Three-phase hybrid stepping motor control method and control system

Abstract

The invention discloses a three-phase hybrid stepping motor control method and system, and relates to the field of motor control, and the control method comprises the steps: obtaining an angle value theta and a convergence rate r which are given and inputted by a user; according to an angle value theta given and input by a user, a convergence speed r and feedback real-time position information, an expected motor torque Te is generated; after an expected d-axis current and an expected q-axis current are generated according to the expected motor torque Te, a d-axis voltage and a q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current which are fed back; and according to the d-axis voltage, the q-axis voltage and the feedback electrical angular velocity theta e, carrying out inverse transformation to obtain an alpha-axis voltage and a beta-axis voltage, and according to the detected bus voltage Udc, the alpha-axis voltage and the beta-axis voltage, generating a PWM modulation signal so as to drive the three-phase hybrid stepping motor to work. Therefore, the problem of overshoot caused by overlarge error of the initial position can be solved, and the robustness and the dynamic performance of the system are improved through closed-loop control.

Description

Technical Field

[0001] The present application relates to the technical field of three-phase hybrid stepper motor control, and in particular to a three-phase hybrid stepper motor control method and control system. Background Art

[0002] Hybrid stepper motors can be divided into two-phase hybrid stepper motors, three-phase hybrid stepper motors and five-phase hybrid stepper motors. Currently, most stepper motors use open-loop control for full-step or half-step control. However, the use of open-loop control has the disadvantages of insufficient accuracy, loss of steps, poor anti-interference performance, and low voltage and current utilization. Usually in the existing closed-loop control, the error feedback between the real-time position signal and the position signal given by the user is often used as a calculation parameter to eliminate the error. However, in the initial state, if this error is directly taken for feedback, the motor will often make the initial control amount too large and overshoot will occur, and there will be problems such as overshoot caused by excessive initial position error. Summary of the invention

[0003] The main purpose of the present application is to provide a three-phase hybrid stepper motor control method, aiming to solve the problems of overshoot caused by excessive initial position error of the three-phase hybrid stepper motor, and poor system robustness and dynamic performance.

[0004] To achieve the above objectives, the present application proposes a three-phase hybrid stepping motor control method, the control method comprising:

[0005] Get the angle value θ and convergence speed r given by the user;

[0006] Generate the expected motor torque T according to the angle value θ, convergence speed r and real-time position information fed back by the user e ;

[0007] According to the expected motor torque T e After the desired d-axis current and the desired q-axis current are generated, the desired d-axis voltage and the desired q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current fed back;

[0008] According to the desired d-axis voltage, the desired q-axis voltage and the feedback electrical angular velocity θ e The inverse transformation is into the expected α-axis voltage and the expected β-axis voltage, and the detected bus voltage U dc , the desired α-axis voltage and the desired β-axis voltage generate a PWM modulation signal to drive the three-phase hybrid stepping motor to operate.

[0009] In one embodiment, the desired motor torque T is generated according to the angle value θ given by the user, the convergence speed r and the real-time position information fed back. e The steps include:

[0010] After differentiation according to the angle value θ and convergence speed r given by the user, the angle value θ differential signal and the angle value θ transition signal are output;

[0011] After comparing the angle value θ differential signal, the angle value θ transition signal and the real-time angle value θ1 fed back by the encoder, an angle value comparison value θ2 is generated for calculation to generate the expected angular velocity ω;

[0012] After comparing the expected angular velocity ω and the real-time angular velocity ω1 fed back by the encoder, an angle comparison value ω2 is output for calculation to generate the expected motor torque T e .

[0013] In one embodiment, the encoder is configured as an ABZ encoder.

