基于鲁棒滤波的细分驱动步进电机速度估计

Velocity Estimation of Micro-step Stepper Motor Based on Robust Filter

针对两相混合式步进电机存在强非线性问题,从磁网络分析出发,结合细分驱动方式化简数学模型,将其非线性部分转化为可叠加于线性模型的参数不确定性与能量有界的激励噪声。在此基础上,结合鲁棒控制思想设计了扩展H∞滤波作为步进电机系统的状态观测器,实现无传感器估算电机转子转速。通过与常用的扩展Kalman滤波器的对比,验证扩展H∞滤波在步进电机系统中有更高精度和对电感变化更强的鲁棒性。

Aiming at the strong nonlinear problem of the two-phase hybrid stepper motor,the nonlinear mathematical model was researched based on the analysis of the magnetic network,and it was simplified with the micro-step driving mode by transforming the nonlinear part of the stepper motor into the parameter uncertainty and the excitation noise with bounded energy.An extended H∞filter is designed as a state observer of the stepper motor system with the theory of robust control.Compared with the extended Kalman filter,the extended H∞filter has higher accuracy and stronger robustness in the stepper motor system.