Device and method for inhibiting rotor rotation and oscillation of hybrid stepping motor

A technology of stepping motor and restraining device, which is applied in the direction of motor generator control, control of electromechanical transmission device, electronic commutation motor control, etc. operation and other problems, to achieve the effects of low cost, wide operating speed range, and suppression of rotor oscillation

Active Publication Date: 2012-04-18
CHINA LEADSHINE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Shortcoming one is that the control variables (such as the instantaneous power in US4455520, the current error signal in US4675590, the average value of the current sum in US4683409, the analog torque signal in US5847535) that the prior art adopts when suppressing the rotor rotation oscillation The acquisition method is either more complicated, higher cost, or not suitable for high-speed areas, so further improvement is required
[0010] The second disadvantage is that the winding current closed-loop control structure has a good effect on the low-speed operation area of ​​the stepping motor, but it has little inhibitory effect on the rotor oscillation in the high-speed area.
Moreover, when the motor runs in the high-speed area, the stator winding current contains many harmonic components, and these harmonics directly affect the stable operation of the motor, so the current closed-loop control in the high-speed area cannot achieve good results

Method used

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  • Device and method for inhibiting rotor rotation and oscillation of hybrid stepping motor
  • Device and method for inhibiting rotor rotation and oscillation of hybrid stepping motor
  • Device and method for inhibiting rotor rotation and oscillation of hybrid stepping motor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0096] According to the above analysis of the rotor oscillation suppression strategy, the block diagram of the new hybrid stepper motor open-loop drive system proposed in this example is as follows Figure 7A shown.

[0097] Figure 7A The middle rectifier bridge 1 rectifies the front-end AC voltage 31 into a DC voltage 13 . If there is a DC power supply outside the driver, the rectifier bridge 1 can be omitted. A-phase inverter 3 and B-phase inverter 2 have exactly the same structure, both are single-phase full-bridge topology, supply power to A-phase winding 29 and B-phase winding 28 respectively, and generate required voltage under the control of PWM signals 27 and 26 Stator winding voltage. According to the direction of rotation 14, the subdivision of microsteps 30, and the frequency of the external pulse 15, the given rotor speed 16 can be calculated as follows:

[0098] n r * = 60 · ...

Embodiment 2

[0111] In fact, the above idea of ​​phase angle modulation of the control variable can also be used in the current closed-loop micro-step control system. In the analysis, the influence of core saturation and the influence of higher harmonics in the main permeance are ignored. The electromagnetic torque generated by the two-phase windings of A and B of the two-phase hybrid stepping motor are respectively:

[0112] T A =-Ki A sinθ r

[0113] T B = - Ki B sin ( θ r - π 2 ) (Formula 18)

[0114] Among them, K is the torque coefficient.

[0115] If the two-phase windings are fed with the following orthogonal currents:

[0116] i A = I p cos(θ i )

[0117] i B = I p sin(θ i ) (Equation 19)

[0118] Among them, I p is the current pe...

Embodiment 3

[0126] The above-mentioned rotor oscillation suppression function can also be applied to the multi-phase hybrid stepping motor system. In specific applications, it is necessary to statically transform the multi-phase stator winding variable to figure 1 αβ two-phase stationary coordinate system. Then construct the control algorithm in the αβ coordinate system, the control algorithm in the αβ coordinate system is exactly the same as the control algorithm of the previous two-phase hybrid stepping motor. No more details.

[0127] In summary, the above-mentioned implementations 1 and 2 have the common advantage of observing the stator winding flux linkage and electromagnetic torque in the form of software programming by means of the stator winding current and stator winding terminal voltage, and obtaining control based on the observed electromagnetic torque calculation. Variable phase angle modulation value to achieve the purpose of suppressing the rotor oscillation when the hybri...

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Abstract

The invention relates to a device and a method for inhibiting rotor rotation and oscillation of a hybrid stepping motor, suitable for inhibiting the rotor rotation and oscillation in a hybrid stepping motor rotating speed / position open-loop drive system. In the device and the method, a stator magnetic chain closed-loop structure or a current closed-loop control system is adopted, a bandpass filter is utilized to extract pulse component in electromagnetic torque, the pulse component is integrated to obtain rotor position angle pulse component, and the rotor position angle pulse component is used to modulate a stator magnetic chain phase in real time so as to inhibit the rotor oscillation. The invention has the advantages of low cost, no position angle accumulated error during rotor rotation and wide running speed range of the motor and strong load capacity of the motor in medium-high speed.

Description

technical field [0001] The invention relates to a hybrid stepping motor, in particular to a hybrid stepping motor rotor rotation oscillation suppression device and suppression method. Background technique [0002] Among many stepping motors, the hybrid stepping motor not only has the characteristics of small step distance and high operating frequency of the reluctance stepping motor, but also has the advantages of small power consumption of the permanent magnet stepping motor, and has the advantages of large output torque. and other advantages, and thus widely used. [0003] However, due to the characteristics of the design structure of the hybrid stepping motor, the damping coefficient of this kind of motor is very small when the simple open-loop control is adopted, and the rotor rotates and oscillates severely. In particular, the intermediate frequency oscillation limits the speed range and dynamic response speed of the motor. As a result, the application of a simple ope...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/05
Inventor 周扬忠李卫平熊世辉赖九才
Owner CHINA LEADSHINE TECH CO LTD
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