CN113258841B - Medium-speed torque compensation method and device for two-phase hybrid stepping motor - Google Patents
Medium-speed torque compensation method and device for two-phase hybrid stepping motor Download PDFInfo
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- CN113258841B CN113258841B CN202110700403.7A CN202110700403A CN113258841B CN 113258841 B CN113258841 B CN 113258841B CN 202110700403 A CN202110700403 A CN 202110700403A CN 113258841 B CN113258841 B CN 113258841B
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- electromotive force
- induced electromotive
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/18—Shaping of pulses, e.g. to reduce torque ripple
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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
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
Abstract
The invention provides a method and a device for compensating the medium-speed torque of a two-phase hybrid stepping motor. Solving the rotating speed according to the induced electromotive force and the torque constant under the static coordinate system during phase angle modulation, then extracting the torque pulsation quantity, thus solving the medium-speed torque compensation angle and correcting the phase angle of the motor; a band-pass filter is not needed, the application range is expanded, and a differentiator is not introduced, so that a noise signal is not amplified, and the interference on a system is avoided. Meanwhile, according to the induced electromotive force under the static coordinate system, the compensation voltage compensation output voltage of the medium-speed torque is solved, and the effective voltage on the coil under the medium speed is increased, so that the output torque of the motor is increased.
Description
Technical Field
The invention belongs to the technical field of motor torque compensation, and particularly relates to a method and a device for compensating medium-speed torque of a two-phase hybrid stepping motor.
Background
In practical application, the stepping motor is an actuating element of a servo system, so that the design of the stepping motor is more focused on the aspects of accurate position positioning, larger torque generation and the like. In the design of the stator and the rotor, the stator and the rotor are all in a salient pole structure, small teeth are arranged on the poles, and a larger space harmonic exists in an air gap magnetic field, so that the torque pulsation and the rotation speed fluctuation of the motor are also larger, and noise is easily generated to cause oscillation. To solve this problem, many studies have been made by those skilled in the art.
For example, the application No. 200910110021.8 discloses a device and a method for suppressing the rotational oscillation of a rotor of a hybrid stepping motor. And the torque pulsation quantity is acquired and integrated, and the phase angle modulation quantity is obtained by multiplying the torque pulsation quantity by a corresponding coefficient to suppress the rotor oscillation. In the scheme, a band-pass filter is used for acquiring the torque pulsation, the frequency range of the torque pulsation is different along with the difference of voltage, current, motor type and load, the parameters of the band-pass filter need to be adjusted, the universality is poor, and the use is inconvenient.
In the method, a flux linkage observer is used for obtaining an estimated angle of a rotor, the estimated angle is differentiated to obtain speed, a high-pass filter is used for obtaining speed pulse vibration quantity, and the speed pulse vibration quantity is multiplied by a certain gain to obtain a given angle correction quantity. In the scheme, the angle is obtained by estimating the angle of the rotor, and the differential is carried out to obtain the rotating speed; applying differentiation amplifies the noise signal, affecting the operation of the system.
And the output voltage of the existing hybrid stepping motor is not effectively compensated, so that the output torque of the motor is not large enough.
Disclosure of Invention
The invention aims to provide a method and a device for compensating the medium-speed torque of a two-phase hybrid stepping motor, which have wide application range and small interference on a system and can increase the output torque.
The invention provides a method for compensating the medium-speed torque of a two-phase hybrid stepping motor, which comprises the steps of firstly observing induced electromotive force, solving the induced electromotive force under a static coordinate system according to input voltage and input current, and then simultaneously carrying out phase angle modulation and voltage compensation according to the induced electromotive force under the static coordinate system;
A. the phase angle is modulated by a phase angle modulator,
a.1, solving the rotating speed according to the induced electromotive force and the torque constant under the static coordinate system,
a.2, extracting torque pulsation quantity,
a.3, solving a medium-speed torque compensation angle, and correcting a given current phase angle of the motor;
B. the voltage is compensated for, and the voltage compensation,
b.1, transforming the coordinate into an induced electromotive force under a rotating coordinate system,
b.2, the induced electromotive force under the rotating coordinate system is subjected to inverse coordinate transformation after passing through a low-pass filter,
and B.3, solving medium-speed torque compensation voltage and compensating output voltage.
