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CN106921324B - Parameter identification method of hybrid stepping motor - Google Patents

Parameter identification method of hybrid stepping motor Download PDF

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Publication number
CN106921324B
CN106921324B CN201710143141.2A CN201710143141A CN106921324B CN 106921324 B CN106921324 B CN 106921324B CN 201710143141 A CN201710143141 A CN 201710143141A CN 106921324 B CN106921324 B CN 106921324B
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CN106921324A (en
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李金全
王申相
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Shenzhen Just Motion Control Electromechanics Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step

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  • Control Of Stepping Motors (AREA)

Abstract

The invention provides a parameter identification method of a hybrid stepping motor, belonging to the field of motor parameter identification. At time t0, a slowly increasing current is supplied to Ib through the inverter circuit, and then flows through phase a with a stable current Ib, and the current Ib flows from V1 into phase a, then into V4, and finally to ground. At time t1, the current loop enters V4 from phase A and then flows into D3, the output end of D3 is connected with phase A and grounded, so that phase A and D3 form a closed loop, and the current starts to decrease. At time t2, when the given current becomes Ia, the given current is stabilized as Ia by PWM logic, and at this time, the given current Ia flows from V1 through phase a, into V4 and to ground. And calculating the resistance and inductance values according to the voltage difference. When current is supplied, the current is conducted through A after alignment, and therefore the problem that the phase winding voltage error is large can be effectively solved.

