三相步进电机驱动电源的研究与实现
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摘要
步进电动机在无位置传感器和速度传感器系统中可以实现精确开环控制,同时又具有价格低廉、易于控制、定位准确和计算机接口易于实现等优点,被广泛应用于机械、仪表、工业控制等领域。然而,步进电动机系统的性能和运行品质在很大程度上取决于驱动电源的结构与性能,性能良好的驱动电源可以在最大程度上改善步进电机系统的性能,减少振荡与失步的发生,在高频运行时能够提供足够的转矩。步进电机多数采用绕组电流控制方式,这种方法可以提高供电电压,在高频运行时具有较好的绕组电流波形,而且可保证在一定频率范围内电流恒定,提高步进电动机的高频特性。步进电动机控制脉冲的环形分配多采用软件实现,与传统的逻辑硬件电路的实现方法相比,其控制更灵活、方便,而且易于进行升降速控制。
本文在研究三相反应式步进电机工作原理和多种控制方法的基础上,利用MATLAB/Simulink对恒流控制电路进行了仿真研究,给出了仿真结果。采用AT89S51单片机为主控制芯片设计了单片机控制系统,利用软件环分方法对步进电机进行控制,并采用恒电流脉宽调制方法对各绕组进行了恒流控制。最后,搭建了驱动电源试验电路。
仿真结果表明,该系统可以在一定频率范围内实现电流恒定控制。在此基础上,确定了给定电压的变化范围和不同频率下的有效调节范围。实验结果可以看出,通过对绕组电流恒定控制大大改善了步进电机高频特性。
Because of the advantages in accurate control to open-loop system without speed sensor and position sensor, and the advantages in many aspects,such as in price, control, positioning and computer interface, stepper motor are widely used in the fields of mechanical, instrument and industrial control. The performance of stepper motor system depends on a great extent on the structure and properties of the driving power. That can be improved in the maximal degree by using an qualified driving power.which can reduce the influence of concussion, out of step and provide enough torque in high-frequency operation.Today, Winding current control is a most commonly control mode at present. Power supply voltage will be improve by using this method, that sure to have a better winding current waveform which make current constant in a frequency range and have a better performance in high frequency part. A good constant-current control circuit also is the foundation of subdivision driving. The pulse annular allocation of stepper motor usually to implement by software, compared to conventionally method used logic circuit, the control more flexible,convenient and easy control in speedup and speeddown process.
Based on researched stepper motor mathematical model, working principle and many control methods of three-phase reaction stepping motor. A study about constant current control circuit is made in this paper by simulation tools MATLAB/Simulink. the PI parameters are chosen and simulation results are given. The control part which adopted to realize loop distributor is designed based on microprocessor AT89S51.At the same time,a circuit about driving power is designed using a fixed frequency PWM circuit TL494 and a mosfet driver circuit IR2110. Finally, a printed circuit board has been fabricated and a experiment circuit about driving part is build.
The results of the simulation to illustrate that winding current can be constant in a frequency range. Based on the results, the range of voltage variation and the range of the tuning range under a special given voltage have been defined. Under the results of the experimental, the Torque-frequency characteristic at the range of high frequency can be improved.
