两相步进电机FOC矢量控制Simulink仿真模型1.采用针对两相步进电机的SVPWM控制算法，实现FOC矢量控制，DQ轴解耦
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两相步进电机FOC矢量控制Simulink仿真模型1.采用针对两相步进电机的SVPWM控制算法，实现FOC矢量控制，DQ轴解耦控制～2.转速电流双闭环控制，电流环采用PI控制，转速环分别采用PI和自抗扰ADRC控制，分析ADRC控制优越性～ <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89763220/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89763220/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">标题<span class="ff2">：</span>两相步进电机<span class="_ _0"> </span><span class="ff3">FOC<span class="_ _1"> </span></span>矢量控制<span class="_ _0"> </span><span class="ff3">Simulink<span class="_ _1"> </span></span>仿真模型</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">摘要<span class="ff2">：</span>本文基于两相步进电机<span class="ff2">，</span>采用<span class="_ _0"> </span><span class="ff3">SVPWM<span class="_ _1"> </span></span>控制算法实现了<span class="_ _0"> </span><span class="ff3">FOC<span class="_ _1"> </span></span>矢量控制<span class="ff2">，</span>在<span class="_ _0"> </span><span class="ff3">DQ<span class="_ _1"> </span></span>轴上实现了解耦</div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">控制<span class="ff4">。</span>同时<span class="ff2">，</span>采用了转速电流双闭环控制策略<span class="ff2">，</span>电流环部分采用<span class="_ _0"> </span><span class="ff3">PI<span class="_ _1"> </span></span>控制<span class="ff2">，</span>转速环则采用<span class="_ _0"> </span><span class="ff3">PI<span class="_ _1"> </span></span>控制和自</div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">抗扰<span class="_ _0"> </span><span class="ff3">ADRC<span class="_ _1"> </span></span>控制<span class="ff2">，</span>通过分析<span class="_ _0"> </span><span class="ff3">ADRC<span class="_ _1"> </span></span>控制优越性<span class="ff2">，</span>实现了更精确的步进电机控制<span class="ff4">。</span></div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0">关键词<span class="ff2">：</span>两相步进电机<span class="ff4">、<span class="ff3">FOC<span class="_ _1"> </span></span></span>矢量控制<span class="ff4">、<span class="ff3">SVPWM<span class="_ _1"> </span></span></span>算法<span class="ff4">、<span class="ff3">DQ<span class="_ _1"> </span></span></span>轴解耦控制<span class="ff4">、</span>转速电流双闭环控制<span class="ff4">、<span class="ff3">PI<span class="_ _1"> </span></span></span>控</div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0">制<span class="ff4">、</span>自抗扰<span class="_ _0"> </span><span class="ff3">ADRC<span class="_ _1"> </span></span>控制</div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0">引言<span class="ff2">：</span></div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">两相步进电机因其结构简单<span class="ff4">、</span>成本低廉<span class="ff4">、</span>控制方式灵活等优势<span class="ff2">，</span>在工业自动化领域得到广泛应用<span class="ff4">。</span>为</div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0">了提高步进电机的运动精度和效率<span class="ff2">，</span>本文提出了一种基于<span class="_ _0"> </span><span class="ff3">FOC<span class="_ _1"> </span></span>矢量控制的<span class="_ _0"> </span><span class="ff3">Simulink<span class="_ _1"> </span></span>仿真模型<span class="ff4">。</span>该</div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">模型采用<span class="_ _0"> </span><span class="ff3">SVPWM<span class="_ _1"> </span></span>控制算法<span class="ff2">，</span>实现了<span class="_ _0"> </span><span class="ff3">DQ<span class="_ _1"> </span></span>轴解耦控制<span class="ff2">，</span>并采用转速电流双闭环策略<span class="ff2">，</span>其中电流环部分采</div><div class="t m0 x1 h2 yb ff1 fs0 fc0 sc0 ls0 ws0">用<span class="_ _0"> </span><span class="ff3">PI<span class="_ _1"> </span></span>控制<span class="ff2">，</span>转速环则分别采用<span class="_ _0"> </span><span class="ff3">PI<span class="_ _1"> </span></span>控制和自抗扰<span class="_ _0"> </span><span class="ff3">ADRC<span class="_ _1"> </span></span>控制<span class="ff4">。</span>本文将详细介绍两相步进电机<span class="_ _0"> </span><span class="ff3">FOC<span class="_ _1"> </span></span>矢</div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">量控制的实现原理和<span class="_ _0"> </span><span class="ff3">Simulink<span class="_ _1"> </span></span>仿真模型的搭建过程<span class="ff2">，</span>并对<span class="_ _0"> </span><span class="ff3">ADRC<span class="_ _1"> </span></span>控制的优越性进行了分析<span class="ff4">。