CN114665776A - Control method and system for dynamic decoupling of closed-loop stepping motor and storage medium - Google Patents
Control method and system for dynamic decoupling of closed-loop stepping motor and storage medium Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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Abstract
The invention relates to the technical field of motor control, in particular to a control method, a system and a storage medium for dynamic decoupling of a closed-loop stepping motor, wherein the control method comprises the steps of respectively obtaining a current correction voltage Uq _ Ctr of a q axis and a current correction voltage Ud _ Ctr of a d axis; obtaining a d-axis compensation voltage Ud according to the q-axis feedback current Iq _ fdk; obtaining q-axis compensation voltage Uq according to the d-axis feedback current Id _ fdk; taking the sum of Uq _ Ctr and Uq as the actual correction voltage Uq of the q axis; taking the sum of Ud _ Ctr and Ud as the actual correction voltage Ud of the d axis; and performing inverse park conversion on the actual correction voltage Uq of the q axis and the actual correction voltage Ud of the d axis to obtain a voltage value, and generating a PWM (pulse-width modulation) wave according to the duty ratio of the voltage value to control the rotation of the stepping motor. The invention can realize the dynamic decoupling of the exciting current component and the torque current component and improve the dynamic performance of the stepping motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method and a control system for dynamic decoupling of a closed-loop stepping motor and a storage medium.
Background
The traditional stepping motor generally only adopts open-loop control, and in order to improve the output torque and the rotating speed of the stepping motor, speed and position detection is added on the basis of the open-loop stepping motor to form closed-loop control. In a closed loop of the current of the closed-loop stepping motor, the current is decomposed into an exciting current component (d-axis current) and a torque current component (q-axis current) by coordinate transformation and is respectively controlled, so that the decoupling of the exciting current component and the torque current component of the current of the stepping motor is realized, but the method only realizes the static decoupling of the two current components, and the two current components still have a dynamic coupling relation. Particularly, in the process of very high acceleration and deceleration transition, the coupling influence of speed and position on current is intensified, so that the torque generates instantaneous distortion, and the dynamic performance of the torque is influenced.
Disclosure of Invention
In order to solve the technical problem that dynamic coupling exists between the excitation current component and the torque current component, the invention provides a control method for dynamic decoupling of a closed-loop stepping motor so as to realize dynamic decoupling between the excitation current component and the torque current component, and also provides a control system and a storage medium of the closed-loop stepping motor.
A control method for dynamic decoupling of a closed-loop stepping motor comprises the following steps:
obtaining a current correction voltage Uq _ Ctr of a q axis according to the feedback current Iq _ fdk of the q axis;
acquiring a current correction voltage Ud _ Ctr of a d axis according to the feedback current Id _ fdk of the d axis;
acquiring a first compensation voltage Ud of a d axis according to the q axis feedback current Iq _ fdk;
acquiring a second compensation voltage Uq of a q axis according to the d axis feedback current Id _ fdk;
taking the sum of the q-axis current correction voltage Uq _ Ctr and the second compensation voltage Uq as the q-axis actual correction voltage Uq; taking the sum of the current correction voltage Ud _ Ctr of the d axis and the first compensation voltage Ud as the actual correction voltage Ud of the d axis;
and performing inverse park conversion on the actual correction voltage Uq of the q axis and the actual correction voltage Ud of the d axis to obtain a voltage value, and generating a PWM (pulse-width modulation) wave according to the duty ratio of the voltage value to control the rotation of the stepping motor.
Further, the obtaining the first compensation voltage Ud of the d-axis according to the q-axis feedback current Iq _ fdk includes:
acquiring a fixed constant P of the stepping motor;
acquiring a speed feedback value Spd _ fdk detected by an encoder in a speed loop;
obtaining an inductance value L of the stepping motor;
performing Park transformation on two orthogonal currents of the stepping motor to obtain q-axis feedback current Iq _ fdk;
a first compensation voltage Ud, Ud = -p × Spd _ fbk × L × Iq _ fdk is calculated.
