全数字两相混合式步进电机驱动器的研制
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摘要
两相混合式步进电动机是工业控制中广泛应用的一种电机,具有成本低、驱动电路简单的优点。随着高速微处理器和功率电子器件的发展,电机控制技术朝着全数字化方向发展。因此,对于两相混合式步进电机驱动器的全数字化研究有着十分重要的现实意义。
本文作者首先介绍了步进电动机系统的组成及其与之相关的技术的发展状况与趋势,分析了混合式步进电机的工作原理,建立了它的数学模型,深入研究了混合式步进电机的矢量控制方法,并在此基础上设计了一种全数字两相混合式步进电动机驱动器的方案。
硬件方面,根据本设计采用的两相混合式步进电机具有中间抽头的特点设计了独特的主电路,在主电路的驱动方面采用IR公司的IR2110作为驱动芯片。控制核心采用电机控制专用处理器TMS320LF2407,其输出的PWM信号触发主回路逆变器从而实现对步进电机的驱动。根据TMS320LF2407和主电路的特点设计了电流反馈电路、过流保护电路等外围电路,从而构成驱动器方案的硬件平台。
软件方面,电机控制算法由DSP编程实现,采用基于最大电流/转矩的转子磁场定向矢量控制方法,完成两相混合式步进电机的解耦控制,电流调节器采用PI控制算法,逆变器采用SVPWM调制策略。此外,为了方便调试和实际应用,设计了通讯接口,并开发了上位机的监控软件。
最后对设计的样机进行了测试,分析了不同细分数设置下的噪声特性和矩频特性。实验结果验证了设计方案的可行性,表明了该驱动器性能稳定,运行可靠,具有一定的实用价值。
Two-phase hybrid stepping motor is a kind of motor widely used in industry control. It has the advantage of low cost and simple drive system. With the developments of high speed microprocessor and power converters technology, motor control is moving towards fully digital direction. Therefore, the research of the fully digital driver for two-phase hybrid stepping motor is very important.
First of all, the author introduced the components of stepping motor system and then presented the development survey of all kinds of technologies related to stepping motor system, analyzed the working principle of stepping motor, illustrated its mathematical models, studied the theory of vector control on hybrid stepping motor further deeply, and then developed a kind of control scheme of the fully digital driver for two-phase hybrid stepping motor
As for hardware, as the stepping motor's wirings have middle terminals, a special power circuit was designed and IR2110 is used to drive the power circuit. TMS320LF2407A is used as the core of the control unit, which outputs PWM to drive power circuit. According to the character of DSP and the power circuit, current feedback circuit and over current protecting circuit were designed. So a hardware platform for the driver's scheme was finished.
As for software, the control algorithm of stepping motor was implemented by DSP program. It adopted the max-current/torque vector control method to realize the decoupling control of hybrid stepping motor. The general PI control method was used in current loop and SVPWM modulation was used in the inverter. Furthermore, in order to satisfy the requirement of convenient operation and monitoring, the monitor program on PC is also presented.
At last, the sample machine was tested. Noisy characteristic and torque characteristic in different frequency in different subdivision setting were analyzed. The results of experiments proved the feasibility of the scheme and show that the design of the fully digital driver of two-phase hybrid stepping motor is reasonable, performance is reliable, and has good application prospect.
本文作者首先介绍了步进电动机系统的组成及其与之相关的技术的发展状况与趋势,分析了混合式步进电机的工作原理,建立了它的数学模型,深入研究了混合式步进电机的矢量控制方法,并在此基础上设计了一种全数字两相混合式步进电动机驱动器的方案。
硬件方面,根据本设计采用的两相混合式步进电机具有中间抽头的特点设计了独特的主电路,在主电路的驱动方面采用IR公司的IR2110作为驱动芯片。控制核心采用电机控制专用处理器TMS320LF2407,其输出的PWM信号触发主回路逆变器从而实现对步进电机的驱动。根据TMS320LF2407和主电路的特点设计了电流反馈电路、过流保护电路等外围电路,从而构成驱动器方案的硬件平台。
软件方面,电机控制算法由DSP编程实现,采用基于最大电流/转矩的转子磁场定向矢量控制方法,完成两相混合式步进电机的解耦控制,电流调节器采用PI控制算法,逆变器采用SVPWM调制策略。此外,为了方便调试和实际应用,设计了通讯接口,并开发了上位机的监控软件。
最后对设计的样机进行了测试,分析了不同细分数设置下的噪声特性和矩频特性。实验结果验证了设计方案的可行性,表明了该驱动器性能稳定,运行可靠,具有一定的实用价值。
Two-phase hybrid stepping motor is a kind of motor widely used in industry control. It has the advantage of low cost and simple drive system. With the developments of high speed microprocessor and power converters technology, motor control is moving towards fully digital direction. Therefore, the research of the fully digital driver for two-phase hybrid stepping motor is very important.
