Số hóa bởi Trung tâm Học liệu – Đại học Thái Nguyên

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ĐẠI HỌC THÁI NGUYÊN
TRƢỜNG ĐẠI HỌC CÔNG NGHIỆP
TRẦN VĂN HÀ SỬ DỤNG BỘ LỌC KALMAN NÂNG CAO CHẤT LƢỢNG
ĐỘNG CƠ BƢỚC

Chuyên ngành: Kỹ thuật điện tử

LUẬN VĂN THẠC SĨ KỸ THUẬT

men quay. Sau đây sẽ có cái nhn tổng quan về động cơ bước.
1.2. Các loại động cơ bƣớc
Ba loại cơ bản của động cơ bước bao gồm:
- Động cơ bước dùng nam châm vĩnh cửu (Permanent Magnet)
- Động cơ bước biến từ trở (Variable Reluctance)
- Động bước cơ lai (hybrid)
1.3. Động cơ bƣớc dùng nam châm vĩnh cửu (Permanent Magnet) (PM)

Số hóa bởi Trung tâm Học liệu – Đại học Thái Nguyên

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Một động cơ bước hoạt động trên hiệ u ứ ng tương tác giữa rotor là một nam châm vĩnh
cửu và từ trường tạo ra từ các cuộn dây stator . Hình vẽ sau cho thấy một sơ đồ điển hnh
động cơ bước nam châm vĩnh cửu . Rotor là các nam châm vĩnh cửu cn startor là các
cuộn dây, rotor sẽ chuyể n độ ng khi cuộ n dây củ a startor nhận được xung điện nó sẽ sinh
ra từ trườ ng để tương tá c vớ i từ trườ ng củ a rotor và là m cho rotor quay Hình 1.2: Sơ đồ động cơ bước dùng nam châm vĩnh cửu
Các tính năng chính của động cơ nam châm vĩnh cửu là rotor sử dụ ng nam châm vĩnh cửu
không có tiếp xúc trực tiếp. Hạn chế của loại động cơ này là nó có mô-men xoắn tương đối
thấp được sử dụng cho các ứng dụng tốc độ thấp. Khi không cung cấ p dò ng điệ n cho các
cuộn dây , hoặc cung cấp một năng lượng nhỏ, lực từ tính được hnh thành giữa rotor và
stator lực từ này tạo ra mô-men xoắn dư.
1.4. Động cơ biến từ trở (Variable Reluctance)
Động cơ biến từ trở (VR) cốt lõi của nó về cơ bản khác vớ i PM ở chỗ nó rotor không
dùng nam châm vĩnh cửu và do đó không có mô-men xoắn cn lại để giữ rotor ở một vị trí
khi tắt . Điều này có nghĩa là cường độ trường có thể được thay đổi, cấ u trú c lõ i cả m ứ ng
từ cá c ngăn củ a stator là cá c lá thé p mỏ ng . Rotor đượ c chế tạ o từ các vật liệ u từ mề m có
các răng và khe. Khi cuộ n dây stator đượ c cung cấ p dò ng điệ n cá c răng củ a rotor xế p thẳ ng

2. Tổng quan hệ thống điều khiển động cơ bƣớc nguyên lí và phạm vi ứng dụng
2.1. Tổng quan hệ thống điều khiển động cơ bƣớc
Động cơ bước cung cấp cho việc định vị chính xác và kiểm soát tốc độ mà không sử
dụng các cảm biến hồi tiếp. Các hoạt động cơ bản của động cơ bước cho phép rotor di
chuyển đến một vị trí chính xác các bằng số lượng cấp mỗi lần cấ p xung điện được đưa tới
động cơ. Vị trí của rotor của động cơ di chuyển chỉ số độ bằ ng số lượ ng xung được cung
cấp. Chúng ta có thể kiểm soát các xung được số lượ ng xung cung cấp như vậ y sẽ kiểm
soát đượ c về vị trí và tốc độ. Rotor của động cơ sinh ra mô-men xoắn từ sự tương tác từ
trường giữa stator và rotor. Công xuất của từ trường là tỷ lệ thuận với số lượng xung cung
cấp cho stator và số vng trong cuộn dây , làm cho trục động cơ biến đổi một chính xác .
Giống như hai cực của một nam châm cùng cực đẩy nhau và khác cực thì hút nhau . Hnh 1.5: Mặt cắt ngang của rotor và stator
Hình trên cho thấy mặt cắt ngang điển hnh của rotor và stator của một động cơ bước. Từ
sơ đồ này, chúng ta có thể thấy stator đó có bốn cực, và rotor có 6 cực. V vậy rotor cầ n
đượ c cung cấ p 12 xung điện để di chuyển 12 bước để hoàn thành một vng. Nói một cách
khác để nói điều này là rotor sẽ di chuyển chính xác 30 độ cho mỗi xung của động cơ điện
nhận được. Khi không được cung cấ p xung cho động cơ, từ tính cn lại trong các nam

Số hóa bởi Trung tâm Học liệu – Đại học Thái Nguyên

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châm rotor sẽ chốt chặt hoặc sắp xếp thiết lập các cực từ của rotor nó với các cực từ của
một trong những nam châm stator. Điều này có nghĩa là rotor sẽ có 12 vị trí có thể bị
chố t chặn. Khi rotor trong chố t chặt vị trí, nó sẽ duy tr lực từ trường để giữ cho trục di
chuyển tiếp đến vị trí tiếp theo. Khi xung điệ n được cung cấ p , nó tạo ra một từ trường
trong cuộn dây của stator, khi đó cuộn dây trở thành một nam châm. Một trong các cuộn
dây cho các cặp trở thành cực bắc, và cuộn dây khác sẽ trở thành cực nam. Khi điều này
xảy ra, cuộn dây stator là cực bắc sẽ thu hút răng gần nhất rotor có tính phân cực ngược lại,

trong chiều kim đồng hồ. Chúng ta sẽ nhận thấy rằng các rotor đã di chuyển bốn
bước mỗ i gó c bướ c 30 °, như vậ y rotor đã di chuyển tổng cộng 120 ° so vớ i vị trí
ban đầu của nó
2.2. Ứng dụng động cơ bƣớc
Động cơ bước được ứng dụng nhiều trong ngành tự động hóa chúng được ứng dụng
trong các thiết bị cần điều khiển chính xác. Ví dụ: Điều khiển robot, điều khiển tiêu cự
trong các hệ quang học, điều khiển định vị trong các hệ quan trắc, điểu khiển bắt, bám mục
tiêu trong các khí tài quan sát, điều khiển lập trnh trong các thiết bị gia công cắt gọt, điều
khiển các cơ cấu lái phương và chiều trong máy bay Trong công nghệ máy tính, động cơ
bước được sử dụng cho các loại ổ đĩa cứng, ổ đĩa mềm, máy in
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

Trích đoạn P= cos(N θ) sis(N θ)] (2) sis(N θ) cos(N θ) Vi điều khiển (PIC16F877A)

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