Further, the obtaining of the q-axis second compensation voltage Uq according to the d-axis feedback current Id _ fdk includes:
acquiring a fixed constant P of the stepping motor;
obtaining a speed feedback value Spd _ fdk detected by an encoder in a speed loop;
obtaining an inductance value L of the stepping motor;
performing Park conversion on two orthogonal currents of the stepping motor to obtain d-axis feedback current Id _ fdk;
acquiring a magnetic linkage psi f;
the second compensation voltage Uq, Uq = p × Spd _ fdk × L × Id _ fdk + p × Spd _ fdk × ψ f is calculated.
Further, the obtaining of the q-axis current correction voltage Uq _ Ctr according to the q-axis feedback current Iq _ fdk includes:
acquiring a given position Pos _ ref in a position loop and a feedback position Pos _ fdk detected by an encoder; after the difference is made between the given position Pos _ ref and the feedback position Pos _ fdk, a position loop control quantity Pos _ Ctr is obtained through a position loop proportional controller;
acquiring a given speed Spd _ ref in a speed loop and a feedback speed Spd _ fdk detected by an encoder; multiplying the given speed Spd _ ref by a factor K1After the position loop control quantity Pos _ Ctr is added, the difference between the position loop control quantity Pos _ Ctr and the feedback speed Spd _ fdk is obtained through a speed loop proportional integral controller, and then the speed loop control quantity Spd _ Ctr is obtained;
the given speed Spd _ ref in the speed loop is subtracted from the feedback speed Spd _ fdk detected by the encoder and multiplied by a factor K2Then adding the q-axis given current Iq _ ref to the speed loop control quantity Spd _ Ctr to obtain q-axis given current Iq _ ref; and (3) obtaining the current correction voltage Uq _ Ctr of the q axis through a current loop proportional integral controller after the difference is made between the given current Iq _ ref of the q axis and the feedback current of the q axis.
Further, the obtaining of the d-axis current correction voltage Ud _ Ctr according to the d-axis feedback current Id _ fdk includes:
acquiring a d-axis given current Id _ ref;
and obtaining the current correction voltage Ud _ Ctr of the d axis through a current loop proportional-integral controller after the difference is made between the given current Id _ ref of the d axis and the feedback current Id _ fdk of the d axis.
Further, the acquisition process of the electrical angle θ _ Ctr of the park transformation and the reverse park transformation comprises the following steps:
acquiring a feedback position electrical angle theta detected by an encoder;
calculating an electrical angle θ _ Ctr, θ _ Ctr = θ + Spd _ fdk × K3+φ，K3Is a coefficient, phi is an angle compensation value.
A control system for a closed loop stepper motor comprising:
a q-axis correction voltage obtaining module configured to obtain a q-axis current correction voltage Uq _ Ctr according to the q-axis feedback current Iq _ fdk;
a d-axis correction voltage acquisition module configured to acquire a d-axis current correction voltage Ud _ Ctr according to the d-axis feedback current Id _ fdk;
a d-axis compensation voltage obtaining module configured to obtain a first compensation voltage Ud of a d-axis according to the q-axis feedback current Iq _ fdk;
a q-axis compensation voltage obtaining module configured to obtain a q-axis second compensation voltage Uq from the d-axis feedback current Id _ fdk;
a compensation module configured to take the sum of the q-axis current correction voltage Uq _ Ctr and the second compensation voltage Uq as the q-axis actual correction voltage Uq; taking the sum of the current correction voltage Ud _ Ctr of the d axis and the first compensation voltage Ud as the actual correction voltage Ud of the d axis;
and the control module is configured to perform inverse park conversion on the actual correction voltage Uq of the q axis and the actual correction voltage Ud of the d axis to obtain a voltage value, and generate a PWM (pulse-width modulation) wave according to the duty ratio of the voltage value to control the rotation of the stepping motor.
A storage medium having stored thereon computer program instructions which, when read and executed by a computer, perform the steps of the method of controlling a closed loop stepper motor as defined in any one of the preceding claims.
