Two-phase Hybrid Stepping Motor Vector Control And Position Servo Algor Ithm Research

As the stepper motor is widely used in the field of industry, stepper motor drive control has a great development, but at present we are still unable to solve some problems such as ring opening throw step, oscillation and the immature problem of closed- loop control algorithm.This article mainly aims at two phase hybrid(HB) stepping motor, to study on the vector control and the algorithm of position servo. In deriving a mathematic model of the two-phase hybrid stepper motor, through MATLAB simulation analysis to analyze its effect of feedback current vector control. In addition, apply in d SPACE platform of stepper motor encoder feedback, the article has designed and constructed the position servo system of classical proportional- integral-differential(PID) algorithm and fuzzy PID algorithm research. In order to verify the simulation results of current vector control, STM32F103 processor is used to set the current loop vector control system. The hardware design part main analysis of the principle of specification,including the pulse width modulation(PWM) control strategy of HB stepping motor quadrature axis, direct axis of coordinated control. To embody the feasibility of the vector control system, this paper designed the flow chart of software program, it mainly includes the main program flow chart, the way of PWM interrupt control and pulse sampling. Finally, to better study on position control algorithm in d SPACE platform, the stepping motor is connected to the load and compare the effect of the output.This article from the experiment verify the output of current vector control effect, and analysed the displacement output for a particular effect, it was concluded that the defect of open loop control. To test and verify the effect o f closed loop control further, the article used the d SPACE platform for the study of classic PID control and fuzzy PID control. Based on it in the case of no- load and load output effect comparison, the conclusion is that the stronger load ability of fuzzy PID control, or that it has a stronger ability to adapt.