基于DSP两相混合式步进电机矢量控制的研究-电力电子与电力传动专业论文.docxVIP

- - I - 摘 要 本文以当前应用最广泛的两相混合式步进电机为研究对象，介绍了一种基于 DSP 的步 进电机驱动器设计方案。在驱动器硬件平台搭建中，以 TMS320F2812 为电机控制器，文 中给出了包含电流采样/调理电路、过流保护电路、隔离电路在内的辅助电路及电机功率驱 动电路。鉴于矢量控制策略在高性能电机控制系统中取得的良好应用效果，本文首先给出 了带 PI 控制器的两相混合式步进电机矢量控制方案。该方案在逆变电路中采用 SVPWM 调制策略，dq 轴电流闭环输出经由 PI 控制器得到基本电压矢量，坐标变换后作为 PWM 环 节的输入。由于 PI 控制器无法有效应对步进电机系统非线性耦合及内外扰动干扰等影响， 本文对上述方案进行了改进，提出以 ADRC 控制器取代 PI 控制器的设计方法，通过加入 对系统内外扰动的动态补偿来提高电机控制性能。 关键词：DSP；两相混合式步进电机；矢量控制；SVPWM；ADRC - - II - Abstract Based on the current the most widely used Two-phase hybrid stepping motor as the research object, this paper introduces a kind of based on DSP stepping motor drive design scheme. Hardware platform in the drive, take TMS320F2812 as motor controller, gives contains current sampling/regulate circuit, over-current protection circuit, drive circuit and power buffer circuit design method. In view of the vector control strategy in high performance motor control system of the obtained good application effect, this paper first give the PI controller with the Two-phase hybrid stepping motor vector control scheme. In this method, the inverter circuits used SVPWM modulation in strategy, dq shaft double closed loop current output by PI controller modulation get basic voltage vector, after the coordinate transformation as the input of the PWM link. Because PI controller cant effectively cope with stepping motor system and internal and external disturbance, nonlinear and coupling interference effect, in this paper, the scheme is proposed to improve the ADRC controller to replace PI controller design method, by adding to the system of the disturbance of inside and outside dynamic compensation to improve the motor control performance. Key Words：DSP; Two-phase hybrid stepping motor; Vector control; SVPWM; ADRC - - III - 目 录 摘 要 I Abstract II 1 绪论 1 1.1 论文选题背景 1 1.2 步进电机驱动器设计概述2 1.2.1 常用电机控制芯片 2 1.2.2 步进电机典型驱动方式 4 1.2.3 步进电机控制策略概述 5 1.3 论文结构安排 7 2 两相混合式步进电动机原理及其特性分析 9 2.1 混合式步进电机 9 2.2 两相混合式步进电动机工作原理 10 2.3 步进电机运行特性分析 11 2.3.1 静态转矩特性 11 2.3.2 动态转矩特性