CN106961233B - 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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- 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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- Automation & Control Theory (AREA)
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- Control Of Stepping Motors (AREA)
Abstract
The present invention provides a kind of two-phase hybrid stepping motor closed loop control method, the control system being related to includes encoder, current collector, mathematical model, Kalman's observer, fuzzy adaptive controller and vector controller；It includes the following steps: step S1: obtaining angle and angular speed by encoder；Electric current is obtained by current collector；Step S2: electric current obtains output torque by mathematical model；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 value；Step S5: in motor operation, D shaft current desired value remains zero；The electric current that Q shaft current desired value, D shaft current desired value and current collector obtain passes through vector controller, obtains control amount and controls motor.
Description
Technical field
The present invention relates to a kind of two-phase hybrid stepping motor closed loop control methods, belong to motor driver field.
Background technique
Stepper motor have passed through the development of more than ten years since appearance, be had been widely used at present in various automatic controls system
In system.The downstream industry of stepper motor includes numerically-controlled machine tool, industrial automation, office automation, printing equipment and household electrical appliance
Equal fields.With the arriving in 4.0 epoch of global industry and the rise of Intelligent hardware, as the critical component of electromechanical integration,
Traditional step motor control system has been difficult to meet following needs, is badly in need of the stepping electricity that a kind of precision is high and runs smoothly
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 many advantages, such as that dynamic force moment big, strong antijamming capability and positioning accuracy 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 and input of stepper motor has stringent corresponding relationship,
I.e. a pulse signal can make stepper motor take a step forward, therefore also known as pulse motor.To control stepper motor work well
Make, it is necessary to have suitable reliable driving device.The opened loop control of stepper motor is easy to accomplish, but opened loop control controls precision
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 controls 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
It include: controller, for generating the control instruction controlled two-phase hybrid stepping motor；Digital signal processing module,
It is connected with controller, for receiving control instruction, converts control instruction to the operating parameter of two-phase hybrid stepping motor,
The pulse signal index of coincidence type acceleration and deceleration curves generated by operating parameter control；Motor drive module, with Digital Signal Processing
Module is connected, and for pulse signal to be carried out power amplification, drives two-phase hybrid stepping according to amplified pulse signal
Motor runs to final position from initial position with direction of rotation, rotating cycle, maximum speed.
Chinese patent 201010227434.7 discloses a kind of direct automatic control method of hybrid stepper motor, and feature exists
In: in each control period, after obtaining 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 the output of speed closed loop adjuster
Square；Given torque and instantaneous torque are compared, given magnetic linkage and instantaneous magnetic linkage are compared, and by comparison result, are directly selected
It selects optimal in five space voltage vectors of inverter one and acts on composite stepper motor, pass through insertion no-voltage arrow
Amount is to adjust stator magnetic linkage vector transient speed.
There are mainly two types of the control systems for being applied to stepper motor at present:
1, open-loop control system, the disadvantage is that: the problems such as there are step-out, oscillation, difficulty in starting, lower efficiency；
2, in conjunction with the closed-loop control system of relatively common PID control, the disadvantage is that: adaptivity is to be improved, not
It needs to adjust respectively with application.
The system accuracy of the above-mentioned prior art and speed ability all in lower 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 precision and application range of step motor control system.
Summary of the invention
In view of the shortcomings of the prior art, the object of the present invention is to provide a kind of two-phase hybrid stepping motor closed-loop control sides
Method increases the feedback control loop and fuzzy adaptivecontroller technology of Position And Velocity, ultimately forms based on closed-loop control system
A kind of two-phase hybrid stepping motor closed-loop control system improves the control precision and application range of step motor control system.
To achieve the goals above, it the present invention provides a kind of two-phase hybrid stepping motor closed loop control method, relates to
And control system include encoder, current collector, mathematical model, Kalman's observer, fuzzy adaptive controller and arrow
Amount controller；It includes 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 model；
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 current desired value (Iqref)；
Step S5: in motor operation, D shaft current desired value (Idref) remains zero；Q shaft current desired value, D shaft current
The electric current that desired value and current collector obtain passes through vector controller, obtains control amount and controls motor.
In the present invention, encoder be responsible for acquire two-phase stepping motor angular velocity of rotation and angle, obtain real-time it is lower,
Data without accumulated error.
In the present invention, current collector is responsible for acquiring two-phase stepping motor electric current (I α, I β).
