CN109842332A - A kind of control method of the five phase step motor of new pentagon connection - Google Patents
A kind of control method of the five phase step motor of new pentagon connection Download PDFInfo
- Publication number
- CN109842332A CN109842332A CN201910237208.8A CN201910237208A CN109842332A CN 109842332 A CN109842332 A CN 109842332A CN 201910237208 A CN201910237208 A CN 201910237208A CN 109842332 A CN109842332 A CN 109842332A
- Authority
- CN
- China
- Prior art keywords
- phase
- step motor
- current
- phase step
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000013598 vector Substances 0.000 claims abstract description 28
- 238000004804 winding Methods 0.000 claims abstract description 17
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 101500027988 Mus musculus ADGRV1 subunit beta Proteins 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Abstract
The present invention discloses newly a kind of control method of the five phase step motor of new pentagon connection, it is calculated nearest four-vector algorithm is carried out using the two-phase voltage obtained after PI control to constant current, obtain the size of four voltage vectors, to obtain the corresponding PWM duty cycle of five half-bridges, machine winding finally is outputed current to via five phase half-bridge drivers, the winding of the five phase step motor uses new pentagon connection.The present invention generates the SVPWM waveform of five half-bridges using Near four vectors SVPWM algorithm, it can be realized the micro-stepping control of five phase step motor, the DC bus-bar voltage utilization rate of five phase voltage source inventers is improved, harmonic component contained in output phase voltage is reduced, is conducive to the reduction of vibration.
Description
Technical field
The present invention relates to drive and control of electric machine technology, in particular to a kind of control of the five phase step motor of new pentagon connection
Method processed.
Background technique
In equipment manufacture, high-precision, low vibration become the important indicator of an equipment, drive and control of electric machine technology hair
The direction of exhibition directly determines that the technological development direction of equipment manufacturing industry, drive and control of electric machine technical level also directly determine
The technical level of equipment manufacturing industry and its downstream industry.
Country's Five Phase Step Motor Driver is predominantly built using special chip at present, and performance relatively falls behind, and flexibility is poor.
Five phase step actuator market of high-performance is mainly that Japan Oriental motor (Oriental motor) company occupies, due to having property
Absolute predominance on energy, price are extremely expensive.Domestic step actuator manufacturer focuses primarily upon control technology level lower two
Phase, three-phase stepper motor can not provide high-performance five phase step motor product.
Five phase step motor is driven, the mode of connection mainly has at present: starriness connection, pentagon connection and new five side
Shape connection (pentagon connection).Star connection is easily controllable, but the utilization rate of voltage is low, and high speed performance is poor；Pentagon connection,
Control is simple, and high speed performance is preferable, is mainly used for half step, synchronizing control；New pentagon connection, control algolithm is complicated, with small vibration,
High speed performance is preferable.
Existing five mix formula stepper motor driver is built using external special chip, be typically only capable to carry out synchronizing,
Half step operation can not can not play the maximum of five phase step motor for the adjustment that the different use environment of motor is responded
Performance.
Five phase step motor control core be five phase voltage source inventers (voltage source inverter,
VSI SVPWM algorithm) is closed if only the algorithm of three-phase bridge is expanded to Wu Xiangqiao using two nearest voltage vectors
At voltage vector, great harmonic wave is will be present in motor, causes to shake larger.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of control of the five phase step motor of new pentagon connection
Method.
To achieve the above object, concrete scheme of the invention is as follows:
A kind of control method of the five phase step motor of new pentagon connection, which is characterized in that PI will be used to constant current
The two-phase voltage obtained after control carries out nearest four-vector algorithm and calculates, and the size of four voltage vectors is obtained, to obtain five
The corresponding PWM duty cycle of a half-bridge finally outputs current to machine winding, the five phases stepping electricity via five phase half-bridge drivers
The winding of machine uses new pentagon connection.
