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    基于滑模观测器的混合式步进电机丢步检测

    2013-06-12 《中国测试》杂志

    廖晓文1, 刘  美1, 曾  光2, 田志波1
    (1. 广东石油化工学院自动化系,广东 茂名 525000; 2. 广州东芝白云菱机电力电子有限公司,广东 广州 510460)
    摘  要:针对混合式步进电机开环控制容易出现丢步的问题,利用幂次函数代替开关函数,设计基于改进滑模观测器的丢步检测算法。证明该观测器在较大电流观测偏差时是一变增益的滑模观测器,在较小电流观测偏差时具备低通滤波功能,可消除抖振现象。同时,通过观测反电动势得到电角度,并利用幂次函数设置较大的边界层厚度,将电角度收敛到π/2整数倍的区域,可直接根据观测结果判定电机有无丢步。实验结果验证了该方法在低细分、宽调速范围的有效性。
    关键词:滑模观测器;幂次函数;混合式步进;丢步检测
    中图分类号:TM383.6;TM930.12;TP277;TP391.97    文献标志码:A     文章编号:1674-5124(2013)03-0088-04
    Lost steps detection based on sliding-mode observer for hybrid stepper motors
    LIAO Xiao-wen1, LIU Mei1, ZENG Guang2, TIAN Zhi-bo1
    (1. Automation Department,Guangdong Institute of Petrol-Chemical Technology,Maoming 525000,China;
    2. Guangzhou Toshiba Baiyun Ryoki Power Electronics Co.,Ltd.,Guangzhou 510460,China)
    Abstract: As the lost steps problem exists in hybrid stepper motors in their open loop control mode, the lost steps detection was designed by replacing the switching function with power function and based on improved sliding-mode observer. It was proven that the improved observer is a variable gain sliding-mode observer when the current observation errors are large. When the current observation errors are smaller, the improved observer has a low-pass filtering feature and the chattering phenomenon can be eliminated. The estimated back EMF is used to obtain electrical angle and the larger boundary layer thickness is set by power function. Thus, the electrical angle can be convergence to integer multiple area of π/2. So any lost steps can be obtained from observations directly. The experimental results verify the validity of the method in the low subdivision and wide speed range.
    Key words: sliding-mode observer; power function; hybrid stepper; lost steps detection
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