[0014] In one embodiment, the desired motor torque T e After the expected d-axis current and the expected q-axis current are generated, the steps of generating the expected d-axis voltage and the expected q-axis voltage according to the fed-back real-time d-axis current and the real-time q-axis current include:

[0015] According to the expected motor torque T e and the motor parameters of the three-phase hybrid stepper motors are converted according to the expected d-axis current given formula and the q-axis current given formula of the three-phase hybrid stepper motors to obtain the expected d-axis current and the expected q-axis current;

[0016] After comparing the expected d-axis current and the real-time d-axis current fed back by the clark & ​​park conversion unit, a d-axis current comparison value is generated; and after comparing the expected q-axis current and the real-time q-axis current fed back by the clark & ​​park conversion unit, the fourth comparator generates a q-axis current comparison value;

[0017] A desired d-axis voltage is generated according to the d-axis current comparison value, and a desired q-axis voltage is generated according to the q-axis current comparison value, wherein:

[0018] The d-axis current is given by the formula:

[0019]

[0020] The q-axis current is given by the formula:

[0021]

[0022] Motor stator winding direct axis inductance L d , motor stator winding quadrature-axis inductance L q , the number of pole pairs of the motor rotor n p , the flux generated by the permanent magnet ψf .

[0023] In one embodiment, the Clark & ​​Park transformation unit collects the current value of the three-phase hybrid stepper motor through two current sensors, and obtains the real-time D-axis current and the real-time Q-axis current through Clark & ​​Park transformation.

[0024] In one embodiment, the electrical angular velocity θ according to the d-axis voltage, the q-axis voltage and the feedback e The voltage is inversely transformed into the α-axis voltage and the β-axis voltage, and the detected bus voltage U dc The steps of generating a PWM modulation signal from the α-axis voltage and the β-axis voltage to drive the three-phase hybrid stepping motor to work include:

[0025] According to the expected d-axis voltage, the expected q-axis voltage and the electrical angular velocity θ fed back by the encoder e , inversely transformed into the desired α-axis voltage and the desired β-axis voltage;

[0026] Determine the reference voltage vector U according to the expected α-axis voltage and the expected β-axis voltage r , the reference voltage vector U r The sector and the detected bus voltage U dc After that, the modulated PWM waveform is calculated according to the preset SVPWM modulation rule to drive the three-phase hybrid stepping motor to work.

[0027] In one embodiment, the motor windings in the three-phase hybrid stepping motor are star-connected.

[0028] In addition, to achieve the above purpose, the present application also proposes a three-phase hybrid stepper motor control system. Based on the three-phase hybrid stepper motor control method as described above, the control system includes:

[0029] The position loop control module is used to generate the desired motor torque T according to the angle value θ, convergence speed r and feedback real-time position information given by the user. e ;

[0030] A speed loop control module is electrically connected to the position loop control module and is used to control the motor torque T according to the desired motor torque T. e After the desired d-axis current and the desired q-axis current are generated, the desired d-axis voltage and the desired q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current fed back;

[0031] A current loop control module, the current loop control module is electrically connected to the speed loop control module, and is used to calculate the electrical angular velocity θ according to the expected d-axis voltage, the expected q-axis voltage and the feedback. eThe inverse transformation is into the expected α-axis voltage and the expected β-axis voltage, and the detected bus voltage U dc , the desired α-axis voltage and the desired β-axis voltage generate a PWM modulation signal to drive the three-phase hybrid stepping motor to work;

[0032] A driving module, wherein the driving module is electrically connected to the current loop control module, and the driving module is electrically connected to the three-phase hybrid stepping motor, and is used to drive the three-phase hybrid stepping motor to work according to the PWM waveform output by the current loop control module.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium device, wherein the storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the three-phase hybrid stepper motor control method as described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the three-phase hybrid stepper motor control method as described above are implemented.

