二相混合式步进电机高性能驱动系统的研究及实现
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摘要
步进电机是一种数字电机，具有无累积误差、性价比高等优点，被广泛应用于生活和生产领域中。异于其他电机，步进电机必须使用驱动器才能工作。步进电机运行时存在低频振荡和矩频特性，是设计驱动系统必须考虑的两大难题，驱动器性能的提升影响着步进电机的发展前景，因此研究一种高性能步进电机驱动系统及控制方法具有重要的实际意义。
本文主要研究二相混合式步进电机高性能驱动控制系统，实现减小低频振荡和改善矩频特性目的。首先分析目前常用升降速控制技术，对比不同的时间速度曲线，推导理论控制方程，在此基础上提出一种改进的升减速控制方法，即指数形式结合台阶模式的加减速控制技术。其次，以Logistic增长方程为模型，通过分析矩频特性曲线，提出一种基于调频调压驱动模式的电流补偿控制技术，并采用高斯-牛顿法拟合实验数据，得出调频调压控制曲线，实现电机的供电电压实时有效的跟踪运行频率。
搭建实验研究平台，以STM32F103微处理器为核心设计控制系统，包含单片机控制电路、功率驱动电路、调频调压驱动电源及电流采样反馈电路。给出详细的设计方案，并分析各个电路的工作原理。设计了上位机控制界面，方便实验控制与研究。
通过实验平台验证控制方案的优越性，给出相应的实验波形。研究表明：该驱动系统具有结构简单、可移植性强等优点。系统运行时不仅平稳，且提高了高频性能，具有一定的研究和实用价值。
Stepper motor is a digital motor which has the advantages of no stepping accumulated error and low cost, so it is widely used in the fields of life and production. Differently from other motors, stepper motor needs a motor driver for working. The low frequency oscillation and the moment frequency characteristics are two problems which should be considered when we design stepper motor driven system. The improvements of drive performance affect the development of the stepper motor. Therefore, it has important practical significance to study a stepper motor drive system with high performance and control method.
The studies of high performance driving and controlling method for two-phase hybrid stepper motors are proposed and analyzed to reduce the low-frequency oscillation and improve the moment-frequency characteristics in this thesis. Firstly, an exponential acceleration and deceleration control technology combined with stepped mode is given after contrasting different time speed theory curve equation. Then, according to analyze Logistic growth model and current compensation control method, new frequency-voltage modulation drive technique is proposed for the use of stepping motor. And frequency-voltage regulator control curve is given by Gauss-Newton method. The supply voltage of the motor driven is following up the operating frequency of motor.
Experimental research platform has built for the two-phase hybrid stepper motor. Control systems include MCU STM32F103control circuit, power driver circuit, frequency-voltage regulator power and current sampling feedback circuit. All detailed design of the various circuits is given. In addition, PC control interface also has designed for convenient experimental control and research.
Experiments have verified the superiority of the control strategy, and the experimental waveforms are given in the article. The results show that:the implementation of the system has the advantages of simple structure and portability. Stationary and high-frequency performance can be found when the system is running, so this study owns a certain amount of research and practical value.
本文主要研究二相混合式步进电机高性能驱动控制系统，实现减小低频振荡和改善矩频特性目的。首先分析目前常用升降速控制技术，对比不同的时间速度曲线，推导理论控制方程，在此基础上提出一种改进的升减速控制方法，即指数形式结合台阶模式的加减速控制技术。其次，以Logistic增长方程为模型，通过分析矩频特性曲线，提出一种基于调频调压驱动模式的电流补偿控制技术，并采用高斯-牛顿法拟合实验数据，得出调频调压控制曲线，实现电机的供电电压实时有效的跟踪运行频率。
搭建实验研究平台，以STM32F103微处理器为核心设计控制系统，包含单片机控制电路、功率驱动电路、调频调压驱动电源及电流采样反馈电路。给出详细的设计方案，并分析各个电路的工作原理。设计了上位机控制界面，方便实验控制与研究。
通过实验平台验证控制方案的优越性，给出相应的实验波形。研究表明：该驱动系统具有结构简单、可移植性强等优点。系统运行时不仅平稳，且提高了高频性能，具有一定的研究和实用价值。
Stepper motor is a digital motor which has the advantages of no stepping accumulated error and low cost, so it is widely used in the fields of life and production. Differently from other motors, stepper motor needs a motor driver for working. The low frequency oscillation and the moment frequency characteristics are two problems which should be considered when we design stepper motor driven system. The improvements of drive performance affect the development of the stepper motor. Therefore, it has important practical significance to study a stepper motor drive system with high performance and control method.
