较为详细分析，同时给出系统的定位时间。针对快速定位系统BangBang非线性控制的不足提出改进，将位置控制的相平面分为8个区域，不仅考虑了大、小位置偏差时应采取不同的控制策略，同时提出一种小位置偏差的控制策略。实验证实这种控制策略是有效的，它提高了步进电机定位控制系统的稳定性和快速性。
关键词：步进电机;定位控制;快速性;ARM7

Abstract:  A design of the rapid&precise positioning system of the stepper motor and using the phase trajectories theory for more detailed analysis was introduced, and the positioning time was provided as well. To improve the BangBang nonlinear control in the positioning system, the phaseplane diagram was divided into eight zones, where the different control strategies was adopted to large and small position deviation respectively, and a new control strategy applied to small position deviation was also introduced. The experiments indicate that this control strategy is effective and improves the stability and rapidity of the positioning system.
Key words: stepper motor; positioning control; rapidity; ARM7