[0035] One or more technical solutions proposed in this application have at least the following technical effects:

[0036] A three-phase hybrid stepping motor control method, characterized in that the control method includes obtaining an angle value θ and a convergence speed r given by a user; generating an expected motor torque T according to the angle value θ given by the user, the convergence speed r and the real-time position information fed back e ; According to the desired motor torque T e After generating the desired d-axis current and the desired q-axis current, the d-axis voltage and the q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current fed back; the electrical angular velocity θ is calculated according to the d-axis voltage, the q-axis voltage and the fed back electrical angular velocity θ. e The voltage is inversely transformed into the α-axis voltage and the β-axis voltage, and the detected bus voltage U dc , the α-axis voltage and the β-axis voltage generate a PWM modulation signal to drive the three-phase hybrid stepping motor to work. In this way, the motor solves the overshoot problem caused by excessive initial position error according to the input expected angle value θ, convergence speed r and feedback real-time position information, and improves the system robustness and dynamic performance through closed-loop control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 A schematic diagram of a flow chart of a three-phase hybrid stepping motor control method according to a first embodiment of the present application;

[0040] Figure 2 This is a sub-diagram of the process provided in step S200 of the first embodiment of the three-phase hybrid stepping motor control method of the present application;

[0041] Figure 3 This is a sub-diagram of the process provided in step S300 of the first embodiment of the three-phase hybrid stepping motor control method of the present application;

[0042] Figure 4 This is a sub-diagram of the process provided in step S400 of the first embodiment of the three-phase hybrid stepping motor control method of the present application;

[0043] Figure 5 This is a schematic diagram of the structure of the three-phase hybrid stepper motor control system of this application;

[0044] Figure 6 Schematic diagram of the overmodulation zone two judgment standard of the three-phase hybrid stepping motor control method of the present application.

[0045] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0047] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0048] The present application provides a three-phase hybrid stepping motor control method, referring to Figures 1 to 5 , Figure 1 This is a flow chart of the first embodiment of the three-phase hybrid stepping motor control method of the present application.

[0049] In this embodiment, the control method includes steps S100 to S400:

[0050] Step S100, obtaining the angle value θ and the convergence speed r given by the user;

[0051] Step S200: Generate the expected motor torque T according to the angle value θ, convergence speed r and real-time position information fed back by the user. e ;

[0052] Step S300: according to the expected motor torque T e After the desired d-axis current and the desired q-axis current are generated, the desired d-axis voltage and the desired q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current fed back;

[0053] Step S400: according to the desired d-axis voltage, the desired q-axis voltage and the feedback electrical angular velocity θ e The inverse transformation is into the expected α-axis voltage and the expected β-axis voltage, and the detected bus voltage U dc , the desired α-axis voltage and the desired β-axis voltage generate a PWM modulation signal to drive the three-phase hybrid stepping motor to operate.

[0054] In this embodiment, a position loop control module is constructed according to a tracking differentiator, a first comparator, a second comparator, a first PI calculator, a second PI calculator and an encoder, and a speed loop control module is constructed according to multiple current sensors, a Clark & ​​Park conversion unit, an MTPA control unit, a third comparator, a fourth comparator, a third PI calculator and a fourth PI calculator, and a current loop control module is constructed according to a park inverse conversion unit and an overmodulation SVPWM unit, and an inverter is used as a driving module, and a three-phase hybrid stepping motor control system is constructed among the position loop control module, the speed loop control module, the current loop control module and the driving module.

