【摘要】 随着步进电机在各行各业中的应用日益广泛，传统的开环控制方法在实际工程应用中已难以满足更高的精度要求。该文建立了一类三相混合式步进电机的机电耦合模型和精确控制模型。提出了一种基于PI并联的滑模变结构控制方法。该方法将PI控制与滑膜变结构控制相结合，合理选择滑膜控制器的切换函数和趋近律。利用李雅普诺夫稳定性理论证明了所设计控制系统的稳定性。MATLAB/Simulink仿真系统验证了控制方法的有效性和正确性，并搭建了实验平台。结果表明，基于并联PI反馈的滑膜变结构控制策略具有更快的响应速度和更高的控制精度。更多还原

【Abstract】 With the increasing application of stepping motors in all walks of life,it has been difficult for traditional open-loop control methods to meet higher precision requirements in practical engineering applications. This paper establishes an electromechanical coupling model and an accurate control model for a particular type of three-phase hybrid stepping motor. Proposed a sliding-film variable structure control method based on PI parallel connection. In this method,PI control combines synovial variable structure control,and the switching function and reaching law in the synovial controller are reasonably selected. Proved the stability of the designed control system by Lyapunov stability theory. MATLAB/Simulink simulation system verified the control method’s effectiveness and correctness,and built experimental platform. The results show that the synovial variable structure control strategy based on parallel PI feedback has faster response speed and higher control accuracy.更多还原