针对生产中对步进电机运行时间和距离有精确要求的常见工况，设计一套步进电机S曲线控制算法，根据不同的运行要求灵活设定运动过程，设定较少参数即能规划整个运动路径，达到理想的运动效果。设计新型余弦S曲线，搭建MATLAB/Simulink仿真控制模型和硬件测试系统进行仿真和试验验证。结果显示电机实际加减速过程运行平滑，起步稳定振动小，设定参数下可以精确运行，与直接起停相比，运行效果有很大改善。新型余弦S曲线已在全自动号码机项目中得到实际应用。

Aiming at the common working conditions that have accurate requirements for the running time and distance of the stepping motor in production, a set of S-curve control algorithm for the stepping motor is designed, which can flexibly set the motion process according to different operation requirements, and use fewer parameters to plan the whole motion path, so as to achieve the ideal motion effect. A new cosine S-curve is designed, and the MATLAB/Simulink simulation control model and hardware test system are built for simulation and practical verification. The results show that the actual acceleration and deceleration process of the motor runs smoothly and starts stably, and the vibration is small. It can run accurately under the set parameters. Compared with the direct start and stop, the operation effect is greatly improved. It has been applied in an automatic numbering machine project.