步进电机的模糊控制研究

Research on Fuzzy Control of Stepper Motor

步进电机广泛用于机器人技术和高精度的机床数控中。然而,应用过程中驱动器机械结构变化会导致高步进频率失去同步性。此外,传统的开环速度控制较弱,因此需要闭环控制。应用模糊逻辑调节控制带反馈的步进电机驱动器的速度,使用ANFIS(自适立神经模糊系统)方法建立了Sugeno模糊模型来控制步进电机驱动。实验结果表明:模糊控制器具有非常强大的跟踪功能,并且能够响应不同的动态条件,模糊模型产生的数据非常接近实际值,证明了模糊控制在步进电机驱动中的可行性。

Stepper motors are widely used in robotics and numerical control of high-precision machine tool.However,mechanical structure change of driver may cause synchronous loss of high step rate in the application of stepper motors.In addition,traditional open-loop speed control is weak,so closed-loop control is required.In this paper,fuzzy logic is applied to control the speed of stepper motor driver with feedback.ANFIS(adaptive neuro-fuzzy inference system)is used to establish a Sugeno fuzzy model to control the stepper motor drive.The fuzzy controller has a very strong tracking function and can respond to different dynamic conditions.The data from fuzzy model is very close to the actual value,which proves the feasibility of fuzzy control in the driving of stepper motor.