Факторные модели оптимальных коэффициентов пропорционально-интегрального регулятора на основе имитационного моделирования системы векторного управления гибридного шагового двигателя

P A Sannikov; P V Lekomtsev

doi:10.22213/2410-9304-2022-4-90-97

Authors

P. A. Sannikov Kalashnikov ISTU
P. V. Lekomtsev Kalashnikov ISTU

DOI:

https://doi.org/10.22213/2410-9304-2022-4-90-97

Keywords:

hybrid stepper motor, field-oriented control, feedback control, PI controller, simulation

Abstract

The article presents simulation modeling of the closed loop field-oriented control system of hybrid stepper. The bandwidth of the current loop was 1370 Hz, speed loop - 350 Hz. Using optimizer for determining regulator terms significantly improved the performance compared to classical methods. The focus of optimization was the settling time, value of overshooting on step response and steady-state error. The factor models of optimal proportional-integral gains for hybrid stepper 34HS5435C-02B2 are designed using regression analysis at different load torques and total inertia. Analyses of the obtained dependencies showed that the proportional gain (KP) is most affected by the load torque (TL), while the integral gain (KI) by the inertia (J). The largest value of KP = 3,049 is found with TL = 10 Nm, J = 15Jm, the smallest value of KP = 0.03 for TL = 0 Nm, J = Jm, while the highest value KI = 1,036 is found with TL = 10 Nm, J = 7.5 Jm, the smallest value of KI =0.12 for TL = 0 Nm, J = Jm (where Jm is rotor inertia). This model can be used in adaptive control systems that meet the requirements of rapid and precision operations.

Author Biographies

P. A. Sannikov, Kalashnikov ISTU

Master Degree Student

P. V. Lekomtsev, Kalashnikov ISTU

PhD in Enginering, Assoc.Prof.

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