Method for suppressing low-speed oscillation of hybrid stepper motor

Abstract

The invention relates to a method for suppressing low-speed oscillation of a hybrid stepping motor, which is characterized in that: according to feedback winding currents and given winding voltages existing in the micro-step control system of a hybrid stepping motor, adopting a magnetic chain estimator, a rotor torque estimator, a band-pass filter and a proportion regulator to effectively inhibit the given winding current phase angle modulation quantity in low-speed rotor oscillation, and then adopting a given winding current phase modulator and a closed-loop type winding current control mode to realize the real-time modulation of the actual winding current phase, thereby suppressing the low-speed rotor oscillation. The control method of the invention is applicable to both two-phase hybrid stepping motors and multi-phase hybrid stepping motors. Moreover, no additional speed or acceleration sensors, idling devices and the like are required, thereby reducing the cost of the stepping driver.

Description

technical field The invention relates to a method for suppressing low-speed oscillation of a hybrid stepping motor. Background technique The rotor of the hybrid stepping motor is excited by permanent magnets. The motor has the advantages of large output torque and high efficiency when it is working. It is widely used in CNC machine tools, engraving machines, embroidery machines, medical equipment and other occasions that require precise position control. However, the motor works in a stepping state, and the damping oscillation coefficient of the motor itself is very small, so that severe rotor oscillations will occur at some speed points in the low-speed operating area, which greatly limits the operating speed range of the motor. For a hybrid stepper motor with a 50-tooth rotor, the typical rotational speed when oscillation occurs is about 1r / s, 2r / s, 4r / s. The present invention aims at the problem of low-speed oscillation of the hybrid stepping motor, and proposes an effec...

AI Technical Summary

Problems solved by technology

Coaxial installation of speed or acceleration sensors constitutes speed or acceleration negative feedback, which can effectively suppress low-speed oscillations, but increases the hardware cost of the drive system and reduces the reliability of the drive system

It is also possible to use the method of adding reactive devices to suppress rotor oscillation, but the original drive hardware system needs to be redesigned, and there is also the problem of increasing system cost

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