基于ESMO-DPLL的混合式步进电机主动式阻尼控制

doi:10.19595/j.cnki.1000-6753.tces.231049

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摘要

针对混合式步进电机阻尼系数较小引起的振荡以及失步问题,提出一种主动式阻尼闭环控制方法提高步进电机的控制品质。该方法基于同步旋转d-q坐标系下的电机模型,将电流i_d控制恒为额定电流,利用转速误差调节电流i_q生成瞬时转矩,改善电机运行时存在的振荡现象。其次,为实现转速闭环,提出一种扩展滑模反电动势观测器(extended sliding mode observer,ESMO)与双锁相环(dual phase locked loop,DPLL)相结合的无传感器控制方法,ESMO改善了传统滑模观测器的抖振问题,DPLL能消除加减速过程中的稳态误差。最后,通过实验验证了所提方法的有效性。

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	施雨
	武志涛
	佟文明

关键词 ：混合式步进电机, 闭环控制, 主动式阻尼控制, 锁相环, 滑模观测器

Abstract：

Hybrid stepper motor (HSM) have gained significant attention in the motor control field due to its ability to achieve energy conversion with high reliability, efficiency, and affordability. However, the mechanical structure inherent to stepper motor often results in undesired jitter vibration and out-of-step problems during operation, primarily due to its reliance on open-loop control. To effectively address these oscillation issues, this paper introduces an active damping control method for hybrid stepper motors based on ESMO-DPLL.
First of all, the method is based on the motor model under the synchronous rotating coordinate system. The control of the current id is kept constant at the current rating, while the current iq is adjusted based on the speed error to enhance motor damping and suppress oscillation during operation. To achieve closed-loop speed control, a sensorless control method is introduced, which combines an extended sliding mode observer (ESMO) with a dual phase locked loop (DPLL). ESMO employs the inverse potential as an extended state variable and replaces the traditional state variable with a saturation function.
In order to verify the effectiveness of the ESMO observation method, the motor speed is set to be constant at 300Hz and 500Hz, respectively, and the experimental results of the inverse electromotive force obtained by the traditional SMO and ESMO methods are compared. The results demonstrate that the ESMO observation method effectively addresses the jitter problem of the traditional sliding mode observer and provides a more accurate estimate of the inverse electromotive force.
Furthermore, the effectiveness of the ESMO-DPLL based closed-loop active damping control for hybrid stepper motors in suppressing system oscillations is verified by comparing speed curves between undamped and damped control at different speeds. The motor is accelerated from standstill to 10Hz and then decelerated to 0Hz. In undamped control, the maximum actual speed error between the actual speed and the estimated speed is approximately 5Hz, while in damped control, it is reduced to 4Hz. Similarly, when the motor accelerates from standstill to 300Hz and decelerates back to standstill, the undamped control exhibits significant speed oscillations with a maximum actual speed error of approximately 75Hz. With damping control, the motor's oscillation amplitude is noticeably reduced, and the maximum actual speed error is around 30Hz. Likewise, when the motor accelerates from 0Hz to 500Hz and then decelerates to a standstill, the undamped control results in pronounced speed oscillations with a maximum actual speed error of about 65Hz. The damping control significantly suppresses motor speed oscillation, reducing the maximum actual speed error to approximately 30Hz.
The experimental results have demonstrated that the ESMO-DPLL-based active damping control method proposed in this paper effectively suppresses oscillation during the operation of hybrid stepper motors, enabling smooth motor operation. Overall, this control scheme successfully addresses the damping shortcomings of stepper motors and effectively inhibits oscillation during actual operation.

Key words： Hybrid stepper motor closed-loop control active damping control phase locked loop sliding mode observer

PACS:

TM383.6

基金资助:

辽宁省自然科学基金计划项目（2022-KF-14-03）和特种电机与高压电器教育部重点实验室开放课题（KFKT202104）资助

通讯作者: 武志涛男,1981年生,博士,副教授,研究方向为直线电机伺服驱动技术。 E-mail：aswzt@163.com

作者简介: 施雨女,1997年生,硕士研究生,研究方向为混合式步进电机的控制。E-mail：sshhiyu@163.com

引用本文:

施雨, 武志涛, 佟文明. 基于ESMO-DPLL的混合式步进电机主动式阻尼控制[J]. 电工技术学报, 0, (): 1049-1049. Shi Yu, Wu Zhitao, Tong Wenming. Active Damping Control of Hybrid Stepper Motor Based on ESMO-DPLL. Transactions of China Electrotechnical Society, 0, (): 1049-1049.

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