论文标题:多细分三相混合式步进电机驱动器研究及实现
Research and Implementation of Multi-Microstepping Driver for Three-Phase Hybrid Stepper Motor
论文作者
论文导师 王伟,论文学位 硕士,论文专业 控制理论与控制工程
论文单位 大连理工大学,点击次数 124,论文页数 72页File Size3703k
2005-12-01论文网 http://www.lw23.com/lunwen_914917437/
Hybrid stepper motor; Microstepping driver; PWM
步进电机是一种将电脉冲信号转换为角位移的执行机构,步进电机的主要优点是有较高的定位精度,无位置累积误差:并且特有的开环运行机制,与闭环控制系统相比减少系统成本,提高了可靠性,在数控领域得到了广泛的应用。但是,步进电机在低速运行时的振动、噪声大,在步进电机的自然振荡频率附近运行时易产生共振,输出转矩随着步进电机的转速升高而下降,这些缺点制约了步进电机的应用范围。 步进电机的使用离不开步进电机驱动器,步进电机的运行性能与步进电机驱动器的优劣密切相关。传统的驱动方式偏重使步进电机绕组电流以尽可能短的时间上升到额定值,从而提高电机高速运行时的转矩,造成低速运行时的振动和噪音加大。并且为满足用户对不同步距角的要求,步进电机和配套驱动器的品种繁多,通用性差。 本文在调研各种驱动技术的基础上,设计实现了基于正弦电流细分和电流追踪型脉宽调制(PWM)技术的多细分三相混合式步进电机驱动器,包括硬件设计、软件实现和性能实验。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。本文设计的驱动器有16种细分方式,步距角种类多,有4种不同的输出相电流,以满足不同用户和不同电机的要求。该驱动器的功率驱动部分使用IGBT智能功率模块,提高了驱动器可靠性。 实验表明,驱动器细分运行时减弱了混合式步进电机的低速振动,电机运转平稳,大大减轻了噪声;同时该驱动器具有较小的体积、较低的成本和较高的可靠性。驱动器已成功应用到多家企业的制袋机数控系统中。
The stepper motor is an electromechanical device that converts electrical pulses into discrete mechanical movements. The advantages of stepper motor are precise positioning and non-cumulative movement error from one step to the next. Compared to closed loop control, open loop operation of stepper motor is more reliable and less expensive. The disadvantages in using a step motor are vibration and noise at low speeds, resonance when the motor is operated at or around the natural resonance frequency, motor torque decreasing with speed increasing. These disadvantages limit step motor"s application.Step motor cannot work without step motor driver. Its performance is close related to stepper motor driver. Traditionally, a motor driver is to provide the rated current to the motor windings in the shortest possible time, helping to maintain high speed torque. As a result, motor"s vibration and noise is greater at low speeds. Otherwise, many types of step motor and driver have to be produced in order to satisfy customer"s need for different step angles.After study many kinds of driver technology, a microstepping driver for three-phase hybrid stepper motor has been designed. The driver adopts 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. This driver has 16 kinds of microstepping modes and four kinds of output phase current that can meet the need of different customer and motor. The power stage of this driver uses IGBT intelligent power module that provides high reliability.Experiments indicate this microstepping driver reduce vibration and noise of step motor. It has small size, low cost and high reliability. Some enterprises used this type of driver successfully in NC-system of bag-making machine.
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