Preferably, this method further includes current feedback, the current feedback by acquisition five phase step motor in five around
The electric current of group, extends to five phases for clark transform method, five phase currents is then converted to two phase feedback currents.
Preferably, described to constant current and feedback current is biphase current under rectangular coordinate system, the two-phase voltage
For the two-phase voltage under rectangular coordinate system.
Preferably, the five phases half-bridge driver is the digital driver based on DSP, including 10 power MOSFET structures
Five half-bridge circuits built, five half-bridge circuits are separately connected a node of motor pentagon winding.
Using technical solution of the present invention, have the advantages that
For the five phase step motor of new pentagon connection, converted by the Clark of extension by the electricity of five phase step motor
Flow control is converted to the equivalent two phase winding control of rectangular coordinate system, generates five half-bridges using Near four vectors SVPWM algorithm
SVPWM waveform, can be realized the micro-stepping control of five phase step motor, improve five phase voltage source inventers DC bus electricity
Utilization rate is pressed, harmonic component contained in output phase voltage is reduced, is conducive to the reduction of vibration.
Detailed description of the invention
Fig. 1 is the space vector of voltage Distribution Principle figure of five phase half-bridges of the invention；
Fig. 2 is the nearest two vector operations schematic diagram of the present invention；
Fig. 3 is present invention four-vector algorithm principle figure recently；
Fig. 4 is control method block diagram of the present invention；
Fig. 5 is drive circuit schematic diagram of the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
Referring to Fig. 4, the present invention provides a kind of control method of the five phase step motor of new pentagon connection, and feature exists
In the two-phase voltage obtained after being controlled to constant current using PI is carried out nearest four-vector algorithm and calculated, and four voltages arrows will be obtained
The size of amount finally outputs current to motor via five phase half-bridge drivers to obtain the corresponding PWM duty cycle of five half-bridges
The winding of winding, the five phase step motor uses new pentagon connection.
This method further includes current feedback, the electricity that the current feedback passes through five windings in acquisition five phase step motor
Stream, extends to five phases for clark transform method, five phase currents is then converted to two phase feedback currents.
Described to constant current and feedback current is biphase current under rectangular coordinate system, and the two-phase voltage is that right angle is sat
Two-phase voltage under mark system.
Referring to Fig. 5, the five phases half-bridge driver is the digital driver based on DSP, including 10 power MOSFET
Five half-bridge circuits of building, five half-bridge circuits are separately connected a node of motor pentagon winding.
The operation principle of the present invention is that:
Five phase step motor control core be five phase voltage source inventers (voltage source inverter,
VSI SVPWM algorithm), due to the inverter of 5 half-bridge MOSFET composition, up to 32 kinds, corresponding space vector divides for switch combination
Butut is as shown in Figure 1.Usual two vector operation synthesizes required voltage vector, such as Fig. 2 using maximum neighboring voltage vector
It is shown.
The nearest four-vector synthesizes required voltage vector with two intermediate vectors using maximum two, such as Fig. 3 institute
Show.
Control method realizes that block diagram is as shown in Figure 4, in which:
Given value of current: Ia=Ipeak*cos (Θ), Ib=Ipeak*sin (Θ)；
Current feedback: electric current IA~IB by acquiring 5 windings of five phase step motor extends clark transform method
To five phases, five phase current IA~IB are converted to two-phase rectangular co-ordinate, obtain biphase current feedback Ialpha, Ibeta；
Current control is controlled using PI: after PI controller, the two-phase voltage obtained under rectangular co-ordinate is given
Valpha, Vbeta；
Nearest four-vector algorithm: the vector section where foundation Valpha, Vbeta in Fig. 3, using maximum two vectors
The size of 4 vectors is calculated, to obtain five and half according to the linear decomposition method of vector with two intermediate vectors
The corresponding PWM duty cycle of bridge voltage VA~VE；
Finally machine winding is outputed current to via 5 phase half-bridge circuits.