The studies of high performance driving and controlling method for two-phase hybrid stepper motors are proposed and analyzed to reduce the low-frequency oscillation and improve the moment-frequency characteristics in this thesis. Firstly, an exponential acceleration and deceleration control technology combined with stepped mode is given after contrasting different time speed theory curve equation. Then, according to analyze Logistic growth model and current compensation control method, new frequency-voltage modulation drive technique is proposed for the use of stepping motor. And frequency-voltage regulator control curve is given by Gauss-Newton method. The supply voltage of the motor driven is following up the operating frequency of motor.
Experimental research platform has built for the two-phase hybrid stepper motor. Control systems include MCU STM32F103control circuit, power driver circuit, frequency-voltage regulator power and current sampling feedback circuit. All detailed design of the various circuits is given. In addition, PC control interface also has designed for convenient experimental control and research.
Experiments have verified the superiority of the control strategy, and the experimental waveforms are given in the article. The results show that:the implementation of the system has the advantages of simple structure and portability. Stationary and high-frequency performance can be found when the system is running, so this study owns a certain amount of research and practical value.
引文
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[6]陈学军.步进电机细分驱动控制系统的研究与实现[J].电机与控制应用.2006,33(6)：48～50.
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[9]程智,任雷,韩光鲜,王宗培.二相步进电动机系统高频运行牵出转矩的提升[J].微电机2000(11)：7-9.
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[13]Hwi-Beom Shin. New anti windup PI controller for variable-speed motor drives.IEEE Trans on Industry Electronics,1998,45(3):52-56.
[14]Betin F, Pinchon D,Capolino G A. Fuzzy Logic Applied to Speed Control of Stepping Motor Drive. IEEE Trans on Industry Electronics,2000,47(3):610-622.
[15]Kiyonobu Mizutani, Shigeo Hayashi, Nobuyuki Matsui. Modeling and Control of Hybrid Stepping Motors, Industry Applications Society Annual Meeting,1993, Page289-294vol.1.
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[20]王宗培.步进电机的发展及建议[J].微电机.2004,37(4)：47～49.
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[24]周明安,朱光忠.步进电机驱动技术发展及现状[J].机电工程技术,2005,(34)：16-17.
[25]陈培民.五相混合式步进电动机PWM调频调压驱动[J].华侨大学学报,1995(4)：145～149.
[26]吴国忠,许懿洋步进电动机驱动电源的设计与其可靠性分析[J]中小型电机,2003(6)：51～54.
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[31]G Yi, Hang Li, Chen Shi, et al.Research on Control Type Soft Switching Converters.35th Annual IEEE Power Electronics Specialists Conference. Aachen:2004,1470-1475.
[32]张波,焦小芝.基于SG3525A的半桥式开关电源[J].电子与封装2012(6)：18-20.
[33]杨晓静.高频开关电源的研究与设计[D].武汉理工大学.2011.
[34]Sung-Sae Lee, Sang-K Han, Gun-Woo Moon. Analysis and Design of Asymmetrical ZVS PWM Half Bridge Forward Converter with Flyback Type Transformer.35th Annual IEEE Power Electronics Specialists Conference,2004:1525-1530.
[35]Vadell J E,Chiang L E. Stepping Motor Driving by Controlled-energy Discharge. IEEE Trans on Industry Electronics,1999,46(1):52-60.
[36]Andres Diaz, Elias G.Strangas. A novel wide range pulse width over modulation Method. Applied Power Electronics Conference and Exposition,2000. APEC2000. Fifteenth Annual IEEE.2000:556-561.
