两相混合式步进电机细分驱动控制器的研究
摘要
步进电动机突出的优点是它可以在宽广的频率范围内通过改变脉冲频率来实现调速,快速起停、正反转控制等,并且由其组成的开环系统既简单、廉价,且非常可靠,因此在众多领域有着极其广泛的应用。
步进电动机必须和驱动控制器配合使用,而不能直接接到交直流电源上工作。当要求步进电动机有更小的步距角,更高的分辨率(即脉冲当量),或者为减小步进电机本身所固有的低频振动、噪声等问题时,细分是唯一的解决途径。
随着电力电子技术的发展,单片机的性价比日益提高,考虑到成本因素,本文介绍了一种基于单片机的两相混合式步进电机细分驱动控制系统。本系统采AT89C2051单片机作为核心控制器件,采用专门为步进电机设计的L6203全桥驱动芯片作为功率驱动器件,结合电流反馈电路实现对两相混合式步进电机的细分控制。
在控制方法上,本文通过分析两相混合式步进电机的运行原理,推导了其数学模型,在此基础上采用恒频PWM恒流斩波与可变细分相结合的控制策略。通过PWM方式控制各相绕组电流,使其按阶梯正旋规律改变大小和方向,实现将步进电动机一个整步均分为若干个更细的微步。
本文按由硬件实现细分驱动,单片机及软件用于控制的思想设计了驱动控制器。并对该驱动控制器进行了实验研究,实验结果表明该驱动控制器能较好的驱动步进电机平稳运行。
The advantages of stepping motor are regulating-rate, quickly rise-stop, positive- reverse controlling and brake etc by changing the frequency of pulse. The stepping motor opening-ring system is simple, cheap, stable and reliable, therefore its application is very extensive in many realm.
Only when it is connected to a special equipment—stepping motor driver, stepping motors can work properly. Microstep have to be considered when smaller step angle, better resolving ability is needed or to solve the problem of vibrancy, noise and so on. Microstep technique can make the step-angle smaller, improve the resolving ability and solve the problem of vibrancy, noise. As a result, it makes stepping motor more suitable to be used in advanced control system.
The thesis develops a SCM-based subdivided control system for two-phase hybrid stepping motor. This system is mainly constructed from an AT89C2051 SCM which is used as the core of control parts and a full-bridge driver L6203 which is used as driving parts. Combined with other circuits and apparatus, the system fulfills the subdivided control of two-phase hybrid stepping motor.
As the development of power electronics, the function of single chip computer becomes more powerful and the price becomes cheaper. The thesis analyses the theory of two-phase hybrid stepping motor and sets up its mathematics model. Through the chopper with constant frequency PWM and constant current combined with variable subdivision, by means of PWM control to the phrase winding current in order to adjust its amplitude and direction in the principle of ladder sinusoid form, we can fractionize the step-angle to Microstep.
The driver controller is composed of two parts, the subdivision part is realized by hardware, and another part is control idea which is realized by SCM and software. In addition, the driver controller is put into experiment research and the result shows that the driver controller could fulfill the control task of two-phase hybrid stepping motor greatly.
步进电动机必须和驱动控制器配合使用,而不能直接接到交直流电源上工作。当要求步进电动机有更小的步距角,更高的分辨率(即脉冲当量),或者为减小步进电机本身所固有的低频振动、噪声等问题时,细分是唯一的解决途径。
随着电力电子技术的发展,单片机的性价比日益提高,考虑到成本因素,本文介绍了一种基于单片机的两相混合式步进电机细分驱动控制系统。本系统采AT89C2051单片机作为核心控制器件,采用专门为步进电机设计的L6203全桥驱动芯片作为功率驱动器件,结合电流反馈电路实现对两相混合式步进电机的细分控制。
在控制方法上,本文通过分析两相混合式步进电机的运行原理,推导了其数学模型,在此基础上采用恒频PWM恒流斩波与可变细分相结合的控制策略。通过PWM方式控制各相绕组电流,使其按阶梯正旋规律改变大小和方向,实现将步进电动机一个整步均分为若干个更细的微步。
本文按由硬件实现细分驱动,单片机及软件用于控制的思想设计了驱动控制器。并对该驱动控制器进行了实验研究,实验结果表明该驱动控制器能较好的驱动步进电机平稳运行。
The advantages of stepping motor are regulating-rate, quickly rise-stop, positive- reverse controlling and brake etc by changing the frequency of pulse. The stepping motor opening-ring system is simple, cheap, stable and reliable, therefore its application is very extensive in many realm.