As shown in figure 5, the digital Five Phase Step Motor Driver based on DSP, passes through 10 power MOSFET buildings five
A half-bridge circuit realizes five phases in the electric current loop of five phase winding of DSP internal build in conjunction with space vector pulse width modulation (SVPWM)
The high-performance Multi-level microstep of stepper motor.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in protection scope of the present invention in other related technical areas.
Claims (4)
1. a kind of control method of the five phase step motor of new pentagon connection, which is characterized in that will be controlled to constant current using PI
The two-phase voltage obtained after system carries out nearest four-vector algorithm and calculates, and the size of four voltage vectors is obtained, to obtain five
The corresponding PWM duty cycle of half-bridge finally outputs current to machine winding, the five phase step motor via five phase half-bridge drivers
Winding use new pentagon connection.
2. the control method of the five phase step motor of new pentagon connection according to claim 1, which is characterized in that the party
Method further includes current feedback, and the current feedback is converted clark by the electric current of five windings in acquisition five phase step motor
Method extends to five phases, and five phase currents are then converted to two phase feedback currents.
3. the control method of the five phase step motor of new pentagon connection according to claim 2, which is characterized in that described
To the biphase current that constant current and feedback current are under rectangular coordinate system, the two-phase voltage is the two-phase under rectangular coordinate system
Voltage.
4. the control method of the five phase step motor of new pentagon connection according to claim 1, which is characterized in that described
Five phase half-bridge drivers are the digital drivers based on DSP, five half-bridge circuits including 10 power MOSFET building, five
A half-bridge circuit is separately connected a node of motor pentagon winding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910237208.8A CN109842332B (en) | 2019-03-27 | 2019-03-27 | Control method of novel pentagonal connection five-phase stepping motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910237208.8A CN109842332B (en) | 2019-03-27 | 2019-03-27 | Control method of novel pentagonal connection five-phase stepping motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109842332A true CN109842332A (en) | 2019-06-04 |
| CN109842332B CN109842332B (en) | 2020-11-10 |
Family
ID=66886295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910237208.8A Active CN109842332B (en) | 2019-03-27 | 2019-03-27 | Control method of novel pentagonal connection five-phase stepping motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109842332B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06319294A (en) * | 1993-09-10 | 1994-11-15 | Nippon Parusumootaa Kk | Five-phase stepping motor |
| JP2000324894A (en) * | 1999-05-17 | 2000-11-24 | Brother Ind Ltd | Driver for 5-phase stepping motor |
| CN103715973A (en) * | 2014-01-03 | 2014-04-09 | 天津大学 | Space voltage vector pulse width modulation algorithm of five-phase voltage source inverter bridge |
| CN103731055A (en) * | 2014-01-20 | 2014-04-16 | 东南大学 | Simplified three-level space vector modulation method |
| CN105119547A (en) * | 2015-09-08 | 2015-12-02 | 江苏大学 | Full-vector control method of five-phase fault-tolerant permanent magnet motor |
| CN106787918A (en) * | 2017-01-16 | 2017-05-31 | 南京航空航天大学 | A kind of random SVPWM method of Five-phase inverter |
-
2019
- 2019-03-27 CN CN201910237208.8A patent/CN109842332B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06319294A (en) * | 1993-09-10 | 1994-11-15 | Nippon Parusumootaa Kk | Five-phase stepping motor |
| JP2000324894A (en) * | 1999-05-17 | 2000-11-24 | Brother Ind Ltd | Driver for 5-phase stepping motor |
| CN103715973A (en) * | 2014-01-03 | 2014-04-09 | 天津大学 | Space voltage vector pulse width modulation algorithm of five-phase voltage source inverter bridge |
| CN103731055A (en) * | 2014-01-20 | 2014-04-16 | 东南大学 | Simplified three-level space vector modulation method |
| CN105119547A (en) * | 2015-09-08 | 2015-12-02 | 江苏大学 | Full-vector control method of five-phase fault-tolerant permanent magnet motor |
