Hybrid Stepper Motor Speed Oscillation Suppression Control Based on Active Damping
Shi Yu1, Wu Zhitao1, Su Xiaoying1, Tong Wenming2
1. School of Electronic and Information Engineering University of Science and Technology LiaoningAnshan 114051 China; 2. Key Laboratory of Special Machine and High Voltage Apparatus Ministry of Education Shenyang University of Technology Shenyang 110870 China
Abstract：Hybrid stepper motors are widely used in medical and industrial automation due to their high efficiency and output torque. The stepper motor generally uses open-loop operation. However, its special mechanical structure can lead to a small viscous damping coefficient of the motor, which is sensitive to jitter vibration and prone to step loss during actual operation. This paper proposes an active damping-based method for suppressing speed oscillations in hybrid stepper motors. A motor model is established in the synchronous rotating coordinate system, and the current id is controlled as a constant current rating. The motor damping is increased by position and speed errors to generate the regulation current iq, which produces instantaneous torque to suppress oscillation. Damping control requires speed and position information. Thus, a sensorless control method with a synchronous frequency-extract filter (SFF) and third-order phase-locked loop (PLL3rd) is proposed. SFF can filter harmonic components in the back EMF, and PLL3rd can eliminate steady-state errors during speed variation. The motor speed is set constant at 100 Hz to compare conventional PLL and the SFF-PLL3rd methods under rated loads. The conventional PLL observes a distorted back EMF signal containing harmonic components. The SFF-PLL3rd method achieves a smoother back EMF waveform with reduced 2nd, 3rd, 5th, and 7th harmonic components, indicating improved rotor information observation accuracy. Subsequently, speed curves between undamped and damping control are compared at different speeds. The motor speed is accelerated from 0 Hz to 10 Hz and decelerated to a standstill, with a maximum speed difference of approximately 6 Hz between the actual and estimated speed. With damping control, the speed oscillation is reduced, and the difference between the actual and estimated speed is reduced to 4 Hz. When the motor accelerates from 0 Hz to 300 Hz and then decelerates to a standstill, the speed oscillation is obvious without damping control, and the maximum speed error is about 90 Hz. Damping control effectively suppresses speed oscillation by reducing the difference to about 36 Hz. When the motor speed is accelerated from 0 Hz to 500 Hz and then decelerated to 0 Hz, the difference is about 70 Hz without damping control. In contrast, damping control suppresses speed oscillation with a difference of about 35 Hz. The stepper motor shows steady-state operation. The experimental results indicate that the proposed control can suppress oscillation during motor operation at low speeds. As the speed increases, the effect of damping control on motor oscillation suppression becomes more apparent. The overall control scheme effectively improves insufficient damping of the stepper motor and suppresses oscillation during the actual operation, resulting in smooth motor operation.
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, 2024, 39(8): 2459-2469.
Shi Yu, Wu Zhitao, Su Xiaoying, Tong Wenming. Hybrid Stepper Motor Speed Oscillation Suppression Control Based on Active Damping. Transactions of China Electrotechnical Society, 2024, 39(8): 2459-2469.
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2024, Vol. 39 