Description

Parameter identification method of hybrid stepping motor
Technical Field
The invention relates to the field of motor parameter identification, in particular to a parameter identification method of a hybrid stepping motor.
Background
With the ever-increasing demands of industrial fields, the vector control technology is widely applied to occasions requiring high-performance control of the stepping motor. The ultimate goal of vector control is to achieve decoupling of torque and flux linkage control. Thereby realizing the high-performance control of the stepping motor. The control of the torque and the flux linkage of the stepping motor is realized, and the high-performance control depends on the identification precision of parameters of the stepping motor to a great extent.
In the case of a hybrid stepper motor, the electrical equivalent circuit of the electrical portion of one phase is as shown in fig. 1 (ignoring unsaturated linear magnetic circuits and phase mutual inductances). FIG. 1 is an equivalent model of phase A winding, and the equivalent model
Figure DEST_PATH_IMAGE001
And
Figure 910698DEST_PATH_IMAGE002
respectively representing the resistance and inductance of phase a. The A-phase winding inductance can be considered to have independent rotor position due to the large air gap value of the magnets between the phase and the phase, and the voltage source
Figure DEST_PATH_IMAGE003
Representing the back emf of the motor. Voltage source
Figure 793203DEST_PATH_IMAGE003
Representing the back electromotive force (emf) of the motor as a sinusoidal function of rotor position, the expression is as follows:
Figure 614528DEST_PATH_IMAGE004
（1）
wherein is the sum of the number of pole pairs
Figure DEST_PATH_IMAGE005
The maximum magnetic flux of the motor is the maximum magnetic flux,
Figure 25918DEST_PATH_IMAGE006
a reference position is indicated which is the position of the reference,
Figure DEST_PATH_IMAGE007
indicating the angle through which the rotor has turned at a reference position (
Figure 463853DEST_PATH_IMAGE008
) I.e. the N pole on the rotor is the fully aligned shaft pole, the back-emf is zero. Then the solution to the A-phase parameters is converted to a solution
Figure DEST_PATH_IMAGE009
And
Figure 353311DEST_PATH_IMAGE010
a series circuit for supplying current to A
Figure DEST_PATH_IMAGE011
The expression is:
Figure 543990DEST_PATH_IMAGE012
（2）
as long as two different currents are communicated with the A, the corresponding electrifying time is controlled; then can find out the phaseThe parameters should be used. The existing method is shown in fig. 2: taking the phase a of the hybrid stepping motor as an example, in combination with the inverter circuit and the logic mode of PWM, the current flows from V1 through the phase a winding of the motor, and then flows to ground through V4, and the current-carrying mode is shown in fig. 2, as shown in fig. 3 and 4, when the steady current is
Figure DEST_PATH_IMAGE013
And when the potential at two ends of the loop is Ua, combining PWM logic to enable the current to slowly rise at the time t1, and when the current detected at the time t2 is ib, enabling ib to be stable, and obtaining the potential at two ends of the loop as Ub. As shown in fig. 3, the loop voltage can be expressed as:
Figure 126281DEST_PATH_IMAGE014
（3）
wherein,
Figure DEST_PATH_IMAGE015
is the voltage applied to that phase;
Figure 51512DEST_PATH_IMAGE016
is the voltage across the resistor;
Figure DEST_PATH_IMAGE017
is the voltage across the inductor;
Figure 744661DEST_PATH_IMAGE018
this value is a fixed voltage drop for the MOS transistors V1 and V4 and can be found by manual inquiry.
The voltage of the resistor can be expressed as:
Figure DEST_PATH_IMAGE019
（4）
Figure 275000DEST_PATH_IMAGE020
is the voltage across the resistor and is,
Figure DEST_PATH_IMAGE021
for a given currentThe value of the one or more of,
Figure 559351DEST_PATH_IMAGE022
is the resistance of the resistor.
The voltage of the inductor can be expressed as:
Figure DEST_PATH_IMAGE023
（5）
Figure 200240DEST_PATH_IMAGE024
is the voltage across the inductor and is,
Figure DEST_PATH_IMAGE025
for a given value of the current is,
Figure 697081DEST_PATH_IMAGE026
is an inductance value;
the following equations (3), (4) and (5) can be obtained:
Figure DEST_PATH_IMAGE027
（6）
wherein,
Figure 347505DEST_PATH_IMAGE026
、
Figure 537178DEST_PATH_IMAGE028
the inductance and resistance of the phase, respectively;
Figure DEST_PATH_IMAGE029
for a given current;
Figure 905842DEST_PATH_IMAGE030
is the voltage loaded on the loop;
Figure DEST_PATH_IMAGE031
a fixed voltage drop for MOS transistors V1 and V4; combined formula by varying given current
Figure 471953DEST_PATH_IMAGE032
And determining the loop at a given current
Figure DEST_PATH_IMAGE033
The value of (A) can be calculated
Figure 491730DEST_PATH_IMAGE028
And an inductor
Figure 852305DEST_PATH_IMAGE026
。
However, the above method has the following problems:
1. given the current ia, the rotor cannot ensure that the motor rotor does not rotate during the alignment process, as can be seen from equation (1): if it is
Figure 708265DEST_PATH_IMAGE034
If not zero, back electromotive force
Figure DEST_PATH_IMAGE035
Is also not zero; when the motor parameters are solved by using the model of fig. 3, the values of the resistance and the inductance inevitably have deviation.
2. The control of V1 and V4 by PWM and the switching process of MOS tube inevitably have dead time, so that the voltage to two ends of A phase loop is given
Figure 546908DEST_PATH_IMAGE036
