如何降低步進馬達的雜訊?

作者 : Maurizio Di Paolo Emilio,EE Times Europe

步進馬達具有簡單的結構並且易於控制。作為一種數位電子元件,步進馬達廣泛應用於各種開迴路控制系統。然而,其驅動電路和諧振機械結構所產生的雜訊會影響整體性能。為了獲得流暢的運轉效果,設計者可以修改電壓、電流,或者更常見的是修改微步設置…

馬達中的雜訊大小取決於馬達類型、環境情況以及具體的應用。永磁式馬達和混合式步進馬達通常較安靜,因為它們的轉動比較穩定。而可變磁阻步進馬達無論用在哪裡,都是最嘈雜的。

為了更進一步瞭解雜訊的來源,我們需要思考旋轉運動是如何產生的。當步進馬達執行步進時,它不會立即停止,而是持續地略微前後移動,直到最後完全停止。這個問題可以經由在馬達驅動器中採用特定的控制邏輯來克服。在馬達運行過程中,當馬達完成上一步即將停止前的那一刻,驅動器發出指令開始下一個步進。這種連續且有規律的馬達前進可以降低雜訊和振動。

還要注意的是,每個步進馬達都有一個諧振頻率,通常在馬達以每秒150到300步的速度運動時會發生諧振。許多設計人員傾向於避開該工作頻率範圍,以便將雜訊和振動減至最小。但插入適當設計和調整尺寸的減速機也有助於減少振動。還有一種傳統的解決方案,即在曲軸上安裝後置式減振器,同樣可以減少振動。

降噪技術

大多數步進馬達都由脈衝寬度調變(PWM)訊號控制,該訊號連續強制H橋在開關狀態之間切換,以此調節饋入馬達的電流。基於這種技術的驅動器電路通常被稱為「斬波器驅動器」,因為它會跟隨PWM波形對輸出電壓進行斬波處理,從而為馬達繞組提供恒定電流。

與之相反的是,L/R技術旨在使施加到繞組的電壓保持恒定,而電流斬波的優勢在於它是一種非常高效、緊湊且經濟的解決方案,只會產生很少的熱量。然而,PWM訊號存在「邊際效應」:施加到步進馬達的調變訊號會產生音訊訊號,當PWM頻率落在音訊頻段時更加嚴重。在實驗時,確實很容易驗證步進馬達如何產生雜訊,即使當馬達停止或保持在某個位置時也是如此。這種現象主要在開關頻率低於20kHz時產生。

因此,不難推斷,降低雜訊的第一種方法是增加開關頻率。大多數斬波器驅動器都可以透過修改外部電阻器或電容器的值來增加開關頻率。其目的是改變用於電流調節的PWM訊號在關閉狀態下的持續時間,持續時間越短,開關頻率越高。

但是,頻率不必過高,因為超過一定限制,開關損耗也會增加。較恰當的開關頻率值在30~50kHz之間。如果這樣還不行,則可以減小施加到馬達繞組上的電流。實際上,較低的電流就意味著減少振動,當然雜訊也隨之降低。

不過,這種方法也會有邊際效應,那就是扭矩會降低。如果扭矩太低,將可能導致運轉失步。由於馬達是開路控制的,因此必須為馬達提供足以覆蓋其所有運轉條件的電流,即使是在最嚴酷的條件下。一個好的折衷辦法是在馬達停止期間減少電流。

通常,馬達保持位置所需的電流大大低於加速或以恒定速率轉動馬達所需的電流。實際上,所有步進馬達驅動器都可以透過修改類比參考電壓VREF來設置電流值。跳閘電流ITrip是外部RSENSE電阻和VREF參考電壓的函數。設計人員一旦選擇了RSENSE電阻,則運行時其值就固定了,因此可通過動態更改VREF來修改ITrip

如果需要進一步降低雜訊,則可在慢衰減模式(而不是快速或混合衰減模式)下運行馬達。這種模式最大程度地降低了驅動電流紋波,從而降低了雜訊並提高了驅動器效率。但是,慢衰減模式並不總是最佳解決方案,特別是在使用微步進技術時。

步進驅動器

整合型驅動器旨在為各種類型的應用提供簡單的配置和先進控制功能。而整合型編碼器選項則使步進馬達成為同步位置應用的最佳選擇。只要將線圈連接到功率電晶體,並將電晶體連接到控制電路,就可以驅動步進馬達了。

例如有刷直流馬達和步進馬達驅動器設計與製造業者Allegro MicroSystems,提供了一系列整合MOSFET閘極驅動器的安全可靠解決方案。該公司的完整的步進馬達驅動器A3982內建轉換器、易於操作,適用於低功率和大功率應用。A3982用於在全步和半步模式下執行雙極步進馬達,它可提供高達35V和±2A的輸出訊號。透過在STEP輸入接腳上施加訊號,可以選擇電流衰減模式(慢衰減或混合衰減),如圖1中的方塊圖所示。

在混合模式下,斬波控制最初設置為快速衰減模式,持續時間為固定關閉時間的31.25%,然後在其餘關閉時間內設置為慢衰減。這種電流衰減控制機制可降低可以聽到的馬達雜訊,提高步進精度並降低功耗。

1A3982方塊圖。(來源:Allegro MicroSystems

而轉換器的特性則大幅簡化了馬達控制系統的設計。只需在STEP輸入接腳上施加一個脈衝,馬達即被驅動一步,而無需相位序列表或高頻控制線。因此,在主微控制器不可用或負載過重的應用中,A3982是最佳選擇。

東芝電子零組件(Toshiba Electronic Devices and Storage Corp.; TDSC)也提供各種步進馬達驅動器。其TB67S128/249/279/289元件採用專有的主動增益控制(AGC)技術。AGC可以動態調整步進馬達的驅動電流,以因應大扭矩狀態,並在即時和開路設計中恢復正常電流值。AGC技術可顯著降低功耗,並減少或避免更複雜的閉路設計。

TB67S128/249/279/289FTG元件工作電壓為10V至42V,可分別提供5.0A、4.5A、2.0A和3.0A電流。這些元件還在一個象限中提供了32步和128步微步進功能,使其適用於廣泛的工業精密馬達控制應用(圖2)。

圖2:TB67S128馬達驅動器的典型應用。(來源:東芝電子)

結論

步進馬達具有簡單的結構並且易於控制。作為一種數位電子元件,步進馬達廣泛應用於各種開路控制系統。然而,其驅動電路和諧振機械結構所產生的雜訊會影響整體性能。大多數步進馬達應用都要求平穩的運轉。為了獲得流暢的運轉效果,設計者可以修改電壓、電流,或者更常見的是修改微步設置。

(本文同步刊登於《電子工程專輯》雜誌2020年11月號;參考原文: Noise Management for Stepper Motors)

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