五相混合式步进电机双闭环滑模控制  

Double Closed Loop Sliding Mode Control of Five-phase Hybrid Stepping Motor

作　　者：杨文豪 张团善[1] 臧福全 井振威 YANG Wenhao;ZHANG Tuanshan;ZANG Fuquan;JING Zhenwei(School of Mechanical and Electrical Engineering,Xi’an Polytechnic University,Xi’an 710600,China)

机构地区：[1]西安工程大学机电工程学院,西安710600

出　　处：《微电机》2025年第2期57-63,共7页Micromotors

基　　金：国家自然科学基金(51735010);西安现代智能纺织设备重点实验室(2019220614SYS021CG043)。

摘　　要：混合式步进电机由于其优越的运动性能而被广泛应用于高精尖场合,但由于步进电机存在失步,且转速越高转矩越小的情况限制了其应用环境。为此,本文区别于传统的步进电机开环控制和驱动方式,对五相混合式步进电机采用闭环反馈和控制器控制。首先,采用磁场定向控制(Field-Oriented Control,FOC)策略,介绍了FOC控制方法和相关控制器基本原理;随后,根据五相混合式步进电机本体的数学模型,提出了适用于五相混合式步进电机的空间矢量脉宽调制(Space vector pulse width modulation,SVPWM)算法,设计了PI控制器,基于趋近率的滑模控制器,超螺旋滑模控制器,针对电机闭环反馈系统,建立了相对应五相混合式电机的转速、电流双闭环反馈控制系统以实现对电机系统的动态控制;最后,在Matlab/Simulink中搭建了五相混合式步进电机控制系统,对控制系统和控制器进行可行性验证。结果表明,采用上述方法提高了电机系统的鲁棒性和高速运行带载能力。Hybrid stepping motors are widely used in high-precision applications due to their superior motion performance,but the fact that stepping motors have a tendency to lose steps and have lower torque at higher speeds limits their application environments.Therefore,this paper differed from traditional open-loop control and drive methods for stepping motors by using closed-loop feedback and controllers for the five-phase hybrid stepping motor.First,the field-oriented control(FOC)strategy was introduced,along with the basic principles of the FOC control method and related controllers.Then,based on the mathematical model of the five-phase hybrid stepping motor,a space vector pulse width modulation(SVPWM)algorithm suitable for the five-phase hybrid stepping motor was proposed,and a PI controller,a sliding mode controller based on the approach rate,and a super-helix sliding mode controller were designed to achieve dynamic control of the motor system.Finally,a five-phase hybrid stepping motor control system was established in Matlab/Simulink,and the feasibility of the control system and controller was verified.The results show that the above methods have improved the robustness and high-speed load-carrying capacity of the system.

关 键 词：五相混合式步进电机 SVPWM 滑模控制 闭环控制 MATLAB 

分 类 号：TM383.6[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]