本文在研究三相反应式步进电机工作原理和多种控制方法的基础上,利用MATLAB/Simulink对恒流控制电路进行了仿真研究,给出了仿真结果。采用AT89S51单片机为主控制芯片设计了单片机控制系统,利用软件环分方法对步进电机进行控制,并采用恒电流脉宽调制方法对各绕组进行了恒流控制。最后,搭建了驱动电源试验电路。
仿真结果表明,该系统可以在一定频率范围内实现电流恒定控制。在此基础上,确定了给定电压的变化范围和不同频率下的有效调节范围。实验结果可以看出,通过对绕组电流恒定控制大大改善了步进电机高频特性。
Because of the advantages in accurate control to open-loop system without speed sensor and position sensor, and the advantages in many aspects,such as in price, control, positioning and computer interface, stepper motor are widely used in the fields of mechanical, instrument and industrial control. The performance of stepper motor system depends on a great extent on the structure and properties of the driving power. That can be improved in the maximal degree by using an qualified driving power.which can reduce the influence of concussion, out of step and provide enough torque in high-frequency operation.Today, Winding current control is a most commonly control mode at present. Power supply voltage will be improve by using this method, that sure to have a better winding current waveform which make current constant in a frequency range and have a better performance in high frequency part. A good constant-current control circuit also is the foundation of subdivision driving. The pulse annular allocation of stepper motor usually to implement by software, compared to conventionally method used logic circuit, the control more flexible,convenient and easy control in speedup and speeddown process.
Based on researched stepper motor mathematical model, working principle and many control methods of three-phase reaction stepping motor. A study about constant current control circuit is made in this paper by simulation tools MATLAB/Simulink. the PI parameters are chosen and simulation results are given. The control part which adopted to realize loop distributor is designed based on microprocessor AT89S51.At the same time,a circuit about driving power is designed using a fixed frequency PWM circuit TL494 and a mosfet driver circuit IR2110. Finally, a printed circuit board has been fabricated and a experiment circuit about driving part is build.
The results of the simulation to illustrate that winding current can be constant in a frequency range. Based on the results, the range of voltage variation and the range of the tuning range under a special given voltage have been defined. Under the results of the experimental, the Torque-frequency characteristic at the range of high frequency can be improved.
引文
[1]哈尔滨工业大学成都电机厂编著.步进电动机[M].北京:科学出版社,1979
[2]陈隆昌,阎治安,刘新正.控制电机[M].西安:西安电子科技大学出版社,2000
[3]杨渝钦.控制电机[M].北京:机械工业出版社,1900
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[5]王宗培.步进电动机的发展及建议[J].微电机.2004,37(4):47-49
[6]王宗培.步进电动机及其控制系统[M].哈尔滨:哈尔滨工业大学出版社,1986
[7] Krishnamurthy, P.; Khorrami, F.;Effects of Closed-Loop Commutation Delay for Various Types of Motors ; Decision and Control, 2006 45th IEEE Conference on13-15 Dec. 2006 Page(s):1227 - 1232
[8]史敬灼.步进电动机伺服控制技术[M].科学出版社,2006.7
[9]Crnosija, P.; Kuzmanovic, B.; Ajdukovic, S.;Microcomputer implementation of optimal algorithms for closed-loop control of hybrid stepper motor drives ;Industrial Electronics, IEEE Transactions on Volume 47, Issue 6, Dec. 2000 Page(s):1319 - 1325
[10]Chin, T.C.; Mital, D.P.; Jabbar, M.A.;A stepper motor controller;Control, 1988. CONTROL 88., International Conference on13-15 Apr 1988 Page(s):500 - 505
[11] Johnson, M.J.; Subramanyam, G.;A parallel port interface circuit for computer control applications involving multiple stepper motors;Circuits and Systems, 1996., IEEE 39th Midwest symposium onVolume 2, 18-21 Aug. 1996 Page(s):889 - 892 vol.2
[12] Sheikholeslam, F.; Habibi, M.;A Low Cost Single Microcontroller Hybrid Stepper Motor Controller and Drive with Adaptive Ripple Reduction Using Current Feedback;Industrial Technology, 2006. ICIT 2006. IEEE International Conference on 15-17 Dec. 2006 Page(s):2514 - 2518
[13]汪小洪.三相反应式步进电机矩频特性的理论分析与仿真研究[J].机电工程.1999,16(3)
[14]王浩.步进电动机振荡与失步的研究.淮南职业技术学院学报[J].2005,1(5)
[15]李旺,淑梅,程树康,庄大庆.步进电机微步驱动中绕组电流波形的研究[J].微特电机, 2001:(2),9-11
[16]刘卫国,宋受俊.三相反应式步进电动机建模及常用控制方法仿真[J].微电机.2007,40(8) P22-P25
[17]史敬灼,王宗培.步进电动机驱动控制技术的发展[J].微特电机.2007(7)
[18]李鹰,叶文步进电机抗干扰同频恒流斩波驱动电源[J].微特电机.1998,(3): 40~41·
[19]王玉琳.步进电动机可变细分驱动器[J].微特电机.2005(4)
[20]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.2002,(2)
[21]杨正新.步进电机步距细分及其智能化控制[J].微电机.1990,1
[22]张占松,蔡宣三编著.开关电源的原理与设计[M].电子工业出版社.1998,6.