[0055] Specifically, the angle value θ and convergence speed r of the given input in the tracking differentiator set by the user are obtained, and according to the transfer function of the tracking differentiator Output the differentiated position signal for comparison and conversion of the real-time position signal fed back by the encoder in the position loop control module to output the expected motor torque T e , the speed loop control module receives the desired motor torque T e The MTPA control unit accurately calculates and adjusts the expected d-axis current and the expected q-axis current of the two-phase rotating coordinate system according to the characteristics of the three-phase hybrid stepper motor, and generates the expected d-axis voltage and the expected q-axis voltage of the two-phase rotating coordinate system according to the real-time d-axis current and the real-time q-axis current fed back by the clark&park conversion unit, and outputs them to the current loop control module. The current loop control module makes the expected d-axis voltage, the expected q-axis voltage and the feedback electrical angular velocity θ of the two-phase rotating coordinate system eThe inverse transformation is converted into the desired α-axis voltage and the desired β-axis voltage of the two-phase stationary coordinate system voltage, so that the overmodulation SVPWM unit can calculate the desired α-axis voltage, the desired β-axis voltage, and the feedback electrical angular velocity θ. e And the bus voltage U detected by the voltage sensor dc The SVPWM modulation rule of the angle value θ modulates the PWM waveform to make the inverter drive the three-phase hybrid stepper motor to work, where r is the convergence speed, ξ is the damping ratio, S is the pure differential link, and the expected d-axis current, expected q-axis current, expected d-axis voltage, expected q-axis voltage, and expected motor torque T e , the expected α-axis voltage and the expected β-axis voltage are all control parameter values ​​that need to be calculated within the system at the next moment.

[0056] In summary, this scheme can arrange a smooth transition process for the input position signal by using a tracking differentiator to optimize the position loop control module, thereby solving the overshoot problem caused by excessive initial position error, and by adopting the MTPA control module, the motor can generate the maximum torque at the minimum current when working, improve the stator current utilization, and enhance the robustness and dynamic performance of the motor control system.

[0057] In a feasible implementation manner, step S200 generates the expected motor torque T according to the angle value θ, the convergence speed r and the real-time position information fed back by the user. e The steps A210 to A230 may be included:

[0058] Step A210, after differentiating the angle value θ and the convergence speed r given by the user, output an angle value θ differential signal and an angle value θ transition signal;

[0059] Step A220, generating an angle value comparison value θ2 after comparing the angle value θ differential signal, the angle value θ transition signal and the real-time angle value θ1 fed back by the encoder, so as to generate the expected angular velocity ω after calculation;

[0060] Step A230: after comparing the expected angular velocity ω with the real-time angular velocity ω1 fed back by the encoder, output an angle comparison value ω2 for calculation to generate the expected motor torque T e .

[0061] In this embodiment, after the user inputs the angle value θ and the convergence speed r to the tracking differentiator through an external device or a main controller, the transfer function of the tracking differentiator is:

[0062]

[0063] And according to the transfer function, we get the differential equation:

[0064] y"+2ry'+r 2 y=r 2 u

[0065] According to the differential equation, the state equation is obtained:

[0066]

[0067] Discretize it according to the state equation:

[0068] x1(k)=x1(k-1)+x2(k-1)·T s ;

[0069] x2(k)=x2(k-1)+T s ·(-2rx2(k-1)-r 2 (x1(k-1)-u(k));

[0070] y(k)=x1(k);

[0071] Where ξ is 1, r is the convergence speed, ξ is the damping ratio, S is the pure differential link, T S Refers to the sampling time interval.

[0072] Combined with the above, after such calculation, the transition signal x1 of the target point with an angle value θ and the differential signal x2 of the angle value θ of the transition signal are obtained, they are output to the first comparator. The first PI calculator will first calculate the error value between the transition signal x1 and the real-time position signal. The error value represents the difference between the current position and the target position. At the same time, the PI comparator will also use the differential signal x2 to predict the future trend of the error. By adding the differential signal to the error, a predicted error change rate (i.e., the angle comparison value θ2) can be obtained for calculation to generate the expected angular velocity ω, which is output to the second comparator. The second comparator compares the expected angular velocity ω with the real-time angular velocity ω1 fed back by the encoder, and outputs the angle comparison value ω2. According to the formula T e =9550P / n converted to expected motor torque T e Finally, it is output to the speed loop control module.