Has the advantages that: the invention provides a control method for dynamic decoupling of a closed-loop stepping motor, which is characterized in that a proper d-axis first compensation voltage Ud is obtained through calculation according to a q-axis feedback current, a proper q-axis second compensation voltage Uq is obtained through calculation according to the d-axis feedback current, and the d-axis voltage and the q-axis voltage are dynamically compensated through the first compensation voltage and the second compensation voltage respectively, so that the dynamic decoupling of an exciting current component and a torque current component is realized, the dynamic performance of the stepping motor is improved, and the torque and the stability of the stepping motor at high speed are increased.
Drawings
FIG. 1 is a block flow diagram of a control method of the present invention;
FIG. 2 is a schematic diagram of the dynamic decoupling of the stepper motor of the present invention;
FIG. 3 is a schematic diagram of the control system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment provides a control method for dynamic decoupling of a closed-loop stepping motor, which is used for respectively and properly compensating voltages of a q axis and a d axis to realize dynamic decoupling in a current loop control process, and specifically comprises the following steps:
s101, obtaining a current q-axis correction voltage Uq _ Ctr according to the q-axis feedback current Iq _ fdk;
s102, obtaining a current correction voltage Ud _ Ctr of a d axis according to the feedback current Id _ fdk of the d axis;
s103, acquiring a first compensation voltage Ud of a d axis according to the q axis feedback current Iq _ fdk;
s104, acquiring a second compensation voltage Uq of a q axis according to the d axis feedback current Id _ fdk;
s105, taking the sum of the q-axis current correction voltage Uq _ Ctr and the second compensation voltage Uq as an actual correction voltage Uq of the q-axis; taking the sum of the current correction voltage Ud _ Ctr of the d axis and the first compensation voltage Ud as the actual correction voltage Ud of the d axis;
and S106, carrying out reverse park conversion on the actual correction voltage Uq of the q axis and the actual correction voltage Ud of the d axis to obtain a voltage value, and generating a PWM (pulse-width modulation) wave according to the duty ratio of the voltage value to control the rotation of the stepping motor.
In this embodiment, a proper first compensation voltage Ud of the d axis is calculated and obtained according to the q-axis feedback current, a proper second compensation voltage Uq of the q axis is calculated and obtained according to the d-axis feedback current, and the d-axis voltage and the q-axis voltage are dynamically compensated by using the first compensation voltage and the second compensation voltage, respectively, so as to dynamically decouple the excitation current component and the torque current component, improve the dynamic performance of the stepping motor, and increase the torque and the stability of the stepping motor at high speed.
Specifically, the process of obtaining the first compensation voltage Ud of the d-axis according to the q-axis feedback current Iq _ fdk includes the following steps:
s1031, obtaining a fixed constant P of the stepping motor, wherein the fixed constant is a back electromotive force constant of the stepping motor;
s1032, acquiring a speed feedback value Spd _ fdk detected by an encoder in a speed loop;
s1033, obtaining an inductance value L of the stepping motor;
s1034, performing Park conversion on the two orthogonal currents of the stepping motor to obtain a q-axis feedback current Iq _ fdk;
s1035, calculating a first compensation voltage Ud, Ud = -p × Spd _ fbk × L × Iq _ fdk.
Specifically, the obtaining of the d-axis current correction voltage Ud _ Ctr according to the d-axis feedback current Id _ fdk includes:
s1021, acquiring a d-axis given current Id _ ref, wherein the value of the d-axis given current is 0 generally;
s1022, performing Park transformation on the two orthogonal currents of the stepping motor to obtain d-axis feedback current Id _ fdk;
and S1023, obtaining the current correction voltage Ud _ Ctr of the d axis through a current loop proportional-integral controller after the difference is made between the given current Id _ ref of the d axis and the feedback current Id _ fdk of the d axis.
