三相混合式步进电动机驱动器的研制
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摘要
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。随着功率电子器件和高速微处理器的发展,电机控制技术朝着全数字化方向发展。本文在全面总结国内外有关文献的基础上,对三相混合式步进电动机的全数字化控制进行了深入的研究,结合步进电机细分控制理论和当前细分控制技术的发展,针对三相混合式步进电机运行过程中出现的低频振荡和失步问题,设计了一种以单片机为核心的数字式的三相混合式步进电机细分驱动系统。
本文首先介绍了三相混合式步进电机的结构和工作原理,从三相混合式步进电机的数学模型出发,对步进电机的细分驱动方式进行了研究。理论表明,在混合式步进电机的三相定子绕组中通以互差120度的正弦波电流时,可得到类似同步电机的转矩特性,使电机均匀旋转。
本系统硬件电路以PIC16F873为核心,采用正弦波电流细分和电流跟踪型脉宽调制(PWM)技术实现三相混合式步进电机的细分控制,主要包括硬件设计、软件实现和性能实验。正弦电流细分技术基本上克服了传统步进电机低速振动大和噪声大的缺点,电流跟踪型脉宽调制(PWM)技术使电机运行在较大速度范围内转矩保持恒定。
实验表明,本驱动器细分运行时减弱了混合式步进电机的低速振动,提高了起动频率,使电机运转平稳,大大减轻了噪声。
Step motor is one kind of the most widely used motors in the field of industrial control. It has the advantage of low cost and simple drive system. With the developments of power converters technology and high performance microprocessors, motor drive is moving towards fully digital direction. Based on an overall review of related papers published at home and abroad about the step motor subdivision control theory and technology,this dissertation makes deep research on the fully digital control of three-phase hybrid step motor, which based on the Single-chip, in order to avoid the vibration and out of step of hybrid step motor at low frequency.
The subdivision driving of three-phase hybrid stepping motor is studied profoundly based on the mathematical model in this paper. The analysis above shows that the step motor and the synchronous motor have similar torque characteristics,on condition that the three-phase stator windings are input sine-wave current being lack of 120 electric angle each other, which make hybrid step motor rotates evenly.
This drive system adopts sine wave current subdivision and current tracking PWM technology and the core processor is PIC16F873. This dissertation introduces the hardware platform designing, software developing and performance testing. Sine-wave current subdivision technology overcomes the motors vibration and noise at low frequency. Current tracking PWM technology can maintain constant torque within wide speed range.
Experiments indicate this subdivision driver system can reduce vibration and noise of hybrid step motor, and can improve starting frequency.
本文首先介绍了三相混合式步进电机的结构和工作原理,从三相混合式步进电机的数学模型出发,对步进电机的细分驱动方式进行了研究。理论表明,在混合式步进电机的三相定子绕组中通以互差120度的正弦波电流时,可得到类似同步电机的转矩特性,使电机均匀旋转。
本系统硬件电路以PIC16F873为核心,采用正弦波电流细分和电流跟踪型脉宽调制(PWM)技术实现三相混合式步进电机的细分控制,主要包括硬件设计、软件实现和性能实验。正弦电流细分技术基本上克服了传统步进电机低速振动大和噪声大的缺点,电流跟踪型脉宽调制(PWM)技术使电机运行在较大速度范围内转矩保持恒定。
实验表明,本驱动器细分运行时减弱了混合式步进电机的低速振动,提高了起动频率,使电机运转平稳,大大减轻了噪声。
Step motor is one kind of the most widely used motors in the field of industrial control. It has the advantage of low cost and simple drive system. With the developments of power converters technology and high performance microprocessors, motor drive is moving towards fully digital direction. Based on an overall review of related papers published at home and abroad about the step motor subdivision control theory and technology,this dissertation makes deep research on the fully digital control of three-phase hybrid step motor, which based on the Single-chip, in order to avoid the vibration and out of step of hybrid step motor at low frequency.
The subdivision driving of three-phase hybrid stepping motor is studied profoundly based on the mathematical model in this paper. The analysis above shows that the step motor and the synchronous motor have similar torque characteristics,on condition that the three-phase stator windings are input sine-wave current being lack of 120 electric angle each other, which make hybrid step motor rotates evenly.
This drive system adopts sine wave current subdivision and current tracking PWM technology and the core processor is PIC16F873. This dissertation introduces the hardware platform designing, software developing and performance testing. Sine-wave current subdivision technology overcomes the motors vibration and noise at low frequency. Current tracking PWM technology can maintain constant torque within wide speed range.
Experiments indicate this subdivision driver system can reduce vibration and noise of hybrid step motor, and can improve starting frequency.
引文
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[2]易长松.新型三相混合式步进电机驱动器[J].机电一体化,2001(6):30～33.
[3]王宗培,孙宝奎.论步进电动机产品的格局[J].电工技术学报,1999,14(4):5～9.
[4]王顺晃,舒迪前.智能控制系统及其应用[M].北京:机械工业出版社,1995.
[5]李志民,张遇杰.同步电动机调速系统[M].北京:机械工业出版社,1996.