[0073] Further, the encoder is set to ABZ encoder, by setting 1024 lines of ABZ encoder, STM32 timer adopts encoder quadruple frequency mode to receive real-time position signal, so that the three-phase hybrid stepper motor turns a circle of ABZ encoder and can obtain 4096 real-time position signals, thereby solving the problem of losing step of three-phase hybrid stepper motor. In closed-loop control system, the high resolution of encoder ensures accurate tracking of motor position, thereby improving control accuracy. In addition, by real-time monitoring of the speed and position of the motor, the system can adjust the control strategy in time, to cope with load changes or external interference, to ensure the stability and accuracy of motor operation. In practical applications, this closed-loop control method can effectively reduce the losing step phenomenon of stepper motor, improve the response speed and operation efficiency of the whole system.

[0074] In a feasible implementation manner, step S300, the step of e After the expected d-axis current and the expected q-axis current are generated, and according to the real-time d-axis current and the real-time q-axis current fed back, the expected d-axis voltage and the expected q-axis voltage are generated, which may include steps A310 to A330:

[0075] Step A310, according to the expected motor torque T e and the motor parameters of the three-phase hybrid stepper motors are converted according to the expected d-axis current given formula and the q-axis current given formula of the three-phase hybrid stepper motors to obtain the expected d-axis current and the expected q-axis current;

[0076] Step A320, generating a d-axis current comparison value after comparing the expected d-axis current and the real-time d-axis current fed back by the Clark & ​​Park conversion unit, and generating a q-axis current comparison value after comparing the expected q-axis current and the real-time q-axis current fed back by the Clark & ​​Park conversion unit by the fourth comparator;

[0077] Step A330, generating a desired d-axis voltage according to the d-axis current comparison value, and generating a desired q-axis voltage according to the q-axis current comparison value, wherein:

[0078] The d-axis current is given by the formula:

[0079]

[0080] The q-axis current is given by the formula:

[0081]

[0082] Motor stator winding direct axis inductance L d , motor stator winding quadrature-axis inductance L q , the number of pole pairs of the motor rotor np , the flux generated by the permanent magnet ψ f .

[0083] In this embodiment, the MPTA control unit is based on the three-phase hybrid stepper motor torque expression:

[0084]

[0085] And the stator current expression is:

[0086]

[0087] According to Lagrange's theorem, we can construct the function:

[0088]

[0089] This is how to perform Lagrangian extremum search:

[0090]

[0091] The d-axis current given formula is obtained:

[0092]

[0093] The q-axis current is given by the formula:

[0094]

[0095] In this way, the MPTA control module can calculate the expected d-axis current i of the two-phase rotating coordinate system current. d and the desired q-axis current i q After that, we will expect the d-axis current i d The output is sent to the third comparator, which expects the q-axis current i q Output to the fourth comparator, the Clark & ​​Park conversion unit collects the three-phase current of the motor through multiple current sensors, and converts it into the real-time α-axis current and real-time β-axis current in the two-phase stationary coordinate system through the Clark conversion matrix, and then converts it into the real-time d-axis current and real-time q-axis current in the two-phase rotating coordinate system through the Park conversion matrix, so that the real-time d-axis current is output to the third comparator, and the real-time q-axis current is output to the fourth comparator, so that the third comparator can calculate the expected d-axis current i d The third PI calculator generates an expected d-axis voltage according to the d-axis current comparison value and outputs it to the current loop control module. The fourth comparison device generates an expected d-axis voltage according to the expected q-axis current i qAnd the real-time q-axis current generates a q-axis current comparison value. The fourth PI calculator generates the expected q-axis voltage according to the q-axis current comparison value and outputs it to the current loop control module. Therefore, the present application can optimize the speed loop control module with the MPTA control module, and further utilize the reluctance torque of the three-phase hybrid stepper motor to improve the stator current of the three-phase hybrid stepper motor.

[0096] Among them, the direct axis inductance L of the motor stator winding d , motor stator winding quadrature-axis inductance L q , the number of pole pairs of the motor rotor n p , the flux generated by the permanent magnet ψ f , λ is the corresponding Lagrange multiplier vector; here, the direct axis inductance L of the motor stator winding d , motor stator winding quadrature-axis inductance L q , the number of pole pairs of the motor rotor n p , the flux generated by the permanent magnet ψ f The parameter values ​​can be obtained from the motor's own parameters.