[23]吴守缄,减英杰.电气传动的脉宽调制控制技术[M].北京:机械工业出版社,2003
[24]张海英,黄华蔚,胡金高.步进电动机运行曲线设计与仿真[J].微特电机.2008,1:11-13
[25]徐传芳,王英,于航.步进电动机单步响应特性的建模与仿真[J].微特电机.2006,4:10-13
[26]周渊深.电力电子技术与MATLAB仿真[M].中国电力出版社,2005,12
[27]王晓明.电动机的单片机控制[M].北京航空航天大学出版社,2007,8
[28]孟武胜,李亮.基于AT89C52单片机的步进电机控制系统设计[J].微电机.2007,40(3):64-66
[29] Pulse width modulation control circuit TL494 [Z].motorola analog IC device data.
[30]陈鸣,周毅人.基于TL494的PWM直流伺服控制系统[J].电器技术.2003,1
[31]刘胜利.现代高频开关电源实用技术[M].北京:电子工业出版社,2001
[32]吴东升.基于TL494芯片的高效DC/DC变换器的研究与设计[J].电气技术.2006,5:45-48
[33]李序葆,赵永健.电力电子器件及其应用[M].北京:机械工业出版社,1996
[34] High and low side driver IR2110 Data Sheet[Z]. www.irf.com.2005,No. PD60147
[35]黄继昌,仝庆居等.电源专用集成电路及其应用[M].北京人民邮电出版社.2006,4
[36] Switchmode power rectifiers MUR1660 [Z].www.ic37.com .2002
[37] Power MOSFET IRF540N User Manual [Z].www.irf.com.2003,NO.PD91341B
[38] Power MOSFET IRF9640 User Manual [Z].www.irf.com.2003,NO.PD9.422B
[39]边春元.C51单片机典型模块设计与应用[M].北京:机械工业出版社,2008
[40]袁涛.单片机C高级语言程序设计及其应用[M].北京:北京航空航天大学出版社,2001
[2]陈隆昌,阎治安,刘新正.控制电机[M].西安:西安电子科技大学出版社,2000
[3]杨渝钦.控制电机[M].北京:机械工业出版社,1900
[4]蔡耀成.步进电动机国内外近期发展展望[J].微特电机.2000,5:28-30
[5]王宗培.步进电动机的发展及建议[J].微电机.2004,37(4):47-49
[6]王宗培.步进电动机及其控制系统[M].哈尔滨:哈尔滨工业大学出版社,1986
[7] Krishnamurthy, P.; Khorrami, F.;Effects of Closed-Loop Commutation Delay for Various Types of Motors ; Decision and Control, 2006 45th IEEE Conference on13-15 Dec. 2006 Page(s):1227 - 1232
[8]史敬灼.步进电动机伺服控制技术[M].科学出版社,2006.7
[9]Crnosija, P.; Kuzmanovic, B.; Ajdukovic, S.;Microcomputer implementation of optimal algorithms for closed-loop control of hybrid stepper motor drives ;Industrial Electronics, IEEE Transactions on Volume 47, Issue 6, Dec. 2000 Page(s):1319 - 1325
[10]Chin, T.C.; Mital, D.P.; Jabbar, M.A.;A stepper motor controller;Control, 1988. CONTROL 88., International Conference on13-15 Apr 1988 Page(s):500 - 505
