三相混合式步进电机细分驱动研究
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摘要
70年代提出的细分控制较好的解决了电机在开环控制下常常出现的低频振动,运行时输出力矩下降,定位精度受电机自身影响等问题。本文以三相混合式步进电机为控制对象,在分析了细分控制原理的基础上,数字化实现了步进电机的步距角细分控制。
首先分析了步进电机在细分状态下的磁场特点,步进电机在通入正弦阶梯电流时的离散磁场与永磁同步电机的连续磁场有相似之处。从步进电机的结构和运行原理出发,在一定的假设条件下,步进电机可以看作是多极的低速同步电机。在整个控制系统的实现上,借鉴交流电机的电流控制方法,将步进电机细分控制时的正弦阶梯电流通过同步旋转坐标变换成直流量进行控制,同时采用广泛应用于交流电机的SVPWM调制方式减小电流谐波和噪声。然后利用仿真软件Matlab/Simulink搭建了基于转子磁场定向的步进电机数学模型,并在不同频率的给定下,分析了步进电机的电流响应与转子位置响应曲线。最后在以DSP TMS320LF2407A为控制器核心的硬件平台上实现了电机的正弦电流步距角细分控制。通过实验证明了方案的可行性,取得了较为理想的电流波形。
At 70s the subdivision control of stepping motors was proposed to solve the problems such as resonance, output torque reducing and low accuracy when the stepping motor is running at open-loop. This thesis mainly analyzes the theory of subdivision and realizes the subdivision of the three phase hybrid stepping motors with digital control.
Firstly, this thesis study the characteristic the magnetic filed and stator current of stepper between the PMSM and stepping motors, which indicates that they are similar. From the structure and operation principle and in a certain assumption, the stepping motor can consider as a PMSM running at low speed. When subdivision is adopted, the current in the stator is sinusoidal. Reference on the AC variable speed theory, the sinusoidal current in the stator can transform into direct current through rotational coordinate transform. The modulation policy is SVPWM which is widely adopted in AC motors control to reduce current harmonics and noise. Secondly, with the simulation software Matlab/Simulink, the model of the stepping motor is established base on the d-q coordinate. When the different frequency and step angle are set, the responses curves of current in the stator and the position of the rotor are analyzed. The simulation shows that the method is effective. Finally, with the TI DSP TMS320LF2407A as the controller, the subdivision of the stepping motor is realized. Some suggestions are made to make improvements.
首先分析了步进电机在细分状态下的磁场特点,步进电机在通入正弦阶梯电流时的离散磁场与永磁同步电机的连续磁场有相似之处。从步进电机的结构和运行原理出发,在一定的假设条件下,步进电机可以看作是多极的低速同步电机。在整个控制系统的实现上,借鉴交流电机的电流控制方法,将步进电机细分控制时的正弦阶梯电流通过同步旋转坐标变换成直流量进行控制,同时采用广泛应用于交流电机的SVPWM调制方式减小电流谐波和噪声。然后利用仿真软件Matlab/Simulink搭建了基于转子磁场定向的步进电机数学模型,并在不同频率的给定下,分析了步进电机的电流响应与转子位置响应曲线。最后在以DSP TMS320LF2407A为控制器核心的硬件平台上实现了电机的正弦电流步距角细分控制。通过实验证明了方案的可行性,取得了较为理想的电流波形。
At 70s the subdivision control of stepping motors was proposed to solve the problems such as resonance, output torque reducing and low accuracy when the stepping motor is running at open-loop. This thesis mainly analyzes the theory of subdivision and realizes the subdivision of the three phase hybrid stepping motors with digital control.
Firstly, this thesis study the characteristic the magnetic filed and stator current of stepper between the PMSM and stepping motors, which indicates that they are similar. From the structure and operation principle and in a certain assumption, the stepping motor can consider as a PMSM running at low speed. When subdivision is adopted, the current in the stator is sinusoidal. Reference on the AC variable speed theory, the sinusoidal current in the stator can transform into direct current through rotational coordinate transform. The modulation policy is SVPWM which is widely adopted in AC motors control to reduce current harmonics and noise. Secondly, with the simulation software Matlab/Simulink, the model of the stepping motor is established base on the d-q coordinate. When the different frequency and step angle are set, the responses curves of current in the stator and the position of the rotor are analyzed. The simulation shows that the method is effective. Finally, with the TI DSP TMS320LF2407A as the controller, the subdivision of the stepping motor is realized. Some suggestions are made to make improvements.