Only when it is connected to a special equipment—stepping motor driver, stepping motors can work properly. Microstep have to be considered when smaller step angle, better resolving ability is needed or to solve the problem of vibrancy, noise and so on. Microstep technique can make the step-angle smaller, improve the resolving ability and solve the problem of vibrancy, noise. As a result, it makes stepping motor more suitable to be used in advanced control system.
The thesis develops a SCM-based subdivided control system for two-phase hybrid stepping motor. This system is mainly constructed from an AT89C2051 SCM which is used as the core of control parts and a full-bridge driver L6203 which is used as driving parts. Combined with other circuits and apparatus, the system fulfills the subdivided control of two-phase hybrid stepping motor.
As the development of power electronics, the function of single chip computer becomes more powerful and the price becomes cheaper. The thesis analyses the theory of two-phase hybrid stepping motor and sets up its mathematics model. Through the chopper with constant frequency PWM and constant current combined with variable subdivision, by means of PWM control to the phrase winding current in order to adjust its amplitude and direction in the principle of ladder sinusoid form, we can fractionize the step-angle to Microstep.
The driver controller is composed of two parts, the subdivision part is realized by hardware, and another part is control idea which is realized by SCM and software. In addition, the driver controller is put into experiment research and the result shows that the driver controller could fulfill the control task of two-phase hybrid stepping motor greatly.
引文
[1] 刘宝廷,程树康.步进电动机及其驱动控制系统. 哈尔滨:哈尔滨工业大学出版社,1997:1-10
[2] 王宗培,郑大鹏.开关混合式电动机的研究.微电机.1995, (3): 7-10
[3] 陈理璧.步进电动机及其应用.上海:上海科学技术出版社,1985: 1 -17
[4] 程宪平.机电传动与控制.武汉:华中科技大学出版社,1997: 254
[5] 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
[6] DuXu, YongpingJiang. A Method and Implementation of Fully Digitized Continuous Microstep for Step Motor IEMDC'97, milwaukee, Wisconsin, USA, 18-21May, 1999: 1-40
[7] Emerald P., Sasaki M. Multi-Chip Modules for Stepper-Motors Integrate PWM Control with Power FETs for Superb Performance. PCIM'99, Dallas, TX ,USA, 17-22S ept.,1999: 58-67.
[8] 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
[9] 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
[10] 唐竞新,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
[11] Tozune A., Sakamoto M. Characteristics of permanent-magnet type 3-phase steppi ng motor. IAS'99, Conference Record of the 1999 IEEE Industry Applications Conference, Thirtieth IAS Annual Meeting, held in Orlando, FL , USA, 8-12 Oct, 1999: 748-755
[12] 张永军,尤波,唐晓强.反应式步进电机可变细分驱动电源的开发研制.电机与控制学报,1998,(2) : 123-125
[13] 王宗培,程智.新型两相混合式步进电动机系统.微电机,1998,(2) : 17-20
[14] 川林 波 , 李 兴 根 . 混合式步进电动机 SPWM 微步驱动技术的研究 . 微 电机,2000 ,(3):55-57
[15] 程智,任雷等.任意步距角步进驱动器的实现.微电机,2001,(1) : 66-68
[16] 史敬灼,徐殿国,王宗培.两相混合式步进电动机矢量控制伺服系统。电机与控制学报,2002, (3) : 135-139
