全数字两相混合式步进电机驱动器的研制

【作者】 何顺义；

【导师】 周国荣；

【作者基本信息】 中南大学 ， 控制科学与工程， 2008， 硕士

【摘要】 两相混合式步进电动机是工业控制中广泛应用的一种电机,具有成本低、驱动电路简单的优点。随着高速微处理器和功率电子器件的发展,电机控制技术朝着全数字化方向发展。因此,对于两相混合式步进电机驱动器的全数字化研究有着十分重要的现实意义。本文作者首先介绍了步进电动机系统的组成及其与之相关的技术的发展状况与趋势,分析了混合式步进电机的工作原理,建立了它的数学模型,深入研究了混合式步进电机的矢量控制方法,并在此基础上设计了一种全数字两相混合式步进电动机驱动器的方案。硬件方面,根据本设计采用的两相混合式步进电机具有中间抽头的特点设计了独特的主电路,在主电路的驱动方面采用IR公司的IR2110作为驱动芯片。控制核心采用电机控制专用处理器TMS320LF2407,其输出的PWM信号触发主回路逆变器从而实现对步进电机的驱动。根据TMS320LF2407和主电路的特点设计了电流反馈电路、过流保护电路等外围电路,从而构成驱动器方案的硬件平台。软件方面,电机控制算法由DSP编程实现,采用基于最大电流/转矩的转子磁场定向矢量控制方法,完成两相混合式步进电机的解耦控制,电流调节器采用PI控制算法,逆变器采用SVPWM调制策略。此外,为了方便调试和实际应用,设计了通讯接口,并开发了上位机的监控软件。最后对设计的样机进行了测试,分析了不同细分数设置下的噪声特性和矩频特性。实验结果验证了设计方案的可行性,表明了该驱动器性能稳定,运行可靠,具有一定的实用价值。更多还原

【Abstract】 Two-phase hybrid stepping motor is a kind of motor widely used in industry control. It has the advantage of low cost and simple drive system. With the developments of high speed microprocessor and power converters technology, motor control is moving towards fully digital direction. Therefore, the research of the fully digital driver for two-phase hybrid stepping motor is very important.First of all, the author introduced the components of stepping motor system and then presented the development survey of all kinds of technologies related to stepping motor system, analyzed the working principle of stepping motor, illustrated its mathematical models, studied the theory of vector control on hybrid stepping motor further deeply, and then developed a kind of control scheme of the fully digital driver for two-phase hybrid stepping motorAs for hardware, as the stepping motor’s wirings have middle terminals, a special power circuit was designed and IR2110 is used to drive the power circuit. TMS320LF2407A is used as the core of the control unit, which outputs PWM to drive power circuit. According to the character of DSP and the power circuit, current feedback circuit and over current protecting circuit were designed. So a hardware platform for the driver’s scheme was finished.As for software, the control algorithm of stepping motor was implemented by DSP program. It adopted the max-current/torque vector control method to realize the decoupling control of hybrid stepping motor. The general PI control method was used in current loop and SVPWM modulation was used in the inverter. Furthermore, in order to satisfy the requirement of convenient operation and monitoring, the monitor program on PC is also presented.At last, the sample machine was tested. Noisy characteristic and torque characteristic in different frequency in different subdivision setting were analyzed. The results of experiments proved the feasibility of the scheme and show that the design of the fully digital driver of two-phase hybrid stepping motor is reasonable, performance is reliable, and has good application prospect.更多还原