Certain deviation occurs, and the calculation result is influenced.
Disclosure of Invention
The invention provides a parameter identification method of a hybrid stepping motor, which solves the problem that the existing parameter identification method of the hybrid stepping motor is low in precision.
The invention solves the problems through the following technical scheme:
a parameter identification method of a hybrid stepping motor comprises the following steps:
step 1: analyzing an internal circuit of the hybrid stepping motor to draw an equivalent circuit of one phase of the hybrid stepping motor, wherein the equivalent circuit comprises a resistor R and an inductor L, the resistor R and the inductor L are connected in series, and the phase is defined as an A phase;
step 2: at the time t0, a slow rising current is supplied to Ib through an inverter circuit, then a stable current Ib flows through the phase A, the current Ib flows into the phase A from the phase V1, then flows into the phase V4, and finally the current Ib is grounded, wherein Ib is a given input current, the phase V1 is a PWM control terminal, and the phase V4 is a PWM control terminal;
and step 3: when the given loop current is Ib, simultaneously measuring the potential Ub at two ends of the A-phase loop, wherein the Ub is the sum of the potential at two ends of the A-phase and the fixed voltage drops of V1 and V4;
and 4, step 4: at the time t1, closing V1 and V2 and conducting V3 and V4 in a PWM control mode; detecting the attenuation condition of the current on the coil, wherein the current on the coil can be exponentially attenuated, a current loop enters V4 from the phase A and then flows into D3, the output end of D3 is butted with the phase A, wherein t1 is the time point when the given current starts to change, V4 is a PWM control terminal, and D3 is a diode, so that the phase A and the D3 form a closed loop;
and 5: at the time of t2, when the current on the coil is detected to be reduced to Ia, through PWM logic, V1 and V4 are opened to form a new loop, the loop current is maintained to be stabilized to Ia, at this time, the loop current flows through the phase A from V1, enters V4 and reaches the ground, wherein t2 is the time point when the current is detected to be changed to Ia, and V1 and V4 are PWM control terminals;
step 6: when the current of the A-phase loop is given to be stabilized as Ia, measuring the potential Ua at two ends of the A-phase loop, wherein the Ua is the sum of the potential at two ends of the A-phase and the fixed voltage drops of V1 and V4; and 7: from steps 3 and 6, it can thus be seen that, when the current is stable,
Figure DEST_PATH_IMAGE037
is zero;
the formula (6) is changed into
Figure 437504DEST_PATH_IMAGE038
（6-1）
Figure DEST_PATH_IMAGE039
（6-2）
Thus, the resistance of phase a is calculated:
Figure 703400DEST_PATH_IMAGE040
（7）
wherein,
Figure 531810DEST_PATH_IMAGE028
resistance of A phase
Figure 705302DEST_PATH_IMAGE028
A resistance value;
through the formula, the influence of the voltage drop of the MOS tube fixed tube and the dead zone thereof can be eliminated, and the reality is obtained
Figure 715984DEST_PATH_IMAGE028
The value is obtained.
And 8: according to step 5, after the output terminal of D3 is connected to a and grounded, the voltage formula of the loop can be obtained:
Figure DEST_PATH_IMAGE041
（8）
wherein,
Figure 152781DEST_PATH_IMAGE042
is the voltage across the inductor and is,
Figure DEST_PATH_IMAGE043
is a resistor
Figure 717755DEST_PATH_IMAGE028
The voltage across;
Figure 429359DEST_PATH_IMAGE044
the sum of the conduction voltage drop for diode D3 and the fixed tube voltage drop for V4;
thus, the inductance can be calculated according to the formula (8)
Figure 294547DEST_PATH_IMAGE026
The inductance value of (c).
In the above-described embodiment, preferably, the process of specifically calculating the inductance value of the inductor in step 8 is that the current of the entire loop after the output terminal of D3 is connected to a and grounded is set to be a
Figure DEST_PATH_IMAGE045
Thereby obtaining the resistance
Figure 902245DEST_PATH_IMAGE028
The voltage of (a) is:
Figure 485673DEST_PATH_IMAGE046
（9）
inductance
Figure 453498DEST_PATH_IMAGE026
The voltages at both ends are:
Figure DEST_PATH_IMAGE047
（10）
wherein,
Figure 438772DEST_PATH_IMAGE048
the current flowing in the phase A after the loop is closed is large;
to pair
Figure DEST_PATH_IMAGE049
The general solution is obtained by:
Figure 217372DEST_PATH_IMAGE050
（t>0）（11）
wherein,
Figure DEST_PATH_IMAGE051
is an integration constant; i.e. current flow
Figure 756938DEST_PATH_IMAGE045
Is expressed by an index
Figure 810344DEST_PATH_IMAGE052
(ii) is varied;
the equations are thus obtained from equations (7) (8) (9) (10) (11):
Figure DEST_PATH_IMAGE053
（12）
from equation (12) it is thus possible to obtain:
Figure 118966DEST_PATH_IMAGE054
（13）
further, according to (12) and (13), there can be obtained:
Figure DEST_PATH_IMAGE055
（14）
thus, the inductance value of the inductor can be calculated from (14):
Figure 816270DEST_PATH_IMAGE056
（15）
thereby completing the parameter identification of the hybrid stepping motor.
The invention has the advantages and effects that:
according to the invention, the relevant parameters are solved after the A phase alignment is carried out during current application, so that the problem of large phase winding voltage error can be effectively solved, and the influence of dead zones on the A phase winding voltage is avoided by detecting the potentials at two ends of the A phase loop twice, so that the detection precision can be better improved.
