Position closed loop control of stepper motors based on arctangent function

• Published in: Xibei Gongye Daxue Xuebao Vol. 42; no. 5; pp. 912 - 919
• Main Authors: ZHOU, Wenlin, QIAN, Junzhang, JIANG, Ping, LI, Xin
• Format: Journal Article
• Language: Chinese; English
• Published: EDP Sciences 01.10.2024
• Subjects: 位置闭环控制; 反正切函数; 步进电机; 比例积分控制; 脉冲频率控制
• ISSN: 1000-2758; 2609-7125
• DOI: 10.1051/jnwpu/20244250912

The high-precision position closed-loop control of stepper motors usually use field-oriented control. This method requires high-precision models of motors, however stepper motors are complex nonlinear systems, and high-precision models are difficult to obtain. In order to solve this problem, a pulse frequency modulation controller based on arc tangent function is proposed in this paper. This algorithm does not need accurate mathematical model, and its turning parameters have clear physical significance, which can be calculated according to the control requirements. The experimental results show that when tracking the sinusoidal signal θ ref =450sin(0.628 t ), the tracking errors (peak-peak value) of the arctangent control algorithm is reduced by nearly 42% compared with the PI control algorithm, which provides a new idea for the position closed-loop control of stepper motors. 步进电机高精度闭环控制通常需要采用基于磁场定向控制, 该方法需要步进电机的精确模型, 然而步进电机具有强非线性, 高精度模型难以获得。为了解决这一问题, 提出了一种基于反正切函数的位置闭环脉冲频率控制方法。该方法不需要控制对象的精确模型, 调节参数具有明确的物理意义, 可以根据控制需求确定调节参数。通过搭建试验平台对控制算法进行验证, 试验结果表明, 在跟踪正弦信号 θ ref =450sin(0.628 t )时, 跟踪误差峰峰值(PV)与PI控制相比减少了近42%, 有效提高了跟踪精度。该方法为步进电机位置闭环控制提供了一种新思路。