Specifically, the obtaining of the q-axis second compensation voltage Uq according to the d-axis feedback current Id _ fdk includes:
s1041, obtaining a fixed constant P of the stepping motor;
s1042, acquiring a speed feedback value Spd _ fdk detected by an encoder in a speed loop;
s1043, obtaining an inductance value L of the stepping motor;
s1044, carrying out Park transformation on the two orthogonal currents of the stepping motor to obtain d-axis feedback current Id _ fdk;
s1045, acquiring a magnetic linkage psi f;
s1046, calculating a second compensation voltage Uq, Uq = p Spd _ fdk L Id _ fdk + p Spd _ fdk ψ f.
Specifically, the obtaining of the q-axis current correction voltage Uq _ Ctr according to the q-axis feedback current Iq _ fdk includes:
s1011, acquiring a given position Pos _ ref in the position loop and a feedback position Pos _ fdk detected by the encoder; after the difference is made between the given position Pos _ ref and the feedback position Pos _ fdk, a position loop control quantity Pos _ Ctr is obtained through a position loop proportional controller;
s1012, acquiring a given speed Spd _ ref in a speed loop and a feedback speed Spd _ fdk detected by an encoder; multiplying the given speed Spd _ ref by a factor K1After the position loop control quantity Pos _ Ctr is added, the difference between the position loop control quantity Pos _ Ctr and the feedback speed Spd _ fdk is obtained through a speed loop proportional integral controller, and then the speed loop control quantity Spd _ Ctr is obtained; wherein the coefficient K1The optimal value can be obtained by debugging in the control process;
s1013, multiplying a difference between a given speed Spd _ ref in the speed loop and a feedback speed Spd _ fdk detected by the encoder by a coefficient K2Then adding the q-axis given current Iq _ ref to the speed loop control quantity Spd _ Ctr to obtain q-axis given current Iq _ ref; and (3) obtaining the current correction voltage Uq _ Ctr of the q axis through a current loop proportional integral controller after the difference is made between the given current Iq _ ref of the q axis and the feedback current of the q axis. Wherein the coefficient K2The debugging can be carried out in the control process to obtain the optimal value.
In this embodiment, as shown in fig. 2, after the current correction voltage Ud _ Ctr of the d-axis is obtained, the first compensation voltage Ud is used to perform dynamic compensation to obtain an actual correction voltage Ud, where the first compensation voltage Ud is obtained according to the fixed constant P of the stepping motor, the speed feedback value Spd _ fdk, the inductance value L, and the feedback current Iq _ fdk of the q-axis; after the q-axis current correction voltage Uq _ Ctr is acquired, the actual correction voltage Uq is obtained by performing dynamic compensation by using a second compensation voltage Uq, wherein the second compensation voltage is obtained according to a fixed constant P of the stepping motor, a speed feedback value Spd _ fdk, an inductance value L, a flux linkage ψ f and a feedback current Id _ fdk of the d-axis. And then, the actual correction voltages Ud and Uq are used for calculating the control quantity of the stepping motor, so that the dynamic decoupling of the exciting current component and the torque current component in the control process of the stepping motor is realized, the dynamic performance of the stepping motor is improved, and the torque and the stability of the stepping motor at high speed are increased.
The control method for dynamic decoupling of the closed-loop stepping motor provided by this embodiment is a vector control method, and is suitable for multiphase stepping motors such as two-phase stepping motors and three-phase stepping motors, and the current needs to be park converted into q-axis feedback current Iq _ fdk and d-axis feedback current Id _ fdk, and the actual correction voltages Ud and Uq need to be inverse park converted into voltages, and the electric angle θ _ Ctr needs to be obtained through park conversion and inverse park conversion, and the obtaining process of the electric angle θ _ Ctr includes:
acquiring a feedback position electrical angle theta detected by an encoder;
calculating an electrical angle θ _ Ctr, θ _ Ctr = θ + Spd _ fdk × K3+ phi, where K3Is a coefficient, phi is an angle compensation value, wherein the coefficient K3The optimal value can be obtained by debugging in the control process, and phi can be obtained by calculation according to the inductance, the resistance, the current and the voltage of the stepping motor and the back electromotive force coefficient of the stepping motor.
In this embodiment, the electric angle θ _ Ctr is further compensated, so that dynamic decoupling of the current loop magnetic excitation current component, the torque current component and the electric angle of the closed-loop stepping motor is realized.
