【作者】 章烈剽；

【导师】 邓燕妮；

【作者基本信息】 武汉理工大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 近年来硬盘制造业高速发展，大容量、小体积、高读取速度的硬盘，是硬盘市场的发展趋势。这些体积小、结构复杂的硬盘对加工工艺提出了很高的要求。而加工中主要是采用步进电机作为伺服控制系统的。步进电机以其独特的特点可以在无速度传感器和无位置传感器系统中实现精确的开环状态定位或同步运行。我们通过调节发送给步进电机的步进脉冲个数来实现精确的位移或者角度定位，而调节发送的步进脉冲频率就可以实现速度调节，这些都有利装置或设备的小型化和低成本，因而在众多领域中得到广泛的应用。细分驱动技术是一种能有效改善步进电机低频特性和提高步进精度的驱动技术。广泛应用于对工况要求较高的场合，尤其在一些要求高精度、低噪音、低振动的系统中，细分驱动成为步进电机驱动的首选驱动技术。本文先介绍了三相混合式步进电机的结构和工作原理，然后在对步进电机细分驱动技术、PWM逆变技术以及单片机研究的基础上，分析了细分驱动对于改善步进电机运行性能的作用，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，提出了一种基于正弦电流细分和电流追踪型脉宽调制(PWM)的细分驱动技术，该方案中正弦电流细分技术基本上克服了传统步进电机低速振动大和噪音大的缺点，减小发生共振的几率。电流追踪型脉宽调制(PWM)技术使电机运行在较大速度范围内转矩保持恒定。该方案能避免其它相绕组的感应电压和绕组电流的漂移带来的误差，提高了细分精度。本文采用控制电路主要由AT89C51单片机、晶振电路、地址锁存器、译码器、EEPROM存储器及可编程键盘／显示控制器Intel-8279等组成，单片机是控制系统的核心。采用IR2130功率驱动芯片作为三相混合式步进电机的功率驱动器件。文中对整个系统的架构及硬件电路和驱动软件的实现都做了详细的介绍。最后本文又通过实验对这个系统的可靠性和步进精度进行了测试，实验结果表明该系统能够满足用户的定位精度要求，有效的抑制了运行噪声和机械振动。同时由于该系统实现了恒力矩细分驱动，从而提高了系统的可靠性，降低了成本。具有较强的实用件。更多还原

【Abstract】 Rapid development of Hard Disk Drive industry in recent years has beenpushing HDD to advance on the trend of large capacity, small size and rapid access, which put great requirements on machining techniques of HDD.But, processing middle is to adopt step-by-step electric motor to be servo control systematically mainly.With its special features in the construction stepper motor is widely used in the system that without speed sensors and location sensors to achieve precise positioning of the non-feedback controlling central or synchronous operation. We adopted the regulation that we can conveniently achieve precise position by sending to the stepper motor a given number of electrical pulse and by adjusting the step pulse frequency to control its speed .These characters can be contribute to make the device or equipment miniaturization and low-cost, so they are widely spread in many areas.The stepper motor’s micro-stepping driver is a kind of driving technology that can effectively improve the step precision and characteristic of low frequency. It is mostly used when the equipments require high-precision, low noise or low vibration system, and it is being a more and more popular driving technology.In this paper, the working principle and configuration of three-phase hybrid Stepper are introduced, then based on technologies such as stepper motor controller, PWM inverter and microcontroller. We analysis the using of micro-stepping driving technology to improve operational performance,discuss the principles of SPWM inverter for stepper motor with invariable torque micro-stepping driver, and propound sine wave current subdividing and current tracking PWM technology. Sine wave current subdividing technology not only overcomes the disadvantages of motor’s vibration and noise at low speeds but also reduces probability of resonance. Current tracking PWM technology can maintain constant torque within wide speed range. It prevents the reactive voltage errors brought by other windings and the drift errors brought by current. It improves the precision of subdivision. In the thesis, we develop a single chip computer -based digital controlling system for a three-phase hybrid stepper motor that is mainly constructed from a AT89C51 single chip computer and 8279IC which is used as the core of control parts and a three full-bridge driver IR2130.The power stage of this driver uses IGBT IR2130 that provides high reliability.Based on the approach, the system’s whole architecture, the design of hardware and software are introduced in detail.In finally, the reliability and stepper accuracy of this new control system are tested. The results show that the system can effectively satisfy the fixed position accuracy of customer request, represses movement noise and mechanical vibration. Meanwhile, the realization of the invariable torque micro-stepping technology of stepper motor can effectively reduce the cost ,improve the system’s reliability and relevance.更多还原