Closed-loop continuous tracking control method of electro-mechanical converter of stepping motor
A stepping motor, tracking control technology, applied in motor generator control, control system, electrical components and other directions, can solve the problems of difficult control accuracy and response speed, and the output angular displacement cannot be accurately and quickly positioned, to ensure control accuracy and The effect of response speed, precise and fast positioning
Active Publication Date: 2010-09-15
ZHEJIANG UNIV OF TECH
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[0003] In order to overcome the defects that the existing stepping motor is difficult to guarantee the inherent control accuracy and response speed when using the electro-mechanical converter as the electro-hydraulic control element, and the output angular displacement cannot be positioned accurately and quickly, the present invention provides a A closed-loop continuous tracking control method for a stepper motor electrical-mechanical converter that ensures control accuracy and response speed, and angular displacement can be positioned accurately and quickly at any position
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[0042] The present invention will be further described below in conjunction with the accompanying drawings.
[0043] refer to figure 1 , figure 2 with image 3 , a kind of closed-loop continuous tracking control method of stepping motor electrical-mechanical converter, described closed-loop continuous tracking control method comprises the following steps:
[0044] (1), the control method of synchronous motor is adopted to the stepper motor, and the sinusoidal current of the continuous change of setting phase difference is passed into each phase of the stator of the stepper motor;
[0045] (2) Feedback the actual angular displacement θ(t) of the stepper motor rotor to the input terminal and input signal θ i (t) Comparing and forming a deviation, the theoretical magnetic field angular displacement signal θ is obtained from the deviation signal through PID operation m (t); for the theoretical magnetic field angular displacement signal θ m (t) is limited so that the misalign...
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The invention relates to a closed-loop continuous tracking control method of an electro-mechanical converter of a stepping motor, comprising the following steps of: (1) adopting a control method of a synchronous motor for the stepping motor; (2) feeding an actual angel displacement of a stepping motor rotor back to an input end, comparing the actual angle displacement with an input signal to form a deviation, and obtaining a theoretical magnetic field angle displacement signal Theta<m>(t) by PID (Proportion Integration Differentiation) operation according to a deviation signal; restricting the Theta<m>(t) so as to ensure the range of an error angle in a half pitch angle; carrying out current decomposition to obtain controlled input current required by corresponding windings; and (3) feeding back the actual current of the stepping motor windings tested by a current detection circuit, then respectively comparing the actual current with the input current that needs to controlled so as to form corresponding deviation signals, carrying out PID operation on the corresponding deviation signals to generate PWM (Pulse Width Modulation) signals of all windings, and then controlling a driving circuit by the PWM signals to drive the stepping motor to rotate. The invention can simultaneously ensure the control precision and the response speed and can be used for accurately and rapidly positioning the angle displacement at any positions.
Description
technical field [0001] The invention relates to a continuous tracking control method for the output angular displacement of a stepping motor, in particular to a closed-loop continuous tracking control method for a stepping motor used as an electro-hydraulic control element using an electro-mechanical converter Background technique [0002] As the core component of the electro-hydraulic servo valve, the electro-mechanical converter is the electro-mechanical conversion interface of the electro-hydraulic servo valve. Its function is to convert the input electrical signal into the mechanical action of the valve core in real time and quickly. Stepper motors are used in electro-hydraulic control components as electro-mechanical converters to form digital valves or discrete proportional valves because of their unique open-loop numerical control characteristics of position and speed. In the electro-hydraulic control element, the stepping motor acts on the valve core through the step...
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IPC IPC(8): H02P8/14H02P8/12H02P8/40
Inventor 阮健李胜
Owner ZHEJIANG UNIV OF TECH