论文标题:步进电机细分驱动及微步距角测量修正系统的研究
Study on Subdividing Drive and Measure-Amend of Microstep for Step Motor
论文作者 于万海
论文导师 孙维连；孙耀杰,论文学位 硕士,论文专业 农业机械化工程
论文单位 河北农业大学,点击次数 187,论文页数 67页File Size1790k
2002-06-01论文网 http://www.lw23.com/lunwen_61966567/ 步进电机;细分驱动;微步距的测量与修正;PLD器件;ISP技术
step motor;subdividing drive;PLD;ISP;Measure-amend of microstep
步进电机又称脉冲电机由于不需要位置传感器或速度传感器可以在开环状态定位或同步运行，这有利于装置或设备的小型化和低成本，因而在众多的领域得到广泛的应用。随着电子技术、控制技术和新磁材料的发展和步进电机理论和工艺的日臻完善，步进电机的应用技术也越来越成熟。 细分驱动技术是一种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、低振动的数控应用中，细分驱动成为步进电机驱动的首选驱动技术。本文以三相反应式步进电机为实例，对细分驱动原理、细分驱动的非线性、变细分调速以及相关影响因素进行系统的研究；实现细分驱动器、调速控制、定位控制和软硬接口的设计。在此基础上，本文对细分驱动环形分配器的设计和微步距测量修正进行了创新；提出将PLD器件和ISP技术引入到细分驱动环形分配器的设计思想和错位测量和逼近修正法。 采用PLD器件和ISP技术开发步进电机细分驱动系统的数字环形分配器，通过ABEL-HDL语言编程实现硬件软化设计和逻辑重构；可对细分驱动绕组电流在系统重复修正，避免了存储器的反复拔插。 错位测量与逼近修正方法结合细分驱动的有限级离散化电流控制方式，将测量与修正有效融合的一种专用性很强的面向步进电机细分驱动的新方法，以低分辨率圆光栅替代高分辨率圆光栅，大大降低测量硬件成本。 实现多重细分和变细分调速，提高了细分驱动的灵活性和可选择性；根据整步位移无控制误差，将点位行程拆分为整步位移部分和满足定位精度的微步距位移部分，分别以不同的细分数运行同时满足点位控制的速度与精度要求。 从步进频率和阶梯波频率两个方面对细分驱动系统的调速域值进行了分析，得出调速域值受两方面综合影响，而且最终结果取两者中域值范围较小者。
Step motor can be controlled to realize accurate positioning and rotation synchronization without feedback from displacement transducer or velocity transducer, which is in favor of miniaturization and lower cost of equipments. So step motor is widely used in many fields. With the progress of electronic and control technology, the application of new magnetism material, and the development of the theory and manufacture process of step motor, the application of step motor is promoted.The subdividing drive 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 and low oscillation . Taking the VR step motor as example in the paper, systemic research is conducted about the principle of the subdividing drive ,the non-linearity relationship between microstep and phase current ,the method of velocity adjusting and the interrelated factors .The system is designed to realize the subdividing drive , velocity adjusting and position.Especially,there are two innovations in this paper.One is the first introduction of PLD device and ISP technology to the design of phase sequencer,the other is the new measure and amend method of microstep.With PLD device and ISP technology, the design and modify of the phase sequencer can easily be made by ABEL-HDL language.The capability of in-system-programable avoids the iterative pulling and plugging of EPROM.The new measure and amend method of micro step is specially used to measure and amend the microstep.In the base of the characteristic of the discrete current in phase , low resolution is used to substitute high resolution in the measure and amend process for reducing the cost of the process.Several mode of the subdividing drive are integrated in one system .So thecontrol become multiplex.The displacement can be divided to whole step part and microstep part. Microstep part is used to satisfy the precision of position, while whole step part is used to satisfy the speed of position.The pulse frequency and the ladder wave frequency are two factors that affect the range of velocity adjusting. The range of velocity adjusting is finally decided by the lesser.
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