In this embodiment, when observing the induced electromotive force, the induced electromotive force in the stationary coordinate system is:
in the formula (I), the compound is shown in the specification,
in order to input the voltage, the voltage is,
in order to input a current, the current is,
in the form of a resistor, the resistance of the resistor,
is an inductor.
In step A.1 according to
Solving the rotational speed
，
Wherein
Is a torque constant.
In step A.2, the rotating speed is passed through a low-pass filter to obtain a rotating speed direct-current component
The rotating speed and the direct current component of the rotating speed are subjected to subtraction to obtain the torque pulsation amount
。
In step A.3, the torque pulsation quantity passes through an integrator to obtain a medium-speed torque compensation angle
。
In B.1, induced electromotive force under a static coordinate system
The induced electromotive force under the rotating coordinate system can be obtained by carrying out park transformation
，
In B.2, the induced electromotive force under the rotating coordinate system is obtained by a low-pass filter
，
Then obtaining the product by inverse park transformation
,
In B.3, the voltage is compensated
Are respectively as
In the formula
And compensating the output voltage of the motor according to the compensation voltage.
The invention also provides a medium-speed torque compensation device of the two-phase hybrid stepping motor, which comprises: the induced electromotive force observation module is used for solving the induced electromotive force under the static coordinate system from the input voltage and the input current; the phase angle modulation module is used for generating a compensation angle according to the induced electromotive force under the static coordinate system, and the compensation angle is used for correcting a given current phase angle of the motor; and the compensation voltage calculation module is used for generating compensation voltage according to the induced electromotive force under the static coordinate system, and the compensation voltage is used for increasing the output voltage of the motor.
The phase angle modulation module comprises
A rotation speed estimation module for estimating the rotation speed according to the induced electromotive force under the static coordinate system,
a low-pass filter for obtaining DC component of rotation speed according to rotation speed,
a torque pulsating quantity extraction module for subtracting the rotating speed and the rotating speed direct current component to obtain the torque pulsating quantity,
the integrator is used for integrating the torque pulsation quantity to obtain a medium-speed torque compensation angle;
the compensation voltage calculating module comprises
A coordinate conversion module for converting the induced electromotive force under the static coordinate system into the induced electromotive force under the rotating coordinate system,
a low-pass filter for processing the induced electromotive force under the rotating coordinate system,
a reverse coordinate conversion module for performing reverse coordinate conversion on the induced electromotive force in the rotating coordinate system processed by the low-pass filter,
and the compensation voltage calculation module is used for calculating the compensation voltage.
According to the invention, induced electromotive force observation is firstly carried out, induced electromotive force under a static coordinate system is solved according to input voltage and input current, and then phase angle modulation and voltage compensation are simultaneously carried out according to the induced electromotive force under the static coordinate system. Solving the rotating speed according to the induced electromotive force and the torque constant under the static coordinate system during phase angle modulation, then extracting the torque pulsation quantity, thus solving the medium-speed torque compensation angle and correcting the phase angle of the motor; a band-pass filter is not needed, the application range is expanded, and a differentiator is not introduced, so that a noise signal is not amplified, and the interference on a system is avoided. Meanwhile, according to the induced electromotive force under the static coordinate system, the compensation voltage compensation output voltage of the medium-speed torque is solved, and the effective voltage on the coil under the medium speed is increased, so that the output torque of the motor is increased.
Drawings
Fig. 1 is a motor control flow diagram of a preferred embodiment of the present invention.
Fig. 2 is a block flow diagram of the medium speed torque compensation algorithm in the preferred embodiment.
Detailed Description
The following further description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined by the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, the method for compensating the medium-speed torque of the two-phase hybrid stepping motor provided in this embodiment adds a medium-speed torque compensation algorithm to a conventional motor control current loop. Conventional motor control current loops are well known in the art and will not be described in detail herein.
As shown in fig. 1 and fig. 2, in the present embodiment, on one hand, a compensation angle is obtained by the medium-speed torque compensation algorithm and is fed back to the conventional motor control current loop, so that the medium-speed operation of the motor is more stable. On the other hand, the compensation voltage is obtained, and the output voltage is properly compensated, so that the effective voltage of the coil is increased under the condition that the motor is at a medium speed, and the medium-speed output torque of the motor is larger.
