考虑单片机资源以及实际工作需要，—般在255个加速台阶内完成达到最高速度的启动、加速全过程，而当实际需要的(最高)速度随每次的执行任务情况变化而改变时，我们在程序设计上就按照工作对象的最高速度计算参数表，在每次启动电机运行前恨据需要行走总步数换算出最高加速台阶数量，基本上按照三个1/3的办法去换算，即1/3的行走步数用于加速，1/3用于保持高速运行，1/3完成从高速到低速的降速停止，实现自动调速。根据实际需要也可以用2/5-1/5-2/5方案调速，使电机完成总步数的时间更短一些，也有时为了保证电机有足够的输出扭矩也可以设定一个最高限止速度参数，用来对换算所得的加速台阶数进行限制，用以防止过高速度引起的电机失步。速度的基本规律是一次运行过程形成一条典型全对称的等腰梯形，而我们的计算其所产生的速度曲线，引入了两个折点，使得在梯形斜坡上略有 S 形修正，这是符合电机特性的加速方法-Considering the resources of the microcontroller and the actual work needs, it is necessary to complete the maximum speed start and accelerate the whole process in the 255 acceleration steps, and when the actual required (maximum) speed changes with each execution task change, we The program design in accordance with the maximum speed of the work object to calculate the parameter table, before starting the motor running before the need to walk the total number of steps to convert the maximum number of steps to accelerate, basically in accordance with the three 1/3 of the way to convert,/3 of the number of walking steps for acceleration, 1/3 for high-speed operation, 1/3 to complete　low to low speed to stop the speed to achieve automatic speed control. According to the actual needs can also be 2/5-1/5-2/5 program speed, the motor to complete the total number of steps shorter time, and sometimes in order to ensure that the motor has enough output torque can also set a maximum limit The