Control method for stepping motor of thermal printer

A control method for a stepping motor of a thermal printer, wherein square wave control or/and a square wave with Pulse Width Modulation (PWM) are used for switching control or combining control according to different stages of work;

• the control method comprises the following steps:
• S1, in a case that the thermal printer prints according to printed content, the stepping motor being in a starting stage, transmitting a printing instruction from a human-machine interface module, and receiving, by a control unit module, the printing instruction, and transmitting a square wave control signal to a power amplifier circuit that drives the stepping motor;
• S2, in a starting process of the stepping motor, using the square wave control signal, and switching to square wave control with the PWM for outputting in a case of accelerating to the maximum set speed according to an accelerometer, wherein a switching point between the square wave control and the square wave control with the PWM is selected at a moment of accelerating to the highest speed, the accelerometer is a speedometer that is set from zero to the maximum speed of the stepping motor, the motor speed corresponding to the highest frequency of the accelerometer is Vmax, which is called the maximum value of the accelerometer,
• wherein the control method for the square wave control with the PWM is a two-stage PWM control method, the two-stage PWM control method comprises motor outer-loop PWM control and motor inner-loop PWM control, the motor outer-loop PWM control is the square wave control, and the motor inner-loop PWM control is to use a variable PWM waveform that is embedded into a certain phase segment of the motor outer-loop PWM control, cycle time of the motor outer-loop PWM control is converted into a square wave frequency corresponding to the motor outer-loop PWM, and corresponding frequencies are ordered in ascending magnitude since the respective cycle durations decrease in descending order;
• and
• S3, in a normal printing process, according to changes in a printing rate, dynamically and linearly reducing the square wave frequency of the motor outer-loop PWM control in proportion to a proportional linear increase of the printing rate, simultaneously, dynamically and linearly reducing the speed of the motor in proportion, adaptively proportionally linearly reducing the square wave frequency and a duty cycle of the motor inner-loop PWM control, and adaptively dynamically adjusting a printing speed, wherein the duty cycle of the motor inner-loop PWM control is unchanged in a motor deceleration process, and the printing rate equals a quantity of black points of the printed content/a quantity of points of the whole row.