Example 2
Referring to fig. 3, the present embodiment discloses a control system for a closed-loop stepping motor, including:
a q-axis correction voltage obtaining module configured to obtain a q-axis current correction voltage Uq _ Ctr according to the q-axis feedback current Iq _ fdk;
a d-axis correction voltage acquisition module configured to acquire a d-axis current correction voltage Ud _ Ctr according to the d-axis feedback current Id _ fdk;
a d-axis compensation voltage obtaining module configured to obtain a first compensation voltage Ud of a d-axis according to the q-axis feedback current Iq _ fdk;
a q-axis compensation voltage obtaining module configured to obtain a q-axis second compensation voltage Uq from the d-axis feedback current Id _ fdk;
a compensation module configured to take the sum of the q-axis current correction voltage Uq _ Ctr and the second compensation voltage Uq as the q-axis actual correction voltage Uq; taking the sum of the current correction voltage Ud _ Ctr of the d axis and the first compensation voltage Ud as the actual correction voltage Ud of the d axis;
and the control module is configured to perform inverse park conversion on the actual correction voltage Uq of the q axis and the actual correction voltage Ud of the d axis to obtain a voltage value, and generate a PWM wave according to the duty ratio of the voltage value to control the rotation of the stepping motor.
In this embodiment, the control system of the closed-loop stepping motor is used to control the action of the closed-loop stepping motor, so as to realize dynamic decoupling of the current loop excitation current component and the torque current component of the closed-loop stepping motor, improve the dynamic performance of the stepping motor, and increase the torque and stability of the stepping motor at high speed.
It should be noted that the division of each module of the above apparatus is only a logical division, and all or part of the actual implementation may be integrated into one physical entity or may be physically separated. And these modules can all be implemented in the form of software invoked by a processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
Example 3
The present embodiment provides a storage medium, which stores thereon computer program instructions, when the computer program instructions are read and executed by a computer, for executing the steps of the control method of a closed-loop stepping motor according to any one of embodiment 1.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A control method for dynamic decoupling of a closed-loop stepping motor is characterized by comprising the following steps:
obtaining a current correction voltage Uq _ Ctr of a q axis according to the feedback current Iq _ fdk of the q axis;
acquiring a current correction voltage Ud _ Ctr of a d axis according to the feedback current Id _ fdk of the d axis;
acquiring a first compensation voltage Ud of a d axis according to the q axis feedback current Iq _ fdk;
acquiring a second compensation voltage Uq of a q axis according to the d axis feedback current Id _ fdk;
taking the sum of the q-axis current correction voltage Uq _ Ctr and the second compensation voltage Uq as the q-axis actual correction voltage Uq; taking the sum of the current correction voltage Ud _ Ctr of the d axis and the first compensation voltage Ud as the actual correction voltage Ud of the d axis;
and performing inverse park conversion on the actual correction voltage Uq of the q axis and the actual correction voltage Ud of the d axis to obtain a voltage value, and generating a PWM (pulse-width modulation) wave according to the duty ratio of the voltage value to control the rotation of the stepping motor.
2. The method as claimed in claim 1, wherein said obtaining the first compensation voltage Ud of d-axis according to the q-axis feedback current Iq _ fdk comprises:
acquiring a fixed constant P of the stepping motor;
obtaining a speed feedback value Spd _ fdk detected by an encoder in a speed loop;
obtaining an inductance value L of the stepping motor;
performing Park transformation on two orthogonal currents of the stepping motor to obtain q-axis feedback current Iq _ fdk;
a first compensation voltage Ud, Ud = -p × Spd _ fbk × L × Iq _ fdk is calculated.
3. The method as claimed in claim 2, wherein said obtaining the second compensation voltage Uq of the q-axis according to the d-axis feedback current Id _ fdk comprises:
acquiring a fixed constant P of the stepping motor;
acquiring a speed feedback value Spd _ fdk detected by an encoder in a speed loop;
obtaining an inductance value L of the stepping motor;
performing Park conversion on two orthogonal currents of the stepping motor to obtain d-axis feedback current Id _ fdk;
acquiring a magnetic linkage psi f;
the second compensation voltage Uq, Uq = p × Spd _ fdk × L × Id _ fdk + p × Spd _ fdk × ψ f is calculated.
