CN101814888A - Method for suppressing low-speed oscillation of hybrid stepper motor - Google Patents

Method for suppressing low-speed oscillation of hybrid stepper motor Download PDF

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CN101814888A
CN101814888A CN 201010192043 CN201010192043A CN101814888A CN 101814888 A CN101814888 A CN 101814888A CN 201010192043 CN201010192043 CN 201010192043 CN 201010192043 A CN201010192043 A CN 201010192043A CN 101814888 A CN101814888 A CN 101814888A
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winding
current
stepper motor
given
rotor
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周扬忠
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Fuzhou University
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Fuzhou University
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Abstract

The invention relates to a method for suppressing low-speed oscillation of a hybrid stepping motor, which is characterized in that: according to feedback winding currents and given winding voltages existing in the micro-step control system of a hybrid stepping motor, adopting a magnetic chain estimator, a rotor torque estimator, a band-pass filter and a proportion regulator to effectively inhibit the given winding current phase angle modulation quantity in low-speed rotor oscillation, and then adopting a given winding current phase modulator and a closed-loop type winding current control mode to realize the real-time modulation of the actual winding current phase, thereby suppressing the low-speed rotor oscillation. The control method of the invention is applicable to both two-phase hybrid stepping motors and multi-phase hybrid stepping motors. Moreover, no additional speed or acceleration sensors, idling devices and the like are required, thereby reducing the cost of the stepping driver.

Description

A kind of method for suppressing low-speed oscillation of hybrid stepper motor
Technical field
The present invention relates to a kind of method for suppressing low-speed oscillation of hybrid stepper motor.
Background technology
Adopt permanent magnet excitation on the composite stepper motor rotor, have big, the efficient advantages of higher of output torque during machine operation, be widely used in Digit Control Machine Tool, engraving machine, embroidery machine, medicine equipment etc. and require the Accurate Position Control occasion.But machine operation is in the stepping state, and the damped oscillation coefficient of motor self is very little, can produce violent rotor oscillating like this on some rotating speed points in low cruise district, has greatly limited the motor operational speed range.For the composite stepper motor of rotor 50 teeth, the typical rotating speed when vibration takes place is about 1r/s, 2r/s, 4r/s.The present invention proposes a kind of effective inhibition method just at composite stepper motor low-speed oscillation problem, realizes that motor is in the low regime even running.
Composite stepper motor adopts micro-stepping control more at present, and its thought is that the N five equilibrium is carried out in each synchronizing at interval, whenever receives an external pulse, very little step angle of rotor rotation, rather than original very big synchronizing angle.The low regime operation stability truly has raising, but the not increase of the damped oscillation coefficient of motor self, low-speed oscillation still exists.Coaxial installation rate or acceleration transducer, formation speed or Acceleration Negative Feedback can effectively suppress low-speed oscillation, but improve the drive system hardware cost, and have reduced the reliability of drive system.Also can utilize the method that installs idle device additional, suppress rotor oscillating, but need be to original driving hardware system redesign, the same existence increases the system cost problem.
Summary of the invention
In view of the deficiencies in the prior art, the purpose of this invention is to provide a kind of method that can effectively suppress the composite stepper motor low-speed oscillation, this method need not to increase extra speed or acceleration transducer, extra idle device etc., has reduced the step actuator cost.
The present invention adopts following scheme to realize: a kind of method for suppressing low-speed oscillation of hybrid stepper motor is characterized in that: according to the already present winding feedback current of composite stepper motor micro-stepping control system
Figure DEST_PATH_IMAGE002
,
Figure 2010101920436100002DEST_PATH_IMAGE004
With the given voltage of winding
Figure 2010101920436100002DEST_PATH_IMAGE006
, , adopt the be effectively suppressed given current phase angle modulation voltage of winding of rotor low-speed oscillation of magnetic linkage estimator, rotor torque estimator, band pass filter, proportional controller , utilize given current phase modulator of winding and winding current close-loop control mode again, realize the real-time modulation of winding actual current phase place, suppress the rotor low-speed oscillation.
