基于FPGA的步进电机细分控制研究
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摘要
为了解决所选步进电机固有步距角过大而无法满足系统高精度微位移控制要求的问题,以细分控制原理为理论依据,设计了1种基于现场可编程门阵列(Field Programmable Gate Array,FPGA)的单极性细分驱动电路。该电路具有绕组断线检测功能,可在电机转速为2 rad/s的前提下实现16或者更高程度的细分控制。在电路的调试过程中,针对绕组互感问题进行了研究,在很大程度上降低了绕组互感对细分控制精度的影响。试验结果表明:所设计的基于FPGA的细分驱动电路控制精度满足使用要求。
The natural step angle of the stepping motor is so large that the stepping motor can't meet the requirements of high precision micro-displacement. A kind of FPGA-based unipolar drive circuit in theory of microstep control was designed. The circuit has the ability of wing disconnection detection, and can drive the motor to rotate at speed of 2rad/s with its step angle achieves sixteenth of the nature. During the design, the adverse impact caused by the MOSFET body diode was excluded and the influence of mutual inductance between windings was effectively reduced. The experiment result proves that the accuracy of the FPGA-based microstep control circuit meets the system requirements.
The natural step angle of the stepping motor is so large that the stepping motor can't meet the requirements of high precision micro-displacement. A kind of FPGA-based unipolar drive circuit in theory of microstep control was designed. The circuit has the ability of wing disconnection detection, and can drive the motor to rotate at speed of 2rad/s with its step angle achieves sixteenth of the nature. During the design, the adverse impact caused by the MOSFET body diode was excluded and the influence of mutual inductance between windings was effectively reduced. The experiment result proves that the accuracy of the FPGA-based microstep control circuit meets the system requirements.
引文
[1]刘鼎邦.两相混合步进电机细分驱动的研究[D].长沙:长沙理工大学,2012.LIU Dingbang.Two phase hybrid stepping motor subdivision drive research[D].Changsha:Changsha University of Science and Technology,2012.(in Chinese)
[2]刘宝志.步进电机的精确控制方法研究[D].济南:山东大学,2010.LIU Baozhi.The study of exactly control stepping motor[D].Jinan:Shandong University,2010.(in Chinese)
[3]张建彬,黄佐华,杨怀,等.直接电压放大功率驱动的步进电机细分驱动技术研究[J].华南师范大学学报(自然科学版),2004(4):74-77.ZHANG Jianbin,HUANG Zuohua,YANG Huai,et al.Study on the direct voltage amplified and power driven subdividing technology of step motor[J].Journal of South China Normal University(Natural Science Edition),2004(4):74-77.(in Chinese)
[4]陈学军.混合式步进电机SPWM细分驱动控制技术的研究与实现[D].杭州:浙江工业大学,2007.CHEN Xuejun.Research and development on SPWM subdivided driving method of two-phase hybrid stepping motor[D].Hangzhou:Zhejiang University of Technology,2007.(in Chinese)
[5]张航鲜.新型步进电机驱动电路的研制[D].西安:西安电子科技大学,2007.ZHANG Hangxian.Design of a newly developed stepper motor driving circuit[D].Xi’an:Xidian University,2007.(in Chinese)
[6]戴金琪.五相混合式步进电机系统研究[D].大连:大连交通大学,2008.DAI Jinqi.Research on 5-phase hybrid stepping motor system[D].Dalian:Dalian Jiaotong University,2008.(in Chinese)
[7]康惠林.一种实用两相混合式步进电机细分驱动电路[J].电气传动,2011,41(5):58-61,64.KANG Huilin.Practical micro-stepping drive circuit for two phase hybrid step motor[J].Electric Drive,2011,41(5):58-61,64(in Chinese).
[8]章烈剽.基于单片机的高精度步进电机控制研究[D].武汉:武汉理工大学,2007.ZHANG Liepiao.Study on controlling stepper motor with high accuracy that based on MCU[D].Wuhan:Wuhan University of Technology,2007.(in Chinese)
[9]韦克应,姜进青.时间控制式分配泵高速电磁阀驱动电路的设计[J].现代车用动力,2013(4):21-23.WEI Keying,JIANG Jinqing.Design of high-speed solenoid drive circuit for time-controlled distribution pump[J].Modern Vehicle Power,2013(4):21-23.(in Chinese)
[10]徐志跃,文招金,陈伟海.基于FPGA的两相步进电机细分驱动电路设计[J].电气传动,2008,38(4):59-62.XU Zhiyue,WEN Zhaojin,CHEN Weihai.Design of two phase microstepping driver based on FPGA[J].Electic Drive,2008,38(4):59-62.(in Chinese)
[11]夏宇闻.Verilog数字系统设计教程,2版[M]..北京:北京航空航天大学出版社,2008:19-75.XIA Yuwen.Verilog digital system design tutorial(the second edition)[M].Beijing:Beihang University Press,2008:19-75.(in Chinese)
[12]张志利.关于步进电机微步驱动若干问题的讨论[J].微特电机,2000(6):17-19.ZHANG Zhili.Discuss of umpty problems about the tony-step driving to the stepping motor[J].Small&Special Machine,2000(6):17-19.(in Chinese)
