線性步進馬達控制系統分析與設計

Control System Analysis and Design of Linear Stepping Motor

魏銘彥(Ming-Yann Wey)

國立虎尾科技大學/電機資訊學院/電機工程研究所/碩士(2007年)

摘要

本論文旨在研究線性步進馬達的控制理論，根據馬達數學模式提出系統化的分析與設計的方法。研究內容包括:(1)建立背進式控制與輸出回授背進式控制兩種模式，並應用電腦模擬的方法驗證理論的正確性；(2)使用數位訊號處理器TMS320C32做為系統控制核心，結合驅動電路模組建構線性步進馬達之驅動系統。相較於一般的電流控制系統結構，本論文主要是以背進式控制的觀念設計電壓控制法則。首先應用座標轉換的觀念將固定座標之電壓、電流訊號轉換為同步座標的訊號，而所得到的狀態空間數學模式易於系統的分析與設計，然後根據Lyapunov穩定度分析的原理設計背進式適應控制法則，並延伸此方法推導輸出回授背進式控制的理論，應用觀測器所估測之系統狀態，設計背進式控制器，此種系統架構又稱為無感測控制。本文所提出的兩種方法經由模擬證實對於控制系統之不確定因素包括:摩擦力、系統參數變化及負載干擾效應均有良好抑制效能。硬體方面則設計電壓控制之驅動電路，結合驅動模組與控制器，完成線性步進馬達驅動系統韌體原型測試。

並列摘要

The purpose of this dissertation is to develop systematic analysis and design approach for linear stepping motor. Based on the system model, two control strategies, adaptive backstepping control and output feedback stepping control, are proposed and validated by computer simulation. The driving system is then constructed by using a digital signal processor TMS320C32 as the controller and integrating PWM driving circuits. Compared with generic current control strategy, the proposed method introduces a voltage control scheme which is based on the backstepping control idea. First, a compact system model is derived by coordinate transformation. With this model, an adaptive backstepping control approach is developed based on Lyapunov stability analysis. Then, extending the design principle, an observer-based backstepping control method, known as a sensorless control, is explored for linear stepping motor. As verified by computer simulation, the proposed method can perform well both in precision control and robustness to control uncertainties such as frictions, parameter variations, and external disturbances. In addition, hardware circuits are designed to realize voltage control scheme. With this test-bed, a prototype of the firmware developed for the driving system of linear stepping motor has been established.

參考文獻

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