novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.24.352-363novtexmech-1406Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSОбзор моделей и методов управления шаговыми двигателямиOverview of Models and Methods for Control of Stepper MotorsФуртатИ. Б.FurtatI. B.

д-р техн. наук, проф., гл. науч. сотр.

Санкт-Петербург

Furtat Igor B., Dr. of Tech.Sc., Professor

St. Petersburg, 199178

cainenash@mail.ruЖуковЮ. А.ZhukovY. A.

науч. сотр.

Санкт-Петербург

St. Petersburg, 199178

zh_kv@mail.ruСлободзянН. С.SlobodzyanN. S.

канд. техн. наук, зав. лабораторией

Санкт-Петербург

St. Petersburg, 199178

ja-nikita@mail.ruИнститут проблем машиноведения РАНРоссияInstitute of Problems of Mechanical Engineering Russian Academy of SciencesRussian FederationБалтийский государственный технический университет "ВОЕНМЕХ" им. Д. Ф. УстиноваРоссияBaltic State Technical University "VOENMEH"Russian Federation202309072023247352363Copyright © Commercial Publisher «New Technologies», 20232023Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1406

Представлен обзор моделей и алгоритмов управления шаговым двигателем (ШД). Благодаря высокой точности, улучшенным показателям удельной мощности, экономичности и надежности по сравнению с другими синхронными двигателями ШД широко используются в различных практических приложениях и научном оборудовании. В авиационной и космической технике ШД активно применяются в исполнительных системах, таких как приводы движения элементов крупногабаритных конструкций, системы наведения и стабилизации и т. д. В статье описаны некоторые существующие алгоритмы управления ШД, которые основаны как на знании параметров модели ШД, так и на отсутствии той или иной информации. Из множества описанных алгоритмов выделены четыре (ПИД регулятор, алгоритм точной линеаризации обратной связью, адаптивное управление с частично неизвестными параметрами и адаптивное управление с полностью неизвестными параметрами), которые показали наилучшие результаты переходных процессов по слежению угла ротора ШД за эталонным значением. Также приводится сравнительный численный анализ среди данных четырех алгоритмов, который показал, что наилучшие результаты переходных процессов продемонстрированы адаптивными регуляторами (в смысле наименьшей ошибки в установившемся режиме), тогда как наихудшие результаты продемонстрированы ПИД регулятором. Отмечено, что исследуемый ПИД регулятор содержит гораздо меньше контуров обратных связей по сравнению с другими алгоритмами, что упрощает выбор настраиваемых параметров и уменьшает динамический порядок замкнутой системы, однако синтез основан на знании точных параметров привода, а также чувствителен к внешним возмущениям. Напротив, адаптивные подходы успешно решают задачу оценки параметрических и функциональных возмущений, однако их реализация связана со значительными трудностями.

A review of models and algorithms for control of a stepper motor (SM) is presented. Due to high accuracy, improved power density, economy and reliability compared to other synchronous motors, stepper motors are widely used in various practical applications and scientific equipment. In aviation and space technology, step motors are actively used in actuating systems, such as drives for the movement of elements of large-sized structures, guidance, and stabilization systems, etc. The article describes some existing stepper motor control algorithms, which are both based on the knowledge of the parameters of the stepper motor model, and on the absence of this or that information. Of the many described algorithms, four were selected (PID controller, exact feedback linearization algorithm, adaptive control with partially unknown parameters and adaptive control with completely unknown parameters), which showed the best results of transient processes in tracking the angle of the rotor of the SM behind the reference value. A comparative numerical analysis among these four algorithms is also given, which showed that the best results of transients are demonstrated by adaptive controllers (in the sense of the smallest error in steady state), while the worst results are demonstrated by the PID controller. It is noted that the studied PID controller contains much fewer feedback loops compared to other algorithms, which simplifies the choice of adjustable parameters and reduces the dynamic order of the closed system, however, the design is based on knowing the exact parameters of the drive and is also sensitive to external disturbances. On the contrary, adaptive approaches successfully solve the problem of estimating parametric and functional perturbations, but their implementation is associated with significant difficulties.

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The authors declare that there are no conflicts of interest present.