Method of the present invention is applicable to two-phase or multiphase composite stepper motor, and implementation step is as follows in preferred embodiment: (1) is with the stator current phase angle of setting
Figure 2010101920436100002DEST_PATH_IMAGE012
And amplitude
Figure 2010101920436100002DEST_PATH_IMAGE014
, obtain the predetermined value of winding current through the predetermined device of winding current
Figure 2010101920436100002DEST_PATH_IMAGE016
,
Figure 2010101920436100002DEST_PATH_IMAGE018
, promptly
Figure 2010101920436100002DEST_PATH_IMAGE020
,
Figure 2010101920436100002DEST_PATH_IMAGE022
, current phase angle wherein Directly provide or utilize reversible increase and decrease calculator outside input pulse to be counted to get amplitude by host computer with the binary numeral form
Figure 693382DEST_PATH_IMAGE014
Equal the motor windings peak current rating;
(2) will ,
Figure 743695DEST_PATH_IMAGE018
And the modulation voltage of the given current phase angle of winding
Figure 368186DEST_PATH_IMAGE010
Obtain the winding current set-point through the given current phase modulator of winding
Figure 2010101920436100002DEST_PATH_IMAGE024
,
Figure 2010101920436100002DEST_PATH_IMAGE026
, promptly
Figure 2010101920436100002DEST_PATH_IMAGE028
,
Figure 2010101920436100002DEST_PATH_IMAGE030
(3) calculate current error
Figure 2010101920436100002DEST_PATH_IMAGE032
,
Figure DEST_PATH_IMAGE034
, and it is given to obtain winding voltage by pi regulator
Figure 879064DEST_PATH_IMAGE006
,
Figure 956217DEST_PATH_IMAGE008
, , , wherein:
Figure DEST_PATH_IMAGE040
,
Figure DEST_PATH_IMAGE042
(4)
Figure 781216DEST_PATH_IMAGE006
,
Figure 512412DEST_PATH_IMAGE008
Drive power tube switch controlling signal in the controlled inverter bridge by pulse-width modulation and power tube, realize the winding current closed-loop control;
In the above-mentioned step (2), the modulation voltage of the given current phase angle of described winding
Figure 315895DEST_PATH_IMAGE010
Obtain by following steps:
(2.1) from the inverter bridge circuit, record electric machine phase current by current sensor and corresponding signal processing circuit
Figure 132541DEST_PATH_IMAGE002
,
Figure DEST_PATH_IMAGE044
(2.2) will
Figure 744920DEST_PATH_IMAGE006
,
Figure 81354DEST_PATH_IMAGE008
And ,
Figure 690507DEST_PATH_IMAGE044
Send into the magnetic linkage estimator, obtain rotor flux
Figure DEST_PATH_IMAGE046
,
Figure DEST_PATH_IMAGE048
,
Figure DEST_PATH_IMAGE050
,
Figure DEST_PATH_IMAGE052
, wherein
Figure DEST_PATH_IMAGE054
, L is respectively winding resistance, self-inductance;
(2.3) will
Figure 588799DEST_PATH_IMAGE046
,
Figure 45320DEST_PATH_IMAGE048
And , Send in the rotor torque estimator, obtain torque ,
Figure DEST_PATH_IMAGE058
, wherein:
Figure DEST_PATH_IMAGE060
Be the rotor number of teeth;
(2.4) will
Figure 811391DEST_PATH_IMAGE056
Send into band pass filter, obtain containing the high-frequency signal of low speed vibration
(2.5) will
Figure 184735DEST_PATH_IMAGE062
Send into proportional controller, obtain being used for the modulation voltage of the given current phase angle of winding
Figure 18699DEST_PATH_IMAGE010
,
Figure DEST_PATH_IMAGE064
, wherein:
Figure DEST_PATH_IMAGE066
The present invention with existing install speed or acceleration scheme additional and install idle device additional suppress the rotor oscillating method and compare, have the following advantages: 1) utilize existing winding current detected value and voltage given value in the drive system, adopt magnetic linkage estimator, torque estimator, band pass filter, proportional controller, obtain the given current phase angle modulation voltage of winding, the drive system hardware cost does not increase; 2) utilize the rotor torque estimator to observe the electromagnetic torque of rotor flux and winding current interaction generation, and with behind this torque process band pass filter, the proportional controller, the given current phase angle of winding is modulated, wherein do not had the integration delay component, suppress the low-speed oscillation better effects if; 3) add static coordinate transform link after, the present invention is equally applicable to heterogeneous composite stepper motor.
