摘  要：针对两相步进电机在力矩输出上随着输出频率提高而不断下降的特点，根据电机的力矩模型，寻找一种能以最短时间完成固定相角的最优化控制曲线。通过对电机矩频特性参考表的曲线拟合，得到准确的电机输出矩频特性，将矩频特性方程和两相步进电机力矩方程联立，考虑步进电机启停频率特点以及步进电机驱动电路对电机换向信号的要求，得到一条理想的连续控制输出曲线，可以算出步进电机固定角度往复运动的理想最快时间，得到通用性算法。将该控制曲线和传统的梯形升降速控制曲线进行对比，表明该控制曲线能更好的减少电机失步，整个运动过程时间更短。
关键词：步进电机；电机控制；往复运动；快速性

Abstract: According to the motor torque models, two-phase stepper motor torque output decreased while the driven frequency increased. Try to find the optimization control curve with shortest time to complete the fixed phase angle. Through the curve fitting to torque frequency characteristic reference data, obtain accurate torque frequency characteristics. Considering the frequency characteristics of the stepper motor and direction altering requirements of signal, use frequency equation and the two-phase stepper motor torque curve simultaneous equations to obtain a desired continuous control output curve, making the reciprocating motion finished in shortest time, and get universal algorithm.  The study indicate that the control curve is more better than traditional trapezium control curve in rapidity and less out-of-step.
Key words: stepping motor; motor control; reciprocating motion; rapidity