First of all, the author introduced the components of stepping motor system and then presented the development survey of all kinds of technologies related to stepping motor system, analyzed the working principle of stepping motor, illustrated its mathematical models, studied the theory of vector control on hybrid stepping motor further deeply, and then developed a kind of control scheme of the fully digital driver for two-phase hybrid stepping motor
As for hardware, as the stepping motor's wirings have middle terminals, a special power circuit was designed and IR2110 is used to drive the power circuit. TMS320LF2407A is used as the core of the control unit, which outputs PWM to drive power circuit. According to the character of DSP and the power circuit, current feedback circuit and over current protecting circuit were designed. So a hardware platform for the driver's scheme was finished.
As for software, the control algorithm of stepping motor was implemented by DSP program. It adopted the max-current/torque vector control method to realize the decoupling control of hybrid stepping motor. The general PI control method was used in current loop and SVPWM modulation was used in the inverter. Furthermore, in order to satisfy the requirement of convenient operation and monitoring, the monitor program on PC is also presented.
At last, the sample machine was tested. Noisy characteristic and torque characteristic in different frequency in different subdivision setting were analyzed. The results of experiments proved the feasibility of the scheme and show that the design of the fully digital driver of two-phase hybrid stepping motor is reasonable, performance is reliable, and has good application prospect.
引文
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[2]王宗培,孙宝奎.论步进电机产品的格局.电工技术学报,1999,14(4):5-9
[3]哈尔滨工业大学,成都电机厂.步进电动机.北京:科学出版社,1979:1-28,237-269
[4]Kuo B C.步进电机及其控制系统.王宗培,孔昌平,李楚武等译.哈尔滨:哈尔滨工业大学出版社,1984:1-78,154-218,254-285
[5]王宗培.步进电动机的发展及建议.微电机.2004.4
[6]李颖宏,郭栋.基于MSP430F149单片机实现的步进电机通用控制器.TI公司,www.ti.com
[7]韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控制系统中的应用.北京:清华出版社,2003年10月
[8]Clarkson P J,Acamley P P.Closed-loop Control of Stepping Motor Systems.IEEE Trans on Industry Applications,1988,24(4):685-691
[9]Clarkson P J,Acamley P E Simplified Approach to the Dynamic Modelling of Variable-Reluctance Stepping Motors.IEE Proc B:Electric Power Applications,1989,136(1)418-422
[10]Pickup I E D,Russell A P,Kwon Y S.Analysis of Current Waveforms in Permanent-magnet Synchronous/Stepping Motors and synthesis of a Stabilising Signal.IEE Proc B:Electric Power Applications,1992,139(6):534-548
[11]Pickup I E D,Russell A P.Analysis of Frequency and Amplitude Modulation in the Stabilisition of Permanent-magnet Synchronous/Stepping Motors.IEE Proc B:Electric Power Applications,1992,139(4):336-346
[12]Brown R H,Srinivas K.A Damping Circuit for Chopper Driven Bifilar Hybrid Step Motors.Conference Record of the 1989 IEEE Industry Applications Society Annual Meeting,Tampa,FL,USA,1989:446-451
[13]Vadell J E,Chiang L E.Stepping Motor Driving by Controlled-energy Discharge.IEEE Trans on Industrial Electronics,1999,46(1):52-60
[14]陈敏祥,五相混合式步进电动机驱动新技术,电机与控制学报,1998,(1),38-41
[15]DuXu,YongpingJiang.A Method and Implement action of Fully Digitalized Continuous Microstep for Step Motor.IEMDC'97,Milwaukee,Wisconsin,USA.18-21May,1999,TC2-9,1-4.