In the present invention, mathematical model is responsible for calculating to the electric current (I α, I β) that current collector acquires, and is estimated
Output torque, the torque pass through Integral Processing, and the angular velocity data that real-time is high, accumulated error is big can be obtained.
In the present invention, Kalman's observer is responsible for merging the parameters such as output torque from encoder, 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, control amount needed for calculating.
In the present invention, vector controller is responsible for completing control allocation, realizes electricity by control motor stator winding electric current
The maximum output of magnetic torque, that is, improve the working efficiency of motor.
Establishing simple, accurate stepper motor model helps to analyse in depth stepper motor correlation properties, then determines phase
Control strategy is closed, is of great significance for system performance.Mathematical model focuses on more succinct formula approximation table
Up to the motion process of stepper motor.
In the present invention, the electromagnetic torque of two-phase hybrid stepping motor are as follows:
In formula, I α-- α phase winding electric current, unit A；
I β-- β phase winding electric current, unit A；
θ-- electrical angle；
Lkj-- k phase winding self-induction (k=j), mutual inductance (k ≠ j), unit H；
P-- number of teeth of motor rotor；
The equivalent exciting current of Im-- permanent magnet；
The equivalent mutual inductance of Msr-- rotor.
Another specific embodiment according to the present invention, fuzzy adaptive controller include angle ring and angular speed ring；It is fuzzy
The workflow of adaptive controller includes the following steps:
Step S41: external input angle desired value；
Step S42: angle desired value and angle feed-back value pass through angle ring, obtain 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 axis
Current expected value.
In the present solution, the effect of fuzzy adaptive controller is to improve angular speed ring to the compensation ability of disturbance, enhancing control
Effect processed；The closed loop effect of guarantee system avoids step-out problem of the stepper motor in dynamic control.
Another specific embodiment according to the present invention, angle ring include PID regulator and feed-forward compensator；The work of angle ring
Include the following steps: as process
Step S421: angle desired value makes the difference with angle feed-back value, obtains angular error；
Step S422: angular error is sent into PID regulator, while angle desired value is sent into feed-forward compensator；
Step S423: the output of PID regulator is added with the output of feed-forward compensator, obtains angular speed desired value.
In the present solution, PID regulator is a common feedback loop component in Industry Control Application, by proportional unit
P, integral unit I and differentiation element D composition.The basis of PID control is ratio control；Integration control can eliminate steady-state error, but
Overshoot can be can increase；Differential control can accelerate Great inertia system response speed and weaken overshoot trend.
In the present solution, the angle ring of Closed-Loop Control of Stepping Motor system utilizes PID regulator and feed-forward compensator, guarantee system
The closed loop effect of system improves the control effect and adaptivity of closed-loop control system.
Another specific embodiment according to the present invention, angular speed ring include pi regulator and disturbance compensation device, disturbance compensation
Omnipotent approximation theory of the device based on fuzzy system, approaches unmodeled nonlinear disturbance；The workflow of angular speed ring includes 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 is sent into pi regulator, while angular speed desired value, angular speed value of feedback and angle accelerate
It spends value of feedback and is sent into disturbance compensation device；
Step S433: the output of pi regulator is added with the output of disturbance compensation device, obtains Q shaft current desired value.
In the present solution, pi regulator is a kind of linear regulator, it constitutes control partially according to given value and real output value
The ratio (P) of deviation and integral (I) are constituted control amount by linear combination, controlled device are adjusted by difference.
In the present solution, approaching unmodeled nonlinear disturbance using the omnipotent approximation theory of fuzzy system, further increasing
Angular speed ring enhances control effect to the compensation ability of disturbance.
Another specific embodiment according to the present invention, vector controller include Park Transformation device, Q shaft current adjuster, D axis
Current regulator and Parker inverse transformer；The workflow of vector controller includes the following steps:
Step S51: electric current I α, the I β of motor α, β two-phase obtains Q shaft current value of feedback (Iqfdb) by Park Transformation device
With D shaft current value of feedback (Idfdb)；
Step S52:Q shaft current desired value makes the difference with Q shaft current value of feedback, obtains Q shaft current error, Q shaft current error
It is sent into Q shaft current adjuster, obtains the control amount Uq under dq coordinate system；D shaft current desired value makes the difference with D shaft current value of feedback,
D shaft current error is obtained, D shaft current error is sent into D shaft current adjuster, obtains the control amount Ud under dq coordinate system；
Step S53:Uq and Ud passes through Parker inverse transformer, obtains control amount U α, the U β of motor α, β two-phase.
