两相混合式步进电机高性能闭环驱动系统研究

发布时间：2018-01-09 03:11

本文关键词：两相混合式步进电机高性能闭环驱动系统研究　出处：《浙江理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：两相混合式步进电机因其控制简单、定位精确、成本低等优点而广泛应用于工业和消费电子领域。步进电机的控制在传统应用场合下大多以开环控制为主,其主要存在低频振荡、转速不高、带载能力差、失步等缺点。近年来,随着现代工业应用的不断发展,人们对步进电机的应用场合提出了越来越高的要求,追求更高精度和动态响应以及提高高速带载能力成为新的研究热点。因此深入研究步进电机控制系统以提高其控制性能具有实际的工程意义和理论意义。首先,本文在深入研究步进电机的运行机理和永磁交流伺服系统闭环控制机理的基础上,推导了其在dq坐标系下的数学模型,确定了闭环控制系统的原理框图;通过分析双H桥逆变器拓扑结构设计了一种上下桥臂互补导通、对角桥臂同时导通的控制方式,并基于此借鉴了三相空间电压矢量脉宽调制(SVPWM)方式,重新推导了基于双H桥逆变器的空间电压矢量脉宽调制方法,同时设计了积分分离PI调节器,引入了以电流环/速度环为内环和位置环为外环的闭环控制结构,最终形成两相混合式步进电机高性能闭环驱动系统。其次,为了验证方案的可行性。基于Matlab/Simulink建立了闭环控制系统的仿真模型,该仿真模型中包括积分分离PI调节器模型、电机模型、Park变换及其反变换、SVPWM模型等模型,其中SVPWM模型和积分分离PI调节器模型主要采用的是M语言实现的;并同时从多个方面对该系统模型进行了仿真分析,最终论证了本文设计方案的可行性。然后,结合本文控制算法设计了驱动系统的硬件。该硬件包括控制核心及其外围电路、双H桥逆变电路、PWM隔离驱动电路、电流采样和过流保护电路、外部信号输入输出电路和通讯电路等电路,其中控制核心采取的是TI公司生产的DSP芯片。同时,因电路安全的重要性,基于仿真软件multisim对电流采样和过流保护电路进行了仿真,结果表明其能够实现保护功能。最后,以模块化的思想利用C语言编写了两相混合式步进电机高性能闭环驱动系统控制程序,其中包括了转子初始定位程序、电流的模数转换程序、SVPWM算法程序、积分分离PI程序、编码器解码程序等。同时,从多方面进行了必要的实验测试及分析,最终证明了本文提出的控制算法的正确性及优越性。
[Abstract]:Two-phase hybrid stepping motor is widely used in industrial and consumer electronics fields because of its simple control, accurate positioning and low cost. The control of stepping motor is mostly open-loop control in traditional applications. In recent years, with the continuous development of modern industrial applications, people put forward higher and higher requirements for the application of stepping motor. The pursuit of higher accuracy and dynamic response as well as the improvement of high-speed load capacity has become a new research hotspot. Therefore, it has practical engineering and theoretical significance to study the stepping motor control system in order to improve its control performance. On the basis of deeply studying the running mechanism of stepping motor and the closed-loop control mechanism of permanent magnet AC servo system, this paper deduces its mathematical model in dq coordinate system, and determines the principle block diagram of the closed-loop control system. By analyzing the topology of the double H-bridge inverter, a control method is designed, in which the upper and lower arms are complementary and the diagonal arms are simultaneously switched on. Based on the three phase space voltage vector pulse width modulation (SVPWM) method, the space voltage vector pulse width modulation method based on double H bridge inverter is rededuced. At the same time, the integral separation Pi regulator is designed, and the closed-loop control structure with current / velocity loop as inner loop and position loop as outer loop is introduced. Finally, the two-phase hybrid stepping motor high performance closed-loop drive system is formed. Secondly. In order to verify the feasibility of the scheme, the simulation model of closed-loop control system is established based on Matlab/Simulink. The simulation model includes integral separated Pi regulator model and motor model. The Park transform and its inverse transform are mainly implemented in M language. The SVPWM model and the integral separated Pi regulator model are mainly implemented in M language. And at the same time from many aspects of the system model simulation analysis, finally demonstrated the feasibility of the design scheme. Then. Combined with the control algorithm in this paper, the hardware of the drive system is designed. The hardware includes the control core and its peripheral circuit, double H-bridge inverter circuit and PWM isolation drive circuit, current sampling and over-current protection circuit. External signal input / output circuits and communication circuits, among which the control core is the DSP chip produced by TI Company. At the same time, because of the importance of circuit security. Based on the simulation software multisim, the current sampling and over-current protection circuits are simulated, and the results show that the protection function can be realized. Finally. The control program of high performance closed-loop drive system of two-phase hybrid stepping motor is written by using C language, which includes rotor initial positioning program and current A / D conversion program. SVPWM algorithm program, integral separation Pi program, encoder decoding program, etc. At the same time, from many aspects of the necessary experimental test and analysis. Finally, the correctness and superiority of the proposed control algorithm are proved.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM383.6

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