CN101119092A - High subdivided integration type stepper motor driver - Google Patents

High subdivided integration type stepper motor driver Download PDF

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Publication number
CN101119092A
CN101119092A CNA2007100727745A CN200710072774A CN101119092A CN 101119092 A CN101119092 A CN 101119092A CN A2007100727745 A CNA2007100727745 A CN A2007100727745A CN 200710072774 A CN200710072774 A CN 200710072774A CN 101119092 A CN101119092 A CN 101119092A
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pwm signal
phase
output
segmentation
current
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CNA2007100727745A
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Chinese (zh)
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杨春玲
朱敏
李秀红
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Harbin Institute of Technology
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Harbin Institute of Technology
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Priority to CNA2007100727745A priority Critical patent/CN101119092A/en
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Abstract

The present invention discloses a high-subdivision integrated stepper motor that relates to the drive machine of stepper motor. The present invention overcomes the shortages of low resolving capability of angular elongation caused by low subdivision, low frequency vibration and desynchronizing. The present invention consists of a full-bridge PWM converter, a speed acceleration signal input device, a speed reducing signal input device, a rotate speed register, a CP pulse generator, a subdivision wave generator and a PWM signal generator. The speed accelerating signal input device and the speed reducing signal input device choose rotate speed through adding and subtraction of numbers and choose the CP pulse frequency and motor through rotate speed and the subdivision grades of phasing current sinusoidal waveform, the subdivision waveform generator output each phasing current sinusoidal waveform after divided by chosen subdivision grades according to the arriving frequency of CP pulse. Then each phase of PWM signal is formed. The above control circuit is formed on the basis of FPGA and the division of the sinusoidal waveform according to time order is from 16 to 4096.

Description

High subdivided integration type stepper motor driver
Technical field
The present invention relates to a kind of driver of stepping motor.
Background technology
That the control chip of stepper motor driver adopts at present is single-chip microcomputer or DSP, logical block is made up of discrete component, adopt software to control, thereby drive reliability is not high, there is electromagnetic interference, need to adopt interference protection measure, and software program crashes easily, though can make system restoration by " trap " is set, can cause expendable fault to transmission mechanism.Be subjected to the restriction of working frequency of chip and memory capacity in addition, the segmentation number of driver is not high, generally is 256 segmentations to the maximum, so cause stepping motor step angle resolution not high, has low-frequency oscillation and step-out phenomenon.Relation is very close between the rotating speed of stepper motor driver and the segmentation number, under same rotating speed, adopt different segmentation grades, there is different speed errors, though will segmenting number, present subdivision driver is divided into several different grades, the switching of segmentation grade, is not considered the speed error that different segmentation grades cause, thereby is caused the stepping motor positioning accuracy not high for setting by the people.More than the problem of Cun Zaiing has restricted the range of application of stepping motor.
Summary of the invention
The purpose of this invention is to provide a kind of high subdivided integration type stepper motor driver, not high and cause stepping motor step angle resolution not high with the segmentation number that overcomes existing stepper motor driver, there is the defective of low-frequency oscillation and step-out.It comprises full bridge PWM converter 1, it also comprises signal for faster loader 2, reduce-speed sign loader 3, rotating speed register 6, CP impulse generator 7, the selected device 8 of segmentation progression, segmentation waveform generator 9, A phase pwm signal maker 14, B phase pwm signal maker 15 and C be pwm signal maker 16 mutually, the input of rotating speed register 6 connects the output of signal for faster loader 2 and reduce-speed sign loader 3 to realize selecting by the number that adds deduct the output speed of motor, an output of rotating speed register 6 connects the input of CP impulse generator 7 to select the CP pulse frequency and to export the CP pulse by rotating speed, another output of rotating speed register 6 connects the selected device 8 of segmentation progression to select the sine-shaped segmentation grade of electric machine phase current by rotating speed, the output that two inputs of segmentation waveform generator 9 connect the output of CP impulse generator 7 and the selected device 8 of segmentation progression respectively reads ROM are deposited in the segmentation waveform generator 9 sine table data with the frequency that realizes arriving according to the CP pulse successively by the segmentation grade and it is exported as each reference phase current current waveform mutually, three outputs of segmentation waveform generator 9 connect A phase pwm signal maker 1 respectively, B phase pwm signal maker 15 and C mutually the input of pwm signal maker 16 to generate each phase pwm signal and to make each phase pwm signal phase phasic difference 120 degree, A phase pwm signal maker 14, the output of B phase pwm signal maker 15 and C phase pwm signal maker 16 is connected three control ends of full bridge PWM converter 1 respectively to realize the control to its PWM operational mode, described signal for faster loader 2, reduce-speed sign loader 3, rotating speed register 6, CP impulse generator 7, selected device 8 of segmentation progression and segmentation waveform generator 9 are realized in a slice FPGA inside, and the electric machine phase current sinusoidal waveform is sub-divided into classification automatically between 4096 segmentations by motor speed 16.