As shown in fig. 2, in this embodiment, first, induced electromotive force observation is performed, the induced electromotive force in the stationary coordinate system is solved according to the input voltage and the input current, and then, phase angle modulation and voltage compensation are simultaneously performed according to the induced electromotive force in the stationary coordinate system.
Induced electromotive force under static coordinate system
In the formula (I), the compound is shown in the specification,
in order to input the voltage, the voltage is,
in order to input a current, the current is,
in the form of a resistor, the resistance of the resistor,
is an inductor.
And then carrying out phase angle modulation and voltage compensation according to the induced electromotive force under the static coordinate system.
When phase angle modulation is performed:
first, the rotation speed is solved
，
Wherein
Is a torque constant.
Then extracting the torque pulsation amount
During extraction, the rotating speed is passed through a low-pass filter to obtain a rotating speed direct-current component
Then the rotating speed and the rotating speed direct current component are subjected to subtraction to obtain the torque pulsation quantity
。
Solve medium speed torque compensation angle again
The torque pulse quantity is integrated by an integrator to obtain
. After the solution is completed, will find
Compensation to the control current loop of the traditional motor can be obtained
The phase angle of the motor can be corrected according to the obtained compensation angle.
In the embodiment, a motor intermediate-speed torque compensation angle is obtained by integrating the rotational speed pulsation amount based on new extraction of the rotational speed pulsation amount, so that when the motor runs at an intermediate speed, a given current phase angle of the motor can be corrected, and the current angle of the motor and the rotor angle of the motor are maintained within a certain range. The correction process does not need to use a band-pass filter, has wide application range, does not need to introduce a differentiator, ensures that noise signals are not amplified, and ensures that the system is less interfered.
In this embodiment, when voltage compensation is performed:
firstly, the static coordinate system is feltThe induced electromotive force under the rotating coordinate system is obtained by carrying out park transformation by applying the electromotive force
。
The induced electromotive force under the rotating coordinate system is obtained by a low-pass filter
，
Then will be
Obtained by inverse Pack transformation
。
Solving medium speed torque compensation voltage
，
When solving, the compensation coefficient is made
By adjustment in conjunction with actual use
Coefficient of rotation to obtain
And compensate into
To obtain
。
According to the invention, a medium-speed torque compensation algorithm is added to a traditional motor control current loop, so that the motor has larger medium-speed output torque and more stable operation. The medium-speed torque compensation algorithm is composed of two parts, one part is based on phase angle modulation, so that when the motor runs at a medium speed, a given current phase angle of the motor can be corrected, the current angle of the motor and the rotor angle of the motor are maintained within a certain range, a band-pass filter is not needed in the modulation process, the application range is wide, a differentiator is not needed, noise signals are not amplified, and the system is small in interference. The other part is voltage compensation based on induced electromotive force, when the rotating speed of the motor rises, the induced electromotive force is increased, under the condition that the bus voltage is constant, the voltage applied to a motor coil is gradually reduced, the current on the motor coil is reduced, and the output torque of the motor is reduced, so that the compensation based on the induced electromotive force is performed on the output voltage of the motor, the effective voltage on the lower coil at a medium speed is increased, and the output torque of the motor is increased.
The embodiment also discloses a medium-speed torque compensation device of the two-phase hybrid stepping motor. The device comprises an induced electromotive force observation module, a phase angle modulation module and a compensation voltage calculation module.
The induced electromotive force observation module is used for solving induced electromotive force under a static coordinate system from input voltage and input current.
The phase angle modulation module is used for generating a compensation angle according to the induced electromotive force under the static coordinate system, and the compensation angle is used for correcting a given current phase angle of the motor; the phase angle modulation module comprises a rotating speed estimation module for estimating a rotating speed according to induced electromotive force under a static coordinate system, a low-pass filter for obtaining a rotating speed direct-current component according to the rotating speed, a torque pulsation quantity extraction module for subtracting the rotating speed and the rotating speed direct-current component to obtain a torque pulsation quantity, and an integrator for integrating the torque pulsation quantity to obtain a medium-speed torque compensation angle.
And the compensation voltage calculation module is used for generating compensation voltage according to the induced electromotive force under the static coordinate system, and the compensation voltage is used for increasing the output voltage of the motor. The compensation voltage calculation module comprises a coordinate conversion module used for converting induced electromotive force under a static coordinate system into induced electromotive force under a rotating coordinate system, a low-pass filter used for processing the induced electromotive force under the rotating coordinate system, an anti-coordinate conversion module used for carrying out anti-coordinate conversion on the induced electromotive force under the rotating coordinate system processed by the low-pass filter, and a compensation voltage calculation module used for calculating compensation voltage.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited thereto, and various equivalent changes and substitutions may be made without departing from the spirit of the invention.
