永磁球形步进电动机及自适应控制方式  

Adaptive Control Method for the Permanent Magnet Spherical Stepper Motor

作　　者：夏鲲[1] 李树广[2] 王群京[3] 

机构地区：[1]上海理工大学计算机与电气工程学院,上海200093 [2]上海交通大学电子信息与电气工程学院,上海200240 [3]合肥工业大学电气与自动化学院,合肥230009

出　　处：《上海交通大学学报》2007年第11期1871-1877,共7页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50377010)

摘　　要：针对永磁球形步进电动机,运用卡尔丹角旋转建立了转子固连坐标系下电动机转子动力学模型.结合对步进式结构球形电动机进行电流控制的思想,设计了基于输入-输出稳定性理论的控制方案.然后,对电动机负载影响转子各轴向转动惯量的情况设计了一种新的自适应控制方案,使得转子在负载状况下仍然可以作连续轨迹(CP)运动.最后,结合已得的转矩模型,利用广义逆计算16个定子线圈的通电电流,完成了控制方案的实现.A new adaptive control method for the permanent magnet spherical stepper motor was focused. The dynamical model of the rotor expressed with cardan angle rotation was set up in rotor-fixed coordinates frame. One control method was designed based on input-output stability theory combined with current control idea for spherical stepper motor. Then an adaptive control method applied in the situation that the load affects the rotation inertia of the axes was developed. This assures the rotor to drive mechanical loads following the continuous path （CP） motion. Finally the currents in sixteen stator coils to accomplish the control methods： were calculated with the generalized inverse matrix based on the acquired torque model.

关 键 词：永磁球形步进电动机 转子动力学模型 自适应控制 

分 类 号：TM359.9[电气工程—电机]