During drive operation of the present invention, the input of full bridge PWM converter 1 connects direct voltage, and A, B, C three-phase output end connect the input of stepping motor 17.Signal for faster loader 2, reduce-speed sign loader 3, rotating speed register 6, CP impulse generator 7, the selected device 8 of segmentation progression and segmentation waveform generator 9 all adopt the hardware logic electric circuit design, be integrated in the single fpga chip, finished the design of step motor control system each several part IP kernel, improve the reliability of system greatly, reduced design cost.Precision for pwm signal generation and current feedback signal reaches 14, has greatly improved control precision.The electric machine phase current sinusoidal waveform has been realized from 16 being sub-divided into ladder segmentation between 4096 segmentations, switches with the full-automatic segmentation grade of the minimum principle of velocity error, need not user intervention.Particularly the low-frequency oscillation problem that stepping motor exists has been eliminated in the segmentation of 4096 superelevation under low speed design, and the maximum step number during 1 commentaries on classics is 204800, and the step angle minimum is 0.00175 °, has improved the resolution of step angle
Improve system reliability and subdivision accuracy, reduce velocity error, velocity error has overcome the defective of prior art less than 0.01%.
Description of drawings
Fig. 1 is the structural representation of embodiment of the present invention one, and Fig. 2 is the structural representation of execution mode two, and Fig. 3 is execution mode three and four a structural representation.
Embodiment
Embodiment one: specify present embodiment below in conjunction with Fig. 1.Present embodiment is by full bridge PWM converter 1, signal for faster loader 2, reduce-speed sign loader 3, rotating speed register 6, CP impulse generator 7, the selected device 8 of segmentation progression, segmentation waveform generator 9, A phase pwm signal maker 14, B phase pwm signal maker 15 and C be pwm signal maker 16 mutually, the input of rotating speed register 6 connects the output of signal for faster loader 2 and reduce-speed sign loader 3 to realize selecting by the number that adds deduct the output speed of motor, an output of rotating speed register 6 connects the input of CP impulse generator 7 to select the CP pulse frequency and to export the CP pulse by rotating speed, another output of rotating speed register 6 connects the selected device 8 of segmentation progression to select the sine-shaped segmentation grade of electric machine phase current by rotating speed, two inputs of segmentation waveform generator 9 connect the frequency of output to realize arriving according to the CP pulse of the output and the selected device 8 of segmentation progression of CP impulse generator 7 respectively, read ROM are deposited in the segmentation waveform generator 9 sine table data successively and with the reference phase current current waveform of its output by the segmentation grade as each phase, three outputs of segmentation waveform generator 9 connect A phase pwm signal maker 1 respectively, B phase pwm signal maker 15 and C mutually the input of pwm signal maker 16 to generate each phase pwm signal and to make each phase pwm signal phase phasic difference 120 degree, A phase pwm signal maker 14, the output of B phase pwm signal maker 15 and C phase pwm signal maker 16 is connected three control ends of full bridge PWM converter 1 respectively to realize the control to its PWM operational mode, described signal for faster loader 2, reduce-speed sign loader 3, rotating speed register 6, CP impulse generator 7, selected device 8 of segmentation progression and segmentation waveform generator 9 are sine-shaped by being sub-divided into classification automatically between 4096 segmentations by motor speed 16 based on FPGA realization and electric machine phase current.
