基于主动式阻尼的混合式步进电机转速振荡抑制控制  

Hybrid Stepper Motor Speed Oscillation Suppression Control Based on Active Damping

作　　者：施雨 武志涛[1] 苏晓英[1] 佟文明[2] Shi Yu;Wu Zhitao;Su Xiaoying;Tong Wenming(School of Electronic and Information Engineering University of Science and Technology,Liaoning,Anshan 114051 China;Key Laboratory of Special Machine and High Voltage Apparatus Ministry of Education Shenyang University of Technology,Shenyang 110870 China)

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

出　　处：《电工技术学报》2024年第8期2459-2469,共11页Transactions of China Electrotechnical Society

基　　金：辽宁省自然科学基金计划项目(2022-KF-14-03);特种电机与高压电器教育部重点实验室开放课题项目(KFKT202104)资助。

摘　　要：混合式步进电机因其特殊的机械结构导致自身阻尼极小,在实际运行过程中会发生振荡过大,甚至失步的问题。为提高混合式步进电机的控制品质,提出一种基于主动式阻尼的步进电机转速振荡抑制方法。首先,将电机模型转化至同步旋转dq坐标系,将电流i_d控制恒为额定电流,利用位置误差和速度误差调节电流i_q生成瞬时转矩,抑制电机运行时存在的振荡现象。其次,为实现电机闭环反馈控制,提出一种将同步频率提取滤波器(SFF)与三阶锁相环(PLL~3rd)相结合的无传感器控制方法。SFF可以滤除反电动势信号中的高次谐波,PLL~3rd能消除转速变化过程中的稳态误差。实验证明,该方法有效抑制了步进电机运行过程中的振荡现象,提升了电机的运行品质。Hybrid stepper motors are widely used in medical and industrial automation due to their high efficiency and output torque.The stepper motor generally uses open-loop operation.However,its special mechanical structure can lead to a small viscous damping coefficient of the motor,which is sensitive to jitter vibration and prone to step loss during actual operation.This paper proposes an active damping-based method for suppressing speed oscillations in hybrid stepper motors.A motor model is established in the synchronous rotating coordinate system,and the current id is controlled as a constant current rating.The motor damping is increased by position and speed errors to generate the regulation current iq,which produces instantaneous torque to suppress oscillation.Damping control requires speed and position information.Thus,a sensorless control method with a synchronous frequency-extract filter(SFF)and third-order phase-locked loop(PLL3rd)is proposed.SFF can filter harmonic components in the back EMF,and PLL3rd can eliminate steady-state errors during speed variation.The motor speed is set constant at 100 Hz to compare conventional PLL and the SFF-PLL3rd methods under rated loads.The conventional PLL observes a distorted back EMF signal containing harmonic components.The SFF-PLL3rd method achieves a smoother back EMF waveform with reduced 2nd,3rd,5th,and 7th harmonic components,indicating improved rotor information observation accuracy.Subsequently,speed curves between undamped and damping control are compared at different speeds.The motor speed is accelerated from 0 Hz to 10 Hz and decelerated to a standstill,with a maximum speed difference of approximately 6 Hz between the actual and estimated speed.With damping control,the speed oscillation is reduced,and the difference between the actual and estimated speed is reduced to 4 Hz.When the motor accelerates from 0 Hz to 300 Hz and then decelerates to a standstill,the speed oscillation is obvious without damping control,and the maximum speed error is about 90 Hz.Damping

关 键 词：混合式步进电机 双闭环控制 主动式阻尼控制 锁相环 同步频率提取滤波器 

分 类 号：TM383.6[电气工程—电机]