自动化学报Issue(1)：84-93,10.DOI:10.16383/j.aas.2015.c140154
步进驱动系统大振荡机理与轨迹优化控制
Large Oscillation Mechanism and Optimization Control of Stepping Systems
摘要
Abstract
In order to solve the stepper motion control drive system oscillation, lost step and imbalance issues to improve the control performance of stepper drive system and optimize the control of stepping drive system, an overall model of stepping drive system including speed trajectory generator, micro-step driver, hybrid stepper motor and load is established through the investigation on the structure of hybrid stepper motors, stepper-driven methods and modern stepping drive system drive control process. The influence of speed trajectory control on the stepper drive system performance and the mechanisms of oscillation, lost step, disorders are analyzed. A steady cutoff frequency identification method and a speed trajectory optimization control method based on stability-frequency characteristics are proposed. Subsequently, an example of stepper drive systems i.e. an arm system is tested. The results show that the speed trajectory optimization control method based on stability-frequency characteristics can very well eliminate the oscillating, lost step, imbalance and significantly improve running smoothness and precision positioning capability of the arm system. This optimal control method described in the arm system can be widely applied to the control of various stepper drive systems.关键词
步进驱动系统/大振荡/建模仿真/轨迹优化控制Key words
Stepping drive system/large oscillation/modeling and simulation/velocity trajectory control引用本文复制引用
张高阳,金鑫,张之敬..步进驱动系统大振荡机理与轨迹优化控制[J].自动化学报,2015,(1):84-93,10.基金项目
国家自然科学基金(51127004),国防基础科研(A0920110013)资助Supported by National Natural Science Foundation of China (51127004), and Defense Basic Research (A0920110013) （51127004）