引文
[1]哈尔滨工业大学,成都电机厂编著.步进电动机.北京:科学出版社,1979
[2]陈理壁.步进电机及其应用.上海:上海科学技术出版社,1985
[3]王宗培.步进电动机的发展及建议.电工技术学报,2002,37(4):47-49
[4]刘宝廷,程树康等.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
[5]周明安,朱光忠,宋晓华等.步进电机驱动技术发展及现状.机电工程技术,2005, 34(2):16-17
[6]史敬灼.步进电动机伺服控制技术.北京:科学出版社,2006
[7] Muhammed F.Rahman, Aunneow Poo An application oriented test procedure for designing microstepping step motor controllers. IEEE Trans on IE, 1988.35(4): 542-546
[8] Rahman.M.F, Grantham.C Design approaches for microstepping step motor controllers. Power Electronics and Variable-Speed Drivers, Fourth International Coference.1990:253-257
[9] Tal.J Control modes of step motors. IEEE Transactions on Aerospace and Electronics Systems. 1977,13(1):56-61
[10] Xiaodong Zhang, Junjun He, Chunlei Sheng An approach of micro-steppping control for the step motors based on FPGA. Industrial Technology, ICIT 2005:125-130
[11] Astarloa.A, Bidarte.U, Zuloaga.A,etal Reconfigurable microstepping control of stepper motors using FPGA embedded RAM. Industrial Electronics Society, IECON’03:2221-2226
[12]王宗培,程智,任雷.新型三相混合式步进电机系统.微电机,1998,31(2),3-5
[13]程智,任雷,王宗培等.任意步距角步进驱动器的实现.微电机,2001,34(1),18-20
[14]李俊源,秦忆,周永鹏.电力拖动基础.武汉:华中科技大学出版社,1999
[15]孙鹤旭.交流步进传动系统.北京:机械工业出版社,2001
[16]易长松.新型三相混合式步进电机驱动器.机电一体化,2001(6):30-31
[17] Singh G, Kuo B C, Marion R Dynamic Modeling of Pemanent-magnet step motor. Prec of the 4th IMCSD,USA.1975:1-12
[18] Ressell A P, Leenhouts A C, An application-oriented approach to the prediction of pull-out torque/speed curve for permanent magnet stepping motors. Proc of the 9th IMSD. 1980:15-22
[19] Pickup I E D, Russell A P. Nonlinear model for predicting settling and pull-in rate in hybrid stepping motors. Proc of IEE,1979,126(4):307-312
[20] Leenhouts A C. Prediction and measurement of the pullout torque in step motor system. Proc of the 23rd IMCD. 1994:1-10
[21]史敬灼,徐殿国,王宗培.两相混合式步进电机模型参数的辨识.电工技术,2001,(4):12-13
[22]王宗培,史敬灼.两相混合式步进电动机仿真模型分析.微电机,1998(6):1-4
[23]史敬灼,徐殿国,王宗培等.两相混合式步进电机矢量控制伺服系统.电机与控制学报,2000,4(3):136-139
[24]王宗培,韩光鲜,程智.两相混合式步进电机转矩系数和电势系数研究.微电机.2001(5):3-5
[25] Mizutani. K, Hayashi. S, Matsui. N Modeling and Control of Hybrid Stepping Motors. Proc of 16th IEEE Industry Applications Society Conference. 1993:289-294
[26] Csaba Szasz, Richard Marshalko, Viorel Trifa, Ambrus Szekely. Data Acquisition and Signal Processing in Vector Control of PM-Hybrid Stepping Motors. Optimization of Electrical and Electronic Equipments,1998. Proceedings of the 6th International Conference1998,(2):447-450
[27] Marc Bodson, John N.C, Rober T.N, Ronald B.R High-performance Nonlinear Feedback Control of a Permanent Magnet Stepper Motor. Control Systems, IEEETransaction. 1993, 18(3):880-887
[28]陈伯时,陈敏逊.交流调速理论.第2版.北京:机械工业出版社,2005
[29]陈伯时.电力拖动自动控制系统.第二版.北京:机械工业出版社,2001
[30]李永东.交流电机数字控制系统.北京:机械工业出版社,2003
