Research On The Closed-loop Control System Of Two-phase Hybrid Stepping Motor Based On STM32

Stepping motors with the advantages of simple control,reliable operation,and no accumulated errors are widely used in many fields,such as CNC machine tools,engraving machines,robots,and computer printing equipment.In recent years,with the rapid development of modern industry and the continuous improvement of related technologies,the requirements for stepping motors are more and more stringent.However,most of the stepping motors on the market are two-phrase hybrid,they not only have some inherent flaws but also the control method is still the traditional open-loop operation,which limits the application of stepping motors in industry to a certain extent.Therefore,it is imperative to study the closed-loop control system of hybrid stepping motors.Firstly,this thesis summarizes the research status of the stepping motor control system and introduces the structure and working principle of the two-phase hybrid stepping motors.Under the reasonable assumption,the mathematical model in the two-phase stationary coordinate system is deduced,and through the coordinate transformation,the mathematical model in the rotating coordinate system was obtained,and the selected vector control strategy was applied in the closed-loop control of the controlled object.Secondly,in the two-phase hybrid stepping motor closed-loop control system,the position and speed controllers will directly control the performance of the entire control system.Thus the backstepping controller is introduced in this thesis to make up the deficiency of the traditional PID controller.According to the mathematical model,the speed backstepping controller and the position PI controller are mainly deduced and designed.At the same time,the simulation of the two-phase hybrid stepper motor,speed backstepping controller and position P controller is built under Matlab/Simulink software environment.And the model is compared with the traditional PI control in the same conditions,the simulation results show that the position P and speed backstepping control algorithms proposed and designed in this thesis are superior in steady state performance,dynamic characteristics and accuracy.Finally,it's to prove the feasibility and practicability of the algorithm.After finishing the hardware design of the two-phase hybrid stepping motors with closed-loop control system which takes the chip STM32 as the core,and the software on the basis of the hardware circuit.The control experiment platform is built for a detailed debugging,and it gives a further evidence that the control strategy of the two-phase hybrid stepping motors closed-loop control proposed in this thesis has the features of effectiveness and superiority in the dynamic and steady-state characteristics.