基于主动式阻尼的混合式步进电机转速振荡抑制控制

doi:10.19595/j.cnki.1000-6753.tces.230235

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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d-q坐标系,将电流i_d控制恒为额定电流,利用位置误差和速度误差调节电流i_q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(synchronous frequency-extract filter,SFF)与三阶锁相环(third-order phase locked loop,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。

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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

Abstract：

Hybrid stepper motors are widely used in medical and industrial automation fields due to high efficiency and output torque. The stepper motor generally uses open-loop operation but its special mechanical structure leads to a small viscous damping coefficient of the motor, which is sensitive to jitter vibration and loss of step during actual operation, seriously limiting the application of the hybrid stepper motor. To address this issue and enhance their control quality, an active damping-based method for suppressing speed oscillations in hybrid stepper motor is proposed.
The proposed method begins by establishing a motor model in the synchronous rotating coordinate system and controlling the current i_d as a constant current rating. The motor damping is increased by utilizing the position and speed error to generate the regulation current i_q, which produces instantaneous torque to suppress oscillation. Additionally, damping control requires the acquisition of speed and position information, a sensorless control method combining synchronous frequency-extract filter (SFF) and third-order phase locked loop (PLL³rd) is proposed. SFF can filter the harmonic components in the back EMF, and PLL³rd can eliminate the steady-state error during speed variation.
To verify the effectiveness of the SFF-PLL³rd observation, the motor speed is set to be constant at 100 Hz, a comparison is made between the back EMF experimental results obtained using conventional PLL and the SFF-PLL³rd method under rated load. The conventional PLL observes a clearly distorted back EMF signal, which contains harmonic components. The SFF-PLL³rd method achieves a smoother back EMF waveform with significantly reduced amplitude of the 2nd, 3rd, 5th and 7th harmonic components, indicating that the SFF-PLL³rd observation method can effectively filter out the harmonic components of the back EMF and improve the accuracy of rotor information observation.
To verify the suppression effect of the double closed-loop control method based on active damping on the speed oscillation of the hybrid stepper motor, the speed curves are compared between the undamped control and damping control at different speeds. The motor speed is accelerated from 0Hz to 10Hz and decelerated to standstill, with a maximum speed error of approximately 6Hz between the actual speed and the estimated speed. With damping control, the oscillation of the speed is reduced and the error between the actual speed and the estimated speed is reduced to 4 Hz. The motor accelerates from 0Hz to 300Hz and then decelerates to standstill, the speed oscillation is obvious without damping control, and the maximum speed error is about 90Hz. The speed oscillation of the motor with damping control is effectively suppressed, reducing the error between the actual and estimated speed to about 36Hz. When the motor speed is accelerated from 0 Hz to 500 Hz and then decelerated to 0 Hz, the error between the actual speed and the estimated speed is about 70 Hz without damping control, while with damping control, the speed oscillation is suppressed more obviously, reducing the error between the actual speed and the estimated speed to about 35 Hz, and the stepper motor shows steady-state operation.
The experimental results support that the damping double closed-loop control can suppress oscillation during motor operation at low speeds. As the speed increase, the effect of damping control on suppressing motor oscillation becomes more obvious. The overall control scheme can effectively improve the insufficient damping of the stepper motor and suppress the oscillation phenomenon during the actual operation, resulting in smooth motor operation.

Key words： Hybrid stepper motor dual closed-loop control active damping control phase locked loop synchronous frequency-extract filter

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, 苏晓英, 佟文明. 基于主动式阻尼的混合式步进电机转速振荡抑制控制[J]. 电工技术学报, 0, (): 8923-. Shi Yu, Wu Zhitao, Su Xiaoying, Tong Wenming. Hybrid Stepper Motor Speed Oscillation Suppression Control Based on Active Damping. Transactions of China Electrotechnical Society, 0, (): 8923-.

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