Description of drawings
Fig. 1 has the rotor of inhibition low-speed oscillation function composite stepper motor micro-stepping control principle block diagram.
Fig. 2 is the composite stepper motor dynamic changing process.
Fig. 3 is the band pass filter amplitude-versus-frequency curve.
Fig. 4 is the composite stepper motor micro-stepping control hardware structure of embodiment.
Fig. 5 is embodiment The phase inverter bridge.
Fig. 6 is winding terminal voltage positive pulse and the negative pulse waveform of embodiment.
Fig. 7 be embodiment have the low-speed oscillation inhibit feature time torque waveform.
Torque waveform when Fig. 8 is the no low-speed oscillation inhibit feature of embodiment.
Embodiment
The present invention is according to the already present winding feedback current of composite stepper motor micro-stepping control system
Figure 553077DEST_PATH_IMAGE002
,
Figure 248632DEST_PATH_IMAGE004
With the given voltage of winding ,
Figure 419030DEST_PATH_IMAGE008
, adopt the be effectively suppressed given current phase angle modulation voltage of winding of rotor low-speed oscillation of magnetic linkage estimator, rotor torque estimator, band pass filter, proportional controller
Figure 919282DEST_PATH_IMAGE010
, utilize given current phase modulator of winding and winding current close-loop control mode again, realize the real-time modulation of winding actual current phase place, suppress the rotor low-speed oscillation.As shown in Figure 1, Fig. 1 has the rotor of inhibition low-speed oscillation function composite stepper motor micro-stepping control principle block diagram.Wherein alternating voltage is filtered into direct voltage through capacitor C again through diode rectification
Figure DEST_PATH_IMAGE070
After, be added on the half-bridge converter of controlling composite stepper motor two-phase winding current respectively.The stator current phase angle
Figure 212335DEST_PATH_IMAGE012
And amplitude
Figure 560271DEST_PATH_IMAGE014
Obtain the predetermined value of winding current through the predetermined device of winding current
Figure 673721DEST_PATH_IMAGE016
,
Figure 412001DEST_PATH_IMAGE018
, obtain the winding current set-point through the given current phase modulator of winding again
Figure 698626DEST_PATH_IMAGE024
,
Figure 445608DEST_PATH_IMAGE026
, it is given that current error obtains winding voltage by pi regulator
Figure 792276DEST_PATH_IMAGE006
,
Figure 17852DEST_PATH_IMAGE008
, drive power tube control signal in the controlled inverter bridge by pulse-width modulation and power tube, realize the winding current closed-loop control.The winding current that detects
Figure 108168DEST_PATH_IMAGE002
, On the one hand be used to constitute the current closed-loop Control and Feedback, on the other hand with ,
Figure 67662DEST_PATH_IMAGE008
Give the magnetic linkage estimator together, obtain magnetic linkage
Figure 696089DEST_PATH_IMAGE046
,
Figure 807877DEST_PATH_IMAGE048
Figure 230768DEST_PATH_IMAGE046
, With ,
Figure 566700DEST_PATH_IMAGE044
Give the rotor torque estimator together, obtain rotor torque
Figure 426072DEST_PATH_IMAGE056
Figure 847957DEST_PATH_IMAGE056
Through band pass filter, obtain containing the high-frequency signal of low speed vibration
Figure 83766DEST_PATH_IMAGE062
Through proportional controller, obtain being used for the modulation voltage of the given current phase angle of winding
Figure 934840DEST_PATH_IMAGE010
By the given current phase modulator of winding, realize
Figure 844021DEST_PATH_IMAGE010
To the predetermined value of winding current
Figure 555625DEST_PATH_IMAGE016
, The phase angle modulation obtains the winding current set-point
Figure 497353DEST_PATH_IMAGE024
,
Figure 893831DEST_PATH_IMAGE026
If 2 parts of frame of broken lines among the figure are removed, will
Figure 205863DEST_PATH_IMAGE016
, Directly conduct
Figure 186381DEST_PATH_IMAGE024
,
Figure 319423DEST_PATH_IMAGE026
, corresponding theory diagram is the common current closed loop micro-stepping composite stepper motor control principle block diagram of no rotor low-speed oscillation inhibit feature.The composite stepper motor dynamic changing process as shown in Figure 2.Wherein
Figure DEST_PATH_IMAGE072
,
Figure DEST_PATH_IMAGE074
,
Figure DEST_PATH_IMAGE076
Be respectively rotor permanent magnet flux linkage vector, the predetermined vector of winding current, the given vector of winding current.
