测控专业 毕业论文 外文翻译 中英文对照.docx
《测控专业 毕业论文 外文翻译 中英文对照.docx》由会员分享,可在线阅读,更多相关《测控专业 毕业论文 外文翻译 中英文对照.docx(14页珍藏版)》请在冰点文库上搜索。
测控专业毕业论文外文翻译中英文对照
Oscillation,InstabilityandControlofStepperMotors
LIYUCAOandHOWARDM.SCHWARTZ
DepartmentofSystemsandComputerEngineering,CarletonUniversity,1125ColonelByDrive,
Ottawa,ONK1S5B6,Canada
(Received:
18February1998;accepted:
1December1998)
Abstract
Anovelapproachtoanalyzinginstabilityinpermanent-magnetsteppermotorsispresented.Itisshownthattherearetwokindsofunstablephenomenainthiskindofmotor:
mid-frequencyoscillationandhigh-frequencyinstability.Nonlinearbifurcationtheoryisusedtoillustratetherelationshipbetweenlocalinstabilityandmidfrequencyoscillatorymotion.Anovelanalysisispresentedtoanalyzethelossofsynchronismphenomenon,whichisidentifiedashigh-frequencyinstability.Theconceptsofseparatorsandattractorsinphase-spaceareusedtoderiveaquantitytoevaluatethehigh-frequencyinstability.Byusingthisquantityonecaneasilyestimatethestabilityforhighsupplyfrequencies.Furthermore,astabilizationmethodispresented.Ageneralizedapproachtoanalyzethestabilizationproblembasedonfeedbacktheoryisgiven.Itisshownthatthemid-frequencystabilityandthehigh-frequencystabilitycanbeimprovedbystatefeedback.
Keywords:
Steppermotors,instability,nonlinearity,statefeedback.
1.Introduction
Steppermotorsareelectromagneticincremental-motiondeviceswhichconvertdigitalpulseinputstoanalogangleoutputs.Theirinherentsteppingabilityallowsforaccuratepositioncontrolwithoutfeedback.Thatis,theycantrackanysteppositioninopen-loopmode,consequentlynofeedbackisneededtoimplementpositioncontrol.SteppermotorsdeliverhigherpeaktorqueperunitweightthanDCmotors;inaddition,theyarebrushlessmachinesandthereforerequirelessmaintenance.Allofthesepropertieshavemadesteppermotorsaveryattractiveselectioninmanypositionandspeedcontrolsystems,suchasincomputerharddiskdriversandprinters,XY-tables,robotmanipulators,etc.
Althoughsteppermotorshavemanysalientproperties,theysufferfromanoscillationorunstablephenomenon.Thisphenomenonseverelyrestrictstheiropen-loopdynamicperformanceandapplicableareawherehighspeedoperationisneeded.Theoscillationusuallyoccursatsteppingrateslowerthan1000pulse/s,andhasbeenrecognizedasamid-frequencyinstabilityorlocalinstability,oradynamicinstability.Inaddition,thereisanotherkindofunstablephenomenoninsteppermotors,thatis,themotorsusuallylosesynchronismathighersteppingrates,eventhoughloadtorqueislessthantheirpull-outtorque.Thisphenomenonisidentifiedashigh-frequencyinstabilityinthispaper,becauseitappearsatmuchhigherfrequenciesthanthefrequenciesatwhichthemid-frequencyoscillationoccurs.Thehigh-frequencyinstabilityhasnotbeenrecognizedaswidelyasmid-frequencyinstability,andthereisnotyetamethodtoevaluateit.
Mid-frequencyoscillationhasbeenrecognizedwidelyforaverylongtime,however,acompleteunderstandingofithasnotbeenwellestablished.Thiscanbeattributedtothenonlinearitythatdominatestheoscillationphenomenonandisquitedifficulttodealwith.
Mostresearchershaveanalyzeditbasedonalinearizedmodel.Althoughinmanycases,thiskindoftreatmentsisvalidoruseful,atreatmentbasedonnonlineartheoryisneededinordertogiveabetterdescriptiononthiscomplexphenomenon.Forexample,basedonalinearizedmodelonecanonlyseethatthemotorsturntobelocallyunstableatsomesupplyfrequencies,whichdoesnotgivemuchinsightintotheobservedoscillatoryphenomenon.Infact,theoscillationcannotbeassessedunlessoneusesnonlineartheory.
Therefore,itissignificanttousedevelopedmathematicaltheoryonnonlineardynamicstohandletheoscillationorinstability.ItisworthnotingthatTaftandGauthier,andTaftandHarnedusedmathematicalconceptssuchaslimitcyclesandseparatricesintheanalysisofoscillatoryandunstablephenomena,andobtainedsomeveryinstructiveinsightsintotheso-calledlossofsynchronousphenomenon.Nevertheless,thereisstillalackofacomprehensivemathematicalanalysisinthiskindofstudies.Inthispaperanovelmathematicalanalysisisdevelopedtoanalyzetheoscillationsandinstabilityinsteppermotors.
Thefirstpartofthispaperdiscussesthestabilityanalysisofsteppermotors.Itisshownthatthemid-frequencyoscillationcanbecharacterizedasabifurcationphenomenon(Hopfbifurcation)ofnonlinearsystems.Oneofcontributionsofthispaperistorelatethemid-frequencyoscillationtoHopfbifurcation,thereby,theexistenceoftheoscillationisprovedtheoreticallybyHopftheory.High-frequencyinstabilityisalsodiscussedindetail,andanovelquantityisintroducedtoevaluatehigh-frequencystability.Thisquantityisveryeasytocalculate,andcanbeusedasacriteriatopredicttheonsetofthehigh-frequencyinstability.Experimentalresultsonarealmotorshowtheefficiencyofthisanalyticaltool.
