摘要：为解决步进电机在高频工作条件快速启停失步及常规的指数型控制不能充分利用输出力矩的问题，提出了基于力矩频率曲线的步进电机升降速控制方法。分析了矩频曲线的步进电机加减速控制原理，采用阶梯曲线逼近和等时间间隔法获取升降速曲线，对FPGA优化设计产生驱动电机的时序信号，对应计数器的步数不断计算每个装载的频率实现加减速，在控制信号高电平阶段对1 kHz的脉冲信号采用20 kHz的信号进行斩波，步进电机通过单极模式驱动，对矩频曲线和指数曲线速度控制结果比较, 矩频曲线速度优势明显。经实验：步进电机工作驱动频率达200 kHz时，输出的升降速频率及变化波形均理想、不失步；矩频曲线的控制脉冲速度上升到1 000 Hz时，仅需0598 s，少于指数型加减速的071 s，达到了预期效果。

关键词：步进电机；FPGA；加减速控制；矩频曲线
Abstract: In order to solve outofstep of startstop rapidly in high frequency conditions and  conventional index control cant making full use of the output torque in stepper motor, it was proposed of a step motor speed control method based on torquefrequency curve. By analyzing the step motor control principle of torquefrequency curve, used the ladder curve approximation and equal time interval getting the ascending and descending curve, and produced the drive motor timing signals by optimal design of FPGA. Corresponding step number in counter, calculated every load frequency to achieve speedup and speeddown. In high level stage of control signal, used 20 kHz signals chopping the 1 kHz pulse, stepper motor was drove by unipolar mode. Compared to index curve, speed control method based on torquefrequency curve has obvious advantage. By experiment: when stepper motor drive frequency reaches 200 kHz, the output frequency and waveform changes are ideal and not broken; torquefrequency curve speeds up to 1 000 Hz only using 0598 s, faster than index control methods 071 s ,up to the desired effect.
Key words: stepper motor；FPGA；speedup and speeddown control；torquefrequency curve