Segmentation waveform generator 9 produces the CP signal of corresponding frequency according to the rotating speed of input, realizes the speed control to stepping motor, and what adopt in the design is speed open loop control.Different rotating speeds is the CP pulse frequency difference of correspondence down, therefore wants the value of renewal speed register when changing rotating speed.It is 1024 that the inner example of FPGA has been changed a degree of depth, and width is the BLOCK ROM of 18 single port, a CP pulse frequency of initialization tables of data among the ROM.The address setting of tables of data is a rotating speed of motor, and the data of address correspondence are segmentation grade and the CP pulse frequencies under this rotating speed, high 4 the best segmentation grades of storing under the speed for this reason of data, and low 14 is the frequency of CP pulse.Therefore, for each tach signal, obtain corresponding pulse frequency data by tabling look-up, with the limit value of this numerical value as counter, inner counter is that initial value subtracts counting with this limit value, subtract counting at every turn after, compare with predefined minimum value, when both were equal, counting overflowed, and promptly produced a CP pulse.The initial value of ROM is the sinusoidal data of 4096 segmentation back one-periods, the amplitude of sine table is by the maximum rated current decision of drive system, the amplitude of the given electric current of output is regulated according to the external user input current value, and the Current Regulation precision is 18, and discretization error is 0.00003A.After capturing the CP pulse, three phase winding corresponding address data according to providing successively can check in the three phase winding load current values of setting in the sine table, and upgrade three given data registers simultaneously, according to the current value of input, given electric current are regulated.Sine table of the given current sharing of three phase windings, the three-phase winding current is followed the principle of 120 ° of mutual deviations.The each increment of the address date of three phase windings is determined by the segmentation of the best under given speed grade.
Embodiment two: specify present embodiment below in conjunction with Fig. 2.The difference of present embodiment and execution mode one is that it also comprises turn signal loader 4, multidiameter option switch 10 and current signal loader 5, the output of current signal loader 5 connects another input of segmentation waveform generator 9 to realize the adjustment to electric machine phase current sinusoidal waveform amplitude in the segmentation waveform generator 9, the output of turn signal loader 4 connects the control end of multidiameter option switch 10, and multidiameter option switch 10 is arranged on from segmentation waveform generator 9 to A phase pwm signal makers 10, on any two output channels between B phase pwm signal maker 11 and the C phase pwm signal maker 12 on three output channels to realize finishing the change of motor direction of rotation by changing phase sequence.Segmentation waveform generator 9 captures after the CP pulse current amplitude according to input and produces with turn signal and best segmentation grade and segment the given sinusoidal current of the self-regulating three-phase of number.Can certainly by in segmentation waveform generator 9 with reverse look-up table realize A phase pwm signal, B phase pwm signal and C mutually the change of pwm signal phase sequence finish the selection of motor direction of rotation, with replacement multidiameter option switch 10.Oppositely look-up table is meant when stepping motor and turns to when needing to change, and the address counter countdown of CP pulse frequency tables of data, oppositely looks into the address, commutates realizing thereby change the sense of current.
Adopt the FPGA of the XC3S400-4PQ208C model of Xilinx company to make up the Stepping Motor Control system in the present embodiment, all controls of stepping motor all are integrated on a slice fpga chip, realize that stepping motor digital hardware circuit integrated form controls.
Embodiment three: specify present embodiment below in conjunction with Fig. 3.The difference of present embodiment and execution mode one is that it comprises that also 18, three photoelectrical couplers 18 of three photoelectrical couplers are separately positioned between the control end of the output of A phase pwm signal maker 14, B phase pwm signal maker 15 and C phase pwm signal maker 16 and full bridge PWM converter 1.Present embodiment makes control circuit (low-pressure side) and main circuit (high-pressure side) electrical isolation, has solved the suffered electromagnetic interference of stepper motor driver control section.Output is the main thoroughfare that interference source enters system, and control system is a light current control forceful electric power, during the controlling object running, usually produce very strong electromagnetic interference, do not isolated as output port, interference will enter the systems control division branch, cause system exception, even can not use.Photoelectrical coupler is a core devices of realizing that electricity is isolated, and for satisfying the requirement of response speed, the present invention has selected 3 high speed two-way photoelectrical coupler HCPL2631 for use.
Embodiment four: specify present embodiment below in conjunction with Fig. 3.The difference of present embodiment and execution mode one is: it also comprises two Hall current sensors 19; voltage follow and limiter protection circuit 20; A/D change-over circuit 21; level shifting circuit 22 and current regulating circuit 23; two Hall current sensors 19 are arranged on full bridge PWM converter 1 and export on any two-phase of three-phase current to gather electric current; the output of two Hall current sensors 19 connects two inputs of voltage follow and limiter protection circuit 20 respectively; the output of voltage follow and limiter protection circuit 20 connects the input of A/D change-over circuit 21; the output of A/D change-over circuit 21 connects the input of level shifting circuit 22; the output of level shifting circuit 22 connects the input of current regulating circuit 23; other three inputs of current regulating circuit 23 connect three outputs that segment waveform generator 9 respectively, and three outputs of current regulating circuit 23 connect A phase pwm signal maker 14 respectively; B phase pwm signal maker 15 and C be the input of pwm signal maker 16 mutually.