[0097] Furthermore, the Clark & ​​Park conversion unit collects the three-phase current of the motor through two current sensors, for example, two current sensors are used to collect the current of the U phase and the V phase respectively, assuming that the current of the U phase and the V phase are Iu and Iv. Since the sum of the three-phase current is zero, the W phase current Iw = -(Iu + Iv) can be obtained by calculation, so that the real-time three-phase current of the motor can be collected with less current sensors.

[0098] In a feasible implementation manner, step S400, the electrical angular velocity θ is calculated based on the d-axis voltage, the q-axis voltage and the feedback. e The voltage is inversely transformed into the α-axis voltage and the β-axis voltage, and the detected bus voltage U dc The step of generating a PWM modulation signal from the α-axis voltage and the β-axis voltage to drive the three-phase hybrid stepping motor to work may include steps A410 to A420:

[0099] Step A410, based on the expected d-axis voltage, the expected q-axis voltage and the electrical angular velocity θ fed back by the encoder e , inversely transformed into the desired α-axis voltage and the desired β-axis voltage;

[0100] Step A420, determining a reference voltage vector U according to the expected α-axis voltage and the expected β-axis voltage r , the reference voltage vector U r The sector and the detected bus voltage U dc After that, the modulated PWM waveform is calculated according to the preset SVPWM modulation rule to drive the three-phase hybrid stepping motor to work.

[0101] In this embodiment, the park inverse transformation unit inversely transforms the received desired d-axis voltage and the desired q-axis voltage in the two-phase rotating coordinate system into the desired α-axis voltage U in the two-phase stationary coordinate system according to the park inverse transformation matrix. α and the expected β-axis voltage U β The overmodulation SVPWM unit is based on the desired α-axis voltage U α , expected β-axis voltage U β , determine the sector where the synthetic voltage Ur is located, and calculate the action times Tx and Ty of the two basic voltage vectors according to the size and position of the synthetic voltage Ur, and use the calculated action times Tx and Ty and the action time of the zero vector to generate a PWM modulation signal, and the inverter drives the three-phase hybrid stepping motor according to the PWM modulation signal, wherein the action times Tx and Ty of the calculated voltage vectors are determined according to the following rules:

[0102] In the linear modulation area, the action time Tx, Ty of the two vectors remains unchanged.

[0103] In the overmodulation zone 1, the action time of the two vectors is:

[0104]

[0105] When overmodulating the second zone, the action time of the two vectors is determined based on the relationship between the electrical angle, the sector, the bus voltage and the composite voltage, where Ur is the composite voltage and Udc is the bus voltage. As shown in the following table: Tx is the action time of the first action vector in each sector, and Ty is the action time of the second action vector in each sector, which is determined according to the following rules:

[0106]

[0107]

[0108] According to the expected α-axis voltage U α , expected β-axis voltage U β Determine the sector where the composite voltage Ur is located. Take the first sector as an example. When the electrical angle When the first action vector action time is Tx = TPWM, the second action vector action time Ty = 0, when the electrical angle When the first action vector action time is Tx = 0, the second action vector action time is Ty = TPWM, when When, the action time of the first action vector is Second action vector action time Among them, the angle value The value of the composite voltage Ur can be obtained from the expected α-axis voltage U αand the expected β-axis voltage U β Calculate and obtain, the judgment standard of overmodulation zone 2 is as follows Figure 6 shown.

[0109] Furthermore, the motor windings in the three-phase hybrid stepping motor may be arranged in a star connection.

