CN108233801B - Method for realizing function of stepping motor by using servo motor - Google Patents
Method for realizing function of stepping motor by using servo motor Download PDFInfo
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- CN108233801B CN108233801B CN201611156339.6A CN201611156339A CN108233801B CN 108233801 B CN108233801 B CN 108233801B CN 201611156339 A CN201611156339 A CN 201611156339A CN 108233801 B CN108233801 B CN 108233801B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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Abstract
The invention provides a method for realizing the function of a stepping motor by using a servo motor, which is characterized by comprising the following steps of: first, a is a function of a desired stepping motormaxJ, theta and f, determining T of the selected servo motor by the formulas (1) and (2)max、ωmaxAnd fmaxAnd the step frequency f should satisfy equation (3): t ismax＝J×amax (1)
Secondly, selecting a power amplifier matched with the servo motor, wherein the maximum driving voltage U of the power amplifiermaxAnd maximum drive current ImaxMatching with the selected servo motor; finally, according to the input step angle theta and the step frequency f, forming the angular speed
And angular acceleration
The feedforward control quantity is superposed on the input end of the speed loop, so that the error between the actual stepping curve of the selected servo motor and the stepping curve of the required stepping motor is minimum.
Description
Technical Field
The invention belongs to a function realization technology of a stepping motor, and particularly relates to a novel method for realizing the function of a large-torque stepless adjustable stepping motor.
Background
The stepping motor is more and more applied and valued due to stable and reliable operation and intuitive control, and the function of stepless adjustable large torque and speed is difficult to realize by the traditional stepping motor due to the characteristics of the traditional stepping motor in principle, so that the high dynamic characteristic of a servo motor system is fully utilized, the function of the stepping motor can be realized by designing a special control structure and a signal generation form, and the application range is wider.
The main disadvantages of the conventional stepping motor are three points: firstly, step motor's drive moment is difficult to do higher, secondly in case step motor makes, its step angle is definite, even increase after subdividing the function, also can only be the integral multiple of former step angle, can not realize stepless speed regulation function, thirdly when speed is higher, if lose the step, because its open loop characteristic, self is difficult to detect, consequently forms the motion error easily.
Disclosure of Invention
The invention has the following functions: the high dynamic characteristic of the servo motor under the control of the feedforward control structure is utilized, the control structure and the signal generation mechanism are designed to realize the large-torque stepless speed regulation stepping function, and the defects of the existing stepping motor in special stepping application are overcome.
The technical implementation steps of the invention are as follows:
a method for realizing the function of a stepping motor by utilizing a servo motor is characterized by comprising the following steps:
first, a is a function of a desired stepping motormaxJ, theta and f, determining T of the selected servo motor by the formulas (1) and (2)max、ωmaxAnd fmaxAnd the step frequency f should satisfy equation (3).
Tmax＝J×amax (1)
Wherein: t ismax: maximum torque, dimension Nm, of the servo motor required;
j: the required rotational inertia of the rotor and the load of the stepping motor is in the dimension of kg.m2；
amax: maximum angular acceleration, dimension rad/s of the servo motor required2；
θ: the step angle of the required stepping motor, dimension rad;
ωmax: the maximum angular speed of the required servo motor, dimension rad/s;
f: the stepping frequency required by the stepping motor is required, and the dimension Hz is required;
fmax: the maximum stepping frequency which can be realized by the selected servo motor is in dimension Hz;
secondly, selecting a power amplifier matched with the servo motor, wherein the maximum driving voltage U of the power amplifiermaxAnd maximum drive current ImaxIs matched with the selected servo motor, and the servo motor,
let the torque coefficient of the servo motor be KtThe maximum angular velocity of the servo motor is omegamaxThe maximum voltage of the servo motor corresponding to the highest rotating speed is UmaxThe required maximum drive voltage of the power amplifier is UmaxThe required maximum drive current I of the power amplifiermaxDetermined according to equation (4), (4) as follows:
Imax＝Tmax/Kt (4)
wherein:
Imax: the maximum current of the driver required, a;
Kt: the torque coefficient, Nm/A, of the selected motor;
Umax: the maximum voltage of the required driver, V;
finally, according to the input step angle theta and the step frequency f, forming the angular speed
And angular acceleration
The feedforward control quantity is superposed on the input end of the speed loop, so that the error between the actual stepping curve of the selected servo motor and the stepping curve of the required stepping motor is minimum.
Drawings
FIG. 1 is a schematic diagram of the principles of the present invention;
FIG. 2 is a schematic block diagram of a control system.
Detailed Description
First, the maximum angular acceleration a according to the desired stepping functionmaxDetermining the maximum torque T of the servo motor according to the moment of inertia J, the stepping angle theta and the stepping frequency fmaxMaximum angular velocity ωmaxAnd the maximum step frequency f that can be achievedmax. The calculation formula is shown in formulas (1) and (2), and the stepping frequency should satisfy formula (3).
Tmax＝J×amax (1)
Calculation example: the maximum angular acceleration required by the stepping motor is set to 10000 DEG/s2The moment of inertia of the motor rotor and the load is 1kgm2When the maximum stepping angle is 1 DEG and the stepping frequency is required to be 40Hz, the required maximum torque is F & ltja & gt 10000/57.3 & lt1 & gt 174.5 Nm; maximum speed
The time required to complete the maximum stepping angle is then verified, to meet the stepping frequency requirement,
f is thenmax50Hz, and meets the requirement of frequency.
Secondly, selecting a power amplifier matched with the servo motor, wherein the maximum driving voltage U of the power amplifiermaxAnd maximum drive current ImaxMatching with the selected servo motor.
