基于终态滑模观测器的步进电机位置和速度估计

摘要

步进电机一般都以开环控制的方式应用于各种运动控制场合，若要提高系统的控制性能，往往需要借助于位置或速度传感器来实现闭环控制。本文使用终态滑模观测器设计了一种估计步进电机位置和速度的方法，并试着解决位置和速度估计中一些较为重要的问题，所需用到的的仅仅是电信号检测装置，而避免了安装位置或速度传感器可能会带来的问题。仿真结果表明了所设计的方法的有效性。%Stepper motors are generaI y used in a variety of motion controI occasions in open-Ioop controI.To improve the perfor-mance of the controI system,the position or speed sensors are usuaI y used to achieve cIosed-Ioop controI.Through terminaI sIiding mode observer,a position and speed estimation of stepper motor method is designed,in which just need an eIectricaI detection device,trying to soIve some more important probIems in position and speed estimation,avoiding bringing about some possibIe probIems in the position and speed sensors' instaI ation.SimuIation resuIts show the effectiveness of the de-signed method.