基于负载观测器的步进电动机滑模位置控制  

Research on Sliding Mode Position Control of Stepping Motor Based on Load Torque Observer

作　　者：董雷[1] 杨向宇[1] 赵世伟[1] 

机构地区：[1]华南理工大学,广州510642

出　　处：《微特电机》2015年第8期95-98,共4页Small & Special Electrical Machines

基　　金：国家自然科学基金项目(51107041);中央高校基本科研业务费重点项目(2013ZZ033)

摘　　要：将滑模变结构控制应用于两相混合式步进电动机的位置控制系统中,提出一种改进的具有时变切换增益的指数趋近律,并设计滑模控制器取代传统PID控制的位置环和速度环,针对实际运行时负载扰动未知的问题,构建了负载转矩观测器。仿真和实验结果表明滑模变结构控制对两相混合式步进电动机的位置控制具有较好的鲁棒性,良好的动态和稳态性能。The sliding mode control was applied to position control system of a two phase hybrid stepping motor,an improved exponential reaching law with time-varying switch gain was proposed,and a sliding mode controller was designed replacing of the position loop and velocity loop of traditional PID control. Moreover,a load torque observer was built for compensating unknown load disturbances. Simulation and experimental results demonstrate that the proposed algorithm can provide a good dynamics and precious position tracking ability besides robustness on load disturbances for the hybrid stepping motor system.

关 键 词：两相混合式步进电动机 位置控制 滑模控制 负载观测器 

分 类 号：TM383.6[电气工程—电机]