中文摘要：

为了解决步进驱动系统运动控制中的振荡、丢步和失调等问题,改善步进驱动系统的控制性能,优化步进驱动系统的控制,通过研究步进驱动系统的微步驱动控制过程,建立了步进驱动系统的微步驱动数学模型,提出了步进驱动系统的仿真建模方法,通过仿真模型的数值模拟分析了大振荡、丢步及失调问题的产生原因并建立了大振荡及丢步的机理模型,在此基础上进一步提出了基于稳态截止频率的速度轨迹优化控制方法.最后,通过一个实例进行了实验验证.结果表明：该建模方法能够准确地描述步进驱动系统的特性,速度轨迹优化控制方法能够有效地消除摆臂系统的大振荡、丢步、失调等严重问题,显著提高了摆臂系统运动平稳性及精密定位能力。

英文摘要：

In order to solve the stepper motion control drive system oscillation, lost step and imbalance issues to improve the control performance of stepper drive system and optimize the control of stepping drive system, an overall model of stepping drive system including speed trajectory generator, micro-step driver, hybrid stepper motor and load is established through the investigation on the structure of hybrid stepper motors, stepper-driven methods and modern stepping drive system drive control process. The influence of speed trajectory control on the stepper drive system performance and the mechanisms of oscillation, lost step, disorders are analyzed. A steady cutoff frequency identification method and a speed trajectory optimization control method based on stability-frequency characteristics are proposed. Subsequently, an example of stepper drive systems i.e. an arm system is tested. The results show that the speed trajectory optimization control method based on stability-frequency characteristics can very well eliminate the oscillating, lost step, imbalance and significantly improve running smoothness and precision positioning capability of the arm system. This optimal control method described in the arm system can be widely applied to the control of various stepper drive systems.