【作者】 唐爱民；

【导师】 胡金高；

【作者基本信息】 福州大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 本文以三相混合式步进电动机数学模型为基础，推导出其转矩解析式，分析了细分驱动对于改善步进电动机运行性能的作用，论述了正弦波细分驱动可以实现等步距角、等力矩均匀细分驱动的原理。提出了通过任意均匀细分来实现任意步距角的新方法，从而打破步进电动机相数和齿数对步距角的限制，简化步进电动机及驱动器的生产格局，充分发挥机电一体化的系统效果。基于固定开关频率型正弦电流跟踪PWM技术，采用软硬件结合的方式完成三相混合式步进电动机正弦波细分驱动系统的研制。以IGBT三相桥作为主逆变电路，对电机绕组电流按正弦规律进行电流闭环控制实现正弦波细分驱动。由于电路复杂，在印刷电路板结构设计中，考虑了功率高频调制等各种因素的影响，以增强系统的协调性和抗干扰性。驱动系统采用微机控制，灵活方便的用软件实现正弦波均匀细分和任意步距角。同时可以将步进电动机驱动器集运动控制与驱动于一体，按照优化的加减速曲线运行来完成运动控制，从而减轻系统集成的难度。研制的驱动器用单一单片机控制平面x-y双轴步进电机，节约了成本，简化了生产设备。最后给出了完整的试验结果，包括不同细分步数下的输出电流和驱动效果等。经现场长时间运行，该双电机驱动系统对整个数控系统运行噪音、机械振动的抑制，定位精度的提高和位置控制的协调性都具有显著的效果。更多还原

【Abstract】 Based on the model of a three-phase hybrid stepping motor, the torque expression is deduced. The effect of subdivided driving on operating performance is analysed. It is illustrated that sine wave subdivided driving can make stepping angle and torque equal. This paper proposes a new method to obtain any wanted stepping angle with adjustable and even subdivision. With the method, the stepping angle isn’t restricted with different phase number and tooth number any longer. So the product arrangement of stepping motors and drives can be simplified. And the efficacy of the system is taken full advantage of.Based on the PWM technology (the style of traced SIN current) with fixed switch frequency, a SIN subdivided driving system for three-phase hybrid stepping motor has been built. Both software and hardware are synthesized. Three-phase bridge inverter used, the current in each phase is made similar to sine wave using current closed loop control. Because of the complicacy of the circuit, all sorts of influencing factors, such as power and high frequency modulation etc., are considered to strengthen the harmony and the noise-immunity of the system, while the printed circuit board is designed.The driving system is controlled with microprocessor. It is easy to realize SIN even subdivided driving and to obtain any wanted stepping by programming. Motion controlling can be integrated with driving. According to the optimised curve of acceleration and deceleration, the moving control can be achieved by the drive. So the difficulty of system integration is lessened. The drive with single microprocessor is used to control the two stepping motors in a two-axis stepper motion system at<WP=4>the same time. So the cost is reduced and the produce device is simplified. Finally, this paper presents the experiment result, including the output current and the driving effect using different micro-step number.The driving system operates for a long time in the numerical control system. Due to the driving system, noise and vibration are restrained. The positioning accuracy and the harmony of the position control system are also increased.更多还原