基于ESMO-DPLL的混合式步进电机主动式阻尼控制  

Active Damping Control of Hybrid Stepper Motor Based on ESMO-DPLL

作　　者：施雨 武志涛[1] 佟文明[2] Shi Yu;Wu Zhitao;Tong Wenming(School of Electronic and Information Engineering University of Science and Technology Liaoning,Anshan 114051 China;National Engineering Research Center for Rare-Earth Permanent Magnet Machines 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]国家稀土永磁电机工程技术研究中心(沈阳工业大学),沈阳110870

出　　处：《电工技术学报》2024年第18期5657-5667,共11页Transactions of China Electrotechnical Society

基　　金：辽宁省自然科学基金计划(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：针对混合式步进电机阻尼系数较小引起的振荡以及失步问题,提出一种主动式阻尼闭环控制方法提高步进电机的控制品质。首先,该方法基于同步旋转dq坐标系下的电机模型,将电流id控制恒为额定电流,利用转速误差调节电流iq生成瞬时转矩,改善电机运行时存在的振荡现象。其次,为实现转速闭环,提出一种扩展滑模反电动势观测器(ESMO)与双锁相环(DPLL)相结合的无传感器控制方法,ESMO改善了传统滑模观测器的抖振问题,DPLL能消除加减速过程中的稳态误差。最后,通过实验验证了所提方法的有效性。Hybrid stepper motors(HSM)have gained significant attention in the motor control field due to their ability to achieve energy conversion with high reliability,efficiency,and affordability.However,the mechanical structure of the stepper motor often results in undesired jitter vibration and out-of-step problems during operation because it relies on open-loop control.This paper introduces an active damping control method for hybrid stepper motors based on ESMO-DPLL.The method is based on the motor model under the synchronous rotating coordinate system.The control of the current id is kept constant at the current rating,while the current iq is adjusted according to the speed error to enhance motor damping and suppress oscillation during operation.Combined with an extended sliding mode observer(ESMO)and a dual phase locked loop(DPLL),a sensorless control method is introduced to achieve closed-loop speed control.ESMO employs the inverse potential as an extended state variable and replaces the traditional state variable with a saturation function.To verify the effectiveness of the ESMO observation method,the motor speed is set to be constant at 300 Hz and 500 Hz,respectively,and the experimental results of the inverse electromotive force obtained by the traditional SMO and ESMO methods are compared.The results demonstrate that the ESMO observation method effectively addresses the jitter problem of the traditional sliding mode observer and provides a more accurate estimate of the inverse electromotive force.Furthermore,the effectiveness of the ESMO-DPLL-based closed-loop active damping control for hybrid stepper motors in suppressing system oscillations is verified by comparing speed curves between undamped and damped control at different speeds.The motor is accelerated from a standstill to 10 Hz and then decelerated to 0 Hz.In undamped control,the maximum actual speed error between the actual speed and the estimated speed is approximately 5 Hz,while in damped control,it is reduced to 4 Hz.Similarly,when the motor accele

关 键 词：混合式步进电机 闭环控制 主动式阻尼控制 锁相环 滑模观测器 

分 类 号：TM383.6[电气工程—电机]