Present embodiment adopts Hall current sensor to carry out current sampling, and the third phase phase current utilizes Kirchhoff's current law (KCL) to calculate according to other two-phase phase current data.Adopt Hall element not only can obtain complete and the precise current sampled signal, and can make main circuit and control circuit carry out electrical isolation, thereby improve the reliability of driver.The Hall current sensor that adopts is magnetic balance type Hall current sensor CHB-25NP, and it has outstanding precision, good linearty, and low temperature floats and characteristics such as the reaction time is fast.A/D change-over circuit 21 is selected the AD1674 of U.S. AD company for use.
Hall current sensor 19, voltage follow and limiter protection circuit 20, A/D change-over circuit 21, level shifting circuit 22 are formed current feedback circuit; gather and calculate the three-phase feedback current; the given electric current of exporting with segmentation waveform generator 8 in current regulating circuit 23 of three-phase subtracts each other then, obtains the modulation wave signal of PWM pulse-width modulation after the adjusting.Feedback circuit can stabling current and rotating speed.
Embodiment five: the difference of present embodiment and execution mode four is: adopt PID regulative mode or PI regulative mode in the current regulating circuit 23.

Claims (5)

1. high subdivided integration type stepper motor driver, it comprises full bridge PWM converter (1), it is characterized in that it also comprises signal for faster loader (2), reduce-speed sign loader (3), rotating speed register (6), CP impulse generator (7), the selected device (8) of segmentation progression, segmentation waveform generator (9), A phase pwm signal maker (14), B phase pwm signal maker (15) and C be pwm signal maker (16) mutually, the input of rotating speed register (6) connects the output of signal for faster loader (2) and reduce-speed sign loader (3) to realize selecting by the number that adds deduct the output speed of motor, an output of rotating speed register (6) connects the input of CP impulse generator (7) to select the CP pulse frequency and to export the CP pulse by rotating speed, another output of rotating speed register (6) connects the selected device (8) of segmentation progression to select the sine-shaped segmentation grade of electric machine phase current by rotating speed, two inputs of segmentation waveform generator (9) connect the frequency of output to realize arriving according to the CP pulse of the output and the selected device (8) of segmentation progression of CP impulse generator (7) respectively, read segmentation waveform generator (9) the sine table data that interior ROM deposited successively and it is exported reference phase current current waveform as each phase by the segmentation grade, three outputs of segmentation waveform generator (9) connect A phase pwm signal maker (1) respectively, B phase pwm signal maker (15) and C mutually the input of pwm signal maker (16) to generate each phase pwm signal and to make each phase pwm signal phase phasic difference 120 degree, A phase pwm signal maker (14), the output of B phase pwm signal maker (15) and C phase pwm signal maker (16) is connected three control ends of full bridge PWM converter (1) respectively to realize the control to its PWM operational mode, described signal for faster loader (2), reduce-speed sign loader (3), rotating speed register (6), CP impulse generator (7), selected device (8) of segmentation progression and segmentation waveform generator (9) are realized based on FPGA and sine-shaped the division in chronological order from 16 of electric machine phase current is sub-divided into ladder classification between 4096 segmentations.
2. high subdivided integration type stepper motor driver according to claim 1, it is characterized in that it also comprises turn signal loader (4), multidiameter option switch (10) and current signal loader (5), the output of current signal loader (5) connects another input of segmentation waveform generator (9) to realize the adjustment to electric machine phase current sinusoidal waveform amplitude in the segmentation waveform generator (9), the output of turn signal loader (4) connects the control end of multidiameter option switch (10), and multidiameter option switch (10) is arranged on from segmentation waveform generator (9) to A phase pwm signal maker (10), on any two output channels between B phase pwm signal maker (11) and the C phase pwm signal maker (12) on three output channels to realize finishing the change of motor direction of rotation by changing phase sequence.