[0110] This application also provides a three-phase hybrid stepper motor control system, please refer to Figure 4 , the three-phase hybrid stepping motor control method, the control system comprises:

[0111] The position loop control module is used to generate the desired motor torque T according to the angle value θ, convergence speed r and feedback real-time position information given by the user. e ;

[0112] A speed loop control module is electrically connected to the position loop control module and is used to control the motor torque T according to the desired motor torque T. e After the desired d-axis current and the desired q-axis current are generated, the desired d-axis voltage and the desired q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current fed back;

[0113] A current loop control module, the current loop control module is electrically connected to the speed loop control module, and is used to calculate the electrical angular velocity θ according to the expected d-axis voltage, the expected q-axis voltage and the feedback. e The inverse transformation is into the expected α-axis voltage and the expected β-axis voltage, and the detected bus voltage U dc , the desired α-axis voltage and the desired β-axis voltage generate a PWM modulation signal to drive the three-phase hybrid stepping motor to work;

[0114] A driving module, wherein the driving module is electrically connected to the current loop control module, and the driving module is electrically connected to the three-phase hybrid stepping motor, and is used to drive the three-phase hybrid stepping motor to work according to the PWM waveform output by the current loop control module.

[0115] In this embodiment, a position loop control module is constructed according to a tracking differentiator, a first comparator, a second comparator, a first PI calculator, a second PI calculator and an encoder, and a speed loop control module is constructed according to multiple current sensors, a Clark & ​​Park conversion unit, an MTPA control unit, a third comparator, a fourth comparator, a third PI calculator and a fourth PI calculator, and a current loop control module is constructed according to a park inverse conversion unit and an overmodulation SVPWM unit, and an inverter is used as a driving module, and the inverter drives the three-phase hybrid stepper motor to work according to a PWM modulation signal, and a three-phase hybrid stepper motor control system is constructed between the position loop control module, the speed loop control module, the current loop control module and the driving module.

[0116] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the three-phase hybrid stepper motor control method in the above-mentioned embodiment.

[0117] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0118] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned three-phase hybrid stepper motor control method, and can solve the technical problems of the three-phase hybrid stepper motor control method. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the three-phase hybrid stepper motor control method provided in the above-mentioned embodiment, and will not be repeated here.

[0119] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned three-phase hybrid stepper motor control method when executed by a processor.

[0120] The computer program product provided in this application can solve the technical problems of the three-phase hybrid stepper motor control method. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the three-phase hybrid stepper motor control method provided in the above embodiment, which will not be repeated here.

[0121] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A three-phase hybrid stepping motor control method, characterized in that: The control method comprises: Get the angle value θ and convergence speed r given by the user; Generate the expected motor torque T according to the angle value θ, convergence speed r and real-time position information fed back by the user e ; According to the expected motor torque T e After the desired d-axis current and the desired q-axis current are generated, the desired d-axis voltage and the desired q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current fed back; According to the desired d-axis voltage, the desired q-axis voltage and the feedback electrical angular velocity θ e The inverse transformation is into the expected α-axis voltage and the expected β-axis voltage, and the detected bus voltage U dc , the desired α-axis voltage and the desired β-axis voltage generate a PWM modulation signal to drive the three-phase hybrid stepping motor to operate.

2. The three-phase hybrid stepping motor control method according to claim 1, characterized in that: The expected motor torque T is generated according to the angle value θ, the convergence speed r and the real-time position information fed back by the user. e The steps include: After differentiation according to the angle value θ and convergence speed r given by the user, the angle value θ differential signal and the angle value θ transition signal are output; After comparing the angle value θ differential signal, the angle value θ transition signal and the real-time angle value θ1 fed back by the encoder, an angle value comparison value θ2 is generated for calculation to generate the expected angular velocity ω; After comparing the expected angular velocity ω and the real-time angular velocity ω1 fed back by the encoder, an angle comparison value ω2 is output for calculation to generate the expected motor torque T e .

3. The three-phase hybrid stepping motor control method according to claim 2, characterized in that: The encoder is configured as an ABZ encoder.