4. The method for controlling dynamic decoupling of a closed-loop stepping motor according to claim 3, wherein said obtaining a q-axis present correction voltage Uq _ Ctr according to a q-axis feedback current Iq _ fdk comprises:
acquiring a given position Pos _ ref in a position loop and a feedback position Pos _ fdk detected by an encoder; after the difference is made between the given position Pos _ ref and the feedback position Pos _ fdk, a position loop control quantity Pos _ Ctr is obtained through a position loop proportional controller;
acquiring a given speed Spd _ ref in a speed loop and a feedback speed Spd _ fdk detected by an encoder; multiplying the given speed Spd _ ref by a coefficient K1 and adding the position loop control quantity Pos _ Ctr, and then obtaining a speed loop control quantity Spd _ Ctr by making a difference with the feedback speed Spd _ fdk and then passing through a speed loop proportional integral controller;
multiplying a difference between a given speed Spd _ ref in the speed loop and a feedback speed Spd _ fdk detected by an encoder by a coefficient K2, and adding the difference to a speed loop control quantity Spd _ Ctr to obtain a q-axis given current Iq _ ref; and (3) obtaining the current correction voltage Uq _ Ctr of the q axis through a current loop proportional integral controller after the difference is made between the given current Iq _ ref of the q axis and the feedback current of the q axis.
5. The method as claimed in claim 4, wherein said obtaining the d-axis current correction voltage Ud _ Ctr according to the d-axis feedback current Id _ fdk comprises:
acquiring a d-axis given current Id _ ref;
and obtaining the current correction voltage Ud _ Ctr of the d axis through a current loop proportional-integral controller after the difference is made between the given current Id _ ref of the d axis and the feedback current Id _ fdk of the d axis.
6. The method for controlling the dynamic decoupling of the closed-loop stepping motor according to claim 5, wherein the step of obtaining the electrical angle θ _ Ctr of park transformation and inverse park transformation comprises:
acquiring a feedback position electrical angle theta detected by an encoder;
calculating an electrical angle theta _ Ctr, theta _ Ctr = theta + Spd _ fdk K3+ phi, wherein K3 is a coefficient and phi is an angle compensation value.
7. A control system for a closed loop stepper motor, comprising:
a q-axis correction voltage obtaining module configured to obtain a q-axis current correction voltage Uq _ Ctr according to the q-axis feedback current Iq _ fdk;
a d-axis correction voltage acquisition module configured to acquire a d-axis current correction voltage Ud _ Ctr according to the d-axis feedback current Id _ fdk;
a d-axis compensation voltage obtaining module configured to obtain a first compensation voltage Ud of a d-axis according to the q-axis feedback current Iq _ fdk;
a q-axis compensation voltage obtaining module configured to obtain a q-axis second compensation voltage Uq according to the d-axis feedback current Id _ fdk;
a compensation module configured to take the sum of the q-axis current correction voltage Uq _ Ctr and the second compensation voltage Uq as the q-axis actual correction voltage Uq —; taking the sum of the current correction voltage Ud _ Ctr of the d axis and the first compensation voltage Ud as the actual correction voltage Ud of the d axis;
and the control module is configured to perform inverse park conversion on the actual correction voltage Uq of the q axis and the actual correction voltage Ud of the d axis to obtain a voltage value, and generate a PWM (pulse-width modulation) wave according to the duty ratio of the voltage value to control the rotation of the stepping motor.
8. A storage medium having stored thereon computer program instructions which, when read and executed by a computer, perform the steps of a method of controlling a closed-loop stepper motor as defined in any of claims 1-6.
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| CN116449884A (en) * | 2023-04-14 | 2023-07-18 | 江苏吉泰科电气有限责任公司 | Positioning method and device for motor spindle and computer readable storage medium |
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