本文關(guān)鍵詞：兩相混合式步進(jìn)電機(jī)高性能閉環(huán)驅(qū)動(dòng)系統(tǒng)研究　出處：《浙江理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 兩相混合式步進(jìn)電機(jī) SVPWM 閉環(huán)控制 積分分離PI 雙H橋逆變器

【摘要】：兩相混合式步進(jìn)電機(jī)因其控制簡(jiǎn)單、定位精確、成本低等優(yōu)點(diǎn)而廣泛應(yīng)用于工業(yè)和消費(fèi)電子領(lǐng)域。步進(jìn)電機(jī)的控制在傳統(tǒng)應(yīng)用場(chǎng)合下大多以開環(huán)控制為主,其主要存在低頻振蕩、轉(zhuǎn)速不高、帶載能力差、失步等缺點(diǎn)。近年來(lái),隨著現(xiàn)代工業(yè)應(yīng)用的不斷發(fā)展,人們對(duì)步進(jìn)電機(jī)的應(yīng)用場(chǎng)合提出了越來(lái)越高的要求,追求更高精度和動(dòng)態(tài)響應(yīng)以及提高高速帶載能力成為新的研究熱點(diǎn)。因此深入研究步進(jìn)電機(jī)控制系統(tǒng)以提高其控制性能具有實(shí)際的工程意義和理論意義。首先,本文在深入研究步進(jìn)電機(jī)的運(yùn)行機(jī)理和永磁交流伺服系統(tǒng)閉環(huán)控制機(jī)理的基礎(chǔ)上,推導(dǎo)了其在dq坐標(biāo)系下的數(shù)學(xué)模型,確定了閉環(huán)控制系統(tǒng)的原理框圖;通過分析雙H橋逆變器拓?fù)浣Y(jié)構(gòu)設(shè)計(jì)了一種上下橋臂互補(bǔ)導(dǎo)通、對(duì)角橋臂同時(shí)導(dǎo)通的控制方式,并基于此借鑒了三相空間電壓矢量脈寬調(diào)制(SVPWM)方式,重新推導(dǎo)了基于雙H橋逆變器的空間電壓矢量脈寬調(diào)制方法,同時(shí)設(shè)計(jì)了積分分離PI調(diào)節(jié)器,引入了以電流環(huán)/速度環(huán)為內(nèi)環(huán)和位置環(huán)為外環(huán)的閉環(huán)控制結(jié)構(gòu),最終形成兩相混合式步進(jìn)電機(jī)高性能閉環(huán)驅(qū)動(dòng)系統(tǒng)。其次,為了驗(yàn)證方案的可行性�；贛atlab/Simulink建立了閉環(huán)控制系統(tǒng)的仿真模型,該仿真模型中包括積分分離PI調(diào)節(jié)器模型、電機(jī)模型、Park變換及其反變換、SVPWM模型等模型,其中SVPWM模型和積分分離PI調(diào)節(jié)器模型主要采用的是M語(yǔ)言實(shí)現(xiàn)的;并同時(shí)從多個(gè)方面對(duì)該系統(tǒng)模型進(jìn)行了仿真分析,最終論證了本文設(shè)計(jì)方案的可行性。然后,結(jié)合本文控制算法設(shè)計(jì)了驅(qū)動(dòng)系統(tǒng)的硬件。該硬件包括控制核心及其外圍電路、雙H橋逆變電路、PWM隔離驅(qū)動(dòng)電路、電流采樣和過流保護(hù)電路、外部信號(hào)輸入輸出電路和通訊電路等電路,其中控制核心采取的是TI公司生產(chǎn)的DSP芯片。同時(shí),因電路安全的重要性,基于仿真軟件multisim對(duì)電流采樣和過流保護(hù)電路進(jìn)行了仿真,結(jié)果表明其能夠?qū)崿F(xiàn)保護(hù)功能。最后,以模塊化的思想利用C語(yǔ)言編寫了兩相混合式步進(jìn)電機(jī)高性能閉環(huán)驅(qū)動(dòng)系統(tǒng)控制程序,其中包括了轉(zhuǎn)子初始定位程序、電流的模數(shù)轉(zhuǎn)換程序、SVPWM算法程序、積分分離PI程序、編碼器解碼程序等。同時(shí),從多方面進(jìn)行了必要的實(shí)驗(yàn)測(cè)試及分析,最終證明了本文提出的控制算法的正確性及優(yōu)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.
【學(xué)位授予單位】：浙江理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM383.6

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