According to known motor movement equation as seen, under load one stable condition, the rotor speed control performance directly depends on the motor electromagnetic torque.In current closed-loop micro-stepping composite stepper motor control system, electromagnetic torque is directly controlled at the stator current phase angle.When
Figure 61245DEST_PATH_IMAGE062
Greater than zero, show that rotor oscillating causes the motor electromagnetic torque greater than load torque, rotating speed has increase tendency, increases in order to suppress rotating speed, reduces the stator current phase angle, the instantaneous electromagnetic torque that reduces; Otherwise, when
Figure 963342DEST_PATH_IMAGE062
Less than zero, show that rotor oscillating causes the motor electromagnetic torque less than load torque, rotating speed has the trend of reducing, and reduces in order to suppress rotating speed, increases the stator current phase angle, instantaneous increase electromagnetic torque.Adopt the modulation of stator current phase angle, effectively suppress electromagnetic torque pulsation, effectively suppress the fluctuation of rotating speed, realize that rotor steadily rotates.
Method of the present invention is applicable to two-phase and heterogeneous composite stepper motor, in order to allow those skilled in the art better understand the present invention, specifically is described below performing step in the present embodiment:
(1) with the stator current phase angle of setting
Figure 316438DEST_PATH_IMAGE012
And amplitude
Figure 421928DEST_PATH_IMAGE014
, obtain the predetermined value of winding current through the predetermined device of winding current
Figure 341343DEST_PATH_IMAGE016
,
Figure 848679DEST_PATH_IMAGE018
, promptly
Figure 562557DEST_PATH_IMAGE020
,
Figure 420923DEST_PATH_IMAGE022
, current phase angle wherein
Figure 878449DEST_PATH_IMAGE012
Directly provide or utilize reversible increase and decrease calculator outside input pulse to be counted to get amplitude by host computer with the binary numeral form
Figure 237361DEST_PATH_IMAGE014
Equal the motor windings peak current rating;
(2) will
Figure 387720DEST_PATH_IMAGE016
,
Figure 467803DEST_PATH_IMAGE018
And the modulation voltage of the given current phase angle of winding Obtain the winding current set-point through the given current phase modulator of winding
Figure 945368DEST_PATH_IMAGE024
,
Figure 266628DEST_PATH_IMAGE026
, promptly
Figure 834007DEST_PATH_IMAGE028
,
(3) calculate current error
Figure 990278DEST_PATH_IMAGE032
,
Figure 482439DEST_PATH_IMAGE034
, and it is given to obtain winding voltage by pi regulator
Figure 271535DEST_PATH_IMAGE006
,
Figure 874555DEST_PATH_IMAGE008
, ,
Figure 541607DEST_PATH_IMAGE038
, wherein: ,
Figure 97146DEST_PATH_IMAGE042
(4)
Figure 657441DEST_PATH_IMAGE006
,
Figure 976558DEST_PATH_IMAGE008
Drive power tube switch controlling signal in the controlled inverter bridge by pulse-width modulation and power tube, realize the winding current closed-loop control;
In the above-mentioned step (2), the modulation voltage of the given current phase angle of described winding
Figure 255092DEST_PATH_IMAGE010
Obtain by following steps:
(2.1) from the inverter bridge circuit, record electric machine phase current by current sensor and corresponding signal processing circuit
Figure 950647DEST_PATH_IMAGE002
,
Figure 365448DEST_PATH_IMAGE044
(2.2) will
Figure 118116DEST_PATH_IMAGE006
,
Figure 618367DEST_PATH_IMAGE008
And
Figure 852033DEST_PATH_IMAGE002
,
Figure 386920DEST_PATH_IMAGE044
Send into the magnetic linkage estimator, obtain rotor flux
Figure 47840DEST_PATH_IMAGE046
,
Figure 848436DEST_PATH_IMAGE048
,
Figure 135061DEST_PATH_IMAGE050
,
Figure 272257DEST_PATH_IMAGE052
, wherein
Figure 618925DEST_PATH_IMAGE054
, L is respectively winding resistance, self-inductance, obtain from motor nameplate;
(2.3) will
Figure 844501DEST_PATH_IMAGE046
,
Figure 669237DEST_PATH_IMAGE048
And
Figure 663869DEST_PATH_IMAGE002
,
Figure 181438DEST_PATH_IMAGE044
Send in the rotor torque estimator, obtain torque
Figure 894311DEST_PATH_IMAGE056
, , wherein:
Figure 368947DEST_PATH_IMAGE060
For the rotor number of teeth, obtain from motor nameplate;
(2.4) will
Figure 57417DEST_PATH_IMAGE056
Send into band pass filter, obtain containing the high-frequency signal of low speed vibration
Figure 257585DEST_PATH_IMAGE062
(2.5) will
Figure 424124DEST_PATH_IMAGE062
Send into proportional controller, obtain being used for the modulation voltage of the given current phase angle of winding
Figure 455666DEST_PATH_IMAGE010
,
Figure 65770DEST_PATH_IMAGE064
, wherein:
Figure 736922DEST_PATH_IMAGE066
The band pass filter amplitude-versus-frequency curve as shown in Figure 3 in the above step (2.4).
