步进电动机闭环控制系统研究

发布时间：2018-10-31 16:45

【摘要】：步进电动机是控制系统终端广泛使用的执行环节，但是开环控制的步进电动机存在振荡和失步等问题，使得步进电动机的应用受到限制，因此引入位置闭环控制来改善步进电动机的控制性能。本文以广泛使用的三相混合式步进电动机为对象，开展步进电动机闭环控制系统研究。文中首先简述了步进电动机开环控制系统的发展现状和存在的问题，对闭环控制系统研究现状进行分析，阐述了不同的步进电动机闭环控制的系统结构和研究中存在的问题，引出了本课题的研究目的和主要内容。对三相混合式步进电动机的构造和运行原理进行了研究，建立了电动机的数学模型，将三相混合式步进电动机看成交流永磁同步电动机进行分析。在步进电动机闭环控制系统中，驱动技术对系统性能有着重要的影响，本文分析了步进电动机不同驱动技术的特点，选取细分驱动作为闭环系统中步进电动机的驱动技术。对于步进电动机转子位置检测，分析了无传感器位置检测和有传感器位置检测的优缺点。针对传统使用id=0的矢量控制策略，论述了用这种方法控制步进电动机时的缺点，，为了提高步进电动机的运行效率，选取最大转矩电流比作为矢量控制策略。对空间矢量脉宽调制（SVPWM）技术进行了研究，在此基础上对SVPWM进行优化，有效地减少了控制过程中的开关次数，降低了开关损耗。随后对闭环调速时十分重要的电动机加减速控制进行了讨论。最后，给出步进电动机闭环控制系统的整体结构框图。在Matlab/Simulink仿真平台上，建立三相混合式步进电动机各个状态方程的仿真子系统，结合矢量控制、细分驱动、电流和速度闭环控制分别搭建了步进电动机开环控制仿真系统以及闭环控制仿真系统，并作对比研究。仿真结果表明步进电动机的闭环控制系统能有效的提高电动机控制系统的位置控制精度和抗干扰能力，最大转矩电流比能有效的提高电动机的运行效率。
[Abstract]:Stepping motor is widely used in the terminal of control system. However, the open-loop control step motor has the problems of oscillation and out-of-step, which limits the application of step motor. Therefore, the position closed loop control is introduced to improve the control performance of stepping motor. In this paper, the closed-loop control system of three-phase hybrid stepping motor is studied. In this paper, the development status and existing problems of open-loop control system of stepping motor are briefly introduced, the research status of closed-loop control system is analyzed, and the system structure of different closed-loop control system of stepping motor and the problems existing in the research are expounded. The purpose and main content of this research are introduced. The construction and operation principle of the three-phase hybrid stepping motor are studied, and the mathematical model of the motor is established. The three-phase hybrid stepping motor is regarded as an AC permanent magnet synchronous motor. In the closed-loop control system of stepping motor, the driving technology has an important effect on the performance of the system. This paper analyzes the characteristics of the different driving techniques of the stepping motor, and selects the subdivision drive as the driving technology of the stepping motor in the closed-loop system. For step motor rotor position detection, the advantages and disadvantages of sensorless position detection and sensorless position detection are analyzed. Aiming at the traditional vector control strategy using id=0, this paper discusses the disadvantages of using this method to control the stepping motor. In order to improve the running efficiency of the stepping motor, the maximum torque / current ratio is selected as the vector control strategy. The space vector pulse width modulation (SVPWM) technique is studied. Based on this, the SVPWM is optimized to reduce the number of switches and the switching loss effectively. Then the motor acceleration and deceleration control which is very important in closed-loop speed regulation is discussed. Finally, the block diagram of the closed-loop control system of step motor is given. Based on the Matlab/Simulink simulation platform, the simulation subsystem of each state equation of three-phase hybrid stepping motor is established, which is combined with vector control and subdivision drive. The open loop control simulation system and the closed loop control simulation system of step motor are established and compared with each other. The simulation results show that the closed-loop control system of stepping motor can effectively improve the position control accuracy and anti-interference ability of the motor control system, and the maximum torque / current ratio can effectively improve the running efficiency of the motor.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM383.6

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