</span></div><div class="t m0 x1 h2 yd ff3 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff1">两相步进电机<span class="_ _0"> </span></span>FOC<span class="_ _1"> </span><span class="ff1">矢量控制</span></div><div class="t m0 x1 h2 ye ff3 fs0 fc0 sc0 ls0 ws0">1.1.<span class="_"> </span>SVPWM<span class="_ _1"> </span><span class="ff1">控制算法</span></div><div class="t m0 x1 h2 yf ff3 fs0 fc0 sc0 ls0 ws0">SVPWM<span class="ff2">（</span>Space Vector Pulse Width Modulation<span class="ff2">）<span class="ff1">是一种广泛应用于电机控制的调制算法<span class="ff4">。</span></span></span></div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">本文采用<span class="_ _0"> </span><span class="ff3">SVPWM<span class="_ _1"> </span></span>控制算法实现对两相步进电机的控制<span class="ff2">，</span>通过对电机定子磁通矢量和转子磁通矢量进行</div><div class="t m0 x1 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">合理控制<span class="ff2">，</span>实现精确的转速和位置控制<span class="ff4">。</span></div><div class="t m0 x1 h2 y12 ff3 fs0 fc0 sc0 ls0 ws0">1.2.<span class="_"> </span>DQ<span class="_ _1"> </span><span class="ff1">轴解耦控制</span></div><div class="t m0 x1 h2 y13 ff3 fs0 fc0 sc0 ls0 ws0">DQ<span class="_ _1"> </span><span class="ff1">轴解耦控制是<span class="_ _0"> </span></span>FOC<span class="_ _1"> </span><span class="ff1">矢量控制的关键技术之一<span class="ff4">。</span>本文在<span class="_ _0"> </span></span>SVPWM<span class="_ _1"> </span><span class="ff1">控制算法的基础上<span class="ff2">，</span>通过将电机电流</span></div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0">转换到<span class="_ _0"> </span><span class="ff3">DQ<span class="_ _1"> </span></span>轴坐标系下<span class="ff2">，</span>实现了对定子电流和转子电流的解耦控制<span class="ff4">。</span>通过解耦控制<span class="ff2">，</span>可以独立控制电</div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0">机的转速和转矩<span class="ff2">，</span>提高步进电机的动态性能和控制精度<span class="ff4">。</span></div><div class="t m0 x1 h2 y16 ff3 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff1">转速电流双闭环控制</span></div><div class="t m0 x1 h2 y17 ff3 fs0 fc0 sc0 ls0 ws0">2.1.<span class="_"> </span><span class="ff1">电流环采用<span class="_ _0"> </span></span>PI<span class="_ _1"> </span><span class="ff1">控制</span></div><div class="t m0 x1 h2 y18 ff1 fs0 fc0 sc0 ls0 ws0">在<span class="_ _0"> </span><span class="ff3">FOC<span class="_ _1"> </span></span>矢量控制中<span class="ff2">，</span>电流环的设计对整个控制系统的性能有重要影响<span class="ff4">。</span>本文采用<span class="_ _0"> </span><span class="ff3">PI<span class="_ _1"> </span></span>控制算法对电流</div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0">环进行控制<span class="ff2">，</span>通过对电流误差进行积分和比例运算<span class="ff2">，</span>实现精确的电流闭环控制<span class="ff4">。</span></div><div class="t m0 x1 h2 y1a ff3 fs0 fc0 sc0 ls0 ws0">2.2.<span class="_"> </span><span class="ff1">转速环分别采用<span class="_ _0"> </span></span>PI<span class="_ _1"> </span><span class="ff1">和自抗扰<span class="_ _0"> </span></span>ADRC<span class="_ _1"> </span><span class="ff1">控制</span></div><div class="t m0 x1 h2 y1b ff1 fs0 fc0 sc0 ls0 ws0">在<span class="_ _0"> </span><span class="ff3">FOC<span class="_ _1"> </span></span>矢量控制的基础上<span class="ff2">，</span>本文进一步优化了转速环控制策略<span class="ff4">。</span>采用<span class="_ _0"> </span><span class="ff3">PI<span class="_ _1"> </span></span>控制算法进行转速环控制<span class="ff2">，</span></div><div class="t m0 x1 h2 y1c ff1 fs0 fc0 sc0 ls0 ws0">通过对转速误差进行积分和比例运算<span class="ff2">，</span>实现对步进电机转速的精确控制<span class="ff4">。</span>同时<span class="ff2">，</span>引入自抗扰<span class="_ _0"> </span><span class="ff3">ADRC<span class="ff2">（</span></span></div><div class="t m0 x1 h2 y1d ff3 fs0 fc0 sc0 ls0 ws0">Active Disturbance Rejection Control<span class="ff2">）<span class="ff1">控制策略</span>，<span class="ff1">通过对系统的扰动进行预估和补偿</span>，</span></div><div class="t m0 x1 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">提高步进电机的抗干扰能力和动态响应<span class="ff4">。</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>