| CN106787918A (en) * | 2017-01-16 | 2017-05-31 | 南京航空航天大学 | A kind of random SVPWM method of Five-phase inverter |
Non-Patent Citations (1)
| Title |
|---|
| 高宏伟 等: "五相电压源逆变器的空间矢量脉宽调制方法研究", 《中国电机工程学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109842332B (en) | 2020-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Pena et al. | Control of a doubly fed induction generator via an indirect matrix converter with changing DC voltage | |
| Niu et al. | Comparative evaluation of direct torque control strategies for permanent magnet synchronous machines | |
| CN107005194B (en) | Multi-winding motor drive dynamic control device | |
| Kallio et al. | Decoupled dq model of double-star interior-permanent-magnet synchronous machines | |
| Tang et al. | A novel direct torque control for interior permanent-magnet synchronous machine drive with low ripple in torque and flux-a speed-sensorless approach | |
| Tang et al. | A novel direct torque controlled interior permanent magnet synchronous machine drive with low ripple in flux and torque and fixed switching frequency | |
| Patel et al. | Fast direct torque control of an open-end induction motor drive using 12-sided polygonal voltage space vectors | |
| El Badsi et al. | Bus-clamping-based DTC: An attempt to reduce harmonic distortion and switching losses | |
| Jiang et al. | Commutation analysis of brushless DC motor and reducing commutation torque ripple in the two-phase stationary frame | |
| Dhaouadi et al. | Analysis of current-regulated voltage-source inverters for permanent magnet synchronous motor drives in normal and extended speed ranges | |
| CN106533310B (en) | A kind of direct current biasing sinusoidal current electric machine controller | |
| Jiang et al. | Multimode current hysteresis control for brushless DC motor in motor and generator state with commutation torque ripple reduction | |
| Xu et al. | Advanced angle control for active rectifier in doubly salient electromagnetic generator system | |
| Wang et al. | Predictive instantaneous torque control for disc coreless permanent magnet synchronous motor with the current source chopper | |
| Yu et al. | Model predictive flux control of semicontrolled open-winding PMSG with circulating current elimination | |
| CN108258945A (en) | A kind of nine switching inverter of double permanent magnet synchronous motors and its control method | |
| CN102208879A (en) | Direct-current to three-phase alternating-current inverter system | |
| CN114221591A (en) | Multi-harmonic field-oriented control of multiphase motor and generator systems | |
| Chen et al. | Research on the switched reluctance wind generator system | |
| Tatte et al. | Torque ripple reduction in five-phase direct torque controlled induction motor | |
| Tatte et al. | Torque ripple minimization in five-phase three-level inverter fed direct torque control induction motor drive | |
| Lin et al. | Three-level hysteresis current control for a three-phase permanent magnet synchronous motor drive | |
| Hasanhendoei et al. | Automatic and real time phase advancing in BLDC motor by employing an electronic governor for a desired speed-torque/angle profile | |
| Niasar et al. | Design and implementation of a low-cost maximization power conversion system for brushless DC generator | |
| CN109842332A (en) | A kind of control method of the five phase step motor of new pentagon connection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 502, Building A, Ruite Science and Technology Park, No. 23 Xingyu Road, Nanchang Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong Province, 518000 Patentee after: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region after: China Address before: Factory building B301, zhuangbian Industrial Park, Hangcheng Avenue, Sanwei community, Hangcheng street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region before: China |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000, 2nd and 6th floors, Building A, Ruite Science and Technology Park, No. 23 Xingyu Road, Nanchang Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong Province Patentee after: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region after: China Address before: Room 502, Building A, Ruite Science and Technology Park, No. 23 Xingyu Road, Nanchang Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong Province, 518000 Patentee before: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region before: China |
|
| CP03 | Change of name, title or address |