基于Simulink的步进电机控制系统仿真
发布时间：2018-08-19 20:13
【摘要】：步进电机作为一种将电脉冲信号转换成相应角位移的执行器件,具有定位精度高、动态力矩大、控制简单等特点,可以直接采用数字脉冲信号进行开环控制。为了实现步进电机的平稳快速运动,提高电机加速能力以及减小启停过程对电机的冲击,防止失步,合理的加减速运行曲线设计是非常重要的。本文通过建立基于MATLAB/Simulink的步进电机控制系统仿真模型,研究运行曲线对步进电机控制性能的影响,实现对步进电机转动速度和控制精度的优化,该仿真模型也为预测其它步进电机系统的工作性能提供了一种途径。 本文对步进电机开环控制系统进行研究,首先建立了基于Simulink的步进电机控制系统仿真模型,在此基础上对梯形和抛物线两种运行曲线进行仿真,并对两种运行曲线的仿真结果进行比较分析。为满足系统的应用需求,在实验平台上采用VerilogHDL硬件描述语言设计步进电机控制IP核,实现对步进电机的精确控制。 本文对步进电机的结构和工作原理进行了介绍,总结并分析了步进电机的数学模型,以及步进电机细分驱动技术的基本原理。通过对步进电机加减速控制方法的研究,设计了一种用于实时控制的抛物线运行曲线。 本文基于步进电机数学方程,结合Simulink提供的参考模型建立了步进电机仿真模型,该模型可以通过对电机参数的修改实现通用化。并建立了步进电机细分驱动模块,可根据需求更改细分数、额定电流值和电压值,从而对步进电机实现细分驱动控制仿真。 本文对步进电机速度控制方法进行研究,基于系统实时性、精确性的要求,结合步进电机矩频特性曲线,推导了抛物线运行曲线数学方程,并与梯形运行曲线进行了对比仿真。仿真结果表明,抛物线运行曲线具有更优的开环控制特性,提高了步进电机的转动速度和控制精度。 为验证抛物线运行曲线的控制性能,本文基于步进电机控制系统的硬件实验平台,采用自顶向下的方法,使用Verilog HDL语言设计了步进电机控制系统IP软核,对相应子模块以及顶层模块进行了仿真验证。分别对以上两种运行曲线进行转动速度和控制周期的实验,实验结果与仿真结果基本一致。结果表明采用抛物线运行曲线在单位控制周期内可明显提升步进电机的转动速度,同时也提高了控制精度。
[Abstract]:As an executive device which converts electrical pulse signal into corresponding angular displacement, stepping motor has the characteristics of high positioning accuracy, large dynamic torque and simple control, so it can be directly controlled by digital pulse signal. In order to realize the steady and fast movement of the stepping motor, improve the acceleration ability of the motor, reduce the impact of the starting and stopping process on the motor and prevent from losing step, it is very important to design the running curve of acceleration and deceleration reasonably. In this paper, the simulation model of step motor control system based on MATLAB/Simulink is established, and the influence of running curve on the control performance of step motor is studied, and the rotation speed and control precision of step motor are optimized. The simulation model also provides a way to predict the performance of other stepping motor systems. In this paper, the open-loop control system of stepping motor is studied. Firstly, the simulation model of stepping motor control system based on Simulink is established, and then the trapezoidal and parabolic running curves are simulated. The simulation results of two kinds of running curves are compared and analyzed. In order to meet the application requirements of the system, the VerilogHDL hardware description language is used to design the step motor control IP core on the experimental platform to realize the precise control of the step motor. This paper introduces the structure and working principle of stepping motor, summarizes and analyzes the mathematical model of step motor and the basic principle of subdivision driving technology of step motor. Based on the research of step motor acceleration and deceleration control method, a parabola running curve for real time control is designed. Based on the mathematical equation of stepping motor and the reference model provided by Simulink, the simulation model of stepping motor is established in this paper. The model can be generalized by modifying the parameters of the motor. The subdivision drive module of step motor is established, which can change the subdivision number, rated current value and voltage value according to the demand, and realize the simulation of the step motor subdivision drive control. In this paper, the speed control method of stepping motor is studied. Based on the requirements of real-time and accuracy of the system, the mathematical equation of the parabola running curve is derived, which is compared with the trapezoidal running curve, combined with the moment frequency characteristic curve of the stepping motor. The simulation results show that the parabolic running curve has better open-loop control characteristics and improves the rotation speed and control accuracy of the stepping motor. In order to verify the control performance of parabola running curve, based on the hardware experiment platform of stepping motor control system, this paper designs the IP soft core of step motor control system by using top-down method and Verilog HDL language. The corresponding sub-modules and top-level modules are simulated and verified. The rotation speed and control period of the above two kinds of running curves are tested, and the experimental results are in good agreement with the simulation results. The results show that the rotation speed of stepping motor can be increased obviously by using parabola running curve in the unit control period, and the control precision is also improved.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM383.6
