本文關(guān)鍵詞：兩相混合步進電機開環(huán)性能優(yōu)化與閉環(huán)控制研究　出處：《華南理工大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 步進電機 速度曲線 滑模 抖振 趨近律

【摘要】：步進電機是一種在工業(yè)上應(yīng)用非常廣泛的伺服系統(tǒng)，但是由于其自身固有的缺陷以及傳統(tǒng)控制方式的不足使得它在應(yīng)用中會存在一些不可忽略的問題，例如開環(huán)啟動時容易失步或者堵轉(zhuǎn)、低速時平穩(wěn)性較差以及中高速時快速響應(yīng)能力和抗負(fù)載擾動能力欠佳等。這在一定程度上使步進電機伺服系統(tǒng)在工業(yè)中的應(yīng)用受到制約。因此，尋找更有效的控制方式對于步進電機的實際控制系統(tǒng)具有非常深遠(yuǎn)的現(xiàn)實意義。 針對步進電機開環(huán)啟動容易失步等問題，本文提出了一種改進的指數(shù)型速度曲線。通過對步進電機的運行特性進行分析以及對步進電機速度曲線的研究，，本課題在指數(shù)型速度曲線上加以改進，從而設(shè)計出優(yōu)化的指數(shù)型速度曲線。改進后的速度曲線既保留了原本指數(shù)型速度曲線的優(yōu)點又易于在工業(yè)應(yīng)用上實現(xiàn)。本文還通過仿真和實驗說明了此速度曲線的有效性。 本課題采用滑模變結(jié)構(gòu)控制方法來提高混合步進電機的抗負(fù)載擾動能力�；Ｗ兘Y(jié)構(gòu)以其極高的魯棒性而受到廣大學(xué)者的關(guān)注。計算機控制技術(shù)的發(fā)展為滑模變結(jié)構(gòu)控制的應(yīng)用提供了良好的發(fā)展機遇，而DSPIC和ASIC的快速發(fā)展和完善，使滑模變結(jié)構(gòu)在電機速度、位置控制系統(tǒng)方面的應(yīng)用具有更加優(yōu)良性能。然而這種控制方法存在著系統(tǒng)抖振，因此，在基于滑�？刂破鞯碾姍C控制系統(tǒng)中，如何削弱抖振是研究者應(yīng)該高度重視的問題。減少抖振的其中一種方法是趨近律法，這種方式可以改善滑模運動的動態(tài)特性，從而削弱抖振。本文分析了若干種典型趨近律的數(shù)學(xué)模型及其特性，并針對一般指數(shù)趨近律在靠近滑模面時抖振較大、在滑動模態(tài)區(qū)時收斂性較差等問題，提出了一種改進的指數(shù)趨近律，即具有時變切換增益的指數(shù)趨近律。該方法在原來固定切換增益的基礎(chǔ)上增加了時變修正因子，使得切換增益在滑模運動階段隨著系統(tǒng)狀態(tài)減小而衰減至零，從而削弱了系統(tǒng)抖振、提高了系統(tǒng)收斂性、改善了系統(tǒng)運動品質(zhì)。 最后，本文針對步進電機滑模控制系統(tǒng)進行了仿真和實驗研究，仿真與實驗結(jié)果表明，與傳統(tǒng)PI控制器相比，基于滑模算法的步進電機控制系統(tǒng)具有響應(yīng)速度快以及魯棒性高等優(yōu)勢。同時實驗還說明了該改進的指數(shù)型趨近律方法能有效地削弱系統(tǒng)抖振同時還使系統(tǒng)可靠地收斂于原點。
[Abstract]:Stepping motor is a kind of servo system which is widely used in industry. However, due to its inherent defects and the shortcomings of traditional control methods, there are some problems that can not be ignored in its application. For example, when the open loop starts, it is easy to lose step or block the turn. The stability at low speed and the ability of fast response and anti-load disturbance at medium and high speed are poor, which restricts the application of stepper motor servo system in industry to a certain extent. It is of great practical significance to find more effective control methods for the practical control system of stepping motor. An improved exponential speed curve is proposed to solve the problem that the stepping motor is easy to lose step when it starts in open loop. By analyzing the running characteristics of the step motor and studying the speed curve of the step motor. This subject is improved on the exponential velocity curve. Thus, the optimized exponential velocity curve is designed. The improved speed curve not only retains the advantages of the original exponential speed curve, but also is easy to be realized in industrial application. The paper also shows the speed curve by simulation and experiment. The effectiveness of. In this paper, sliding mode variable structure control method is used to improve the anti-load disturbance ability of hybrid stepping motor. Sliding mode variable structure has attracted the attention of many scholars because of its extremely high robustness. The development of computer control technology is the development of sliding mode. The application of variable structure control provides a good opportunity for development. With the rapid development and perfection of DSPIC and ASIC, the application of sliding mode variable structure in motor speed and position control system has better performance. However, there is system buffeting in this control method. Therefore, in the motor control system based on sliding mode controller, how to reduce buffeting is a problem that researchers should pay great attention to, and one of the ways to reduce buffeting is to approach the law. This method can improve the dynamic characteristics of sliding mode motion and weaken buffeting. In this paper, the mathematical models and characteristics of some typical convergence laws are analyzed, and the general exponential approach law is larger when it is near the sliding mode surface. In this paper, an improved exponential approach law is proposed to solve the problem of poor convergence in sliding mode region. In this method, the time-varying correction factor is added to the original fixed switching gain, which makes the switching gain attenuate to zero with the decrease of the system state in the sliding mode phase. Thus, the chattering of the system is weakened, the convergence of the system is improved, and the quality of the system motion is improved. Finally, the simulation and experimental research on the sliding mode control system of stepping motor are carried out. The simulation and experimental results show that compared with the traditional Pi controller. The step motor control system based on sliding mode algorithm has the advantages of fast response speed and high robustness. The experiments also show that the improved exponential approach law method can effectively weaken the buffeting of the system and make the system reliable. The ground converges to the origin.
【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM383.6

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