Digital Control of a Stepping Motor for Eliminating Rotation Speed Fluctuations Using Adaptive Gains
Digital Control of a Stepping Motor for Eliminating Rotation Speed Fluctuations Using Adaptive Gains
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DOI：
10.3390/electronics10111335
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发表时间：
2021-06
期刊：
影响因子：
2.9
通讯作者：
D. Isobe;N. Hori;Shin Kawai;Keisuke Yagi;Triet Nguyen-Van
中科院分区：
文献类型：
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作者：
D. Isobe;N. Hori;Shin Kawai;Keisuke Yagi;Triet Nguyen-Van
如今，步进电机通常用作各种新科学领域的精密致动器，例如注射泵，血液分析仪和生物3D打印机。控制步进电机在空载条件下无速度波动地旋转对提高机床的传动精度起着重要作用。提出了一种五相混合式步进电动机的数字控制方法。所提出的控制器包括一个原始控制回路和一个PI自适应积分增益控制回路。采用直接PIM方法对原模拟控制器的数字控制回路进行了重新设计。PI自适应控制回路以并行方式添加到原始控制回路，以消除电机的稳态偏差并抑制对象内部的物理饱和因子。利用李雅普诺夫稳定性理论证明了PI调节器增益的稳定性条件。实验结果表明，该控制器能有效抑制由开关结构引起的抖振，在高转速范围内不产生波动，性能与商用模拟控制器相当。
Nowadays, stepping motors are usually used as precise actuators in various new scientific fields, such as syringe pumps, blood analyzers, and bio-3D printers. Controlling rotation of the stepping motor without speed fluctuation under no-load conditions plays an important role in improving the accuracy of the machine’s drive. This paper proposes a digital control method for a five-phase hybrid stepping motor. The proposed controller includes an original control loop and a PI adaptive integration gain control loop. The original digital control loop is redesigned from the analog controller by using the direct PIM method. The PI adaptive control loop is added to the original control loop in a parallel way to remove a steady deviation of the motor and suppress a physical saturation factor inside the plant. Lyapunov stability theory is used to prove a stability condition of the PI regulator gains. Experimental results show that the proposed controller can suppress the chattering caused by the switching structure and gives performances as good as that of the commercial analog controller in a high rotation speed range without fluctuation.