Hybrid stepper motors exhibit significant torque ripple due to high current ripple during subdivision driving.This paper proposes an adaptive freewheeling ratio control meth-od for hybrid stepper motors,building upon the analysis of the current continuation process in the H-bridge driver circuit.The method utilizes a subdivision current command iref,genera-ted by a ring allocator,to distinguish the current continuation mode at each moment.In the fast continuation mode,the real-time difference between the current command and the actual current △iref is continuously monitored.An adaptive coefficient k dynamically adjusts the du-ration of fast continuation until the motor phase current rapidly decreases to iref,transitioning into the slow continuation mode.By adaptively regulating the charging time and the propor-tion of fast continuation time to the total continuation time,this approach enables smooth op-eration of the hybrid stepper motor under different operating conditions,effectively reducing torque ripple.A simulation platform using Matlab/Simulink is construct and experimental verification is carried out.The results demonstrate that the proposed method achieves lower torque ripple compared to the traditional mixed freewheeling mode control.
维普
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