[31] Yang.S.M, Su.P.D Active Damping Control of Hybrid Stepping motor. Power Electronics and Drive Systems, 2001. Proceedings. 2001 4th IEEE International Conference. 2001: 749-754
[32] Yang.S.M, Kuo.E.L Damping a Hybrid Stepping Motor With Estimated Position and Velocity. Power Electronics, IEEE Transaction. 2003, 18(3):880-887
[33]秦忆.现代交流伺服系统.武汉:华中理工大学出版社,1995
[34]钟宇明.全数字三相混合式步进电动机驱动系统.华中科技大学硕士学位论文,2004
[35]刁红泉.基于DSP的三相混合式步进电机脉冲细分驱动系统.浙江大学硕士学位论文,2005
[36]张平.MATLAB基础与应用.北京:航空航天大学出版社,2002
[37]刘金琨.先进PID控制MATLAB仿真.北京:电子工业出版社,2004
[38]张崇巍,张兴.PWM整流器及其控制.北京:机械工业出版社,2005
[39]吴守箴,臧英杰等著.电气传动的脉宽调制技术.北京:机械工业出版社,2000
[40]程善美,姜向龙,孙文焕等.空间矢量PWM逆变器的仿真.微电机,2002,35(4):30-33
[41]熊健,康勇,张凯等.电压空间矢量调制与常规SPWM的比较研究.电力电子技术,1999,1(2):25-28
[42]龚云飞.交流永磁同步电机伺服系统的仿真及实现.哈尔滨工业大学硕士学位论文,2006
[43]李自成.感应电机无速度传感器矢量控制系统的研究.华中科技大学硕士学位论文.2005
[44]朱海民.基于DSP的三相混合式步进电机脉冲细分驱动系统.机电工程,2005,22(10):1-2
[45]康华光.电子技术基础-模拟部分.北京:高等教育出版社,2001
[46]谢自美.电子线路设计·实验·测试.武汉:华中科技大学出版社,2000
[47]刘和平,严利平,张学锋,卓清锋.TMS320LF240Xdsp结构、原理及应用.北京:北京航空航天大学出版社,2005
[48]清源科技.TMS320LF240x DSP应用程序设计教程.北京:机械工业出版社,2003
[49] Texas Instruments Incorporated. Digital Motor Control Software Library. Literature Number: SPRU485A. 2003
[50] A. Scottedward Hodel, Charles E.Hall Variable-Structure PID Control to Prevent Integrator Windup. Industrial Electronics, IEEE Transaction. 2003,48(2):880-887
[51] Zhenyu Yu.Space-Vector PWM With TMS320C24x/F24x Using Hardware and Software Determined Switching Patterns. Texas Instruments Incorporated. SPRA524
[52]王潞钢,陈林康,曾岳南.DSP C2000程序员高手进阶.北京:机械工业出版社,2005
[2]陈理壁.步进电机及其应用.上海:上海科学技术出版社,1985
[3]王宗培.步进电动机的发展及建议.电工技术学报,2002,37(4):47-49
[4]刘宝廷,程树康等.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
[5]周明安,朱光忠,宋晓华等.步进电机驱动技术发展及现状.机电工程技术,2005, 34(2):16-17
[6]史敬灼.步进电动机伺服控制技术.北京:科学出版社,2006
[7] Muhammed F.Rahman, Aunneow Poo An application oriented test procedure for designing microstepping step motor controllers. IEEE Trans on IE, 1988.35(4): 542-546
[8] Rahman.M.F, Grantham.C Design approaches for microstepping step motor controllers. Power Electronics and Variable-Speed Drivers, Fourth International Coference.1990:253-257
[9] Tal.J Control modes of step motors. IEEE Transactions on Aerospace and Electronics Systems. 1977,13(1):56-61
[10] Xiaodong Zhang, Junjun He, Chunlei Sheng An approach of micro-steppping control for the step motors based on FPGA. Industrial Technology, ICIT 2005:125-130
[11] Astarloa.A, Bidarte.U, Zuloaga.A,etal Reconfigurable microstepping control of stepper motors using FPGA embedded RAM. Industrial Electronics Society, IECON’03:2221-2226
[12]王宗培,程智,任雷.新型三相混合式步进电机系统.微电机,1998,31(2),3-5
[13]程智,任雷,王宗培等.任意步距角步进驱动器的实现.微电机,2001,34(1),18-20
[14]李俊源,秦忆,周永鹏.电力拖动基础.武汉:华中科技大学出版社,1999
[15]孙鹤旭.交流步进传动系统.北京:机械工业出版社,2001
[16]易长松.新型三相混合式步进电机驱动器.机电一体化,2001(6):30-31
[17] Singh G, Kuo B C, Marion R Dynamic Modeling of Pemanent-magnet step motor. Prec of the 4th IMCSD,USA.1975:1-12
