基于二阶滑模算法的步进电机自动升降转速控制方法

A Stepper Motor Automatic Speed Control Method Based on Second Order Sliding Mode Algorithm

受各部分联动关系的影响,步进电机转速的升降调节控制效果难以满足实际需求。为此,提出基于二阶滑模算法的步进电机自动升降转速控制方法。在综合步进电机转子的运动方程、步进电机的电磁力矩方程、电机转动方程及阻尼系数方程的基础上,构建步进电机数学模型,并明确通过调节输入电流,控制步进电机的转速,使得电机达到期望转速的控制目标。在具体的控制阶段,引入二阶滑模控制器,根据增益系数对滑模面函数和滑模控制律进行循环迭代,直至满足控制要求。测试结果表明,设计控制方法不仅能够实现在短时间内迅速调整测试步进电机转速,并且转速表现出较高的稳定性,满足实际应用需求。

Affected by the linkage relationship of each part,the control effect of the speed up and down adjustment of the stepper motor is difficult to meet the actual demand.Therefore,an automatic speed control method for stepper motors based on second-order sliding mode algorithm is proposed.Based on the comprehensive motion equation of the stepper motor rotor,electromagnetic torque equation,motor rotation equation,and damping coefficient equation,a mathematical model of the stepper motor is constructed.It was clarified that by adjusting the input current,the speed of the stepper motor was controlled to achieve the desired speed control goal.In the specific control stage,a second-order sliding mode controller is introduced,and the sliding mode surface function and sliding mode control law are iteratively iterated based on the gain coefficient until the control requirements are met.In the test results,the design control method not only achieves the goal of quickly adjusting the test stepper motor speed in a short period of time,but also exhibits high stability in speed,meeting practical application requirements.