Two-phase hybrid stepping-motor closed loop control method

Abstract

The invention provides a two-phase hybrid stepping-motor closed loop control method. A control system related to the method comprises an encoder, a current collector, a mathematic model, a Kalman observer, a fuzzy adaptive controller and a vector controller. The method comprises the following steps that stepS1, through the encoder, an angle and an angular velocity are acquired; and through the current collector, a current is acquired; stepS2, the current passes through the mathematic model, an output moment is acquired; stepS3, the angle, the angular velocity and the output moment carry out data fusion processing via the Kalman observer so as to acquire an angle feedback value, an angular velocity feedback value and an angular acceleration feedback value; stepS4, an angle expectation value, the angle feedback value, the angular velocity feedback value and the angular acceleration feedback value pass through the fuzzy adaptive controller so as to acquire an Q shaft current expectation value; and stepS5, during a motor operation process, a D shaft current expectation value maintains to be zero; and the Q shaft current expectation value, the D shaft current expectation value and the current acquired by the current collector pass through the vector controller, and a controlled quantity is acquired and is used to control the motor.

Description

technical field [0001] The invention relates to a closed-loop control method of a two-phase hybrid stepping motor, which belongs to the field of motor drivers. Background technique [0002] Since the appearance of the stepper motor, after more than ten years of development, it has been widely used in various automatic control systems. The downstream industries of stepper motors include CNC machine tools, industrial automation, office automation, printing equipment and household appliances. With the advent of the global industry 4.0 era and the rise of intelligent hardware, as a key component of mechatronics, the traditional stepper motor control system has been difficult to meet the needs of the future, and a stepper motor control system with high precision and stable operation is urgently needed . [0003] Stepper motor is an electromechanical actuator that converts digital pulse signals into mechanical displacement (angular displacement or linear displacement). It has th...

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Problems solved by technology

[0008] 1. The disadvantages of the open-loop control system are: there are problems such as out-of-step, oscillation, difficulty in starting, and low efficiency;

[0009] 2. The disadvantage of the closed-loop control system combined with the more common PID control is: the adaptability needs to be improved, and it needs to be adjusted separately in different applications.

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