In the present solution, the effect of vector controller is to realize the maximum of electromagnetic torque by control motor stator winding electric current
Output, that is, improve the working efficiency of motor.
Another specific embodiment according to the present invention, vector controller further comprise pulse-width modulator (PWM)；Arrow
The workflow of amount controller further comprises following steps:
Step S54: control amount U α, the U β of motor α, β two-phase passes through pulse-width modulator, is converted into PWM control amount.
Another specific embodiment according to the present invention in step S1, obtains electric current, current collector by current collector
The analog signal of electric current is converted into the digital signal of electric current；In step S2, the digital signal of electric current is obtained by mathematical model
Output torque.
Another specific embodiment according to the present invention merges magnetic linkage using S weight decay memory Kalman Filter observer
Phase angle and encoder data, the angle and angular speed of real-time estimation rotor obtain the angular acceleration information of higher order.
The measured value of another specific embodiment according to the present invention, incremental optical-electricity encoder will be used as Kalman's observer
Measuring value, measuring value is obtained using T method when low speed, measuring value is obtained using M method when high speed.
In the present solution, T method referred to through the time between value two pulses of calculating in counter register, then obtain
The revolving speed of motor, T method increase with the increase relative error of speed；M method refers to by reading primary compile in the determining time
Code umber of pulse, and make the difference with last umber of pulse to obtain the displacement in the set time, and obtain speed divided by the set time
Degree, the precision that M method tests the speed are related with the precision of position sensor and fixed time period.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, using S weight decay memory Kalman Filter observer fusion magnetic linkage phase angle and encoder data, estimate in real time
The angle and angular speed for counting rotor, obtain the angular acceleration information of higher order, to improve the real-time of measurement and accurate
Property；
2, using the omnipotent approximation theory of fuzzy system, unmodeled nonlinear disturbance is approached, angular speed is further increased
Ring enhances control effect to the compensation ability of disturbance；
3, angle ring utilizes PID regulator and feed-forward compensator, guarantees the closed loop effect of system, improves closed-loop control system
Control effect and adaptivity.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
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.
Specific 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 model, Kalman's sight
Survey device, fuzzy adaptive controller and vector controller；It includes 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 digital signal of electric current；
Step S2: the digital signal of electric current obtains output torque by mathematical model；
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 current desired value (Iqref)；
Step S5: in motor operation, D shaft current desired value (Idref) remains zero；Q shaft current desired value, D shaft current
The electric current that desired value and current collector obtain passes through vector controller, obtains control amount and controls motor.
Fuzzy adaptive controller includes angle ring and angular speed ring；The workflow of fuzzy adaptive controller includes such as
Lower step:
Step S41: external input angle desired value；
Step S42: angle desired value and angle feed-back value pass through angle ring, obtain 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 axis
Current expected value.
Vector controller includes Park Transformation device, Q shaft current adjuster, D shaft current adjuster, Parker inverse transformer and arteries and veins
Rush width modulator (PWM)；The workflow of vector controller includes the following steps:
Step S51: electric current I α, the I β of motor α, β two-phase obtains Q shaft current value of feedback (Iqfdb) by Park Transformation device
With D shaft current value of feedback (Idfdb)；
Step S52:Q shaft current desired value makes the difference with Q shaft current value of feedback, obtains Q shaft current error, Q shaft current error
It is sent into Q shaft current adjuster, obtains the control amount Uq under dq coordinate system；D shaft current desired value makes the difference with D shaft current value of feedback,
D shaft current error is obtained, D shaft current error is sent into D shaft current adjuster, obtains the control amount under dq coordinate system
Ud；
Step S53:Uq and Ud passes through Parker inverse transformer, obtains control amount U α, the U β of motor α, β two-phase；
Step S54: control amount U α, the U β of motor α, β two-phase passes through pulse-width modulator, is converted into PWM control amount.
Angle ring includes PID regulator and feed-forward compensator；The workflow of angle ring includes the following steps:
Step S421: angle desired value makes the difference with angle feed-back value, obtains angular error；
Step S422: angular error is sent into PID regulator, while angle desired value is sent into feed-forward compensator；
Step S423: the output of PID regulator is added with the output of feed-forward compensator, obtains angular speed desired value.