Figure DEST_PATH_IMAGE078
,
Figure DEST_PATH_IMAGE080
Be respectively the upper and lower of band pass filter by the electric angle frequency.If winding current first-harmonic electric angle frequency is , then , will
Figure 471267DEST_PATH_IMAGE056
The middle reliable filtering of fundametal compoment.Supposing the system switching angle frequency is
Figure DEST_PATH_IMAGE086
Then be coupled to system input, disturb the normal performance of rotor oscillating inhibit feature, then for fear of the system switching action
For three-phase hybrid stepping motor, from the inverter bridge circuit, record any biphase current in the motor three-phase by current sensor and corresponding signal processing circuit
Figure DEST_PATH_IMAGE090
,
Figure DEST_PATH_IMAGE092
, adopt 3/2 coordinate transform to calculate , As follows:
Figure DEST_PATH_IMAGE094
Figure DEST_PATH_IMAGE096
For three-phase hybrid stepping motor, need to adopt three phase inverter bridge control motor windings voltage, obtaining voltage given ,
Figure 365962DEST_PATH_IMAGE008
After, adopt the space voltage vector modulator approach can obtain to drive the power tube switch controlling signal of three phase inverter bridge.
Please continue referring to Fig. 4, Fig. 4 is a composite stepper motor micro-stepping control hardware structure of the present invention, and it comprises: rectification circuit, filter capacitor, inverter, composite stepper motor, busbar voltage Acquisition Circuit, winding current Acquisition Circuit, isolation drive, central controller, man-machine interface.
Here we are that central controller is an example with TMS320F2808DSP, are the controlling object checking that experimentizes with the two-phase hybrid stepping motor.The composite stepper motor parameter is in the experiment: R=1 L=0.0018H; P=50; I N=4A;
Figure DEST_PATH_IMAGE100
Experiment condition: DC bus-bar voltage Be 30V; Sampling period 50
Figure DEST_PATH_IMAGE102
The electric current fundamental frequency
Figure DEST_PATH_IMAGE104
(when corresponding rotating speed 1.875r/s, no low-speed oscillation inhibit feature, this motor produces thermal agitation on this rotating speed point); Unloaded.
We carry out according to the following steps in the experiment:
1. set ,
Figure DEST_PATH_IMAGE108
,
Figure DEST_PATH_IMAGE110
,
Figure DEST_PATH_IMAGE112
,
Figure DEST_PATH_IMAGE114
2. the segmentation number is 16,
Figure DEST_PATH_IMAGE116
3. calculate the given current phase angle modulation voltage of winding
Figure 905362DEST_PATH_IMAGE010
As follows:
(3.1). from the inverter bridge circuit, record electric machine phase current by current sensor and corresponding signal processing circuit
Figure 551107DEST_PATH_IMAGE002
,
(3.2). calculate rotor flux by following formula
Figure 661462DEST_PATH_IMAGE046
,
Figure 784270DEST_PATH_IMAGE048
:
Figure 917311DEST_PATH_IMAGE050
Figure 780838DEST_PATH_IMAGE052
(3.3). calculate torque by following formula
Figure 682935DEST_PATH_IMAGE056
:
Figure 976644DEST_PATH_IMAGE058
(3.4). will
Figure 144451DEST_PATH_IMAGE056
Send into band pass filter, obtain containing the high-frequency signal of low speed vibration
Figure 63866DEST_PATH_IMAGE062
(3.5). calculate the modulation voltage that is used for the given current phase angle of winding by following formula
Figure 571202DEST_PATH_IMAGE010
:
Figure 285080DEST_PATH_IMAGE064
According to segmentation number, input pulse,
Figure DEST_PATH_IMAGE118
, calculate the predetermined value of winding current
Figure 202833DEST_PATH_IMAGE016
, :
Figure 22201DEST_PATH_IMAGE020
，
Figure 923292DEST_PATH_IMAGE022
；
5.
