CN106961233A - A kind of two-phase hybrid stepping motor closed loop control method - Google Patents
A kind of two-phase hybrid stepping motor closed loop control method Download PDFInfo
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- CN106961233A CN106961233A CN201710196586.7A CN201710196586A CN106961233A CN 106961233 A CN106961233 A CN 106961233A CN 201710196586 A CN201710196586 A CN 201710196586A CN 106961233 A CN106961233 A CN 106961233A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- Fuzzy Systems (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention provides a kind of two-phase hybrid stepping motor closed loop control method, its control system being related to includes encoder, current collector, Mathematical Modeling, Kalman's observer, fuzzy adaptive controller and vector controller；It comprises the following steps：Step S1：Angle and angular speed are obtained by encoder；Electric current is obtained by current collector；Step S2：Electric current obtains output torque by Mathematical Modeling；Step S3：Angle, angular speed and output torque carry out the fusion treatment of data by Kalman's observer, obtain angle feed-back value, angular speed value of feedback and Angular Acceleration Feedback value；Step S4：Angle desired value, angle feed-back value, angular speed value of feedback and Angular Acceleration Feedback value pass through fuzzy adaptive controller, obtain Q shaft current desired values；Step S5：In motor operation, D shaft current desired values remain zero；The electric current that Q shaft currents desired value, D shaft currents desired value and current collector are obtained passes through vector controller, obtains controlled quentity controlled variable and motor is controlled.
Description
Technical field
The present invention relates to a kind of two-phase hybrid stepping motor closed loop control method, belong to motor driver field.
Background technology
Stepper motor have passed through the development of more than ten years since the appearance, has been widely used at present and is in various automatically control
In system.The downstream industry of stepper motor includes Digit Control Machine Tool, industrial automation, office automation, printing equipment and household electrical appliance
Deng field.With the arriving and the rise of Intelligent hardware in the epoch of global industry 4.0, as the critical component of electromechanical integration,
Traditional step motor control system has been difficult to the need for meeting future, the stepping electricity be badly in need of a kind of high precision and operated steadily
Machine control system.
Stepper motor is that a kind of electromechanics that digital type pulse signal is converted into mechanical displacement (angular displacement or displacement of the lines) is held
Units, have the advantages that dynamic force moment big, strong antijamming capability and positioning precision are high, be widely used in numerical control device, from
In the electromechanical integration equipments such as dynamicization instrument.The digit pulse of the displacement of stepper motor and input has strict corresponding relation,
I.e. one pulse signal can make stepper motor take a step forward, therefore also known as pulse motor.Want control stepper motor work well
Make, it is necessary to have suitable reliable drive device.The opened loop control of stepper motor is easily realized, but opened loop control control accuracy
Difference, and the systematic error of stepper motor can not be overcome, the systematic error of stepper motor must be solved by closed loop.
In existing closed-loop control system, position ring and the adaptivity that speed ring is controlled are bad, anti-based on encoder
The error of feedback is larger, it is difficult to adapt to the application of different occasions.
Chinese patent 201210422712.3 discloses the control system and control method of a kind of stepper motor, wherein system
Including：Controller, for producing the control instruction being controlled to two-phase hybrid stepping motor；Digital signal processing module,
It is connected with controller, for receiving control instruction, control instruction is converted into the operational factor of two-phase hybrid stepping motor,
The pulse signal index of coincidence type acceleration and deceleration curves for controlling to produce by operational factor；Motor drive module, with Digital Signal Processing
Module is connected, for pulse signal to be carried out into power amplification, and two-phase hybrid stepping is driven according to the pulse signal after amplification
Motor runs to final position with direction of rotation, rotating cycle, maximal rate from original position.
Chinese patent 201010227434.7 discloses a kind of direct automatic control method of hybrid stepper motor, and its feature exists
In：In each controlling cycle, obtain after winding current and winding terminal voltage, according to the transient state mathematics of composite stepper motor
Model estimates instantaneous stator magnetic linkage and transient electromagnetic torque；By rotor position angle or given turn of speed closed loop adjuster output
Square；Given torque and instantaneous torque are compared, given magnetic linkage and instantaneous magnetic linkage are compared, by comparative result, directly selected
Select optimal among five space voltage vectors of inverter one and act on composite stepper motor, sweared by inserting no-voltage
Measure to adjust stator magnetic linkage vector transient speed.
