Research on Reduction of Natural Vibration in Three-Phase Hybrid Stepping Motor Drive Systems

步进电机具有成本低、定位方便等优点，广泛应用于办公自动化或工厂自动化设备中。然而，采用恒流开环控制驱动的步进电机存在一个很大的问题，即电机转子存在较大的自振，这是由于电机电流的换相与转子位置无关。本研究旨在开发一种新的步进电机驱动系统，该系统可以在不安装轴上位置传感器的情况下减少转子的固有振动。该驱动系统的特点是基于测量电机绕组中的反电动势来检测旋转方向的无传感器。因此，该驱动系统能够有效地抑制三相混合式步进电机转子的自振。在2000年，一个实验驱动系统已经实施和测试，以确认所提出的模式的有效性和通用性。实验结果表明，该实验系统在转子惯量发生变化的情况下，仍能检测转子的旋转方向，抑制转子的自振。2001年，开发了单片机控制软件，实现了利用振动周期信息产生脉冲的方法。该控制软件具有在任何工况下都能减小不良自振的优良性能。最后，我们相信本研究的贡献可以应用于步进电机的广泛应用。

Numerous stepping motors are widely used in office automation or factory automation apparatus, because of low cost and easy positioning. However, a stepping motor drived by the constant-current open-loop control has a big problem that a large natural vibration in the motor rotor occurs, because commutations of the motor current are performed regardless of the rotor position.This research aims to develop a new stepping motor drive system which can reduce natural vibrations of the rotor without shaft-mounted position sensor. The drive system is characterized by sensorless detection of the rotating direction based on measurement of back emf in the motor windings. As a result, the drive system can damp rotor natural vibration of the three-phase hybrid stepping motor. In 2000, an experimental drive system has been implemented and tested to confirm the effectiveness and versatility of the proposed pattern. Some experimental results show that the experimental system can detect the rotating direction and damp the rotor natural vibration even if the rotor inertia varies. In 2001, a control software for the one-chip microprocessor has been developed to realize the proposed pulse generation method using information of the vibration period. The control software is characterized by the excellent performance that the undesirable natural vibration can be reduced in any conditions.Finally, we belive that the contribution obtained by this research can be applicable to wide applications using stepping motors.