【摘要】：步進(jìn)電機(jī)作為一種將電脈沖信號(hào)轉(zhuǎn)換成相應(yīng)角位移的執(zhí)行器件,具有定位精度高、動(dòng)態(tài)力矩大、控制簡(jiǎn)單等特點(diǎn),可以直接采用數(shù)字脈沖信號(hào)進(jìn)行開環(huán)控制。為了實(shí)現(xiàn)步進(jìn)電機(jī)的平穩(wěn)快速運(yùn)動(dòng),提高電機(jī)加速能力以及減小啟停過(guò)程對(duì)電機(jī)的沖擊,防止失步,合理的加減速運(yùn)行曲線設(shè)計(jì)是非常重要的。本文通過(guò)建立基于MATLAB/Simulink的步進(jìn)電機(jī)控制系統(tǒng)仿真模型,研究運(yùn)行曲線對(duì)步進(jìn)電機(jī)控制性能的影響,實(shí)現(xiàn)對(duì)步進(jìn)電機(jī)轉(zhuǎn)動(dòng)速度和控制精度的優(yōu)化,該仿真模型也為預(yù)測(cè)其它步進(jìn)電機(jī)系統(tǒng)的工作性能提供了一種途徑。 本文對(duì)步進(jìn)電機(jī)開環(huán)控制系統(tǒng)進(jìn)行研究,首先建立了基于Simulink的步進(jìn)電機(jī)控制系統(tǒng)仿真模型,在此基礎(chǔ)上對(duì)梯形和拋物線兩種運(yùn)行曲線進(jìn)行仿真,并對(duì)兩種運(yùn)行曲線的仿真結(jié)果進(jìn)行比較分析。為滿足系統(tǒng)的應(yīng)用需求,在實(shí)驗(yàn)平臺(tái)上采用VerilogHDL硬件描述語(yǔ)言設(shè)計(jì)步進(jìn)電機(jī)控制IP核,實(shí)現(xiàn)對(duì)步進(jìn)電機(jī)的精確控制。 本文對(duì)步進(jìn)電機(jī)的結(jié)構(gòu)和工作原理進(jìn)行了介紹,總結(jié)并分析了步進(jìn)電機(jī)的數(shù)學(xué)模型,以及步進(jìn)電機(jī)細(xì)分驅(qū)動(dòng)技術(shù)的基本原理。通過(guò)對(duì)步進(jìn)電機(jī)加減速控制方法的研究,設(shè)計(jì)了一種用于實(shí)時(shí)控制的拋物線運(yùn)行曲線。 本文基于步進(jìn)電機(jī)數(shù)學(xué)方程,結(jié)合Simulink提供的參考模型建立了步進(jìn)電機(jī)仿真模型,該模型可以通過(guò)對(duì)電機(jī)參數(shù)的修改實(shí)現(xiàn)通用化。并建立了步進(jìn)電機(jī)細(xì)分驅(qū)動(dòng)模塊,可根據(jù)需求更改細(xì)分?jǐn)?shù)、額定電流值和電壓值,從而對(duì)步進(jìn)電機(jī)實(shí)現(xiàn)細(xì)分驅(qū)動(dòng)控制仿真。 本文對(duì)步進(jìn)電機(jī)速度控制方法進(jìn)行研究,基于系統(tǒng)實(shí)時(shí)性、精確性的要求,結(jié)合步進(jìn)電機(jī)矩頻特性曲線,推導(dǎo)了拋物線運(yùn)行曲線數(shù)學(xué)方程,并與梯形運(yùn)行曲線進(jìn)行了對(duì)比仿真。仿真結(jié)果表明,拋物線運(yùn)行曲線具有更優(yōu)的開環(huán)控制特性,提高了步進(jìn)電機(jī)的轉(zhuǎn)動(dòng)速度和控制精度。 為驗(yàn)證拋物線運(yùn)行曲線的控制性能,本文基于步進(jìn)電機(jī)控制系統(tǒng)的硬件實(shí)驗(yàn)平臺(tái),采用自頂向下的方法,使用Verilog HDL語(yǔ)言設(shè)計(jì)了步進(jìn)電機(jī)控制系統(tǒng)IP軟核,對(duì)相應(yīng)子模塊以及頂層模塊進(jìn)行了仿真驗(yàn)證。分別對(duì)以上兩種運(yùn)行曲線進(jìn)行轉(zhuǎn)動(dòng)速度和控制周期的實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果與仿真結(jié)果基本一致。結(jié)果表明采用拋物線運(yùn)行曲線在單位控制周期內(nèi)可明顯提升步進(jìn)電機(jī)的轉(zhuǎn)動(dòng)速度,同時(shí)也提高了控制精度。
[Abstract]:As an executive device which converts electrical pulse signal into corresponding angular displacement, stepping motor has the characteristics of high positioning accuracy, large dynamic torque and simple control, so it can be directly controlled by digital pulse signal. In order to realize the steady and fast movement of the stepping motor, improve the acceleration ability of the motor, reduce the impact of the starting and stopping process on the motor and prevent from losing step, it is very important to design the running curve of acceleration and deceleration reasonably. In this paper, the simulation model of step motor control system based on MATLAB/Simulink is established, and the influence of running curve on the control performance of step motor is studied, and the rotation speed and control precision of step motor are optimized. The simulation model also provides a way to predict the performance of other stepping motor systems. In this paper, the open-loop control system of stepping motor is studied. Firstly, the simulation model of stepping motor control system based on Simulink is established, and then the trapezoidal and parabolic running curves are simulated. The simulation results of two kinds of running curves are compared and analyzed. In order to meet the application requirements of the system, the VerilogHDL hardware description language is used to design the step motor control IP core on the experimental platform to realize the precise control of the step motor. This paper introduces the structure and working principle of stepping motor, summarizes and analyzes the mathematical model of step motor and the basic principle of subdivision driving technology of step motor. Based on the research of step motor acceleration and deceleration control method, a parabola running curve for real time control is designed. Based on the mathematical equation of stepping motor and the reference model provided by Simulink, the simulation model of stepping motor is established in this paper. The model can be generalized by modifying the parameters of the motor. The subdivision drive module of step motor is established, which can change the subdivision number, rated current value and voltage value according to the demand, and realize the simulation of the step motor subdivision drive control. In this paper, the speed control method of stepping motor is studied. Based on the requirements of real-time and accuracy of the system, the mathematical equation of the parabola running curve is derived, which is compared with the trapezoidal running curve, combined with the moment frequency characteristic curve of the stepping motor. The simulation results show that the parabolic running curve has better open-loop control characteristics and improves the rotation speed and control accuracy of the stepping motor. In order to verify the control performance of parabola running curve, based on the hardware experiment platform of stepping motor control system, this paper designs the IP soft core of step motor control system by using top-down method and Verilog HDL language. The corresponding sub-modules and top-level modules are simulated and verified. The rotation speed and control period of the above two kinds of running curves are tested, and the experimental results are in good agreement with the simulation results. The results show that the rotation speed of stepping motor can be increased obviously by using parabola running curve in the unit control period, and the control precision is also improved.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM383.6

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