The control system applied to stepper motor mainly has two kinds at present：
1st, open-loop control system, it has the disadvantage：There are problems that step-out, vibration, difficulty in starting,；
2nd, with reference to the closed-loop control system of relatively common PID control, it has the disadvantage：Adaptivity has much room for improvement, not
Need to adjust respectively with application scenario.
The system accuracy of above-mentioned prior art and speed ability all in relatively low level, the present invention is based on closed loop
Control system, increases the feedback control loop and fuzzy adaptivecontroller technology of Position And Velocity, ultimately forms a kind of two-phase hybrid
Closed-Loop Control of Stepping Motor system, improves the control accuracy and application of step motor control system.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide a kind of two-phase hybrid stepping motor closed-loop control side
Method, it increases the feedback control loop and fuzzy adaptivecontroller technology of Position And Velocity, ultimately formed based on closed-loop control system
A kind of two-phase hybrid stepping motor closed-loop control system, improves the control accuracy and application of step motor control system.
To achieve these goals, the invention provides a kind of two-phase hybrid stepping motor closed loop control method, it is related to
And control system include encoder, current collector, Mathematical Modeling, Kalman's observer, fuzzy adaptive controller and arrow
Amount controller；It comprises the following steps：
Step S1：Angle and angular speed are obtained by encoder；Electric current is obtained by current collector；
Step S2：Electric current obtains output torque by Mathematical Modeling；
Step S3：Angle, angular speed and output torque carry out the fusion treatment of data by Kalman's observer, obtain angle
Spend value of feedback (Posfdb), angular speed value of feedback (Spdfdb) and Angular Acceleration Feedback value (Accfdb)；
Step S4：Angle desired value (Posref), angle feed-back value, angular speed value of feedback and Angular Acceleration Feedback value pass through mould
Self-adaptive fuzzy controller, obtains Q shaft current desired values (Iqref)；
Step S5：In motor operation, D shaft current desired values (Idref) remain zero；Q shaft currents desired value, D shaft current phases
The electric current that prestige value and current collector are obtained passes through vector controller, obtains controlled quentity controlled variable and motor is controlled.
In the present invention, encoder be responsible for gather two-phase stepping motor angular velocity of rotation and angle, obtain real-time it is relatively low,
Data without accumulated error.
In the present invention, current collector is responsible for collection two-phase stepping motor electric current (Iα、Iβ)。
In the present invention, Mathematical Modeling is responsible for the electric current (I gathered to current collectorα、Iβ) calculate, estimated
Output torque, the torque passes through Integral Processing, can obtain the angular velocity data that real-time is high, accumulated error is big.
In the present invention, Kalman's observer, which is responsible for merging, comes from the parameters such as encoder, the output torque of estimation, output electricity
The parameters such as angle, angular speed, the angular acceleration of machine output shaft, obtain the data that real-time is high, accumulated error is small.
In the present invention, fuzzy adaptive controller is responsible for according to state error, controlled quentity controlled variable needed for calculating.
In the present invention, vector controller is responsible for completing control allocation, and electricity is realized by controlled motor stator winding current
The maximum output of magnetic torque, that is, improve the operating efficiency of motor.
Setting up simple, accurate stepper motor model helps to analyse in depth stepper motor correlation properties, then determines phase
Control strategy is closed, it is significant for systematic function.Mathematical Modeling focuses on the more succinct approximate table of formula
Up to the motion process of stepper motor.
In the present invention, the electromagnetic torque of two-phase hybrid stepping motor is：
In formula, IαThe electric current of-- α phase windings, unit A；
IβThe electric current of-- β phase windings, unit A；
θ-- electrical angle；
LkjThe self-induction (k=j) of-- k phase windings, mutual inductance (k ≠ j), unit H；
P-- number of teeth of motor rotor；
ImThe equivalent exciting current of-- permanent magnet；
MsrThe equivalent mutual inductance of-- rotor.