Drawings
FIG. 1 is an equivalent circuit of the electrical portion of one phase of a hybrid stepper motor;
FIG. 2 is a diagram of a motor phase control logic of a conventional detection method;
FIG. 3 is a calculated equivalent circuit of the electrical portion of one phase of the motor for a prior art detection method;
FIG. 4 is a diagram of a current-carrying pattern of a conventional detection method;
FIG. 5 is a diagram of a one-phase control logic scheme of the motor of the present invention;
FIG. 6 is a diagram of the power-on mode of the present invention;
fig. 7 is an equivalent circuit of the closed loop of the present invention.
Detailed Description
The present invention is further illustrated by the following examples.
A parameter identification method of a hybrid stepping motor comprises the following steps:
step 1: and analyzing the internal circuit of the hybrid stepping motor to draw an equivalent circuit of one phase of the hybrid stepping motor. As shown in fig. 1, the equivalent circuit includes a resistor R and an inductor L, which are connected in series, and the phase is defined as an a phase.
Step 2: at time t0, a slowly increasing current is supplied to Ib through the inverter circuit, and then a stable current Ib flows through phase a, as shown in fig. 6, the current Ib flows from V1 into phase a, then flows into V4, and finally is grounded, where Ib is a given input current, V1 is a PWM control terminal, V4 is a PWM control terminal, and the current is dc power. As shown in FIG. 2, V1, V4 are open and V2, V3 are closed.
And step 3: when the given loop current is stabilized to Ib, the potential of the a-phase loop is also measured as Ub. The Ub voltage value can be obtained through a program and a matched circuit board.
And 4, step 4: at the time t1, closing V1 and V2 and conducting V3 and V4 in a PWM control mode; detecting the attenuation condition of the current on the coil, wherein the current on the coil can be exponentially attenuated, a current loop enters V4 from the phase A and then flows into D3, the output end of D3 is butted with the phase A, wherein t1 is the time point when the given current starts to change, V4 is a PWM control terminal, and D3 is a diode, so that the phase A and the D3 form a closed loop; specifically, the operation is that on the basis of step 2, V1 is closed and V3 is opened.
And 5: at the time of t2, when the current attenuation on the coil is detected to be Ia, through PWM logic, V1 and V4 are opened to form a new loop, the loop current is maintained to be Ia, at this time, the loop current flows through the phase A from V1, enters V4 and reaches the ground, wherein t2 is the time point when the detected current becomes Ia, and V1 and V4 are PWM control terminals; specifically, on the basis of step 4, V1 is opened and V3 is closed.
Step 6: given a current of Ia, the potential of the A-phase loop is again measured as Ua. The Ua voltage value can be obtained through a program and a matched circuit board.
And 7: according to the step 3 and the step 6 and the formulas (6-1) and (6-2); the resistance R of the a phase can thus be calculated:
Figure DEST_PATH_IMAGE057
（7）
wherein R is the resistance R of the A phase.
Through the formula, the influences of the voltage drop of the MOS tube fixed tube and the dead zone of the MOS tube fixed tube are eliminated, and an actual value is obtained.
And 8: according to step 4, after the output terminal of D3 is connected to a and grounded, the voltage formula of the loop can be obtained, as shown in fig. 5 and 7:
Figure 577553DEST_PATH_IMAGE058
（8）
wherein,
Figure DEST_PATH_IMAGE059
is the voltage across the inductor and is,
Figure 903492DEST_PATH_IMAGE060
is the voltage across resistor R;
Figure DEST_PATH_IMAGE061
for the conduction voltage drop of diode D3 and the fixed tube voltage drop of V4.
Thus, the inductance can be calculated according to the formula (8)
Figure 66620DEST_PATH_IMAGE062
Inductance value of。
The current of the whole loop is as follows after the output end of D3 is butted with A and grounded
Figure 436290DEST_PATH_IMAGE045
Thus, the voltage of the resistor R can be obtained as follows:
Figure 950448DEST_PATH_IMAGE063
（9）
the voltage across the inductor L is:
Figure 345658DEST_PATH_IMAGE064
（10）
wherein,
Figure 363292DEST_PATH_IMAGE045
the current flowing in the phase A after the loop is closed is the current at the moment of forming the loop;
to pair
Figure 451334DEST_PATH_IMAGE065
The general solution is obtained by:
Figure 187209DEST_PATH_IMAGE066
（t>0）（11）
wherein,
Figure 386109DEST_PATH_IMAGE051
is an integration constant;
Figure 8982DEST_PATH_IMAGE045
i.e. the current is exponential
Figure 267925DEST_PATH_IMAGE067
(ii) is varied;
the equations are thus obtained from equations (7) (8) (9) (10) (11):
Figure 22255DEST_PATH_IMAGE068
（12）
from equation (12) it is thus possible to obtain:
Figure 228108DEST_PATH_IMAGE069
（13）
further, according to (12) and (13), there can be obtained:
Figure 751493DEST_PATH_IMAGE070
（14）
thus, the inductance value of the inductor can be calculated from (14):
Figure 650179DEST_PATH_IMAGE071
（15）
thereby completing the parameter identification of the hybrid stepping motor.
While the preferred embodiments of the present invention have been described in detail, it is to be understood that the invention is not limited thereto, and that various equivalent modifications and substitutions may be made by those skilled in the art without departing from the spirit of the present invention and are intended to be included within the scope of the present application.