Thesecondpartofthispaperdiscussesstabilizingcontrolofsteppermotorsthroughfeedback.Severalauthorshaveshownthatbymodulatingthesupplyfrequency,themid-frequencyinstabilitycanbeimproved.Inparticular,PickupandRussellhavepresentedadetailedanalysisonthefrequencymodulationmethod.Intheiranalysis,Jacobiserieswasusedtosolveaordinarydifferentialequation,andasetofnonlinearalgebraicequationshadtobesolvednumerically.Inaddition,theiranalysisisundertakenforatwo-phasemotor,andtherefore,theirconclusionscannotapplieddirectlytooursituation,whereathree-phasemotorwillbeconsidered.Here,wegiveamoreelegantanalysisforstabilizingsteppermotors,wherenocomplexmathematicalmanipulationisneeded.Inthisanalysis,ad–qmodelofsteppermotorsisused.Becausetwo-phasemotorsandthree-phasemotorshavethesameq–dmodelandtherefore,theanalysisisvalidforbothtwo-phaseandthree-phasemotors.Uptodate,itisonlyrecognizedthatthemodulationmethodisneededtosuppressthemid-frequencyoscillation.Inthispaper,itisshownthatthismethodisnotonlyvalidtoimprovemid-frequencystability,butalsoeffectivetoimprovehigh-frequencystability.
2.DynamicModelofStepperMotors
Thesteppermotorconsideredinthispaperconsistsofasalientstatorwithtwo-phaseorthree-phasewindings,andapermanent-magnetrotor.Asimplifiedschematicofathree-phasemotorwithonepole-pairisshowninFigure1.Thesteppermotorisusuallyfedbyavoltage-sourceinverter,whichiscontrolledbyasequenceofpulsesandproducessquare-wavevoltages.Thismotoroperatesessentiallyonthesameprincipleasthatofsynchronousmotors.Oneofmajoroperatingmannerforsteppermotorsisthatsupplyingvoltageiskeptconstantandfrequencyofpulsesischangedataverywiderange.Underthisoperatingcondition,oscillationandinstabilityproblemsusuallyarise.
Figure1.Schematicmodelofathree-phasesteppermotor.
Amathematicalmodelforathree-phasesteppermotorisestablishedusingq–dframe-referencetransformation.Thevoltageequationsforthree-phasewindingsaregivenby
va=Ria+L*dia/dt−M*dib/dt−M*dic/dt+dλpma/dt,
vb=Rib+L*dib/dt−M*dia/dt−M*dic/dt+dλpmb/dt,
vc=Ric+L*dic/dt−M*dia/dt−M*dib/dt+dλpmc/dt,
whereRandLaretheresistanceandinductanceofthephasewindings,andMisthemutualinductancebetweenthephasewindings._pma,_pmband_pmcaretheflux-linkagesofthephasesduetothepermanentmagnet,andcanbeassumedtobesinusoidfunctionsofrotorposition_asfollow
λpma=λ1sin(Nθ),
λpmb=λ1sin(Nθ−2/3),
λpmc=λ1sin(Nθ-2/3),
whereNisnumberofrotorteeth.Thenonlinearityemphasizedinthispaperisrepresentedbytheaboveequations,thatis,theflux-linkagesarenonlinearfunctionsoftherotorposition.
Byusingtheq;dtransformation,theframeofreferenceischangedfromthefixedphaseaxestotheaxesmovingwiththerotor(refertoFigure2).Transformationmatrixfromthea;b;cframetotheq;dframeisgivenby
Forexample,voltagesintheq;dreferencearegivenby
Inthea;b;creference,onlytwovariablesareindependent(iaCibCicD0);therefore,theabovetransformationfromthreevariablestotwovariablesisallowable.Applyingtheabovetransformationtothevoltageequations
(1),thetransferredvoltageequationintheq;dframecanbeobtainedas
vq=Riq+L1*diq/dt+NL1idω+Nλ1ω,
vd=Rid+L1*did/dt−NL1iqω,
Figure2.a,b,candd,qreferenceframe.
whereL1DLCM,and!
isthespeedoftherotor.Itcanbeshownthatthemotor’storquehasthefollowingform
T=3/2Nλ1iq
Theequationofmotionoftherotoriswrittenas
J*dω/dt=3/2*Nλ1iq−Bfω–Tl,
whereBfisthecoefficientofviscousfriction,andTlrepresentsloadtorque,whichisassumedtobeaconstantinthispaper.
Inordertoconstitutethecompletestateequationofthemotor,weneedanotherstatevariablethatrepresentsthepositionoftherotor.Forthispurposethesocalledloadangle_[8]isusuallyused,whichsatisfiesthefollowingequation
Dδ/dt=ω−ω0,
where!
0issteady-statespeedofthemotor.Equations(5),(7),and(8)constitutethestatespacemodelofthemotor,forwhichtheinputvariablesarethevoltagesvqandvd.Asmentionedbefore,steppermotorsarefedbyaninverter,whoseoutputvoltagesarenotsinusoidalbutinsteadaresquarewaves.However,becausethenon-sinusoidalvoltagesdonotchangetheoscillationfeatureandinstabilityverymuchifcomparedtothesinusoidalcase(aswillbeshowninSection3,theoscillationisduetothenonlinearityofthemotor),forthepurpo