According to another embodiment of the invention, fuzzy adaptive controller includes angle ring and angular speed ring；It is fuzzy
The workflow of adaptive controller comprises the following steps：
Step S41：Outside input angle desired value；
Step S42：Angle desired value passes through angle ring with angle feed-back value, obtains angular speed desired value (Spdref)；
Step S43：Angular speed desired value, angular speed value of feedback and Angular Acceleration Feedback value pass through angular speed ring, obtain Q axles
Current expected value.
In this programme, the effect of fuzzy adaptive controller is the compensation ability for improving angular speed ring to disturbance, enhancing control
Effect processed；The closed loop effect of guarantee system, it is to avoid step-out problem of the stepper motor in dynamic control.
According to another embodiment of the invention, angle ring includes PID regulator and feed-forward compensator；The work of angle ring
Comprise the following steps as flow：
Step S421：Angle desired value makes the difference with angle feed-back value, obtains angular error；
Step S422：Angular error sends into PID regulator, while angle desired value sends into feed-forward compensator；
Step S423：The output of PID regulator is added with the output of feed-forward compensator, angular speed desired value is obtained.
In this programme, PID regulator is a common backfeed loop part in Industry Control Application, by proportional unit
P, integral unit I and differentiation element D compositions.The basis of PID control is ratio control；Integration control can eliminate steady-state error, but
Overshoot may be increased；Differential control can accelerate Great inertia system response speed and weaken overshoot trend.
In this programme, the angle ring of Closed-Loop Control of Stepping Motor system utilizes PID regulator and feed-forward compensator, it is ensured that be
The closed loop effect of system, improves the control effect and adaptivity of closed-loop control system.
According to another embodiment of the invention, angular speed ring includes pi regulator and disturbance compensation device, disturbance compensation
Omnipotent approximation theory of the device based on fuzzy system, approaches the nonlinear disturbance not modeled；The workflow of angular speed ring is included such as
Lower step：
Step S431：Angular speed desired value makes the difference with angular speed value of feedback, obtains angular speed error；
Step S432：Angular speed error sends into pi regulator, while angular speed desired value, angular speed value of feedback and angle accelerate
Spend value of feedback feeding disturbance compensation device；
Step S433：The output of pi regulator is added with the output of disturbance compensation device, Q shaft current desired values are obtained.
In this programme, pi regulator is a kind of linear regulator, and it is inclined that it constitutes control according to set-point and real output value
Difference, constitutes controlled quentity controlled variable by linear combination by the ratio (P) of deviation and integration (I), controlled device is adjusted.
In this programme, using the omnipotent approximation theory of fuzzy system, the nonlinear disturbance not modeled is approached, is further improved
Angular speed ring strengthens control effect to the compensation ability of disturbance.
According to another embodiment of the invention, vector controller includes Park Transformation device, Q shaft currents adjuster, D axles
Current regulator and Parker inverse transformer；The workflow of vector controller comprises the following steps：
Step S51：The electric current I of motor α, β two-phaseα、IβQ shaft current values of feedback (I is obtained by Park Transformation deviceqfdb) and D
Shaft current value of feedback (Idfdb)；
Step S52：Q shaft currents desired value makes the difference with Q shaft current values of feedback, obtains Q shaft current errors, Q shaft current errors
Q shaft current adjusters are sent into, the controlled quentity controlled variable U under dq coordinate systems is obtainedq；D shaft currents desired value makes the difference with D shaft current values of feedback,
D shaft current errors are obtained, D shaft currents error feeding D shaft current adjusters obtain the controlled quentity controlled variable U under dq coordinate systemsd；
Step S53：UqWith UdBy Parker inverse transformer, the controlled quentity controlled variable U of motor α, β two-phase is obtainedα、Uβ。
In this programme, the effect of vector controller is the maximum that electromagnetic torque is realized by controlled motor stator winding current
Output, that is, improve the operating efficiency of motor.
According to another embodiment of the invention, vector controller further comprises pulse-width modulator (PWM)；Arrow
The workflow of amount controller further comprises following steps：
Step S54：UαWith UβBy pulse-width modulator, PWM controlled quentity controlled variables are converted into.
