两相混合式步进电机转矩脉动最小化研究

Research on the Torque Ripple Minimization of Two-Phase Hybrid Stepper Motor

在两相混合式步进电机中,齿槽转矩的存在会使正弦的矩角特性发生畸变,当其累积到一定程度时,就会产生转矩脉动,影响电机的速度控制。为了减小齿槽转矩的影响,提出一种补偿齿槽转矩的方法——将干扰观测器与齿槽转矩补偿器耦合。电机在低频周期运动时,利用干扰观测器进行齿槽转矩的补偿,一旦进入高频周期运动,干扰观测器中的低通滤波器产生相位滞后,不能适当的补偿产生的齿槽转矩,就利用补偿器来补偿高频周期所产生的齿槽转矩。实验结果表明,该方法能够适当的补偿电机运动产生的齿槽转矩,有效减小转矩脉动,提高了混合式步进电机的速度控制稳定性。

In the two-phase hybrid stepping motor,the existence of cogging torque will cause distortion of the sinusoidal torque angle characteristics.When it accumulates to a certain extent,it will produce torque ripple and affect the speed control of the motor.In order to reduce the influence of cogging torque,this paper proposes a method to compensate cogging torque by coupling the disturbance observer with the cogging torque compensator.The disturbance observer is used to compensate the cogging torque when the motor is in low-frequency periodic motion.Once the motor enters the high-frequency periodic motion,the phase lag of the low-pass filter in the disturbance observer can not compensate the cogging torque properly,so the compensator is used to compensate the cogging torque generated by high-frequency cycle.The experimental results show that the proposed method can properly compensate the cogging torque generated by motor motion,effectively reduce the torque ripple,and improve the speed control stability of hybrid stepping motor.