[17] 范晓明,张利等.基于转矩星矢量模型的两相混合式步进电机控制系统.东北大学学报自然科学版,2002,(1) : 101-103
[18] 功率模块集成驱动电路IR2133.美国IR公司. www.ir.com
[19] MC3479.MOTOLOLA公司产品部. www.motoloia.com
[20] 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
[21] 马正平.两相混合式步进电机微步驱动系统的研究[硕士学位论文].电子科技大学图书馆,2000
[22] 张小杭.基于DSP的两相混合式步进电机细分控制及转矩矢量控制[硕士学位论文] .浙江工业大学,2004
[23] 孙建忠,白凤仙.特种电机及其控制.中国水利水电出版社.2005: 152-153
[24] Chen D, Paden B. Adapative Linearization of Hybrid Step Motors. Stability Analysis. IEEE Trans. on Automatic Control,1993,38(6):874-887
[25] R.Bruce Kieburtz.The Step Motor-The Next Advance in Control Systems. IEEE Trans On Automatic Control, 1964, 9(1):98-104
[26] J.Reiss, F.Alin, M.Sandler, etc. A detailed analysis of the nonlinear dynamics of the electric step motor. Industrial Technology, 2002. IEEE ICIT’02. 2002 IEEE International Confercence on. Dec. 2002:1078-1083
[27] B.Robert, F.Alin, C.Goeldel. Aperiodic and chaotic dynamics in hybrid step motor-new experimental results. Industrial Electronics, 2001. Proceedings. ISIE 2001.IEEE International Symposium on. June 2001: 2136-2141
[28] Chen D, Yung KL, Cheng KW. Enhancing Low-speed Performance of Hybrid Stepping Motor Servo by Ripple Canceling Technique. Proc of IEEE Conference on Electic Machines and Drivers, HongKong, 1999: 147-149
[29] 王英,田一,王宗培.五相混合式步进电机的振荡特性研究.中国电机工程学报,2001,21(6)
[30] 王英,辜承林,王宗培.谐波电流对混合式步进电机中频振荡的影响.中国电机工程学报,1999,19(9)
[31] RobinsonDJ. Dynamic Analysis of Magnetic Stepping Motors. IEEE Transon Industrial Electronics&ControlIn strument,1999, 16(2):111-125
[32] Middleton et al. Electromagnetic Damping for stepper Motors with Chopper Drives. IEEE Transactions on Industry Electronics, Vol.33, No.3, Aug1986: 241-246
[33] 李旺,崔淑梅等.步进电机微步驱动中绕组电流波形的研究.微特电机,2001,(2) : 9-11
[34] 李红.数值分析.华中科技大学出版社.2003: 63-72
[35] F.Fadul et al. A Single MSI Programmable Chip Controller for Stepper Motors. Computer In Industry, 22Nov, 1993: 207- 211
[36] F.Fadul et al. Low-Cost MSI Controller for Stepper Motors. Computer in Industry, 17Nov, 1991: 63-66
[37] Chen D, Paden B. Nonlinear Adaptive Torque-Ripple Cancellation for Step Motors.Proc of IEEE Conference on Decision and Control, Hawaii, USA, 1990,38(6):3319-3324
[38] 湛秀平,查晓明,张国琴.基于AT89C2051的步进电动机驱动电路.电气传动自动化,2001,23 (4)
[39] 刑永会.EPROM在步进电机环形分配器中的应用.河北煤炭,2001(4)
[40] 钟伟弘 , 关保国 , 张善青 . 步进电机的驱动及微机控制 . 天津理工学院学报,2000,16(2)
[41] 蒋存波,张玉等.一种步进电机PWM恒流驱动技术的研究.桂林工学院学报,2003,23(4)
[42] 闫赫,郭伟,周振雄.一种实用型步进电机功率斩波电路研究.北华大学学报(自然科学版),2003,4(3)
[43] 孔令山,熊坚.双极性步进电机细分驱动器.光电工程,1997,24(6)
[2] 王宗培,郑大鹏.开关混合式电动机的研究.微电机.1995, (3): 7-10
[3] 陈理璧.步进电动机及其应用.上海:上海科学技术出版社,1985: 1 -17
[4] 程宪平.机电传动与控制.武汉:华中科技大学出版社,1997: 254
[5] 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
[6] DuXu, YongpingJiang. A Method and Implementation of Fully Digitized Continuous Microstep for Step Motor IEMDC'97, milwaukee, Wisconsin, USA, 18-21May, 1999: 1-40
[7] Emerald P., Sasaki M. Multi-Chip Modules for Stepper-Motors Integrate PWM Control with Power FETs for Superb Performance. PCIM'99, Dallas, TX ,USA, 17-22S ept.,1999: 58-67.
