Active Damping Control of Hybrid Stepper Motor Based on ESMO-DPLL
Shi Yu1, Wu Zhitao1, Tong Wenming2
1. School of Electronic and Information Engineering University of Science and Technology Anshan 114051 China;
2. National Engineering Research Center for Rare-earth Permanent Magnet Machines (Shenyang University of Technology) Shenyang 110870 China);
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.
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.
[1] 王春雷,曹东兴.两相混合式步进电机全速范围无位置传感器速度控制[J].电机与控制学报,2022,26(3):41-48.
Wang Chunlei,Cao Dongxing.Wide-speed-range sensorless speed control of two-phase hybrid stepper motors[J].Electric Machines and Control,2022,26(3):41-48.
[2] Yang S M, Kuo E L.Damping a hybrid stepping motor with estimated position and velocity[J]. IEEE Transactions on Power Electronics, 2003, 18(3):880-887.
[3] 陈学军. 步进电机细分驱动控制系统的研究与实现[J]. 电机与控制应用, 2006, 33(6):48-50.
Chen Xuejun.Research and realization of subdivided driving system of stepping motor[J]. Electric Machines and Control Application, 2006, 33(6):48-50.
[4] Schweid S A, Lofthus R M, Mcinroy J E, et al.Hybrid step motor position estimation from back EMF[C]. Proceedings of International Conference on Control Applications, Albany, USA, 1995.
[5] Le K M, Hoang H V, Jeon J W.An advanced closed-loop control to improve the performance of hybrid stepper motors[J]. IEEE Transactions on Power Electronics, 2017, 32(9):7244-7255.
[6] Le Q N, Jeon J W.Neural-network-based low-speed-damping controller for stepper motor with an FPGA[J]. IEEE Transactions on Industrial Electronics, 2010, 57(9):3167-3180.
[7] 葛扬, 宋卫章, 杨洋. 基于扩张式主从自适应陷波滤波器与动态频率跟踪的永磁同步电机无传感器控制[J]. 电工技术学报, 2023, 38(14):3824-3835.
Ge Yang, Song Weizhang, Yang Yang.PMSM sensorless control based on extended master-slave adaptive notch filter and dynamic frequency tracking[J]. Transactions of China Electrotechnical Society, 2023, 38(14):3824-3835.
[8] 孙明阳, 和阳, 邱先群, 等. 随机频率三角波注入永磁同步电机无位置传感器降噪控制[J]. 电工技术学报, 2023, 38(6):1460-1471.
Sun Mingyang, He Yang, Qiu Xianqun, et al.Random-frequency triangular wave injection based sensorless control of PMSM drives for audible noise reduction[J]. Transactions of China Electrotechnical Society, 2023, 38(6):1460-1471.
[9] Xu Wei, Jiang Yajie, Mu Chaoxu, et al.Improved nonlinear flux observer-based second-order SOIFO for PMSM sensorless control[J]. IEEE Transactions on Power Electronics, 2018, 34(1):565-579.
[10] Yin Guiliang, Guo Lei, Li Xiangnan.An amplitude adaptive notch filter for grid signal processing[J]. IEEE Transactions on Power Electronics, 2013, 28(6):2638-2641.
[11] 刘宁, 夏长亮, 周湛清, 等. 基于比例增益补偿的永磁同步电机转速平滑控制[J]. 电工技术学报, 2018, 33(17):4007-4015.
Liu Ning, Xia Changliang, Zhou Zhanqing, et al.Smooth speed control for permanent magnet synchronous motor using proportional gain compensation[J]. Transactions of China Electrotechnical Society, 2018, 33(17):4007-4015.
[12] 陈乾, 陈敏祥, 王宗培. 混合式电机无传感器控制的研究[J]. 机电工程, 2019, 36(6):642-646.
Chen Qian, Chen Minxiang, Wang Zongpei.Sensorless control for hybrid motor[J]. Journal of Mechanical and Electrical Engineering, 2019, 36(6):642-646.
[13] Saadaoui O, Khlaief A, Abassi M, et al.A sliding-mode observer for high-performance sensorless control of PMSM with initial rotor position detection[J]. International Journal of Control, 2017, 90(2):377-392.
[14] 武志涛, 李帅, 程万胜. 基于扩展滑模扰动观测器的永磁直线同步电机定结构滑模位置跟踪控制[J]. 电工技术学报, 2022, 37(10):2503-2512.
Wu Zhitao, Li Shuai, Cheng Wansheng.Fixed structure sliding mode position tracking control for permanent magnet linear synchronous motor based on extended sliding mode disturbance observer[J]. Transactions of China Electrotechnical Society, 2022, 37(10):2503-2512.
[15] Wang Chunlei, Cao Dongxing.New sensorless speed control of a hybrid stepper motor based on fuzzy sliding mode observer[J]. Energies, 2020, 13(18):1-19.
[16] 战家治, 崔皆凡. 基于神经网络的两相混合式步进电机反步控制[J]. 电机与控制应用, 2022, 49(01):28-33.
Zhan Jiazhi, Cui Jiefan.Backstepping control of two-phase hybrid stepping motor based on neural network[J]. Electric Machines and Control Application, 2022, 49(01):28-33.
[17] 梅三冠, 卢闻州, 樊启高, 等. 基于滑模观测器误差补偿的永磁同步电机无位置传感器控制策略[J]. 电工技术学报, 2023, 38(02):398-408.
Mei Sanguan, Lu Wenzhou, Fan Qigao, et al.Sensorless control strategy of permanent magnet synchronous motor baesd on error compensation estimated by sliding mode observer[J]. Transactions of China Electrotechnical Society, 2023, 38(02):398-408.
[18] 王光宇, 付立军, 胡祺, 等. 计及电压环影响的虚拟同步发电机低频振荡阻尼分析与控制[J]. 电力系统自动化, 2022, 46(14):177-184.
Wang Guangyu, Fu Lijun, Hu Qi, et al.Analysis and control of low-frequency oscillation damping of virtual synchronous generator considering influence of voltage loop[J]. Automation of Electric Power Systems, 2022, 46(14):177-184.
[19] 章春娟, 王慧贞, 刘伟峰, 等. 基于宽频带同步基频提取滤波器的永磁同步电机转子位置与转速估计[J]. 电工技术学报, 2022, 37(4):882-891.
Zhang Chunjuan, Wang Huizhen, Liu Weifeng, et al.Rotor position and speed estimation of permanent magnet synchronous motor based on wideband synchronous fundamental-frequency extraction filter[J]. Transactions of China Electrotechnical Society, 2022, 37(4):882-891.
[20] Liu Gang, Zhang Haifeng, Song Xinda.Position estimation deviation suppression technology of PMSM combining phase self-compensation SMO and feed-forward PLL[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2021, 9(1):335-344.