Figure 252642DEST_PATH_IMAGE016
,
Figure 999012DEST_PATH_IMAGE018
And
Figure 730208DEST_PATH_IMAGE010
Obtain the winding current set-point through the given current phase modulator of winding
Figure 799271DEST_PATH_IMAGE024
,
Figure 350338DEST_PATH_IMAGE026
: ,
6. calculate the winding current error
Figure DEST_PATH_IMAGE120
, :
Figure 666678DEST_PATH_IMAGE032
,
Figure 718423DEST_PATH_IMAGE034
7. to obtain winding voltage by pi regulator given for current error
Figure 321443DEST_PATH_IMAGE006
,
Figure 512384DEST_PATH_IMAGE008
:
，
Figure 451838DEST_PATH_IMAGE038
；
8. the half-bridge converter of two winding employings is identical, with
Figure 671598DEST_PATH_IMAGE068
Be mutually the example inverter bridge as shown in Figure 5, the winding two ends produce positive pulse and negative pulse waveform as shown in Figure 6,
Figure DEST_PATH_IMAGE124
Be the sampling period 50
Figure 42012DEST_PATH_IMAGE102
,
Figure DEST_PATH_IMAGE126
Phase winding voltage pulsewidth is respectively
Figure DEST_PATH_IMAGE128
, According to
Figure 298812DEST_PATH_IMAGE006
,
Figure 577346DEST_PATH_IMAGE008
Carry out pulse-width modulation, produce the switching signal of driving power pipe, its pulsewidth is as follows:
Figure DEST_PATH_IMAGE132
， ；
Fig. 7 is the torque experimental waveform when having the low-speed oscillation inhibit feature, and Fig. 8 torque experimental waveform during for no low-speed oscillation inhibit feature.Relatively as seen, 39.4% the when pulsation of torque peak-to-peak value only has or not the low-speed oscillation inhibit feature when having the low-speed oscillation inhibit feature, the rotor low-speed oscillation is effectively suppressed.
The above only is preferred embodiment of the present invention, and all equalizations of being done according to the present patent application claim change and modify, and all should belong to covering scope of the present invention.

Claims (5)

1. a method for suppressing low-speed oscillation of hybrid stepper motor is characterized in that: according to the already present winding feedback current of composite stepper motor micro-stepping control system ,
Figure 47566DEST_PATH_IMAGE002
With the given voltage of winding
Figure 2010101920436100001DEST_PATH_IMAGE003
,
Figure 634536DEST_PATH_IMAGE004
, adopt the be effectively suppressed given current phase angle modulation voltage of winding of rotor low-speed oscillation of magnetic linkage estimator, rotor torque estimator, band pass filter, proportional controller
Figure 2010101920436100001DEST_PATH_IMAGE005
, utilize given current phase modulator of winding and winding current close-loop control mode again, realize the real-time modulation of winding actual current phase place, suppress the rotor low-speed oscillation.
2. method for suppressing low-speed oscillation of hybrid stepper motor according to claim 1 is characterized in that: this control method is applicable to two-phase or multiphase composite stepper motor.