According to another embodiment of the invention, in step S1, electric current, current collector are obtained by current collector
The analog signal of electric current is converted into the data signal of electric current；In step S2, the data signal of electric current is obtained by Mathematical Modeling
Output torque.
According to another embodiment of the invention, using S weight decays memory Kalman Filter observer fusion magnetic linkage
The angle and angular speed of phase angle and encoder data, in real time estimation rotor, obtain the angular acceleration information of higher order.
According to another embodiment of the invention, the measured value of incremental optical-electricity encoder will be used as Kalman's observer
Measuring value, during low speed using T methods obtain measuring value, during high speed using M methods obtain measuring value.
In this programme, T methods refer to, by the time between value two pulses of calculating in counter register, then obtain
The rotating speed of motor, T methods increase with the increase relative error of speed；M methods refer to by it is determined that time in read and once compile
Code umber of pulse, and make the difference with last umber of pulse to be fixed the displacement in the time, and divided by the set time obtain speed
Degree, the precision that M methods test the speed is relevant with the precision and fixed time period of position sensor.
Compared with prior art, the present invention possesses following beneficial effect：
1st, using S weight decays memory Kalman Filter observer fusion magnetic linkage phase angle and encoder data, estimate in real time
Count the angle and angular speed of rotor, obtain the angular acceleration information of higher order, thus improve the real-time of measurement with it is accurate
Property；
2nd, using the omnipotent approximation theory of fuzzy system, the nonlinear disturbance not modeled is approached, angular speed is further improved
Ring strengthens control effect to the compensation ability of disturbance；
3rd, angle ring utilizes PID regulator and feed-forward compensator, it is ensured that the closed loop effect of system, improves closed-loop control system
Control effect and adaptivity.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the system framework figure of the two-phase hybrid stepping motor closed loop control method of embodiment 1.
Fig. 2 is the system detailed diagram of the two-phase hybrid stepping motor closed loop control method of embodiment 1.
Embodiment
Embodiment 1
Present embodiments provide a kind of two-phase hybrid stepping motor closed loop control method, system framework figure as shown in figure 1,
System detailed diagram is as shown in Fig. 2 its control system being related to includes encoder, current collector, Mathematical Modeling, Kalman's sight
Survey device, fuzzy adaptive controller and vector controller；It comprises the following steps：
Step S1：Angle and angular speed are obtained by encoder；Electric current is obtained by current collector, current collector will
The analog signal of electric current is converted into the data signal of electric current；
Step S2：The data signal of electric current obtains output torque by Mathematical Modeling；
Step S3：Angle, angular speed and output torque carry out the fusion treatment of data by Kalman's observer, obtain angle
Spend value of feedback (Posfdb), angular speed value of feedback (Spdfdb) and Angular Acceleration Feedback value (Accfdb)；
Step S4：Angle desired value (Posref), angle feed-back value, angular speed value of feedback and Angular Acceleration Feedback value are passed through
Fuzzy adaptive controller, obtains Q shaft currents desired value (Iqref)；
Step S5：In motor operation, D shaft currents desired value (Idref) remains zero；Q shaft currents desired value, D shaft currents
The electric current that desired value and current collector are obtained passes through vector controller, obtains controlled quentity controlled variable and motor is controlled.
Fuzzy adaptive controller includes angle ring and angular speed ring；The workflow of fuzzy adaptive controller is included such as
Lower step：
Step S41：Outside input angle desired value；
Step S42：Angle desired value passes through angle ring with angle feed-back value, obtains angular speed desired value (Spdref)；
Step S43：Angular speed desired value, angular speed value of feedback and Angular Acceleration Feedback value pass through angular speed ring, obtain Q axles
Current expected value.
