步進電機(ji)有什么作用？

這個(ge)(ge)一(yi)(yi)般是剛接觸步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)，或者(zhe)還(huan)在讀(du)書的同學，可(ke)(ke)能會問(wen)到的問(wen)題，因為步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)的原理是通(tong)(tong)過脈沖(chong)信(xin)號轉(zhuan)換(huan)成線位(wei)移(yi)(yi)或角位(wei)移(yi)(yi)的電(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)。每來一(yi)(yi)個(ge)(ge)電(dian)(dian)脈沖(chong)，步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)便轉(zhuan)動一(yi)(yi)個(ge)(ge)角度，帶(dai)動機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)移(yi)(yi)動一(yi)(yi)小段(duan)距離。步(bu)(bu)進(jin)(jin)電(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)可(ke)(ke)以(yi)輕松實現正確的定位(wei)運行，可(ke)(ke)通(tong)(tong)過脈沖(chong)信(xin)號控制(zhi)正確旋(xuan)轉(zhuan)角度和轉(zhuan)速，通(tong)(tong)常使用在各(ge)種非標設(she)備和自動化機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)上面。如數控機(ji)(ji)(ji)(ji)(ji)(ji)床，紡織(zhi)印刷，絲桿電(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)價(jia)格，包裝(zhuang)機(ji)(ji)(ji)(ji)(ji)(ji)械(xie)，電(dian)(dian)子(zi)設(she)備，機(ji)(ji)(ji)(ji)(ji)(ji)器(qi)人(ren)等。

步進(jin)電(dian)機的PID控制

PID 控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)作為一種簡(jian)(jian)單而實(shi)用(yong)的(de)(de)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)方法(fa) ， 在步進(jin)電(dian)機(ji)驅動(dong)中獲得(de)了(le)廣泛的(de)(de)應(ying)用(yong)。它根據(ju)給(gei)定值(zhi)(zhi) r( t) 與(yu)實(shi)際輸出值(zhi)(zhi) c(t) 構成(cheng)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)偏差 e( t) ， 將偏差的(de)(de)比例 、積(ji)分(fen)和微分(fen)通過線性(xing)組合(he)構成(cheng)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)量 ，內(nei)蒙古絲桿電(dian)機(ji)，對被(bei)控(kong)(kong)(kong)(kong)(kong)對象進(jin)行控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi) 。文獻(xian)將集成(cheng)位置傳感器(qi)用(yong)于二相(xiang)混合(he)式步進(jin)電(dian)機(ji)中 ，以位置檢測器(qi)和矢量控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)為基礎 ，設計出了(le)一個(ge)可(ke)自動(dong)調節的(de)(de) PI 速度控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi) ，此(ci)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)在變工況的(de)(de)條(tiao)件(jian)下(xia)能提(ti)供令人滿(man)意的(de)(de)瞬態(tai)特性(xing) 。文獻(xian)根據(ju)步進(jin)電(dian)機(ji)的(de)(de)數學(xue)模型(xing) ，絲桿電(dian)機(ji)公司，設計了(le)步進(jin)電(dian)機(ji)的(de)(de) PID 控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系統(tong) ，采用(yong) PID 控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)算(suan)法(fa)得(de)到控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)量 ，從而控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)電(dian)機(ji)向規定位置運動(dong) 。通過驗證了(le)該(gai)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)具有較好的(de)(de)動(dong)態(tai)響(xiang)應(ying)特性(xing) 。采用(yong) PID 控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)具有結構簡(jian)(jian)單 、魯(lu)棒性(xing)強(qiang) 、可(ke)靠性(xing)高等優點 ，但(dan)是它無法(fa)有效應(ying)對系統(tong)中的(de)(de)不確定信息 。

目(mu)前 ， PID 控(kong)制(zhi)(zhi)更(geng)多的(de)是(shi)與其他控(kong)制(zhi)(zhi)策略相結合 ， 形成帶有智能(neng)(neng)的(de)新型復(fu)(fu)合控(kong)制(zhi)(zhi) 。這種智能(neng)(neng)復(fu)(fu)合型控(kong)制(zhi)(zhi)具有自學習 、自適應(ying) 、自組織的(de)能(neng)(neng)力 ，能(neng)(neng)夠自動(dong)辨識被(bei)控(kong)過程參數(shu) ， 自動(dong)整定控(kong)制(zhi)(zhi)參數(shu) ， 適應(ying)被(bei)控(kong)過程參數(shu)的(de)變化 ，同時又(you)具有常規(gui) PID 控(kong)制(zhi)(zhi)器的(de)特(te)點(dian)。