本文编号：2192715
[Abstract]:As an executive device which converts electrical pulse signal into corresponding angular displacement, stepping motor has the characteristics of high positioning accuracy, large dynamic torque and simple control, so it can be directly controlled by digital pulse signal. In order to realize the steady and fast movement of the stepping motor, improve the acceleration ability of the motor, reduce the impact of the starting and stopping process on the motor and prevent from losing step, it is very important to design the running curve of acceleration and deceleration reasonably. In this paper, the simulation model of step motor control system based on MATLAB/Simulink is established, and the influence of running curve on the control performance of step motor is studied, and the rotation speed and control precision of step motor are optimized. The simulation model also provides a way to predict the performance of other stepping motor systems. In this paper, the open-loop control system of stepping motor is studied. Firstly, the simulation model of stepping motor control system based on Simulink is established, and then the trapezoidal and parabolic running curves are simulated. The simulation results of two kinds of running curves are compared and analyzed. In order to meet the application requirements of the system, the VerilogHDL hardware description language is used to design the step motor control IP core on the experimental platform to realize the precise control of the step motor. This paper introduces the structure and working principle of stepping motor, summarizes and analyzes the mathematical model of step motor and the basic principle of subdivision driving technology of step motor. Based on the research of step motor acceleration and deceleration control method, a parabola running curve for real time control is designed. Based on the mathematical equation of stepping motor and the reference model provided by Simulink, the simulation model of stepping motor is established in this paper. The model can be generalized by modifying the parameters of the motor. The subdivision drive module of step motor is established, which can change the subdivision number, rated current value and voltage value according to the demand, and realize the simulation of the step motor subdivision drive control. In this paper, the speed control method of stepping motor is studied. Based on the requirements of real-time and accuracy of the system, the mathematical equation of the parabola running curve is derived, which is compared with the trapezoidal running curve, combined with the moment frequency characteristic curve of the stepping motor. The simulation results show that the parabolic running curve has better open-loop control characteristics and improves the rotation speed and control accuracy of the stepping motor. In order to verify the control performance of parabola running curve, based on the hardware experiment platform of stepping motor control system, this paper designs the IP soft core of step motor control system by using top-down method and Verilog HDL language. The corresponding sub-modules and top-level modules are simulated and verified. The rotation speed and control period of the above two kinds of running curves are tested, and the experimental results are in good agreement with the simulation results. The results show that the rotation speed of stepping motor can be increased obviously by using parabola running curve in the unit control period, and the control precision is also improved.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM383.6
【参考文献】
相关期刊论文 前10条
1 赖大_g;刘荣科;;二进制数开任意正整数次方运算的硬件方法[J];北京航空航天大学学报;2008年08期
2 周晓宁;马平;田沛;;论步进电机的细分控制[J];电机技术;2007年06期
3 周黎;杨世洪;高晓东;;步进电机控制系统建模及运行曲线仿真[J];电机与控制学报;2011年01期
4 董晓庆;黄杰贤;张顺扬;;步进电机驱动器的关键技术研究[J];单片机与嵌入式系统应用;2008年06期
5 华蕊;步进电机细分驱动技术综述[J];佛山科学技术学院学报(自然科学版);1999年03期
6 刘川;刘景林;;基于Simulink仿真的步进电机闭环控制系统分析[J];测控技术;2009年01期
7 杨超;张冬泉;;基于S曲线的步进电机加减速的控制[J];机电工程;2011年07期
8 王勇;王伟;杨文涛;;步进电机升降速曲线控制系统设计及其应用[J];控制工程;2008年05期
9 邹乾;李兴根;;步进电机的自适应PI调速系统[J];轻工机械;2009年01期
10 孙孝年;浅析步进电机驱动器与步进电机的相互关系[J];世界电子元器件;1999年09期
相关博士学位论文 前1条
1 王广柱;电压型变换器抛物线法电流控制技术研究[D];山东大学;2008年
，本文编号：2192715
本文链接：https://www.wllwen.com/kejilunwen/dianlilw/2192715.html
