混合式步进电机的位置伺服控制技术研究  

Research on Position Servo Control Technology of Hybrid Stepping Motor

作　　者：朱文龙 许宇翔 邵桓 赵月鹏 魏邦阳 ZHU Wenlong;XU Yuxiang;SHAO Huan;ZHAO Yuepeng;WEI Bangyang(School of Engineering,Huzhou University,Huzhou 313000,China;School of Intelligent Manufacturing,Huzhou College,Huzhou 313000,China)

机构地区：[1]湖州师范学院工学院,浙江湖州313000 [2]湖州学院智能制造学院,浙江湖州313000

出　　处：《湖州师范学院学报》2024年第10期36-43,共8页Journal of Huzhou University

基　　金：浙江省自然科学基金项目(LY19F030002);湖州市科技特派员项目(2023kt65)。

摘　　要：采用一种模型预测控制方法,代替混合式步进电机伺服控制系统电流环和速度环的比例-积分(proportional-integral, PI)调节部分,以解决传统PI调节方法抗干扰能力较差的问题.在速度环中,模型预测控制通过对下一时刻速度的多次预测,得到速度误差最小的dq轴目标电流.在电流环中,模型预测控制通过计算6组有效电压矢量的工作时间,得到电流误差最小的dq轴电压,并将其作用于空间矢量脉宽调制技术.Matlab/Simulink平台的仿真验证表明,该方法可有效提高混合式步进电机位置伺服控制系统的抗干扰性.A model predictive control method is used to replace the PI adjustment part of the current loop and speed loop of the hybrid stepper motor servo control system to solve the problem that the traditional PI adjustment method has poor anti-interference ability.In the velocity loop,the model predictive control obtains the dq axis target current with the smallest velocity error by predicting the next time velocity multiple times.In the current loop,the dq axis voltage with minimum current error is obtained by calculating the working time of 6 groups of effective voltage vectors and applied to the space vector pulse width modulation technique.The simulation on the Matlab/Simulink show that this method can effectively improve the anti-interference of the position servo control system of hybrid stepping motor.

关 键 词：空间矢量脉宽调制 三矢量模型预测电流控制 最优电压矢量 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]