[8] 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
[9] 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
[10] 唐竞新,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
[11] Tozune A., Sakamoto M. Characteristics of permanent-magnet type 3-phase steppi ng motor. IAS'99, Conference Record of the 1999 IEEE Industry Applications Conference, Thirtieth IAS Annual Meeting, held in Orlando, FL , USA, 8-12 Oct, 1999: 748-755
[12] 张永军,尤波,唐晓强.反应式步进电机可变细分驱动电源的开发研制.电机与控制学报,1998,(2) : 123-125
[13] 王宗培,程智.新型两相混合式步进电动机系统.微电机,1998,(2) : 17-20
[14] 川林 波 , 李 兴 根 . 混合式步进电动机 SPWM 微步驱动技术的研究 . 微 电机,2000 ,(3):55-57
[15] 程智,任雷等.任意步距角步进驱动器的实现.微电机,2001,(1) : 66-68
[16] 史敬灼,徐殿国,王宗培.两相混合式步进电动机矢量控制伺服系统。电机与控制学报,2002, (3) : 135-139
[17] 范晓明,张利等.基于转矩星矢量模型的两相混合式步进电机控制系统.东北大学学报自然科学版,2002,(1) : 101-103
[18] 功率模块集成驱动电路IR2133.美国IR公司. www.ir.com
[19] MC3479.MOTOLOLA公司产品部. www.motoloia.com
[20] 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
[21] 马正平.两相混合式步进电机微步驱动系统的研究[硕士学位论文].电子科技大学图书馆,2000
[22] 张小杭.基于DSP的两相混合式步进电机细分控制及转矩矢量控制[硕士学位论文] .浙江工业大学,2004
[23] 孙建忠,白凤仙.特种电机及其控制.中国水利水电出版社.2005: 152-153
[24] Chen D, Paden B. Adapative Linearization of Hybrid Step Motors. Stability Analysis. IEEE Trans. on Automatic Control,1993,38(6):874-887
[25] R.Bruce Kieburtz.The Step Motor-The Next Advance in Control Systems. IEEE Trans On Automatic Control, 1964, 9(1):98-104
[26] J.Reiss, F.Alin, M.Sandler, etc. A detailed analysis of the nonlinear dynamics of the electric step motor. Industrial Technology, 2002. IEEE ICIT’02. 2002 IEEE International Confercence on. Dec. 2002:1078-1083
[27] B.Robert, F.Alin, C.Goeldel. Aperiodic and chaotic dynamics in hybrid step motor-new experimental results. Industrial Electronics, 2001. Proceedings. ISIE 2001.IEEE International Symposium on. June 2001: 2136-2141
[28] Chen D, Yung KL, Cheng KW. Enhancing Low-speed Performance of Hybrid Stepping Motor Servo by Ripple Canceling Technique. Proc of IEEE Conference on Electic Machines and Drivers, HongKong, 1999: 147-149
[29] 王英,田一,王宗培.五相混合式步进电机的振荡特性研究.中国电机工程学报,2001,21(6)
[30] 王英,辜承林,王宗培.谐波电流对混合式步进电机中频振荡的影响.中国电机工程学报,1999,19(9)
[31] RobinsonDJ. Dynamic Analysis of Magnetic Stepping Motors. IEEE Transon Industrial Electronics&ControlIn strument,1999, 16(2):111-125
[32] Middleton et al. Electromagnetic Damping for stepper Motors with Chopper Drives. IEEE Transactions on Industry Electronics, Vol.33, No.3, Aug1986: 241-246
[33] 李旺,崔淑梅等.步进电机微步驱动中绕组电流波形的研究.微特电机,2001,(2) : 9-11
[34] 李红.数值分析.华中科技大学出版社.2003: 63-72
[35] F.Fadul et al. A Single MSI Programmable Chip Controller for Stepper Motors. Computer In Industry, 22Nov, 1993: 207- 211
[36] F.Fadul et al. Low-Cost MSI Controller for Stepper Motors. Computer in Industry, 17Nov, 1991: 63-66
[37] Chen D, Paden B. Nonlinear Adaptive Torque-Ripple Cancellation for Step Motors.Proc of IEEE Conference on Decision and Control, Hawaii, USA, 1990,38(6):3319-3324
[38] 湛秀平,查晓明,张国琴.基于AT89C2051的步进电动机驱动电路.电气传动自动化,2001,23 (4)
[39] 刑永会.EPROM在步进电机环形分配器中的应用.河北煤炭,2001(4)
[40] 钟伟弘 , 关保国 , 张善青 . 步进电机的驱动及微机控制 . 天津理工学院学报,2000,16(2)
[41] 蒋存波,张玉等.一种步进电机PWM恒流驱动技术的研究.桂林工学院学报,2003,23(4)
[42] 闫赫,郭伟,周振雄.一种实用型步进电机功率斩波电路研究.北华大学学报(自然科学版),2003,4(3)
[43] 孔令山,熊坚.双极性步进电机细分驱动器.光电工程,1997,24(6)