Claims (1)

1. A parameter identification method of a hybrid stepping motor is characterized in that: the method comprises the following steps:
step 1: analyzing an internal circuit of the hybrid stepping motor to draw an equivalent circuit of one phase of the hybrid stepping motor, wherein the equivalent circuit comprises a resistor R and an inductor L, the resistor R and the inductor L are connected in series, and the phase is defined as an A phase;
MOS transistor V1 and MOS transistor V2 are upper bridge arm switching transistors of a single-phase H-bridge inverter circuit, D1 and D2 are freewheeling diodes respectively connected in parallel with MOS transistor V1 and MOS transistor V2, MOS transistor V3 and MOS transistor V4 are lower bridge arm switching transistors of the single-phase H-bridge inverter circuit, D3 and D4 are freewheeling diodes respectively connected in parallel with MOS transistor V3 and MOS transistor V4, PWM1 and PWM1
Figure FDA0002553890450000011
Respectively controlling the signals of a MOS tube V1 and a MOS tube V3 in one side bridge arm of the single-phase H-bridge inverter circuit, PWM2 and
Figure FDA0002553890450000012
are signals for controlling a MOS tube V2 and a MOS tube V4 in the other bridge arm of the single-phase H-bridge inverter circuit respectively; the resistor R and the inductor L are connected in series and then connected to two bridge arms of the single-phase H-bridge inverter circuit;
step 2: at the time t0, a slow rising current is supplied to Ib through an inverter circuit, then a stable current Ib flows through the phase A, the current Ib flows into the phase A from the V1, then flows into the MOS tube V4 and is finally grounded, wherein Ib is a given input current;
and step 3: when the given current is Ib, simultaneously measuring the potential Ub of the A-phase loop; ub is the sum of the potential at two ends of the phase A and the fixed voltage drop of MOS transistors V1 and V4;
and 4, step 4: at the time t1, the MOS transistors V1 and V2 are closed and the MOS transistors V3 and V4 are conducted in a PWM control mode; detecting the attenuation condition of the current on the coil, wherein the current on the coil is attenuated exponentially, a current loop enters the MOS tube V4 from the phase A and then flows into the diode D3, and the output end of the diode D3 is butted with the phase A;
and 5: at the time of t2, when the current attenuation on the coil is detected to be Ia, the MOS tube V1 and the MOS tube V4 are opened through PWM logic to form a new loop, the loop current is maintained to be Ia stably, and at the moment, the loop current flows through the phase A from the V1 and then enters the MOS tube V4 and then reaches the ground;
step 6: when the current of the A-phase loop is given as Ia, the potential of the A-phase loop is measured as Ua again; wherein Ua is the sum of the potential at two ends of the phase A and the fixed voltage drop of MOS transistors V1 and V4;
and 7: from step 3 and step 6, the resistance R of the a phase can be calculated:
Figure FDA0002553890450000013
wherein R is the resistance R of the A phase;
and 8: according to step 4, after the output terminal of the diode D3 is connected to a and to ground, the voltage formula of the loop can be obtained:
UL+UR+UD＝0 (8)
wherein, ULIs the voltage across the inductor, URIs the voltage across resistor R; u shapeDIs the conduction voltage drop of diode D3;
thus, the inductance value of the inductor L can be calculated according to the formula (8);
specifically, the inductance of the inductor L is calculated by connecting the output terminal of D3 to a and grounding the current in the entire circuit to iLThus, the voltage of the resistor R can be obtained as follows:
UR＝RiL(9)
the voltage across the inductor L is:
Figure FDA0002553890450000021
wherein iLThe current flowing in the phase A after the loop is closed is large;
to iLThe general solution is obtained by:
Figure FDA0002553890450000022
wherein A is an integral constant; i.e. the current iLIs expressed by an index
Figure FDA0002553890450000023
(ii) is varied;
the equations are thus obtained from equations (7) (8) (9) (10) (11):
Figure FDA0002553890450000024
from equation (12) it is thus possible to obtain:
Figure FDA0002553890450000025
further, according to (12) and (13), there can be obtained:
Figure FDA0002553890450000026
the inductance value of the inductor L can thus be calculated from (14):
Figure FDA0002553890450000027
thereby completing the parameter identification of the hybrid stepping motor;
the parameter identification method is used for solving the related parameters after aligning the A when current is supplied.
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