4. The three-phase hybrid stepping motor control method according to claim 2, characterized in that: The desired motor torque T e After the expected d-axis current and the expected q-axis current are generated, the steps of generating the expected d-axis voltage and the expected q-axis voltage according to the fed-back real-time d-axis current and the real-time q-axis current include: According to the expected motor torque T e and the motor parameters of the three-phase hybrid stepper motors are converted according to the expected d-axis current given formula and the q-axis current given formula of the three-phase hybrid stepper motors to obtain the expected d-axis current and the expected q-axis current; After comparing the expected d-axis current and the real-time d-axis current fed back by the clark & ​​park conversion unit, a d-axis current comparison value is generated; and after comparing the expected q-axis current and the real-time q-axis current fed back by the clark & ​​park conversion unit, the fourth comparator generates a q-axis current comparison value; A desired d-axis voltage is generated according to the d-axis current comparison value, and a desired q-axis voltage is generated according to the q-axis current comparison value, wherein: The d-axis current is given by the formula: The q-axis current is given by the formula: Motor stator winding direct axis inductance L d , motor stator winding quadrature-axis inductance L q , the number of pole pairs of the motor rotor n p , the flux generated by the permanent magnet ψ f .

5. The three-phase hybrid stepping motor control method according to claim 4, characterized in that: The Clark & ​​Park transformation unit collects the current value of the three-phase hybrid stepper motor through two current sensors, and obtains the real-time D-axis current and the real-time Q-axis current through Clark & ​​Park transformation.

6. The three-phase hybrid stepping motor control method according to claim 4, characterized in that: The electrical angular velocity θ according to the d-axis voltage, the q-axis voltage and the feedback e The voltage is inversely transformed into the α-axis voltage and the β-axis voltage, and the detected bus voltage U dc The steps of generating a PWM modulation signal from the α-axis voltage and the β-axis voltage to drive the three-phase hybrid stepping motor to work include: According to the expected d-axis voltage, the expected q-axis voltage and the electrical angular velocity θ fed back by the encoder e , inversely transformed into the desired α-axis voltage and the desired β-axis voltage; Determine the reference voltage vector U according to the expected α-axis voltage and the expected β-axis voltage r , the reference voltage vector U r The sector and the detected bus voltage U dc After that, the modulated PWM waveform is calculated according to the preset SVPWM modulation rule to drive the three-phase hybrid stepping motor to work.

7. The three-phase hybrid stepping motor control method according to claim 1, characterized in that: The motor windings in the three-phase hybrid stepping motor are star-connected.

8. A three-phase hybrid stepping motor control system, characterized in that: Based on the three-phase hybrid stepping motor control method according to claims 1 to 7, the control system includes: The position loop control module is used to generate the desired motor torque T according to the angle value θ, convergence speed r and feedback real-time position information given by the user. e ; A speed loop control module is electrically connected to the position loop control module and is used to control the motor torque T according to the desired motor torque T. e After the desired d-axis current and the desired q-axis current are generated, the desired d-axis voltage and the desired q-axis voltage are generated according to the real-time d-axis current and the real-time q-axis current fed back; A current loop control module, the current loop control module is electrically connected to the speed loop control module, and is used to calculate the electrical angular velocity θ according to the expected d-axis voltage, the expected q-axis voltage and the feedback. e The inverse transformation is into the expected α-axis voltage and the expected β-axis voltage, and the detected bus voltage U dc , the desired α-axis voltage and the desired β-axis voltage generate a PWM modulation signal to drive the three-phase hybrid stepping motor to work; A driving module, wherein the driving module is electrically connected to the current loop control module, and the driving module is electrically connected to the three-phase hybrid stepping motor, and is used to drive the three-phase hybrid stepping motor to work according to the PWM waveform output by the current loop control module.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the three-phase hybrid stepper motor control method as described in any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the three-phase hybrid stepper motor control method according to any one of claims 1 to 7 are implemented.

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