两相混合式步进电机高性能闭环驱动系统设计  

Design of High-Performance Closed-Loop Driver Systemfor Two-Phase Hybrid Stepper Motor

作　　者：李军科[1,2] 戴明 杨国华[1,2] Li Junke;Dai Ming;Yang Guohua(Wuxi Vocational Institute of Commerce,Wuxi 214153,China;Jiangsu Research and Development Center of Application Technology for Wireless Sensing System,Wuxi 214153,China)

机构地区：[1]无锡商业职业技术学院,江苏无锡214153 [2]江苏省无线传感系统应用工程技术开发中心,江苏无锡214153

出　　处：《无锡商业职业技术学院学报》2023年第2期100-107,共8页Journal of Wuxi Vocational Institute of Commerce

基　　金：无锡商业职业技术学院教科研课题“基于TMS320F28X平台两相混合式步进电机闭环控制”(KJXJ22316)。

摘　　要：在研究传统步进电机开环细分驱动与控制算法的基础上,提出了一种带编码器步进电机超前角控制的“位置+电流”闭环驱动方案。传统开环细分驱动方案给定的电流相位角与转子位置无关,而此闭环驱动方案使用编码器检测转子实际位置,并计算位置误差、速度误差信息以实时调整电流细分给定的电流相位角,从而更好地改善步进电机在不同转速下的工作性能。采用TI公司高性能处理器TMS320F28069作为主控单元,IR2104S、IRF540作为功率驱动电路,搭建步进电机位置闭环实验平台,并对不同转速的电流以及位置精度进行测试。实验结果表明,该闭环驱动方案可以很好地改善步进电机低速抖动与高速失步的问题,在60~1200 rpm转速范围可以很好地工作,位置精度控制在10个脉冲内,达到了传统伺服电机的水平,具有较好的市场应用价值。Based on the research of traditional open-loop subdivision drive and control algorithm of the stepper motor,a position plus current closed-loop drive scheme is proposed with an encoder for stepper motor leading angle control.When different traditional open-loop subdivisions drive,the given current phase angle is independent of the rotor position.The closed-loop drive scheme uses an encoder to detect the actual position of the rotor and calculate the position error and the velocity error information to adjust the current phase angle given by the current subdivision in real time,thereby improving the working performance of the stepper motor at different speeds.Using TI s TMS320F28069 high-performance processor with IR2104S and IRF540 as the main control unit and power drive circuit,the stepper motor position closed-loop experimental platform is built and the currents and position accuracy at different speeds are tested.The test results show that the closed-loop drive scheme can effectively improve the problems of low-speed jitter and high-speed out-of-step of the stepper motor,which works well in the speed range of 60~1200 rpm,and the position accuracy is controlled within 10 pulses.The solution has reached the level of the traditional servo motor and has good market application value.

关 键 词：步进电机 闭环控制 超前角 细分驱动 PID控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]