Let the torque coefficient of the servo motor be KtThe maximum angular velocity of the servo motor is omegamaxThe maximum voltage of the servo motor corresponding to the highest rotating speed is UmaxThen the maximum driving voltage of the required power amplifier is UmaxThen the required workMaximum drive current I of rate amplifiermaxDetermined according to equation (4), (4) as follows:
Imax＝Tmax/Kt (4)
calculation example: let the torque coefficient of the motor be Kt10Nm/A, and the maximum rotation speed is omegamax200 DEG/s, the maximum voltage corresponding to the highest rotating speed is Umax100V. The maximum driving current is Imax＝Tmax/Kt174.5/10 ═ 17.45A, maximum drive voltage UmaxA driver with a drive current of 17.45A of 100V, i.e. with a drive voltage of 100V, is sufficient.
Finally, referring to FIG. 2, the angular velocity is formed based on the input step angle θ and the step frequency f
And angular acceleration
The feedforward control quantity is superposed on the input end of the speed loop, so that the error between the actual stepping curve of the selected servo motor and the stepping curve of the required stepping motor is minimum.
Claims (1)
1. A method for realizing the function of a stepping motor by utilizing a servo motor is characterized by comprising the following steps: first, according to a of the desired step motor functionmaxJ, theta and f, determining T of the selected servo motor through a formulamax、ωmaxAnd fmaxAnd the step frequency f should satisfy equation (3):
Tmax＝J×amax (1)
wherein: t ismax: maximum torque, dimension Nm, of the selected servomotor;
j, the required rotational inertia of the rotor and the load of the stepping motor, and the dimension kg.m2；
amaxMaximum angular acceleration, dimension rad/s, of the selected servomotor2；
θ: the step angle of the required stepping motor, dimension rad;
ωmax: the maximum angular speed of the selected servo motor is measured in rad/s;
f: the stepping frequency required by the stepping motor is required, and the dimension Hz is required;
fmax: the maximum stepping frequency which can be realized by the selected servo motor is in dimension Hz;
secondly, selecting a power amplifier matched with the servo motor, wherein the maximum driving voltage U of the power amplifiermaxAnd maximum drive current ImaxIs matched with the selected servo motor, and the servo motor,
let the torque coefficient of the servo motor be KtMaximum angular velocity ω of the servo motormaxThe maximum voltage of the corresponding servo motor is UmaxThen the maximum driving voltage of the required power amplifier is UmaxThe required maximum drive current I of the power amplifiermaxDetermined according to equation (4), (4) as follows:
Imax＝Tmax/Kt (4)
finally, according to the input step angle theta and the step frequency f, determining a designated angle thetaCOn the one hand by the command angle thetaCThe difference between the required stepping angle theta of the stepping motor and the feedback forms position closed loop control, and on the other hand, the difference is simultaneously formed by thetaCAnd forming feedforward control quantities of angular velocity and angular acceleration, and superposing the feedforward control quantities on the input end of the speed loop, so that the error between the actual stepping curve of the selected servo motor and the stepping curve of the required stepping motor is minimum.
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| CN201611156339.6A CN108233801B (en) | 2016-12-14 | 2016-12-14 | Method for realizing function of stepping motor by using servo motor |
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| CN201611156339.6A CN108233801B (en) | 2016-12-14 | 2016-12-14 | Method for realizing function of stepping motor by using servo motor |
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| CN108233801B true CN108233801B (en) | 2021-01-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108988737A (en) * | 2018-08-07 | 2018-12-11 | 上海联影医疗科技有限公司 | Motion controller and Medical Devices |
| CN111035886A (en) * | 2019-12-18 | 2020-04-21 | 宁波易力加运动科技有限公司 | Servo load control method of intelligent fitness equipment |
Citations (6)
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|---|---|---|---|---|
| JPS56139099A (en) * | 1980-03-04 | 1981-10-30 | Siemens Ag | Device for operating step motor |
| CN1036488A (en) * | 1988-04-06 | 1989-10-18 | 付金声 | Pulse-synchronizing speed-regulated dc motor |
| CN1063004A (en) * | 1990-12-29 | 1992-07-22 | 昆明市公用事业局 | The step speed-adjusting of alternating current motor and device |
| US5264772A (en) * | 1991-02-27 | 1993-11-23 | Kabushikigaisha Sekogiken | Numerically controlled load actuating apparatus |
| CN104506101A (en) * | 2015-01-08 | 2015-04-08 | 河北工业大学 | Operation method for stepping constant torque control on permanent magnet brushless direct current motor |
| CN104506107A (en) * | 2015-01-08 | 2015-04-08 | 河北工业大学 | Operation method for stepping dispersion control on permanent magnet brushless direct current motor |
-
2016
- 2016-12-14 CN CN201611156339.6A patent/CN108233801B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56139099A (en) * | 1980-03-04 | 1981-10-30 | Siemens Ag | Device for operating step motor |
| CN1036488A (en) * | 1988-04-06 | 1989-10-18 | 付金声 | Pulse-synchronizing speed-regulated dc motor |
| CN1063004A (en) * | 1990-12-29 | 1992-07-22 | 昆明市公用事业局 | The step speed-adjusting of alternating current motor and device |
| US5264772A (en) * | 1991-02-27 | 1993-11-23 | Kabushikigaisha Sekogiken | Numerically controlled load actuating apparatus |
| CN104506101A (en) * | 2015-01-08 | 2015-04-08 | 河北工业大学 | Operation method for stepping constant torque control on permanent magnet brushless direct current motor |
| CN104506107A (en) * | 2015-01-08 | 2015-04-08 | 河北工业大学 | Operation method for stepping dispersion control on permanent magnet brushless direct current motor |
Non-Patent Citations (1)
| Title |
|---|
| 基于FPGA和交流步进控制的永磁同步电机;张坤等;《电机与控制应用》;20120731;第39卷(第7期);第41-44页 * |
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