智能调节续流模式的步进电机细分控制

Microstepping Control of Stepper Motors Using the Smart Regulation in Decay Mode

针对步进电机在细分控制下使用传统续流模式导致的响应时间和电流纹波问题,提出一种智能调节续流模式策略.首先,详细分析了缓慢续流、快速续流和固定混合续流模式.其次,设计了一种可自动计算最佳续流模式的智能调节方法,该方法基于固定关断时间,可在一个PWM周期内对固定续流时间中快速续流的百分比进行优化,旨在提高电机细分控制运动性能.然后,基于已搭建的实物平台,对比分析了传统续流模式和智能调节续流模式的电流纹波.最后,该方法成功应用于ALNES S7卫星SADA.结果表明所提出的方法在响应时间和电流纹波之间达到了一种平衡,使得细分控制更加平稳.

Aiming at the problems of response time and current ripple caused by the traditional decay modes of stepper motors under the microstepping control,a strategy for the smart regulation of decay mode were proposed.First,the traditional slow decay mode,fast decay mode and fix mixed decay mode were analyzed in detail.Second,a smart regulation scheme of decay mode was designed,which can automatically calculate the optimal decay mode.This scheme can dynamically adjust the fast decay percentage of the total fixed off time within a PWM(pulse width modulation)cycle to improve the performance of the microstepping control.Finally,a test platform was built to compare and analyze the current ripple of the traditional decay modes and the smart regulation in decay mode.This method was successfully applied to SADA of ALNES S7 satellite.The experimental results show that the proposed method achieves a balance between response time and current ripple,which makes the microstepping control more stable.