基于可编程控制器的步进电机闭环智能控制系统  

Closed-loop Intelligent Control System of Stepper Motor Based on Programmable Controller

作　　者：林滔[1] LIN Tao(School of Electronic Technology and Engineering,Shanghai Technical Institute of Electronics&Information,Shanghai 201411,China)

机构地区：[1]上海电子信息职业技术学院电子技术与工程学院,上海201411

出　　处：《自动化与仪表》2022年第4期36-39,45,共5页Automation & Instrumentation

摘　　要：常规系统调节步进电机速度环和电流环时,一律对电压偏差进行比例放大,使得电机跟踪控制指令时,稳态到达时间较长、稳态误差较大。提出基于可编程控制器的步进电机闭环智能控制系统。硬件方面,将可编程控制器作为主控单元,集成反馈模块等,设计系统总体结构,优化主功率驱动电路;软件方面,当电压偏差在预设范围内,对其进行比例放大和积分,否则仅进行比例放大,得到电机速度环和电流环调节量,对转矩偏差进行比例调节,得到位置环调节量,形成三闭环控制结构。搭建步进电机测试平台,下达速度阶跃指令信号和位置指令信号,实验结果表明,该设计系统缩短了速度跟踪和位置跟踪的稳态到达时间,减小了稳态误差,速度控制和位置控制性能更加优越。When the conventional system adjusts the speed loop and current loop of the stepping motor,the voltage deviation is proportional to enlarge,which makes the motor tracking control instructions,the steady-state arrival time is longer,the steady-state error is larger. A closed-loop intelligent control system of stepper motor based on programmable controller is proposed. In terms of hardware,the programmable controller is used as the main control unit and feedback module is integrated to design the overall structure of the system and optimize the main power drive circuit. In terms of software,when the voltage deviation is within the preset range,proportional amplification and integration are carried out for it,otherwise,only proportional amplification is carried out to obtain the motor speed loop and current loop adjustment. Proportional adjustment is carried out for the torque deviation to obtain the position loop adjustment,forming a three-closed-loop control structure. The stepper motor test platform was built,and the speed step command signal and position command signal were issued. The experimental results show that the designed system shorters the steady-state arrival time of speed tracking and position tracking,reduces the steady-state error,and the performance of speed control and position control is superior.

关 键 词：可编程控制器 驱动电路 步进电机 控制系统 位置环 速度环 

分 类 号：TP332.3[自动化与计算机技术—计算机系统结构]