基于IHF-PLL^(3)rd的混合式步进电机主动式阻尼控制  

Active Dampingg Control of Hybrid Stepper Motor Based on IHF-PLL^(3)rd

作　　者：施雨 武志涛[1] 佟文明 SHI Yu;WU Zhitao;TONG Wenming(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,Liaoning Province,China;Key Laboratory of Special Machine and High Voltage Apparatus(Shenyang University of Technology),Ministry of Education,Shenyang 110870,Liaoning Province,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁省鞍山市114051 [2]特种电机与高压电器教育部重点实验室(沈阳工业大学),辽宁省沈阳市110870

出　　处：《中国电机工程学报》2023年第18期7298-7307,共10页Proceedings of the CSEE

基　　金：辽宁省自然科学基金项目(2022-KF-14-03);辽宁省教育厅科学研究项目(LJKZ0308);特种电机与高压电器教育部重点实验室开放课题(KFKT202104)。

摘　　要：混合式步进电机本身阻尼极小,在实际运行过程中经常会发生振荡过大、甚至失步的问题。为提高步进电机的控制品质,提出一种基于三阶锁相环(third-orderphaselocked loop,PLL^(3)rd)-积分谐波滤波器(integral harmonic filter,IHF)的步进电机主动式阻尼控制方法。首先,主动式阻尼控制是利用同步d-q坐标系调节定子电流,其中控制id恒定为额定电流,调节iq生成瞬时转矩以抑制振荡。其次,为实现转速闭环达到增加电机阻尼的目的,提出一种PLL^(3)rd与IHF相结合的转速观测方法。其中,PLL^(3)rd可消除电机加减速过程中的稳态误差,而IHF可以有效滤除电机反电势中的高次谐波分量,该方法解决了传统微步控制中只减小了振荡幅度但是没有改变控制系统阻尼大小的问题。最后,通过实验验证所提方案的有效性。Hybrid stepper motor(HSM)has extremely small internal damping,which often leads to excessive oscillation and even lost steps during actual operation.To improve the control quality of stepper motor,a stepper motor active damping control method based on IHF-PLL^(3)rd is proposed.First,the active damping control utilizes a synchronous d-q coordinate system to adjust the stator current,which controls the ia constant to the rated current,and adjusts the iq to generate instantaneous torque to suppress oscillation.Secondly,a third-order phase locked loop(PLL^(3)rd)combined with an integral harmonic filter(IHF)is proposed for speed observation aiming to implement a closed speed loop to increase motor damping.The PLL^(3)rd can avoid the steady-state error during the acceleration and deceleration of the motor,while IHF can effectively filter out the higher harmonic components in the back electromotive force.This method solves the problem that only the oscillation magnitude is reduced,while the damping of the control system remains unchanged in the traditional micro-stepping control.Finally,the proposed scheme is experimentally verified to be effective.

关 键 词：混合式步进电机 主动式阻尼控制 三阶锁相环 积分谐波滤波器 

分 类 号：TM383.6[电气工程—电机]