摘要：针对步进电机控制系统存在的强非线性特征，提出了一种融合控制策略。通过检测位置误差和误差变化率是否超过阈值，判断是否切换当前控制策略，从而确保整个系统可以稳定地跟踪位置信号。半实物仿真实验结果表明：负载变化较大时，融合控制策略比传统PID控制具有更加优良的快速稳定性；在位置输出控制精度上更加精确，更加能够满足步进电机应用位置高精度要求，具有实际应用价值。
关键词：步进电机;融合控制;模糊神经网络;位置伺服

Abstract: A fusion control strategy was proposed for the strong nonlinearities of stepper motor control system. By detecting whether the position error and the error rate of change exceeded a threshold value, it was determined whether to switch the current control strategy, so as to ensure the whole system can stably track the position signal. Finally, a series of experiments on a semiphysics simulation show that: when the load change is large, the fusion control strategy than the traditional PID control strategy has more excellent quick stability; more accurate in position output control accuracy, more able to meet the requirements of highprecision stepping motor applications location has certain practical value.
Key words: stepper motor; fusion control; fuzzy neural network; position servo