[11] Johnson, M.J.; Subramanyam, G.;A parallel port interface circuit for computer control applications involving multiple stepper motors;Circuits and Systems, 1996., IEEE 39th Midwest symposium onVolume 2, 18-21 Aug. 1996 Page(s):889 - 892 vol.2
[12] Sheikholeslam, F.; Habibi, M.;A Low Cost Single Microcontroller Hybrid Stepper Motor Controller and Drive with Adaptive Ripple Reduction Using Current Feedback;Industrial Technology, 2006. ICIT 2006. IEEE International Conference on 15-17 Dec. 2006 Page(s):2514 - 2518
[13]汪小洪.三相反应式步进电机矩频特性的理论分析与仿真研究[J].机电工程.1999,16(3)
[14]王浩.步进电动机振荡与失步的研究.淮南职业技术学院学报[J].2005,1(5)
[15]李旺,淑梅,程树康,庄大庆.步进电机微步驱动中绕组电流波形的研究[J].微特电机, 2001:(2),9-11
[16]刘卫国,宋受俊.三相反应式步进电动机建模及常用控制方法仿真[J].微电机.2007,40(8) P22-P25
[17]史敬灼,王宗培.步进电动机驱动控制技术的发展[J].微特电机.2007(7)
[18]李鹰,叶文步进电机抗干扰同频恒流斩波驱动电源[J].微特电机.1998,(3): 40~41·
[19]王玉琳.步进电动机可变细分驱动器[J].微特电机.2005(4)
[20]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.2002,(2)
[21]杨正新.步进电机步距细分及其智能化控制[J].微电机.1990,1
[22]张占松,蔡宣三编著.开关电源的原理与设计[M].电子工业出版社.1998,6.
[23]吴守缄,减英杰.电气传动的脉宽调制控制技术[M].北京:机械工业出版社,2003
[24]张海英,黄华蔚,胡金高.步进电动机运行曲线设计与仿真[J].微特电机.2008,1:11-13
[25]徐传芳,王英,于航.步进电动机单步响应特性的建模与仿真[J].微特电机.2006,4:10-13
[26]周渊深.电力电子技术与MATLAB仿真[M].中国电力出版社,2005,12
[27]王晓明.电动机的单片机控制[M].北京航空航天大学出版社,2007,8
[28]孟武胜,李亮.基于AT89C52单片机的步进电机控制系统设计[J].微电机.2007,40(3):64-66
[29] Pulse width modulation control circuit TL494 [Z].motorola analog IC device data.
[30]陈鸣,周毅人.基于TL494的PWM直流伺服控制系统[J].电器技术.2003,1
[31]刘胜利.现代高频开关电源实用技术[M].北京:电子工业出版社,2001
[32]吴东升.基于TL494芯片的高效DC/DC变换器的研究与设计[J].电气技术.2006,5:45-48
[33]李序葆,赵永健.电力电子器件及其应用[M].北京:机械工业出版社,1996
[34] High and low side driver IR2110 Data Sheet[Z]. www.irf.com.2005,No. PD60147
[35]黄继昌,仝庆居等.电源专用集成电路及其应用[M].北京人民邮电出版社.2006,4
[36] Switchmode power rectifiers MUR1660 [Z].www.ic37.com .2002
[37] Power MOSFET IRF540N User Manual [Z].www.irf.com.2003,NO.PD91341B
[38] Power MOSFET IRF9640 User Manual [Z].www.irf.com.2003,NO.PD9.422B
[39]边春元.C51单片机典型模块设计与应用[M].北京:机械工业出版社,2008
[40]袁涛.单片机C高级语言程序设计及其应用[M].北京:北京航空航天大学出版社,2001