Claims (6)
1. A method for compensating the medium-speed torque of a two-phase hybrid stepping motor is characterized by comprising the following steps of: the method comprises the steps of firstly, observing induced electromotive force, solving the induced electromotive force under a static coordinate system according to input voltage and input current, and then carrying out phase angle modulation and voltage compensation according to the induced electromotive force under the static coordinate system;
A. the phase angle is modulated by a phase angle modulator,
a.1, solving the rotating speed according to the induced electromotive force and the torque constant under the static coordinate system,
a.2, extracting torque pulsation quantity,
a.3, solving a medium-speed torque compensation angle, and correcting a given current phase angle of the motor;
B. the voltage is compensated for, and the voltage compensation,
b.1, transforming the coordinate into an induced electromotive force under a rotating coordinate system,
b.2, the induced electromotive force under the rotating coordinate system is subjected to inverse coordinate transformation after passing through a low-pass filter,
b.3, solving medium-speed torque compensation voltage and compensating output voltage;
when the induced electromotive force observation is carried out, the induced electromotive force under a static coordinate system is as follows:
in the formula (I), the compound is shown in the specification,
in order to input the voltage, the voltage is,
in order to input a current, the current is,
in the form of a resistor, the resistance of the resistor,
is an inductor;
in B.2, the induced electromotive force under the rotating coordinate system is obtained by a low-pass filter
And then obtained by inverse park transformation
,
In B.3, the voltage is compensated
Are respectively as
In the formula
And compensating the output voltage of the motor according to the compensation voltage.
2. The method of compensating for a medium speed torque of a two-phase hybrid stepping motor according to claim 1, comprising: in step A.1 according to
Solving the rotational speed
，
Wherein
Is a torque constant.
3. The method of compensating for a medium speed torque in a two-phase hybrid stepping motor according to claim 2, wherein: in step A.2, the rotating speed is passed through a low-pass filter to obtain a rotating speed direct-current component
The rotating speed and the direct current component of the rotating speed are subjected to subtraction to obtain the torque pulsation amount
。
4. A two phase hybrid stepper motor medium speed torque compensation method as defined in claim 3The method is characterized in that: in step A.3, the torque pulsation quantity passes through an integrator to obtain a medium-speed torque compensation angle
。
5. The method of compensating for a medium speed torque of a two-phase hybrid stepping motor according to claim 1, comprising: in B.1, induced electromotive force under a static coordinate system
The induced electromotive force under the rotating coordinate system can be obtained by carrying out park transformation
，
6. The utility model provides a two-phase hybrid step motor intermediate speed torque compensation arrangement which characterized in that, this device includes:
the induced electromotive force observation module is used for generating induced electromotive force under a static coordinate system from input voltage and input current;
the phase angle modulation module is used for generating a compensation angle according to the induced electromotive force under the static coordinate system, and the compensation angle is used for correcting a given current phase angle of the motor;
the compensation voltage calculation module is used for generating compensation voltage according to the induced electromotive force under the static coordinate system, and the compensation voltage is used for increasing the output voltage of the motor;
the phase angle modulation module comprises
A rotation speed estimation module for estimating the rotation speed according to the induced electromotive force under the static coordinate system,
a low-pass filter for obtaining DC component of rotation speed according to rotation speed,
a torque pulsating quantity extraction module for subtracting the rotating speed and the rotating speed direct current component to obtain the torque pulsating quantity,
the integrator is used for integrating the torque pulsation quantity to obtain a medium-speed torque compensation angle;
the compensation voltage calculating module comprises
A coordinate conversion module for converting the induced electromotive force under the static coordinate system into the induced electromotive force under the rotating coordinate system,
a low-pass filter for processing the induced electromotive force under the rotating coordinate system,
a reverse coordinate conversion module for performing reverse coordinate conversion on the induced electromotive force in the rotating coordinate system processed by the low-pass filter,
the compensation voltage calculation module calculates the compensation voltage by adopting the induced electromotive force calculated by the inverse coordinate conversion module.
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