步進電(dian)機(ji)的(de)自適應控制

自(zi)適(shi)(shi)應(ying)(ying)控(kong)制(zhi)(zhi)是(shi)在 20 世紀 50 年代(dai)發(fa)展起來的(de)(de)(de)自(zi)動(dong)(dong)控(kong)制(zhi)(zhi)領(ling)域的(de)(de)(de)一個(ge)分支(zhi) 。它是(shi)隨(sui)著(zhu)控(kong)制(zhi)(zhi)對象的(de)(de)(de)復雜化(hua) ，當動(dong)(dong)態特(te)性(xing)不(bu)可知或(huo)發(fa)生不(bu)可預測的(de)(de)(de)變化(hua)時(shi) ，為得到高(gao)的(de)(de)(de)性(xing)能的(de)(de)(de)控(kong)制(zhi)(zhi)器(qi)而產生的(de)(de)(de) 。其(qi)主要(yao)優點是(shi)容易實(shi)現(xian)和自(zi)適(shi)(shi)應(ying)(ying)速(su)度(du)快 ，能有(you)效地克服電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)模型參數的(de)(de)(de)緩慢變化(hua)所引起的(de)(de)(de)影響 ，是(shi)輸出(chu)信號(hao)跟(gen)蹤(zong)參考信號(hao) 。文獻研(yan)究者根據(ju)步進電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)的(de)(de)(de)線性(xing)或(huo)近(jin)似線性(xing)模型推(tui)導出(chu)了(le)全局(ju)穩定的(de)(de)(de)自(zi)適(shi)(shi)應(ying)(ying)控(kong)制(zhi)(zhi)算法 ， 這些控(kong)制(zhi)(zhi)算法都嚴重依賴于電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)模型參數 。文獻將閉環反饋控(kong)制(zhi)(zhi)與(yu)自(zi)適(shi)(shi)應(ying)(ying)控(kong)制(zhi)(zhi)結合(he)來檢測轉子的(de)(de)(de)位置和速(su)度(du) ， 通過反饋和自(zi)適(shi)(shi)應(ying)(ying)處理 ，按照(zhao)優化(hua)的(de)(de)(de)升降運行曲線 ，絲桿電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)價格， 自(zi)動(dong)(dong)地發(fa)出(chu)驅動(dong)(dong)的(de)(de)(de)脈沖串 ，提高(gao)了(le)電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)的(de)(de)(de)拖(tuo)動(dong)(dong)力矩(ju)特(te)性(xing) ，同(tong)時(shi)使電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)獲(huo)得準確的(de)(de)(de)位置控(kong)制(zhi)(zhi)和較(jiao)高(gao)較(jiao)平(ping)穩的(de)(de)(de)轉速(su) 。

目前(qian) ，很(hen)多學者將自(zi)適(shi)應(ying)(ying)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)與其他控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)方法相結合 ，以解決(jue)單純自(zi)適(shi)應(ying)(ying)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)的(de)(de)(de)(de)不足。文(wen)獻(xian)設計(ji)的(de)(de)(de)(de)魯(lu)棒(bang)自(zi)適(shi)應(ying)(ying)低速(su)伺(si)服(fu)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi) ，確保了轉動脈矩的(de)(de)(de)(de)很(hen)大化(hua)補償及伺(si)服(fu)系(xi)統低速(su)高(gao)精(jing)度的(de)(de)(de)(de)跟蹤控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)性能 。文(wen)獻(xian)實(shi)現的(de)(de)(de)(de)自(zi)適(shi)應(ying)(ying)模糊 PID 控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)可以根據(ju)輸(shu)入誤差和(he)誤差變化(hua)率的(de)(de)(de)(de)變化(hua) ，通過模糊推理在線調整 PID參(can)數 ，實(shi)現對步進(jin)電機的(de)(de)(de)(de)自(zi)適(shi)應(ying)(ying)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi) ，從(cong)而有效(xiao)地(di)提高(gao)系(xi)統的(de)(de)(de)(de)響應(ying)(ying)時間 、計(ji)算精(jing)度和(he)抗干擾性 。