步进式液压数字阀用永磁式步进电动机的非线性控制

Nonlinear Control of Permanent Magnet Stepper Motors Used by Stepper Digital Valve

通过现代非线性理论如混沌动力学理论研究了永磁式步进电动机的非线性动力学。本文的研究对象是三相步进电动机。研究表明在高频情况下系统会经历一个动态的分叉 (Hopf分叉 )。由于步进电动机作为步进式液压数字阀的电气-机械转换元件被广泛地应用于液压数字压力阀、液压数字流量阀、液压数字方向阀。本文提出了对三相步进电动机的不稳定性的控制 ,设计了非线性鲁棒控制器 ,阐明了在一些电动机参数不确定的情况下 ,如何使系统稳定 。

The nonlinear dynamics of a permanent magnet stepper motor was studied by means of modern nonlinear theories such as bifurcation and chaos.A three-phase stepper was considered as a case study.The study shows that the system experiences a dynamic bifurcation(Hopf bifurcation)at high frequencies.In the stepper hydraulic digital valve,a stepper motor is adopted as the electrical to mechanical element and is widely used to hydraulic digital pressure valve,hydraulic digital flux valve and hydraulic digital direction valve,but the control of instabilities is the main concern.A nonlinear robust model-reference controller was introduced.The study shows how to stabilize the system,while having a satisfactory performance,even in the case when some of the motor parameters were uncertain.