發(fā)布時(shí)間：2018-10-31 16:45

【摘要】：步進(jìn)電動(dòng)機(jī)是控制系統(tǒng)終端廣泛使用的執(zhí)行環(huán)節(jié)，但是開環(huán)控制的步進(jìn)電動(dòng)機(jī)存在振蕩和失步等問題，使得步進(jìn)電動(dòng)機(jī)的應(yīng)用受到限制，因此引入位置閉環(huán)控制來改善步進(jìn)電動(dòng)機(jī)的控制性能。本文以廣泛使用的三相混合式步進(jìn)電動(dòng)機(jī)為對象，開展步進(jìn)電動(dòng)機(jī)閉環(huán)控制系統(tǒng)研究。 文中首先簡述了步進(jìn)電動(dòng)機(jī)開環(huán)控制系統(tǒng)的發(fā)展現(xiàn)狀和存在的問題，對閉環(huán)控制系統(tǒng)研究現(xiàn)狀進(jìn)行分析，闡述了不同的步進(jìn)電動(dòng)機(jī)閉環(huán)控制的系統(tǒng)結(jié)構(gòu)和研究中存在的問題，引出了本課題的研究目的和主要內(nèi)容。 對三相混合式步進(jìn)電動(dòng)機(jī)的構(gòu)造和運(yùn)行原理進(jìn)行了研究，建立了電動(dòng)機(jī)的數(shù)學(xué)模型，將三相混合式步進(jìn)電動(dòng)機(jī)看成交流永磁同步電動(dòng)機(jī)進(jìn)行分析。在步進(jìn)電動(dòng)機(jī)閉環(huán)控制系統(tǒng)中，驅(qū)動(dòng)技術(shù)對系統(tǒng)性能有著重要的影響，本文分析了步進(jìn)電動(dòng)機(jī)不同驅(qū)動(dòng)技術(shù)的特點(diǎn)，選取細(xì)分驅(qū)動(dòng)作為閉環(huán)系統(tǒng)中步進(jìn)電動(dòng)機(jī)的驅(qū)動(dòng)技術(shù)。對于步進(jìn)電動(dòng)機(jī)轉(zhuǎn)子位置檢測，分析了無傳感器位置檢測和有傳感器位置檢測的優(yōu)缺點(diǎn)。 針對傳統(tǒng)使用id=0的矢量控制策略，論述了用這種方法控制步進(jìn)電動(dòng)機(jī)時(shí)的缺點(diǎn)，，為了提高步進(jìn)電動(dòng)機(jī)的運(yùn)行效率，選取最大轉(zhuǎn)矩電流比作為矢量控制策略。對空間矢量脈寬調(diào)制（SVPWM）技術(shù)進(jìn)行了研究，在此基礎(chǔ)上對SVPWM進(jìn)行優(yōu)化，有效地減少了控制過程中的開關(guān)次數(shù)，降低了開關(guān)損耗。隨后對閉環(huán)調(diào)速時(shí)十分重要的電動(dòng)機(jī)加減速控制進(jìn)行了討論。 最后，給出步進(jìn)電動(dòng)機(jī)閉環(huán)控制系統(tǒng)的整體結(jié)構(gòu)框圖。在Matlab/Simulink仿真平臺(tái)上，建立三相混合式步進(jìn)電動(dòng)機(jī)各個(gè)狀態(tài)方程的仿真子系統(tǒng)，結(jié)合矢量控制、細(xì)分驅(qū)動(dòng)、電流和速度閉環(huán)控制分別搭建了步進(jìn)電動(dòng)機(jī)開環(huán)控制仿真系統(tǒng)以及閉環(huán)控制仿真系統(tǒng)，并作對比研究。仿真結(jié)果表明步進(jìn)電動(dòng)機(jī)的閉環(huán)控制系統(tǒng)能有效的提高電動(dòng)機(jī)控制系統(tǒng)的位置控制精度和抗干擾能力，最大轉(zhuǎn)矩電流比能有效的提高電動(dòng)機(jī)的運(yùn)行效率。
[Abstract]:Stepping motor is widely used in the terminal of control system. However, the open-loop control step motor has the problems of oscillation and out-of-step, which limits the application of step motor. Therefore, the position closed loop control is introduced to improve the control performance of stepping motor. In this paper, the closed-loop control system of three-phase hybrid stepping motor is studied. In this paper, the development status and existing problems of open-loop control system of stepping motor are briefly introduced, the research status of closed-loop control system is analyzed, and the system structure of different closed-loop control system of stepping motor and the problems existing in the research are expounded. The purpose and main content of this research are introduced. The construction and operation principle of the three-phase hybrid stepping motor are studied, and the mathematical model of the motor is established. The three-phase hybrid stepping motor is regarded as an AC permanent magnet synchronous motor. In the closed-loop control system of stepping motor, the driving technology has an important effect on the performance of the system. This paper analyzes the characteristics of the different driving techniques of the stepping motor, and selects the subdivision drive as the driving technology of the stepping motor in the closed-loop system. For step motor rotor position detection, the advantages and disadvantages of sensorless position detection and sensorless position detection are analyzed. Aiming at the traditional vector control strategy using id=0, this paper discusses the disadvantages of using this method to control the stepping motor. In order to improve the running efficiency of the stepping motor, the maximum torque / current ratio is selected as the vector control strategy. The space vector pulse width modulation (SVPWM) technique is studied. Based on this, the SVPWM is optimized to reduce the number of switches and the switching loss effectively. Then the motor acceleration and deceleration control which is very important in closed-loop speed regulation is discussed. Finally, the block diagram of the closed-loop control system of step motor is given. Based on the Matlab/Simulink simulation platform, the simulation subsystem of each state equation of three-phase hybrid stepping motor is established, which is combined with vector control and subdivision drive. The open loop control simulation system and the closed loop control simulation system of step motor are established and compared with each other. The simulation results show that the closed-loop control system of stepping motor can effectively improve the position control accuracy and anti-interference ability of the motor control system, and the maximum torque / current ratio can effectively improve the running efficiency of the motor.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TM383.6

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