基于单片机的步进电机虚拟细分技术的研究

Research of Microcomputer-based Virtual Subdivision Stepper Motor

摘要:

步进电机由于具有控制简单,步距误差不长期积累和可靠性高等特点而被广泛地应用于数控和机器人等领域；步进电机的控制,目前主要是采用细分驱动技术,这种控制方式在细分数较低或低频阶段仍然存在明显的“步进”感；采用一种虚拟细分技术,在通常的一个细分步距角中,插入若干个虚拟细分点,使步进电机的电流更接近于正弦波,从而在电机内部产生更趋于圆形的旋转磁场,使步进电机能够低频阶段平稳运行,消除低频振荡；实验结果表明,采用虚拟细分技术能使步进电机运行更加稳定,更接近于伺服电机的性能。

Abstract:

Because the stepper motor's control is simple, stepping away from the error is not the long-term accumulation and high reliability. it is widely used in the field of CNC and robotics. The key of stepper motor's control is using subdivision drive technology, and this control at a relatively low number of subdivisions or low frequency phase persists obvious "step" feeling. That using a virtual subdivision technology, inserts the number of virtual subdivision points into a subdivision in a usual step angle, which makes the stepper motor current closer to a sine wave, resulting in that the motor inside tends to produce a circular rotating magnetic field and the low frequency phase stepping motor can run smoothly, which eliminate low-frequency oscillations. Experimental results show that the use of the virtual subdivision technology enables a more stable and closer to the servo motor performance.