[13]方力,李宏胜,张建华.步进电机高精度细分控制系统设计[J].微电机,2011,44(8):97-100.FANG Li,LI Hongsheng,ZHANG Jianhua.Design of subdivision control system with high accuracy for stepping motor[J].Micro Motors,2011,44(8):97-100.(in Chinese)
[14]李玲娟.多细分二相混合式步进电机驱动器的研制[D].西安:西北工业大学,2007.LI Lingjuan.Research and development of multi-microstepping driver for two-phase hybrid stepper motor[D].Xi’an:Northwestern Polytechnical University,2007.(in Chinese)
[15]王盈.步进电机的细分驱动及动态性能仿真[D].大连:大连交通大学,2007.WANG Ying.Subdividing-drive and dynamic performance simulation to the step-motor[D].Dalian:Dalian Jiaotong University,2007.(in Chinese)
[16]姜杏辉,邹丽新,孙平,等.基于可控电流源的高精度高细分步进电机细分驱动[J].微特电机,2007(5):21-24.JIANG Xinhui,ZOU Lixin,SUN Ping,et al.Subdivision driving technology of stepper motor with high accuracy and high resolution based on controllable current source[J].Small and Special Machine,2007(5):21-24.(in Chinese)
[2]刘宝志.步进电机的精确控制方法研究[D].济南:山东大学,2010.LIU Baozhi.The study of exactly control stepping motor[D].Jinan:Shandong University,2010.(in Chinese)
[3]张建彬,黄佐华,杨怀,等.直接电压放大功率驱动的步进电机细分驱动技术研究[J].华南师范大学学报(自然科学版),2004(4):74-77.ZHANG Jianbin,HUANG Zuohua,YANG Huai,et al.Study on the direct voltage amplified and power driven subdividing technology of step motor[J].Journal of South China Normal University(Natural Science Edition),2004(4):74-77.(in Chinese)
[4]陈学军.混合式步进电机SPWM细分驱动控制技术的研究与实现[D].杭州:浙江工业大学,2007.CHEN Xuejun.Research and development on SPWM subdivided driving method of two-phase hybrid stepping motor[D].Hangzhou:Zhejiang University of Technology,2007.(in Chinese)
[5]张航鲜.新型步进电机驱动电路的研制[D].西安:西安电子科技大学,2007.ZHANG Hangxian.Design of a newly developed stepper motor driving circuit[D].Xi’an:Xidian University,2007.(in Chinese)
[6]戴金琪.五相混合式步进电机系统研究[D].大连:大连交通大学,2008.DAI Jinqi.Research on 5-phase hybrid stepping motor system[D].Dalian:Dalian Jiaotong University,2008.(in Chinese)
[7]康惠林.一种实用两相混合式步进电机细分驱动电路[J].电气传动,2011,41(5):58-61,64.KANG Huilin.Practical micro-stepping drive circuit for two phase hybrid step motor[J].Electric Drive,2011,41(5):58-61,64(in Chinese).
[8]章烈剽.基于单片机的高精度步进电机控制研究[D].武汉:武汉理工大学,2007.ZHANG Liepiao.Study on controlling stepper motor with high accuracy that based on MCU[D].Wuhan:Wuhan University of Technology,2007.(in Chinese)
[9]韦克应,姜进青.时间控制式分配泵高速电磁阀驱动电路的设计[J].现代车用动力,2013(4):21-23.WEI Keying,JIANG Jinqing.Design of high-speed solenoid drive circuit for time-controlled distribution pump[J].Modern Vehicle Power,2013(4):21-23.(in Chinese)
[10]徐志跃,文招金,陈伟海.基于FPGA的两相步进电机细分驱动电路设计[J].电气传动,2008,38(4):59-62.XU Zhiyue,WEN Zhaojin,CHEN Weihai.Design of two phase microstepping driver based on FPGA[J].Electic Drive,2008,38(4):59-62.(in Chinese)
[11]夏宇闻.Verilog数字系统设计教程,2版[M]..北京:北京航空航天大学出版社,2008:19-75.XIA Yuwen.Verilog digital system design tutorial(the second edition)[M].Beijing:Beihang University Press,2008:19-75.(in Chinese)
[12]张志利.关于步进电机微步驱动若干问题的讨论[J].微特电机,2000(6):17-19.ZHANG Zhili.Discuss of umpty problems about the tony-step driving to the stepping motor[J].Small&Special Machine,2000(6):17-19.(in Chinese)
[13]方力,李宏胜,张建华.步进电机高精度细分控制系统设计[J].微电机,2011,44(8):97-100.FANG Li,LI Hongsheng,ZHANG Jianhua.Design of subdivision control system with high accuracy for stepping motor[J].Micro Motors,2011,44(8):97-100.(in Chinese)
[14]李玲娟.多细分二相混合式步进电机驱动器的研制[D].西安:西北工业大学,2007.LI Lingjuan.Research and development of multi-microstepping driver for two-phase hybrid stepper motor[D].Xi’an:Northwestern Polytechnical University,2007.(in Chinese)
[15]王盈.步进电机的细分驱动及动态性能仿真[D].大连:大连交通大学,2007.WANG Ying.Subdividing-drive and dynamic performance simulation to the step-motor[D].Dalian:Dalian Jiaotong University,2007.(in Chinese)
[16]姜杏辉,邹丽新,孙平,等.基于可控电流源的高精度高细分步进电机细分驱动[J].微特电机,2007(5):21-24.JIANG Xinhui,ZOU Lixin,SUN Ping,et al.Subdivision driving technology of stepper motor with high accuracy and high resolution based on controllable current source[J].Small and Special Machine,2007(5):21-24.(in Chinese)