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关键词：混合式步进电机，无位置传感器，高频注入，卡尔曼滤波，MATALB，DSP
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步进电机无位置传感器控制
ABSTRACT
Although stepping motor has a wide range of application in the numerical control machinery and other fields, the open loop control has the out-of-step disadvantage, and traditional closed loop control realized by using rotary encoder and other mechanical sensors is also often influenced by the work environment and difficult to install. Consequently, the study about detecting stepping motor rotor position and speed without position sensor has practical significance and application value. Based on the two-phase hybrid stepping motor as the research object, using fluctuating high frequency voltage signal injection method and Kalman filter, the point of this study is to research and realize the position sensorless technology of two-phase hybrid stepping motor drive control system. In this paper the main works are as follows: 1）Establish the mathematical model of two-phase hybrid stepping motor, define motor d-q coordinates.Establish the motor position, current double closed-loop control system model that set DSP as the control core, realize the motor driver, winding current testing and other peripheral hardware circuit. 2）Elaborate basic principle of using fluctuating high frequency voltage signal injection method and Kalman filter detecting two-phase hybrid stepping motor rotor position. Based on the pulse equivalent principle and sinusoidal pulse width modulation principle, realize the both injection of driving voltage and high frequency injection voltage. Use DSP along with MATLAB to realize FIR Digital Filtering and Kalman Filtering that extract the rotor position information from winding high frequency current accurately. 3）In the MATLAB/Simulink environment, establish the simulation model of two-phase hybrid stepping motor position sensorless control system, realize the simulations of stepping motor position sensorless control. Write relevant program and complete hardware and software debugging based on TMS320F2812 experimental platform. The simulations and experiments verify that fluctuating high frequency voltage signal injection method and Kalman Filtering can achieve accurate and real-time rotor position detection of two-phase hybrid stepping motor at low speed speed, realize the stepping motor position sensorless control. Keywords: hybrid stepping motor, position sensorless, high frequency injection, Kalman Filtering, MATLAB, DSP
March, 2013
承诺书
本人声明所呈交的硕士学位论文是本人在导师指导下进 行的研究工作及取得的研究成果。除了文中特别加以标注和致 谢的地方外，论文中不包含其他人已经发表或撰写过的研究成 果，也不包含为获得南京航空航天大学或其他教育机构的学位 或证书而使用过的材料。 本人授权南京航空航天大学可以将学位论文的全部或部 分内容编入有关数据库进行检索，可以采用影印、缩印或扫描 等复制手段保存、汇编学位论文。 （保密的学位论文在解密后适用本承诺书）
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南京航空航天大学硕士学位论文
目
录
第一章 绪论 .......................................................................................................................................... 1 1.1 引言 ............................................................................................................................................ 1 1.1.1 步进电机概述........................................................................................................................ 1 1.1.2 步进电机分类........................................................................................................................ 1 1.1.3 步进电机应用中的问题........................................................................................................ 2 1.2 无位置传感器研究现状............................................................................................................. 3 1.2.1 步进电机无位置传感器控制研究现状 ................................................................................ 3 1.2.2 基于高频信号注入法的无位置传感器控制研究现状 ........................................................ 4 1.3 本文的主要研究内容和结构..................................................................................................... 4 1.3.1 本文主要研究内容................................................................................................................ 4 1.3.2 本文内容结构........................................................................................................................ 5 第二章 步进电机闭环控制................................................................................................................... 6 2.1 二相混合式步进电机的数学模型............................................................................................. 6 2.2 二相混合式步进电机的闭环控制............................................................................................. 7 2.2.1 基于 DSP 的步进电机闭环控制 .......................................................................................... 7 2.2.2 双极性驱动............................................................................................................................ 9 2.2.3 绕组电流检测...................................................................................................................... 10 2.3 本章小结 .................................................................................................................................. 13 第三章 步进电机无位置传感器控制................................................................................................. 14 3.1 脉动高频信号注入法............................................................................................................... 14 3.1.1 脉动高频信号注入法基本原理 .......................................................................................... 14 3.1.2 位置信息提取...................................................................................................................... 15 3.2 卡尔曼滤波器 .......................................................................................................................... 16 3.3 高频电压注入法的 PWM 实现 ............................................................................................... 19 3.3.1 高频电压信号注入实现...................................................................................................... 19 3.3.2 PWM 的 TMS320F2812 实现............................................................................................. 21 3.4 IQMATH 库 ................................................................................................................................ 24 3.5 本章小结 .................................................................................................................................. 26 第四章 步进电机控制中的数字信号处理 ......................................................................................... 27 4.1 绕组电流 A/D 转换.................................................................................................................. 27