3. method for suppressing low-speed oscillation of hybrid stepper motor according to claim 2 is characterized in that: the controlled step of described two-phase or multiphase composite stepper motor is as follows:
(1) with the stator current phase angle of setting
Figure 640669DEST_PATH_IMAGE006
And amplitude
Figure 2010101920436100001DEST_PATH_IMAGE007
, obtain the predetermined value of winding current through the predetermined device of winding current
Figure 651963DEST_PATH_IMAGE008
, , promptly
Figure 32129DEST_PATH_IMAGE010
,
Figure 2010101920436100001DEST_PATH_IMAGE011
, current phase angle wherein
Figure 422790DEST_PATH_IMAGE006
Directly provide or utilize reversible increase and decrease calculator outside input pulse to be counted to get amplitude by host computer with the binary numeral form
Figure 283430DEST_PATH_IMAGE007
Equal the motor windings peak current rating;
(2) will
Figure 593188DEST_PATH_IMAGE008
,
Figure 211383DEST_PATH_IMAGE009
And the modulation voltage of the given current phase angle of winding Obtain the winding current set-point through the given current phase modulator of winding
Figure 977006DEST_PATH_IMAGE012
, , promptly
Figure 333032DEST_PATH_IMAGE014
,
Figure 2010101920436100001DEST_PATH_IMAGE015
(3) calculate current error
Figure 766419DEST_PATH_IMAGE016
,
Figure 2010101920436100001DEST_PATH_IMAGE017
, and it is given to obtain winding voltage by pi regulator
Figure 233303DEST_PATH_IMAGE003
,
Figure 255486DEST_PATH_IMAGE004
,
Figure 717167DEST_PATH_IMAGE018
,
Figure 2010101920436100001DEST_PATH_IMAGE019
, wherein:
Figure 372270DEST_PATH_IMAGE020
,
(4)
Figure 642845DEST_PATH_IMAGE003
, Drive power tube switch controlling signal in the controlled inverter bridge by pulse-width modulation and power tube, realize the winding current closed-loop control;
In the above-mentioned step (2), the modulation voltage of the given current phase angle of described winding Obtain by following steps:
(2.1) from the inverter bridge circuit, record electric machine phase current by current sensor and corresponding signal processing circuit
Figure 294516DEST_PATH_IMAGE001
,
Figure 555733DEST_PATH_IMAGE022
(2.2) will ,
Figure 93342DEST_PATH_IMAGE004
And
Figure 660721DEST_PATH_IMAGE001
, Send into the magnetic linkage estimator, obtain rotor flux
Figure 2010101920436100001DEST_PATH_IMAGE023
,
Figure 62063DEST_PATH_IMAGE024
,
Figure DEST_PATH_IMAGE025
, , wherein
Figure DEST_PATH_IMAGE027
, L is respectively winding resistance, self-inductance;
(2.3) will
Figure 215756DEST_PATH_IMAGE023
,
Figure 818776DEST_PATH_IMAGE024
And
Figure 72034DEST_PATH_IMAGE001
,
Figure 485829DEST_PATH_IMAGE022
Send in the rotor torque estimator, obtain torque
Figure 11488DEST_PATH_IMAGE028
,
Figure DEST_PATH_IMAGE029
, wherein:
Figure 228318DEST_PATH_IMAGE030
Be the rotor number of teeth;
(2.4) will Send into band pass filter, obtain containing the high-frequency signal of low speed vibration
Figure DEST_PATH_IMAGE031
(2.5) will
Figure 920779DEST_PATH_IMAGE031
Send into proportional controller, obtain being used for the modulation voltage of the given current phase angle of winding
Figure 933734DEST_PATH_IMAGE005
,
Figure 629289DEST_PATH_IMAGE032
, wherein:
Figure DEST_PATH_IMAGE033
4. method for suppressing low-speed oscillation of hybrid stepper motor according to claim 3 is characterized in that: set the upper and lower of band pass filter in the described step (2.4) and be respectively by the electric angle frequency
Figure 752464DEST_PATH_IMAGE034
, , winding current first-harmonic electric angle frequency is
Figure 570378DEST_PATH_IMAGE036
, in order to incite somebody to action
Figure 821362DEST_PATH_IMAGE028
The middle reliable filtering of fundametal compoment then
Figure DEST_PATH_IMAGE037
, supposing the system switching angle frequency is
Figure 382925DEST_PATH_IMAGE038
, be coupled to system input for fear of the system switching action, disturb the normal performance of rotor oscillating inhibit feature, then
Figure DEST_PATH_IMAGE039
5. method for suppressing low-speed oscillation of hybrid stepper motor according to claim 4, it is characterized in that:, from the inverter bridge circuit, record any biphase current in the motor three-phase by current sensor and corresponding signal processing circuit for three-phase hybrid stepping motor
Figure 462352DEST_PATH_IMAGE040
,
Figure DEST_PATH_IMAGE041
, adopt 3/2 coordinate transform to calculate
Figure 638118DEST_PATH_IMAGE001
,
Figure 376398DEST_PATH_IMAGE022
As follows:
，
；
Adopt three phase inverter bridge control motor windings voltage, obtaining voltage given
Figure 678515DEST_PATH_IMAGE003
,
Figure 569723DEST_PATH_IMAGE004
After, adopt the space voltage vector modulator approach to obtain to drive the power tube switch controlling signal of three phase inverter bridge.
