文档名：基于主动式阻尼的混合式步进电机转速振荡抑制控制
摘要：混合式步进电机因其特殊的机械结构导致自身阻尼极小,在实际运行过程中会发生振荡过大,甚至失步的问题.为提高混合式步进电机的控制品质,提出一种基于主动式阻尼的步进电机转速振荡抑制方法.首先,将电机模型转化至同步旋转dq坐标系,将电流id控制恒为额定电流,利用位置误差和速度误差调节电流iq生成瞬时转矩,抑制电机运行时存在的振荡现象.其次,为实现电机闭环反馈控制,提出一种将同步频率提取滤波器(SFF)与三阶锁相环(PLL3rd)相结合的无传感器控制方法.SFF可以滤除反电动势信号中的高次谐波,PLL3rd能消除转速变化过程中的稳态误差.实验证明,该方法有效抑制了步进电机运行过程中的振荡现象,提升了电机的运行品质.
Abstract：Hybridsteppermotorsarewidelyusedinmedicalandindustrialautomationduetotheirhighefficiencyandoutputtorque.Thesteppermotorgenerallyusesopen-loopoperation.However,itsspecialmechanicalstructurecanleadtoasmallviscousdampingcoefficientofthemotor,whichissensitivetojittervibrationandpronetosteplossduringactualoperation.Thispaperproposesanactivedamping-basedmethodforsuppressingspeedoscillationsinhybridsteppermotors.Amotormodelisestablishedinthesynchronousrotatingcoordinatesystem,andthecurrentidiscontrolledasaconstantcurrentrating.Themotordampingisincreasedbypositionandspeederrorstogeneratetheregulationcurrentiq,whichproducesinstantaneoustorquetosuppressoscillation.Dampingcontrolrequiresspeedandpositioninformation.Thus,asensorlesscontrolmethodwithasynchronousfrequency-extractfilter(SFF)andthird-orderphase-lockedloop(PLL3rd)isproposed.SFFcanfilterharmoniccomponentsinthebackEMF,andPLL3rdcaneliminatesteady-stateerrorsduringspeedvariation.Themotorspeedissetconstantat100HztocompareconventionalPLLandtheSFF-PLL3rdmethodsunderratedloads.TheconventionalPLLobservesadistortedbackEMFsignalcontainingharmoniccomponents.TheSFF-PLL3rdmethodachievesasmootherbackEMFwaveformwithreduced2nd,3rd,5th,and7thharmoniccomponents,indicatingimprovedrotorinformationobservationaccuracy.Subsequently,speedcurvesbetweenundampedanddampingcontrolarecomparedatdifferentspeeds.Themotorspeedisacceleratedfrom0Hzto10Hzanddeceleratedtoastandstill,withamaximumspeeddifferenceofapproximately6Hzbetweentheactualandestimatedspeed.Withdampingcontrol,thespeedoscillationisreduced,andthedifferencebetweentheactualandestimatedspeedisreducedto4Hz.Whenthemotoracceleratesfrom0Hzto300Hzandthendeceleratestoastandstill,thespeedoscillationisobviouswithoutdampingcontrol,andthemaximumspeederrorisabout90Hz.Dampingcontroleffectivelysuppressesspeedoscillationbyreducingthedifferencetoabout36Hz.Whenthemotorspeedisacceleratedfrom0Hzto500Hzandthendeceleratedto0Hz,thedifferenceisabout70Hzwithoutdampingcontrol.Incontrast,dampingcontrolsuppressesspeedoscillationwithadifferenceofabout35Hz.Thesteppermotorshowssteady-stateoperation.Theexperimentalresultsindicatethattheproposedcontrolcansuppressoscillationduringmotoroperationatlowspeeds.Asthespeedincreases,theeffectofdampingcontrolonmotoroscillationsuppressionbecomesmoreapparent.Theoverallcontrolschemeeffectivelyimprovesinsufficientdampingofthesteppermotorandsuppressesoscillationduringtheactualoperation,resultinginsmoothmotoroperation.
作者：施雨 武志涛 苏晓英 佟文明 Author：ShiYu WuZhitao SuXiaoying TongWenming
作者单位：辽宁科技大学电子与信息工程学院鞍山114051沈阳工业大学特种电机与高压电器教育部重点实验室沈阳110870
刊名：电工技术学报
Journal：TransactionsofChinaElectrotechnicalSociety
年，卷(期)：2024, 39(8)
分类号：TM383.6
关键词：混合式步进电机 双闭环控制 主动式阻尼控制 锁相环 同步频率提取滤波器
Keywords：Hybridsteppermotor dualclosed-loopcontrol activedampingcontrol phaselockedloop synchronousfrequency-extractfilter
机标分类号：B842TM351TP273
在线出版日期：2024年4月29日
基金项目：辽宁省自然科学基金计划项目，特种电机与高压电器教育部重点实验室开放课题项目基于主动式阻尼的混合式步进电机转速振荡抑制控制[
期刊论文] 电工技术学报--2024, 39(8)施雨 武志涛 苏晓英 佟文明混合式步进电机因其特殊的机械结构导致自身阻尼极小,在实际运行过程中会发生振荡过大,甚至失步的问题.为提高混合式步进电机的控制品质,提出一种基于主动式阻尼的步进电机转速振荡抑制方法.首先,将电机模型转化至同步旋...参考文献和引证文献
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