[16]王宗培,程智.两相混合式步进电动机系统转矩提升的实践.微电机,1998(1),23-25
[17]程智,任雷等.两相步进电动机系统高频运行牵出转矩的提升.微电机,2000,(3)57-59
[18]唐竟新,祝永进.脉冲电流源型步进电机驱动器的研究.清华大学学报自然科学版,2001,(9),44-46
[19]Greason W D,Kucerovsky Z,Wu A W K.Frequency Domain Study of the Relative Effect of Microstepping on the Vibration Spectra of Stepping Motors.Conference Record of the 1989 IEEE Industry Applications Society Annual Meeting,Tampa,FL,USA,1989,295-300
[20]Rahman M F,Poo A N.An Application Oriented Test Procedure for Designing Mierostepping Step Motor Controllers.IEEE Trans on Industrial Electronics,1988,35(4):542-546
[21]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机.北京.机械工业出版社,1995:20-58,178-255
[22]李志民,张遇杰.同步电动机调速系统.北京:机械工业出版社,1996:1-21,126-193
[23]Senjyu T,Nakahama S,Uezato K.Damping of Rotor Oscillation for Stepping Motors using Fuzzy Reasoning.Proc of IEEE 1995 International Conference on Power Electronics and Drive Systems,Okinawa,Japan,1995:760-765
[24]Senjyu T,Uezato K.Stability Analysis and Suppression Control of Rotor Oscillation for Stepping Motors by Lyapunov's Direct Method.IEEE Trans on Power Electronics,1995,10(3):333-339
[25]Miura T,Taniguchi T.Open-loop Control of a Stepping Motor Using Oscillation Suppressive Exciting Sequence Tuned by Genetic Algorithm.IEEE Trans on Industrial Electronics,1999,46(6):1192-1198
[26]Betin F,Pinchon D,Capolino G A.Fuzzy Logic Applied to Speed Control of a Stepping Motor Drive.IEEE Trans on Industrial Electronics,2000,47(3):610-622
[27]Kim Y H,Lee B H,Eum T W.A New Phase Energization Strategy for the Minimization of Torque Ripples in Hybrid Step Motors.Record of the IEEE Power Conversion Conference,Yokohama,Japan,1993:396-401
[28]Brown R H,Jaroudi M.Torque Prediction and Maximization Strategies for Bifilar-wound Hybrid Step Motor.IEEE Trans on Power Electronics,1992,7(3):535-541
[29]Cmosija P,Kuzmanovic B,Ajdukovic S.Microcomputer Implementation of Optimal Algorithms for Closed-loop Control of Hybrid Stepper Motor Drives.IEEE Trans on Industrial Electronics,2000,47(6):1319-1325
[30]Matsui N,Nakamura M,Kosaka T.Instantaneous Torque Analysis of Hybrid Stepping Motor.IEEE Trans on Industrial Electronics,1996,32(5):1176-1182
[31]Marino R,Peresada S,Tomei P.Nonlinear Adaptive Control of Permanent Magnet Stepper Motor.Automatic,1995,31(11):1595-1604
[32]Schweid S A,Mcinroy J E,Lofthus R M.Closed Loop Low-velocity Regulation of Hybrid Stepping Motors Amidst Torque Disturbances.IEEE Trans on Industrial Electronics,1995,42(3):316-324
[33]Zribi M,Chiasson J N.Position Control of a PM Stepper Motor by Exact Linearization.IEEE Trans on Automatic Control,1991,36(5):621-625
[34]Chu S H,Ha I J,Lee S J,Kang J H.Feedback-linearizing Control of Hybrid Step Motors.Proc of the 20th IEEE International Conference on Control and Instrumentation,Seoul,Korea,1994:2039-2044
[35]Bodson M,Chiasson J N,Novotank R T,Rekowsel R B.High Performance Nonlinear Feedback Control of a Permanent Magnet Stepper Motor.IEEE Trans on CST,1993,1(1):5-14
[36]Melkote H,Khorrami F.Robust Nonlinear Control and Torque Ripple Reduction for Permanent Magnet Stepper Motors.lEE Proc Control Theory Application,1999,146(2):186-196
[37]Su T,Ishida M,Hori T.Repetitive Control for Vibration Reduction of 3Phase HB-type Stepping Motor Utilizing Accelerometer and Fourier Transformer.Proc of IEEE International Conference on Power Electronics and Drive Systems,Hong Kong,1999:815-820
[38]Senjyu T,Nakaharna S,Uezato K.Stability Analysis and Suppression Control of Rotor Oscillation for Stepping Motor by Lyapunov Method.Proc of the 25th IEEE Power Electronics Specialists Conference,Webster,NY,USA,1994:1108-1113
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