[6]王永骥,涂健.神经元网络控制.北京:机械工业出版社,1998:1～17,37～63,192～266.
[7]诸静.模糊控制原理及应用.北京:机械工业出版社,1995:1～280.
[8]王磊,王为民.模糊控制理论及应用.北京:国防工业出版社,1997:1～110.
[9]刘宝廷,程树康.步进电动机及其驱动控制系统[M].哈尔滨:哈尔滨工业大学出版社,1997:11.
[10]陈隆昌,阎志安,刘新正.控制电机.西安:西安电子科技大学出版社,2004:234～235.
[11]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):333～33.
[12]陈理璧.步进电动机及其应用.上海:上海科学技术出版社,1983.
[13]王鸿钰.步进电机控制技术入门.上海:同济大学出版社,1989.
[14]李忠杰,宁守信.步进电动机应用技术.北京:机械工业出版社,1988.
[15]王宗培,程智,任雷.抑制混合式步进电动机系统振荡的新方法[J].电工技术学报,1999,14(1):63～66.
[16]王宗培,童怀.混合式步进电动机的研究(一)[J].电工技术学报1994,91:4～6.
[17]刘刚,常旭东,王志福.步进电机控制系统中的可调细分电路[J].江西科技,2006, 24(2):184～186.
[18]李忠波,霍其峰.基于EPROM三相混合式步进电机驱动系统研究[J].电力电子技术,2005,39(1):64～65.
[19]王卫,冯培松.一种新颖的三相混合式步进电机驱动器的设计[J].电工技术,1995(l):20～22.
[20]孙建忠,白凤仙.特种电机及其控制[M].北京:中国水利水电出版社,2005.
[21]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[J].中国电机工程学报,1999,19(9):41～44.
[22]Artyunyan V Sh, Muradyan A Z, Mnatsakanyan G B. Optimum method and device for subdividing the step of an m-phase step motor [J]. Telecommunieations and Radio Engineering,1991,46(12):103～108.
[23]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, Tama, FL, USA, 1989:295～300.
[24]Sheng-Ming Yang;Pei-Der Su.Active damping control of hybrid stepping motor. Power Electronics and Drive Systems, 2001 4th IEEE International Conference on, Volume: 2, 22～25 Oct.2001:749～754 vol. 2.
[25]Mizutami,K.;Hayashi,S.;Matsui,N.Modeling and control of hybrid stepping motors .Industry Applications Society Annual Meeting,1993.,Conference Record of the 1993 IEEE,2-8 Oct.1993:289～294 vol.1.
[26]Kosaka,T;Matsui,N. Simple nonlinear magnetic analysis for three-phase hybrid stepping motors. Industry Applications Conference, 2000. Conference Record of the 2000 IEEE, Volume: 1, 8-12 Oct.2000:126～131 vol. 1.
[27]So, E.C.T.; Williams, R.G. D.;Yang,S.J. Hybrid stepping motor vibration. Industry Applications Magazine, IEEE , Volume: 1 Issue:3,May-June 1995:21～27.
[28]Kou Bao-quan; Li Li-yi;Cheng Shu-kang;Meng Fan-rong.Torque characteristics of double-stator hybrid stepping motor with serial magnetic circuit structure. Electric Machines and Drives Conference, 2003. IEMDC'03.IEEE International, Volume: 1, 1-4 June 2003:313～318vol.1.
[29]胡东,王涌.三相步进电机细分数字驱动器的研究[J].浙江工业大学学报,2007,35(3):292～294.
[30]林伟杰,李兴根.三相混合式步进电机正弦波细分驱动的研究[J].中小型电机,2003,30(5):26～28.
[31]G.Singh,A. C. Leenhouts. Predictions and Measurement of the pullout torque in step motor system [J]. Proc. IM CSD Conf.1994:1～9.
[32]G.Singh,A.C.Leenhouts.SPASMTM:An integrated Task Oriented Tool for Designing Step Motor Systems[J].Proc.IMSCD Conf,1995,23～38.
[33]王宗培,童怀.混合式步进电动机稳态运行的同步仿真分析.电工技术学报,1994,91:4～6.
[34]程树康,蔡鹤.新型电驱动控制系统及其相关技术.北京:机械工业出版社2006.
[35]李颖,刘景林,杨永亮,等.五相混合式步进电动机矩频特性分析与仿真[J],微特电机,2007(4):16～18.
[36]陈敏祥.五相混合式步进电动机恒频斩波恒总流驱动系统的稳态仿真模型[J].电工技术学报,1998,13(6):35～39.
[37]黄永安,马路,刘慧敏.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用.北京:清华大学出版社,2006.
[38]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002.
[39]谢运祥. IR2130驱动器及其在逆变器中的应用[J].微电机,2001,34(2):50～52.
[40]毕庆,张纯江,闰朝阳.高性能六输出MOS栅极驱动器IR2130及应用[J].信息技术,2000(3):11～12.
[41]逢海萍. IR2111和IR2130在PWM直流伺服系统中的应用[J].电气传动自动化,2001,23(3):20～21.
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