3. high subdivided integration type stepper motor driver according to claim 1, it is characterized in that it also comprises three photoelectrical couplers (18), three photoelectrical couplers (18) are separately positioned between the control end of the output of A phase pwm signal maker (14), B phase pwm signal maker (15) and C phase pwm signal maker (16) and full bridge PWM converter (1).
4. high subdivided integration type stepper motor driver according to claim 1; it is characterized in that it also comprises two Hall current sensors (19); voltage follow and limiter protection circuit (20); A/D change-over circuit (21); level shifting circuit (22) and current regulating circuit (23); two Hall current sensors (19) are arranged on full bridge PWM converter (1) and export on any two-phase of three-phase current to gather electric current; the output of two Hall current sensors (19) connects two inputs of voltage follow and limiter protection circuit (20) respectively; the output of voltage follow and limiter protection circuit (20) connects the input of A/D change-over circuit (21); the output of A/D change-over circuit (21) connects the input of level shifting circuit (22); the output of level shifting circuit (22) connects the input of current regulating circuit (23); other three inputs of current regulating circuit (23) connect three outputs of segmentation waveform generator (9) respectively, and three outputs of current regulating circuit (23) connect A phase pwm signal maker (14) respectively; B phase pwm signal maker (15) and C be the input of pwm signal maker (16) mutually.
5. high subdivided integration type stepper motor driver according to claim 4 is characterized in that adopting in the current regulating circuit (23) PID regulative mode or PI regulative mode.
CNA2007100727745A 2007-09-06 2007-09-06 High subdivided integration type stepper motor driver Pending CN101119092A (en)

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101969291A (en) * 2010-10-28 2011-02-09 哈尔滨工业大学 System-on-chip driver of high-subdivision multi-path stepping motor
CN102025305A (en) * 2010-12-07 2011-04-20 南京邮电大学 Hall phase sequence detecting method and device of brushless direct-current motor
CN102545750A (en) * 2010-12-13 2012-07-04 北京北方微电子基地设备工艺研究中心有限责任公司 Control method and control device of stepping motor, matcher and plasma processing device
CN102843083A (en) * 2012-09-18 2012-12-26 天津市亚安科技股份有限公司 Method for controlling stepper motor current
CN102931900A (en) * 2012-11-16 2013-02-13 上海宇航***工程研究所 High-reliability driving controller for two-phase stepping motor
CN103001563A (en) * 2012-11-28 2013-03-27 天津市亚安科技股份有限公司 Driving method for vertical motor of tripod head
CN103414409A (en) * 2013-08-14 2013-11-27 浙江工业大学 Stepping motor pre-subdivision driving method based on curve fitting
CN103701376A (en) * 2013-11-25 2014-04-02 嘉兴中润微电子有限公司 Current attenuation mode control circuit of motor drive chip
CN104309321A (en) * 2014-11-13 2015-01-28 宁夏中远天宇科技有限公司 Electronic control system of marking machines of crossed rod supporting base marks of wagons
CN105375839A (en) * 2015-11-13 2016-03-02 余家昌 Current control method and apparatus for stepper motor
CN107508511A (en) * 2017-08-24 2017-12-22 广东顺德工业设计研究院(广东顺德创新设计研究院) The plus/minus speed control method and device of stepper motor
CN107800339A (en) * 2017-11-24 2018-03-13 中国科学院长春光学精密机械与物理研究所 A kind of step motor control system based on constant current chopper subdivision
CN108092576A (en) * 2016-11-23 2018-05-29 扬州汉龙电气有限公司 A kind of micro-stepping driving of stepping motor system
CN108549293A (en) * 2018-05-18 2018-09-18 东南大学 A kind of micro-nano probe batch preparation facilities that structural parameters are controllable and method
CN109140392A (en) * 2018-09-19 2019-01-04 广州市雅江光电设备有限公司 One kind is surd control method for eliminating rotating pattern disk gear ratio
CN110927922A (en) * 2019-12-19 2020-03-27 中国科学院长春光学精密机械与物理研究所 Device and method for rapidly switching multiplying power of optical system