Angular speed ring includes pi regulator and disturbance compensation device, and disturbance compensation device approaches reason based on the omnipotent of fuzzy system
By approaching unmodeled nonlinear disturbance；The workflow of angular speed ring includes 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 is sent into pi regulator, while angular speed desired value, angular speed value of feedback and angle accelerate
It spends value of feedback and is sent into disturbance compensation device；
Step S433: the output of pi regulator is added with the output of disturbance compensation device, obtains Q shaft current desired value.
Using S weight decay memory Kalman Filter observer fusion magnetic linkage phase angle and encoder data, real-time estimation
The angle and angular speed of rotor obtain the angular acceleration information of higher order.
By the measuring value as Kalman's observer, when low speed, is obtained the measured value of incremental optical-electricity encoder using T method
Measuring value obtains measuring value using M method when high speed.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all according to this hair
Bright done same 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 model, Kalman's observer, fuzzy adaptive controller and vector controller；The control method
Include 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 model；
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 by it is described obscure it is adaptive
Controller is answered, Q shaft current desired value is obtained；
Step S5: in motor operation, D shaft current desired value remains zero；Q shaft current desired value, D shaft current desired value and electric current
The electric current that collector obtains passes through the vector controller, obtains control amount and controls motor.
2. control method as described in claim 1, the fuzzy adaptive controller includes angle ring and angular speed ring；It is described
The workflow of fuzzy adaptive controller includes the following steps:
Step S41: external input angle desired value；
Step S42: angle desired value and angle feed-back value pass through the angle ring, obtain 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 axis
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 includes the following steps:
Step S421: angle desired value makes the difference with angle feed-back value, obtains angular error；
Step S422: angular error is sent into the PID regulator, while angle desired value is sent into the feed-forward compensator；
Step S423: the output of the PID regulator is added with the output of the feed-forward compensator, obtains angular speed expectation
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 unmodeled nonlinear disturbance；The workflow of the angular speed ring
Journey includes 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 is sent into the pi regulator, while angular speed desired value, angular speed value of feedback and angle accelerate
It spends value of feedback and is sent into the disturbance compensation device；
Step S433: the output of the pi regulator is added with the output of the disturbance compensation device, obtains the expectation of Q shaft current
Value.
5. control method as described in claim 1, the vector controller includes Park Transformation device, Q shaft current adjuster, D
Shaft current adjuster and Parker inverse transformer；The workflow of the vector controller includes the following steps:
Step S51: electric current I α, the I β of motor α, β two-phase obtains Q shaft current value of feedback and D axis electricity by the Park Transformation device
Flow value of feedback；
Step S52:Q shaft current desired value makes the difference with Q shaft current value of feedback, obtains Q shaft current error, and Q shaft current error is sent into
The Q shaft current adjuster obtains the control amount Uq under dq coordinate system；D shaft current desired value makes the difference with D shaft current value of feedback,
D shaft current error is obtained, D shaft current error is sent into the D shaft current adjuster, obtains the control amount Ud under dq coordinate system；
Step S53:Uq and Ud passes through the Parker inverse transformer, obtains control amount U α, the U β of motor α, β two-phase.
6. control method as claimed in claim 5, the vector controller further comprises pulse-width modulator (PWM)；
The workflow of the vector controller further comprises following steps:
Step S54: control amount U α, the U β of motor α, β two-phase passes through the pulse-width modulator, is converted into PWM control amount.
7. control method as described in claim 1, in the step S1, electric current is obtained by the current collector, it is described
The analog signal of electric current is converted into the digital signal of electric current by current collector；In the step S2, the digital signal of electric current is passed through
It crosses the mathematical model and obtains output torque.
8. control method as described in claim 1 merges magnetic linkage phase using S weight decay memory Kalman Filter observer
Angle and encoder data, the angle and angular speed of real-time estimation rotor obtain the angular acceleration information of higher order.
9. the measured value of control method as described in claim 1, incremental optical-electricity encoder will be as Kalman's observer
Measuring value obtains measuring value using T method when low speed, obtains measuring value using M method when high speed.
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| 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 |
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| 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 |
| CN109660176B (en) * | 2019-01-09 | 2021-08-03 | 河北工业大学 | Control method of synchronous reluctance motor for new energy vehicle based on alternating current stepping control |
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| CN113067509B (en) * | 2021-03-30 | 2023-08-01 | 广州卓腾科技有限公司 | Two-phase hybrid stepping motor position closed-loop vector control method and system |
| CN114665776B (en) * | 2022-05-23 | 2023-01-03 | 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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| CN106385211A (en) * | 2016-10-09 | 2017-02-08 | 重庆大学 | Stepping motor load torque estimation method |
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