[37]Kim J.H, Ryu-L H. Pulse power supply using an IGBT switch stacks for plasma source ion implantation. Dielectrics and Electrical Insulation,2004(35):806-809.
[38]赵同贺,刘军.开关电源设计技术与应用实例[M].北京：人民邮电出版社,2007.
[39]王振永,王然冉.电动机的数学模型和参数辨识[M].北京：机械工业出版社,1991.
[40]廉迎战,柳向阳,童怀等.混合式步进电动机驱动系统的统一状态方程[J].微特电动机,1999(3)：17～20.
[41]陈爱国,黄文玲,杨红红.步进电机升降速曲线的研究[J].机电产品开发与创新2003(2)：47～49.
[42]胡建华,廖文和,周儒荣.CNC系统中几种升降速控制曲线的研究与比较[J].南京航空航天大学学报1999(6)：706～711.
[43]董长双.高速冲压加工数控系统和二维排样优化的研究[D].华中理工大学.1999
[44]李海波,何雪涛.步进电动机升降速的离散控制[J].北京化工大学学报.2003(1)：92～94.
[45]杨青峰,马琨哲.高速步进电机的最佳控制方法[J].电工技术2004(7)：52～53.
[46]Joseph Yiu,宋岩.ARM Coretex_M3权威指南[M].北京：北京航空航天大学出版社,2009.
[47]李宁.基于MDK的STM32处理器开发应用[M].北京航空航天大学2008.10.
[48]石军.轴向运动物体参激不稳定性研究及其控制[D].苏州大学,2012.
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[2]刘宝廷,程树康.步进电动机及其驱动控制系统[M].哈尔滨：哈尔滨工业大学出版社,1997.
[3]史敬灼.步进电动机伺服控制技术[M].北京：科学出版社,2006.7.
[4]马宏忠.电机学[M].北京：高等教育出版社,2009.1.
[5]Tozune A, Sakamoto M. Characteristics of permanent-magnet type3-phase Stepping motor. IAS'99, Conference Record of the1999IEEE Industry Applications Conference, Thirtieth IAS Annual Meeting, held in Orlando, FL,USA,8-12Oct,1999:748-755.
[6]陈学军.步进电机细分驱动控制系统的研究与实现[J].电机与控制应用.2006,33(6)：48～50.
[7]陈培民.步进电机的高性能驱动[J].华侨大学学报,1998(10)：347～349.
[8]王宗培,程智.二相混合式步进电动机系统转矩提升的实践[J].微电机1998(1)：1～6.
[9]程智,任雷,韩光鲜,王宗培.二相步进电动机系统高频运行牵出转矩的提升[J].微电机2000(11)：7-9.
[10]林瑞,孙兴进.步进电动机的细分电流波形及其实现[J].上海大学学报(自然科学版,1999,5(2)：501～504.
[11]Raymond B.Sepe, Jeffrey H.Lang. Inverter nonlinearities and discrete-time vector current control, IEEE Trans on IA,1994,30(1):62-70.
[12]Clarkson P J, Carney P. Closed-loop Control of Stepping Motor systems.IEEE Trans on Industry Applications,1998,24(4):685-691.
[13]Hwi-Beom Shin. New anti windup PI controller for variable-speed motor drives.IEEE Trans on Industry Electronics,1998,45(3):52-56.
[14]Betin F, Pinchon D,Capolino G A. Fuzzy Logic Applied to Speed Control of Stepping Motor Drive. IEEE Trans on Industry Electronics,2000,47(3):610-622.
[15]Kiyonobu Mizutani, Shigeo Hayashi, Nobuyuki Matsui. Modeling and Control of Hybrid Stepping Motors, Industry Applications Society Annual Meeting,1993, Page289-294vol.1.
[16]徐益民.步进电机的单片机控制系统的设计[J].煤矿机械,2005(1)：12～13.
[17]李国厚.步进电机驱动与控制系统的设计[J].煤矿机械2008,29(2)：114～116.