Vector controller includes Park Transformation device, Q shaft currents adjuster, D shaft currents adjuster, Parker inverse transformer and arteries and veins
Rush width modulator (PWM)；The workflow of vector controller comprises the following steps：
Step S51：The electric current I of motor α, β two-phaseα、IβBy Park Transformation device obtain Q shaft currents value of feedback (Iqfdb) and
D shaft currents value of feedback (Idfdb)；
Step S52：Q shaft currents desired value makes the difference with Q shaft current values of feedback, obtains Q shaft current errors, Q shaft current errors
Q shaft current adjusters are sent into, the controlled quentity controlled variable U under dq coordinate systems is obtainedq；D shaft currents desired value makes the difference with D shaft current values of feedback,
D shaft current errors are obtained, D shaft currents error feeding D shaft current adjusters obtain the controlled quentity controlled variable U under dq coordinate systemsd；
Step S53：UqWith UdBy Parker inverse transformer, the controlled quentity controlled variable U of motor α, β two-phase is obtainedα、Uβ；
Step S54：UαWith UβBy pulse-width modulator, PWM controlled quentity controlled variables are converted into.
Angle ring includes PID regulator and feed-forward compensator；The workflow of angle ring comprises the following steps：
Step S421：Angle desired value makes the difference with angle feed-back value, obtains angular error；
Step S422：Angular error sends into PID regulator, while angle desired value sends into feed-forward compensator；
Step S423：The output of PID regulator is added with the output of feed-forward compensator, angular speed desired value is obtained.
Angular speed ring includes pi regulator and disturbance compensation device, and omnipotent based on fuzzy system of disturbance compensation device approaches reason
By approaching the nonlinear disturbance not modeled；The workflow of angular speed ring comprises the following steps：
Step S431：Angular speed desired value makes the difference with angular speed value of feedback, obtains angular speed error；
Step S432：Angular speed error sends into pi regulator, while angular speed desired value, angular speed value of feedback and angle accelerate
Spend value of feedback feeding disturbance compensation device；
Step S433：The output of pi regulator is added with the output of disturbance compensation device, Q shaft current desired values are obtained.
Using S weight decays memory Kalman Filter observer fusion magnetic linkage phase angle and encoder data, in real time estimation
The angle and angular speed of rotor, obtain the angular acceleration information of higher order.
The measured value of incremental optical-electricity encoder is obtained as the measuring value of Kalman's observer during low speed using T methods
Measuring value, measuring value is obtained during high speed using M methods.
Although the present invention is disclosed above with preferred embodiment, the scope that the present invention is implemented is not limited to.Any
The those of ordinary skill in field, it is when a little improvement can be made, i.e., every according to this hair in the invention scope for not departing from the present invention
Bright done equal improvement, should be the scope of the present invention and is covered.
Claims (9)
1. a kind of two-phase hybrid stepping motor closed loop control method, the control system that the control method is related to includes coding
Device, current collector, Mathematical Modeling, Kalman's observer, fuzzy adaptive controller and vector controller；The control method
Comprise the following steps：
Step S1：Angle and angular speed are obtained by the encoder；Electric current is obtained by the current collector；
Step S2：Electric current obtains output torque by the Mathematical Modeling；
Step S3：Angle, angular speed and output torque carry out the fusion treatment of data by Kalman's observer, obtain angle
Spend value of feedback, angular speed value of feedback and Angular Acceleration Feedback value；
Step S4：Angle desired value, angle feed-back value, angular speed value of feedback and Angular Acceleration Feedback value are by described fuzzy adaptive
Controller is answered, Q shaft current desired values are obtained；
Step S5：In motor operation, D shaft current desired values remain zero；Q shaft currents desired value, D shaft currents desired value and electric current
The electric current that collector is obtained passes through the vector controller, obtains controlled quentity controlled variable and motor is controlled.
2. control method as claimed in claim 1, the fuzzy adaptive controller includes angle ring and angular speed ring；It is described
The workflow of fuzzy adaptive controller comprises the following steps：
Step S41：Outside input angle desired value；
Step S42：Angle desired value passes through the angle ring with angle feed-back value, obtains angular speed desired value；
Step S43：Angular speed desired value, angular speed value of feedback and Angular Acceleration Feedback value pass through the angular speed ring, obtain Q axles
Current expected value.
3. control method as claimed in claim 2, the angle ring includes PID regulator and feed-forward compensator；The angle
The workflow of ring comprises the following steps：
Step S421：Angle desired value makes the difference with angle feed-back value, obtains angular error；
Step S422：Angular error sends into the PID regulator, while angle desired value sends into the feed-forward compensator；
Step S423：The output of the PID regulator is added with the output of the feed-forward compensator, angular speed expectation is obtained
Value.