CN 201010192043 2010-06-05 2010-06-05 Method for suppressing low-speed oscillation of hybrid stepper motor Pending CN101814888A (en)

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CN102624307A (en) * 2011-01-26 2012-08-01 山东朗进科技股份有限公司 Constant torque driving method and driving circuit of stepping motor
CN102689600A (en) * 2011-03-21 2012-09-26 通用汽车环球科技运作有限责任公司 Unstable signal detection for electro-mechanical vehicle component
CN104320034A (en) * 2014-10-30 2015-01-28 福州大学 Permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method
CN104539204A (en) * 2014-12-05 2015-04-22 深圳市雷赛智能控制股份有限公司 Interference torque measuring method and low-speed vibration restraining method of stepping motor
CN104779888A (en) * 2015-04-28 2015-07-15 浙江格兰菲德电子科技有限公司 Low EMI motor driver structure
CN104779886A (en) * 2015-04-28 2015-07-15 浙江格兰菲德电子科技有限公司 Low-vibration motor driver structure
CN105313962A (en) * 2014-07-30 2016-02-10 操纵技术Ip控股公司 Wheel imbalance rejection module
CN109600086A (en) * 2018-12-17 2019-04-09 安徽江淮汽车集团股份有限公司 The oscillation suppression method of hybrid vehicle
WO2021128862A1 (en) * 2019-12-24 2021-07-01 Zhejiang Dahua Technology Co., Ltd. Systems and methods for controlling stepping motor

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102624307A (en) * 2011-01-26 2012-08-01 山东朗进科技股份有限公司 Constant torque driving method and driving circuit of stepping motor
CN102689600A (en) * 2011-03-21 2012-09-26 通用汽车环球科技运作有限责任公司 Unstable signal detection for electro-mechanical vehicle component
CN102689600B (en) * 2011-03-21 2014-09-17 通用汽车环球科技运作有限责任公司 Unstable signal detection for electro-mechanical vehicle component
CN105313962B (en) * 2014-07-30 2021-07-27 操纵技术Ip控股公司 Wheel imbalance suppression module
CN105313962A (en) * 2014-07-30 2016-02-10 操纵技术Ip控股公司 Wheel imbalance rejection module
CN104320034A (en) * 2014-10-30 2015-01-28 福州大学 Permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method
CN104539204B (en) * 2014-12-05 2017-03-15 深圳市雷赛智能控制股份有限公司 A kind of interference torque detection method of motor and its low speed vibration suppressing method
CN104539204A (en) * 2014-12-05 2015-04-22 深圳市雷赛智能控制股份有限公司 Interference torque measuring method and low-speed vibration restraining method of stepping motor
CN104779886A (en) * 2015-04-28 2015-07-15 浙江格兰菲德电子科技有限公司 Low-vibration motor driver structure
CN104779888A (en) * 2015-04-28 2015-07-15 浙江格兰菲德电子科技有限公司 Low EMI motor driver structure
CN109600086A (en) * 2018-12-17 2019-04-09 安徽江淮汽车集团股份有限公司 The oscillation suppression method of hybrid vehicle
CN109600086B (en) * 2018-12-17 2020-11-03 安徽江淮汽车集团股份有限公司 Oscillation suppression method for hybrid electric vehicle
WO2021128862A1 (en) * 2019-12-24 2021-07-01 Zhejiang Dahua Technology Co., Ltd. Systems and methods for controlling stepping motor
US12015370B2 (en) 2019-12-24 2024-06-18 Zhejiang Dahua Technology Co., Ltd. Systems and methods for controlling stepping motor

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Application publication date: 20100825