Design And Implementation Of Three Phase Hybrid Stepping Motor Driver

Intelligent production and intelligent factory are the two major themes of the industrial 4 Era.Then high-performance stepper motor has a great effect on realize the style of intelligent production.With the development of society,people have higher pursuit of accurate control and stability on the stepper motor.Therefore,the development of high-performance and low-power three-phase hybrid stepper motor driver has very large application value.Firstly,the thesis introduces status and development of the stepper motor at home and abroad.At the same time,the thesis analyzes controlling principle,structure characteristics,static and dynamic characteristics of the stepping motor.This paper introduces PWM technology of current tracking PWM,sinusoidal pulse width modulation(SPWM)and voltage space vector pulse width modulation(SVPWM)in detail.After analyzing and comparing the three kinds of PWM technology,the SVPWM technology of high voltage utilization is adopted.Then the thesis analyzes the driving system and the related vector control technology of hybrid stepping motor,and the deduce procedure of SVPWM technology algorithn.Secondly,this paper takes STM32F103R8T6 microprocessor as the control core and uses the vector control method to design the three-phase hybrid stepping motor driver.The power module ensures the stability of the whole circuit;power-driven module uses IR2136S driving chip which has the strong capacity of resisting disturbance and stabilization,controlling the output of the inversion circuit module;current detection module ensures detection of two-phase current;main control module completes the reception of control signal.On the basis of hardware modules,the software design uses the modular designing,including the main program modules and the interrupt service subroutine module.The interrupt service subroutine module is the key part of the stable system,which is composed of the current detection sub-module,digital PI regulator sub-module and SVPWM algorithm sub-module jointly accomplished.These three sub-modules are based on Clarke and Park transformation.Finally,according to the experimental results of the stepper motor driver,the analysis draw that not only output waveform of the phase current closer to sine wave in low subdivision,but also the stepper motor driver actually work with little vibration and low noise,further verifies the feasibility of drive solutions which is based on space voltage vector SVPWM technology.And the work of the whole design process is sumnarized,and the further work is prospected.