4. control method as claimed in claim 2, the angular speed ring includes pi regulator and disturbance compensation device, the disturbance
Omnipotent approximation theory of the compensator based on fuzzy system, approaches the nonlinear disturbance not modeled；The workflow of the angular speed ring
Journey comprises the following steps：
Step S431：Angular speed desired value makes the difference with angular speed value of feedback, obtains angular speed error；
Step S432：Angular speed error sends into the pi regulator, while angular speed desired value, angular speed value of feedback and angle accelerate
Spend value of feedback and send into the disturbance compensation device；
Step S433：The output of the pi regulator is added with the output of the disturbance compensation device, the expectation of Q shaft currents is obtained
Value.
5. control method as claimed in claim 1, the vector controller includes Park Transformation device, Q shaft currents adjuster, D
Shaft current adjuster and Parker inverse transformer；The workflow of the vector controller comprises the following steps：
Step S51：The electric current I of motor α, β two-phaseα、IβQ shaft currents value of feedback and D shaft currents are obtained by the Park Transformation device
Value of feedback；
Step S52：Q shaft currents desired value makes the difference with Q shaft current values of feedback, obtains Q shaft current errors, Q shaft currents error feeding
The Q shaft currents adjuster, obtains the controlled quentity controlled variable U under dq coordinate systemsq；D shaft currents desired value makes the difference with D shaft current values of feedback,
D shaft current errors are obtained, D shaft currents error sends into the D shaft currents adjuster, obtains the controlled quentity controlled variable U under dq coordinate systemsd；
Step S53：UqWith UdBy the Parker inverse transformer, the controlled quentity controlled variable U of motor α, β two-phase is obtainedα、Uβ。
6. control method as claimed in claim 1, the vector controller further comprises pulse-width modulator (PWM)；
The workflow of the vector controller further comprises following steps：
Step S54：UαWith UβBy the pulse-width modulator, PWM controlled quentity controlled variables are converted into.
7. in control method as claimed in claim 1, the step S1, electric current is obtained by the current collector, it is described
The analog signal of electric current is converted into the data signal of electric current by current collector；In the step S2, the data signal warp of electric current
Cross the Mathematical Modeling and obtain output torque.
8. control method as claimed in claim 1, using S weight decays memory Kalman Filter observer fusion magnetic linkage phase
The angle and angular speed of angle and encoder data, in real time estimation rotor, obtain the angular acceleration information of higher order.
9. control method as claimed in claim 1, the measured value of incremental optical-electricity encoder will be used as Kalman's observer
Measuring value, measuring value is obtained during low speed using T methods, and measuring value is obtained using M methods during high speed.
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| CN107831668A (en) * | 2017-11-15 | 2018-03-23 | 机械工业仪器仪表综合技术经济研究所 | A kind of method and system suitable for servo antrol self-adapting detecting |
| CN108429495A (en) * | 2018-05-23 | 2018-08-21 | 苏州工业职业技术学院 | Four winding permanent magnet direct current torque motor control systems |
| CN108859781A (en) * | 2018-06-19 | 2018-11-23 | 南京中车浦镇海泰制动设备有限公司 | Rail vehicle braking deceleration closed-loop control device and control method |
| CN109256994A (en) * | 2018-09-27 | 2019-01-22 | 北京大豪科技股份有限公司 | Control method, device, system and the storage medium of two-phase stepping motor |
| CN109660176A (en) * | 2019-01-09 | 2019-04-19 | 河北工业大学 | A kind of used in new energy vehicles synchronous magnetic resistance motor control method based on exchange step motion control |
| CN110759004A (en) * | 2019-12-25 | 2020-02-07 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
| CN113067509A (en) * | 2021-03-30 | 2021-07-02 | 广州卓腾科技有限公司 | Two-phase hybrid stepping motor position closed-loop vector control method and system |
| CN114665776A (en) * | 2022-05-23 | 2022-06-24 | 深圳市杰美康机电有限公司 | Control method and system for dynamic decoupling of closed-loop stepping motor and storage medium |
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