[18] Ressell A P, Leenhouts A C, An application-oriented approach to the prediction of pull-out torque/speed curve for permanent magnet stepping motors. Proc of the 9th IMSD. 1980:15-22
[19] Pickup I E D, Russell A P. Nonlinear model for predicting settling and pull-in rate in hybrid stepping motors. Proc of IEE,1979,126(4):307-312
[20] Leenhouts A C. Prediction and measurement of the pullout torque in step motor system. Proc of the 23rd IMCD. 1994:1-10
[21]史敬灼,徐殿国,王宗培.两相混合式步进电机模型参数的辨识.电工技术,2001,(4):12-13
[22]王宗培,史敬灼.两相混合式步进电动机仿真模型分析.微电机,1998(6):1-4
[23]史敬灼,徐殿国,王宗培等.两相混合式步进电机矢量控制伺服系统.电机与控制学报,2000,4(3):136-139
[24]王宗培,韩光鲜,程智.两相混合式步进电机转矩系数和电势系数研究.微电机.2001(5):3-5
[25] Mizutani. K, Hayashi. S, Matsui. N Modeling and Control of Hybrid Stepping Motors. Proc of 16th IEEE Industry Applications Society Conference. 1993:289-294
[26] Csaba Szasz, Richard Marshalko, Viorel Trifa, Ambrus Szekely. Data Acquisition and Signal Processing in Vector Control of PM-Hybrid Stepping Motors. Optimization of Electrical and Electronic Equipments,1998. Proceedings of the 6th International Conference1998,(2):447-450
[27] Marc Bodson, John N.C, Rober T.N, Ronald B.R High-performance Nonlinear Feedback Control of a Permanent Magnet Stepper Motor. Control Systems, IEEETransaction. 1993, 18(3):880-887
[28]陈伯时,陈敏逊.交流调速理论.第2版.北京:机械工业出版社,2005
[29]陈伯时.电力拖动自动控制系统.第二版.北京:机械工业出版社,2001
[30]李永东.交流电机数字控制系统.北京:机械工业出版社,2003
[31] Yang.S.M, Su.P.D Active Damping Control of Hybrid Stepping motor. Power Electronics and Drive Systems, 2001. Proceedings. 2001 4th IEEE International Conference. 2001: 749-754
[32] Yang.S.M, Kuo.E.L Damping a Hybrid Stepping Motor With Estimated Position and Velocity. Power Electronics, IEEE Transaction. 2003, 18(3):880-887
[33]秦忆.现代交流伺服系统.武汉:华中理工大学出版社,1995
[34]钟宇明.全数字三相混合式步进电动机驱动系统.华中科技大学硕士学位论文,2004
[35]刁红泉.基于DSP的三相混合式步进电机脉冲细分驱动系统.浙江大学硕士学位论文,2005
[36]张平.MATLAB基础与应用.北京:航空航天大学出版社,2002
[37]刘金琨.先进PID控制MATLAB仿真.北京:电子工业出版社,2004
[38]张崇巍,张兴.PWM整流器及其控制.北京:机械工业出版社,2005
[39]吴守箴,臧英杰等著.电气传动的脉宽调制技术.北京:机械工业出版社,2000
[40]程善美,姜向龙,孙文焕等.空间矢量PWM逆变器的仿真.微电机,2002,35(4):30-33
[41]熊健,康勇,张凯等.电压空间矢量调制与常规SPWM的比较研究.电力电子技术,1999,1(2):25-28
[42]龚云飞.交流永磁同步电机伺服系统的仿真及实现.哈尔滨工业大学硕士学位论文,2006
[43]李自成.感应电机无速度传感器矢量控制系统的研究.华中科技大学硕士学位论文.2005
[44]朱海民.基于DSP的三相混合式步进电机脉冲细分驱动系统.机电工程,2005,22(10):1-2
[45]康华光.电子技术基础-模拟部分.北京:高等教育出版社,2001
[46]谢自美.电子线路设计·实验·测试.武汉:华中科技大学出版社,2000
[47]刘和平,严利平,张学锋,卓清锋.TMS320LF240Xdsp结构、原理及应用.北京:北京航空航天大学出版社,2005
[48]清源科技.TMS320LF240x DSP应用程序设计教程.北京:机械工业出版社,2003
[49] Texas Instruments Incorporated. Digital Motor Control Software Library. Literature Number: SPRU485A. 2003
[50] A. Scottedward Hodel, Charles E.Hall Variable-Structure PID Control to Prevent Integrator Windup. Industrial Electronics, IEEE Transaction. 2003,48(2):880-887
[51] Zhenyu Yu.Space-Vector PWM With TMS320C24x/F24x Using Hardware and Software Determined Switching Patterns. Texas Instruments Incorporated. SPRA524
[52]王潞钢,陈林康,曾岳南.DSP C2000程序员高手进阶.北京:机械工业出版社,2005