Research On Servo Control Technology Of Two-phase Hybrid Stepping Motor

The two phase hybrid stepping motor has the characteristics of accurate positioning and no accumulation of error.Under open loop control,its control precision meets most application requirements and is widely used.But under the control of open loop,there is a shock at low speed,and it will cause the loss of step when it is serious.At high speed,the torque is small and the load performance is poor.Therefore,how to eliminate the oscillation caused by the stepping motor at low speed and increase the output torque of the motor at high speed are the hot topics of current research.The main research of this paper is the related technology of the motor drive controller in the servo control system.The main work is as follows:(1)Introduce the internal structure of the stepping motor,the basic principle of operation,derived mathematical model of the two phase hybrid stepping motor.According to the mathematical model completed the simulation model set up in matlab/simulink.Compared with the original stepping motor model in the simulink,the model was verified initially.(2)Select the speed curve given,and choose the angle discretization scheme..Based on the subdivision control algorithm,a new type of stepping motor open-loop control strategy is proposed.The traditional weak magnetic control scheme is applied to the open-loop control,and combined with the velocity feedback control scheme,in order to improve the performance of the motor in high speed rotation.In the simulation,the implementation of the algorithm is completed and the initial verification of the algorithm is completed.In order to improve the high speed control performance,the vector control algorithm of PMSM id=0 is applied to speed position closed loop control of stepper motor,and is preliminarily verified in simulation(3)The hardware platform is built,including the schematic design of the drive circuit,sampling circuit,over-current protection circuit and other functional circuits in the drive control board,and the required components are selected to complete the circuit test work.Complete the angle given algorithm,open-loop control algorithm,closed-loop control algorithm design and program.(4)On the experimental platform,the angle algorithm,the effectiveness of the algorithms such as angle-given algorithm,open-loop control algorithm and closed-loop control algorithm,are verified.