CN111030526A (en) * 2019-12-13 2020-04-17 苏州智感电子科技有限公司 Motor driving method and system
CN111162703A (en) * 2020-01-21 2020-05-15 追觅科技(上海)有限公司 Stepping motor control method, stepping motor control device and storage medium
CN113258840A (en) * 2021-06-08 2021-08-13 江西有为生物技术有限公司 Stepping motor control system and method

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101969291A (en) * 2010-10-28 2011-02-09 哈尔滨工业大学 System-on-chip driver of high-subdivision multi-path stepping motor
CN102025305B (en) * 2010-12-07 2012-09-26 南京邮电大学 Hall phase sequence detecting method and device of brushless direct-current motor
CN102025305A (en) * 2010-12-07 2011-04-20 南京邮电大学 Hall phase sequence detecting method and device of brushless direct-current motor
CN102545750B (en) * 2010-12-13 2014-09-24 北京北方微电子基地设备工艺研究中心有限责任公司 Control method and control device of stepping motor, matcher and plasma processing device
CN102545750A (en) * 2010-12-13 2012-07-04 北京北方微电子基地设备工艺研究中心有限责任公司 Control method and control device of stepping motor, matcher and plasma processing device
CN102843083A (en) * 2012-09-18 2012-12-26 天津市亚安科技股份有限公司 Method for controlling stepper motor current
CN102843083B (en) * 2012-09-18 2015-06-03 天津市亚安科技股份有限公司 Method for controlling stepper motor current
CN102931900A (en) * 2012-11-16 2013-02-13 上海宇航***工程研究所 High-reliability driving controller for two-phase stepping motor
CN103001563A (en) * 2012-11-28 2013-03-27 天津市亚安科技股份有限公司 Driving method for vertical motor of tripod head
CN103001563B (en) * 2012-11-28 2016-08-17 天津市亚安科技有限公司 A kind of driving method of The Cloud Terrace motor vertical
CN103414409A (en) * 2013-08-14 2013-11-27 浙江工业大学 Stepping motor pre-subdivision driving method based on curve fitting
CN103701376A (en) * 2013-11-25 2014-04-02 嘉兴中润微电子有限公司 Current attenuation mode control circuit of motor drive chip
CN104309321A (en) * 2014-11-13 2015-01-28 宁夏中远天宇科技有限公司 Electronic control system of marking machines of crossed rod supporting base marks of wagons
CN105375839A (en) * 2015-11-13 2016-03-02 余家昌 Current control method and apparatus for stepper motor
CN108092576A (en) * 2016-11-23 2018-05-29 扬州汉龙电气有限公司 A kind of micro-stepping driving of stepping motor system
CN107508511A (en) * 2017-08-24 2017-12-22 广东顺德工业设计研究院(广东顺德创新设计研究院) The plus/minus speed control method and device of stepper motor
CN107508511B (en) * 2017-08-24 2019-10-18 广东顺德工业设计研究院(广东顺德创新设计研究院) The plus/minus speed control method and device of stepper motor
CN107800339A (en) * 2017-11-24 2018-03-13 中国科学院长春光学精密机械与物理研究所 A kind of step motor control system based on constant current chopper subdivision
CN108549293A (en) * 2018-05-18 2018-09-18 东南大学 A kind of micro-nano probe batch preparation facilities that structural parameters are controllable and method
CN108549293B (en) * 2018-05-18 2021-06-11 东南大学 Device and method for preparing micro-nano probes with controllable morphology parameters in batch
CN109140392A (en) * 2018-09-19 2019-01-04 广州市雅江光电设备有限公司 One kind is surd control method for eliminating rotating pattern disk gear ratio
CN109140392B (en) * 2018-09-19 2020-08-18 广州市雅江光电设备有限公司 Control method for eliminating irrational gear ratio of rotating pattern disc
CN111030526A (en) * 2019-12-13 2020-04-17 苏州智感电子科技有限公司 Motor driving method and system
CN111030526B (en) * 2019-12-13 2021-06-25 苏州智感电子科技有限公司 Motor driving method and system
CN110927922A (en) * 2019-12-19 2020-03-27 中国科学院长春光学精密机械与物理研究所 Device and method for rapidly switching multiplying power of optical system
CN111162703A (en) * 2020-01-21 2020-05-15 追觅科技(上海)有限公司 Stepping motor control method, stepping motor control device and storage medium
CN111162703B (en) * 2020-01-21 2021-12-31 追觅科技(上海)有限公司 Stepping motor control method, stepping motor control device and storage medium
CN113258840A (en) * 2021-06-08 2021-08-13 江西有为生物技术有限公司 Stepping motor control system and method

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