[18]Sakamoto.M. Tozune.A. High torque2phase hybrid type stepping motor, Electrical Machines and Systems,2005. ICEMS2005.Proceeding of the Eighth International Conference on Vol1.pp:630-634.
[19]Baker,D.2phase hybrid stepping motors. Stepper Motors and Their Control, IEEE Colloquium,1994,25(1):21-23.
[20]王宗培.步进电机的发展及建议[J].微电机.2004,37(4)：47～49.
[21]杨渝钦.控制电机[M].北京：机械工业出版社.1993.
[22]巫传专.王晓雷.控制电机及其应用.[M]北京：电子工业出版.2008.8.
[23]朱耀忠.电机与电力拖动[M].北京：北京航空航天大学出版社.2005.
[24]周明安,朱光忠.步进电机驱动技术发展及现状[J].机电工程技术,2005,(34)：16-17.
[25]陈培民.五相混合式步进电动机PWM调频调压驱动[J].华侨大学学报,1995(4)：145～149.
[26]吴国忠,许懿洋步进电动机驱动电源的设计与其可靠性分析[J]中小型电机,2003(6)：51～54.
[27]张曦,王玉琳,刘光复.一种新型的五相混合式步进电动机驱动电源[J].组合机床与自动化加工技术,2011(9)：59～62.
[28]马忠梅,徐琰,叶青林ARM Cortex微处理器教程[M].北京：北京航空航天大学出版社,2010.
[29]张炳佳.步进电机H桥驱动电路设计[J].长沙电力学院学报2006(4)：31～33.
[30]张占松,蔡宣三.开关电源的原理与设计[M].北京电子工业出版社,2004.
[31]G Yi, Hang Li, Chen Shi, et al.Research on Control Type Soft Switching Converters.35th Annual IEEE Power Electronics Specialists Conference. Aachen:2004,1470-1475.
[32]张波,焦小芝.基于SG3525A的半桥式开关电源[J].电子与封装2012(6)：18-20.
[33]杨晓静.高频开关电源的研究与设计[D].武汉理工大学.2011.
[34]Sung-Sae Lee, Sang-K Han, Gun-Woo Moon. Analysis and Design of Asymmetrical ZVS PWM Half Bridge Forward Converter with Flyback Type Transformer.35th Annual IEEE Power Electronics Specialists Conference,2004:1525-1530.
[35]Vadell J E,Chiang L E. Stepping Motor Driving by Controlled-energy Discharge. IEEE Trans on Industry Electronics,1999,46(1):52-60.
[36]Andres Diaz, Elias G.Strangas. A novel wide range pulse width over modulation Method. Applied Power Electronics Conference and Exposition,2000. APEC2000. Fifteenth Annual IEEE.2000:556-561.
[37]Kim J.H, Ryu-L H. Pulse power supply using an IGBT switch stacks for plasma source ion implantation. Dielectrics and Electrical Insulation,2004(35):806-809.
[38]赵同贺,刘军.开关电源设计技术与应用实例[M].北京：人民邮电出版社,2007.
[39]王振永,王然冉.电动机的数学模型和参数辨识[M].北京：机械工业出版社,1991.
[40]廉迎战,柳向阳,童怀等.混合式步进电动机驱动系统的统一状态方程[J].微特电动机,1999(3)：17～20.
[41]陈爱国,黄文玲,杨红红.步进电机升降速曲线的研究[J].机电产品开发与创新2003(2)：47～49.
[42]胡建华,廖文和,周儒荣.CNC系统中几种升降速控制曲线的研究与比较[J].南京航空航天大学学报1999(6)：706～711.
[43]董长双.高速冲压加工数控系统和二维排样优化的研究[D].华中理工大学.1999
[44]李海波,何雪涛.步进电动机升降速的离散控制[J].北京化工大学学报.2003(1)：92～94.
[45]杨青峰,马琨哲.高速步进电机的最佳控制方法[J].电工技术2004(7)：52～53.
[46]Joseph Yiu,宋岩.ARM Coretex_M3权威指南[M].北京：北京航空航天大学出版社,2009.
[47]李宁.基于MDK的STM32处理器开发应用[M].北京航空航天大学2008.10.
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