CN101119092A - High subdivided integration type stepper motor driver - Google Patents
High subdivided integration type stepper motor driver Download PDFInfo
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- 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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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
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.
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.
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Cited By (19)
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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 |
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CN103414409A (en) * | 2013-08-14 | 2013-11-27 | 浙江工业大学 | Stepping motor pre-subdivision driving method based on curve fitting |
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CN105375839A (en) * | 2015-11-13 | 2016-03-02 | 余家昌 | Current control method and apparatus for stepper motor |
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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 |
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2007
- 2007-09-06 CN CNA2007100727745A patent/CN101119092A/en active Pending
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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 |
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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 |
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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 |
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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 |
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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 |
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