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标题：基于滑模算法的两相混合式步进电机位置控制研究 |
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作者：董雷，杨向宇，赵世伟 |
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| 2015年第9期 访问次数：330次 |
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摘要：为提高步进电机控制系统的动态性能和鲁棒性，将滑模变结构控制应用到两相混合式步进电机的位置控制系统中，通过选择合适的切换函数和趋近率，设计滑模控制器取代传统PID控制的位置环和速度环，使系统控制性能得到较大改善。利用Matlab/Simulink进行仿真，并通过实验进行对比验证，结果显示，滑模变结构控制相比于传统PID控制，具有响应速度快、无超调、抗扰动能力强等优点，由此表明了滑模控制在两相混合式步进电机位置控制系统中的有效性和优越性。
关键词：两相混合式步进电机；位置控制；PID控制；滑模控制
Abstract: In this paper, sliding mode control was applied to twophase hybrid stepping motor's position servo system to improve the dynamic performance and robustness. With appropriate switching function and reaching law, the sliding mode controller was designed replacing of the position loop and velocity loop of traditional PID control, and the performances of the control system were greatly improved. The system was modeled in the Matlab/Simulink software, and the effects were compared through the experiments. The results show that sliding mode control makes quicker response, less overshoot, and stronger antidisturbance ability, which demonstrates the validity and superiority of sliding mode control in twophase hybrid stepping motor's position system.
Key words: twophase hybrid stepping motor; position control; PID control; sliding mode control
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