CN108282119A - A kind of two-phase stepping motor driver and its current sample method - Google Patents
A kind of two-phase stepping motor driver and its current sample method Download PDFInfo
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- CN108282119A CN108282119A CN201810109297.3A CN201810109297A CN108282119A CN 108282119 A CN108282119 A CN 108282119A CN 201810109297 A CN201810109297 A CN 201810109297A CN 108282119 A CN108282119 A CN 108282119A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/12—Control or stabilisation of current
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Abstract
The embodiment of the invention discloses a kind of two-phase stepping motor driver and its current sample method, two-phase stepping motor driver is connect with stepper motor and ADC sampling modules, and two-phase stepping motor driver includes a circuit board, is provided on the circuit board：Drive control circuit and amplifier circuit；The drive control circuit samples the A phases of stepper motor and positive charge electric current, the reverse charging electric current of B phases respectively, and exports A phase two-way sampled signals and B phase two-way sampled signals；Amplifier circuit is amplified to A phase two-way sampled signals and ADC sampling modules are given in output after summation operation；B phase two-way sampled signals are amplified and output is handled to ADC sampling modules after summation operation.By dividing two-way sampling that no dead zone sampling may be implemented, sample precision is improved by amplifying summation, it is relatively low to solve the sample precision of the current sample of existing two-phase stepping motor, there are problems that sampling dead zone.
Description
Technical field
The present invention relates to Motor Control Field more particularly to a kind of two-phase stepping motor driver and its current sample sides
Method.
Background technology
In the control of existing stepper motor driver, mainly realize the operation of motor by controlling electric current, then it is electric
Stream sampling is particularly critical.For two-phase stepping motor, at present generally use current sensor or double resistance sampling modes into
Row sampling.It is sampled using current sensor, of high cost but sample precision is not high.And using double resistance samplings, i.e., each phase is only
One is connect to ground resistance, can also have sampling dead zone, need to sacrifice certain PWM duty cycle so that the utilization rate of PWM duty cycle
It can only accomplish 90% or so, therefore contribute on motor high speed and generate certain influence.
Invention content
In view of the above technical problems, an embodiment of the present invention provides a kind of two-phase stepping motor driver and its current samples
There is sampling dead zone to solve the problem of that the sample precision of the current sample of existing two-phase stepping motor is relatively low in method.
The embodiment of the present invention provides a kind of two-phase stepping motor driver, is connect with stepper motor and ADC sampling modules, wraps
A circuit board is included, is provided on the circuit board：Drive control circuit and amplifier circuit；
The drive control circuit to the positive charge electric current of the A phases of stepper motor and B phases, reverse charging electric current respectively into
Row sampling, and export A phase two-way sampled signals and B phase two-way sampled signals；Amplifier circuit to A phase two-way sampled signals into
ADC sampling modules are given in output after row amplification and summation operation；B phase two-way sampled signals are amplified and are exported after summation operation
It is handled to ADC sampling modules.
Optionally, in the two-phase stepping motor driver, the drive control circuit includes A phases full-bridge modules and B
Phase full-bridge modules；
The A phases full-bridge modules are according to A phase PWM drive signals, a pair sampling resistor in stepper motor A phase positive charges
Electric current sampled, obtain A the first sampled signals of phase；The electric current of another sampling resistor is adopted in A phase reverse chargings
Sample obtains A the second sampled signals of phase；The first sampled signal of A phases and the second sampled signal of A phases are transferred to amplifier circuit；
The B phases full-bridge modules are according to B phase PWM drive signals, a pair sampling resistor in stepper motor B phase positive charges
Electric current sampled, obtain B the first sampled signals of phase；The electric current of another sampling resistor is adopted in B phase reverse chargings
Sample obtains B the second sampled signals of phase；The first sampled signal of B phases and the second sampled signal of B phases are transferred to amplifier circuit.
Optionally, in the two-phase stepping motor driver, the amplifier circuit includes that A phases amplify summation module
Amplify summation module with B phases；
The A phases are amplified summation module and are amplified simultaneously to the electric current of the second sampled signal of the first sampled signal of A phases and A phases
Make summation operation, obtains output after A phase currents and give ADC sampling modules；
The B phases are amplified summation module and are amplified simultaneously to the electric current of the second sampled signal of the first sampled signal of B phases and B phases
Make summation operation, obtains output after B phase currents and give ADC sampling modules.
Optionally, in the two-phase stepping motor driver, it includes A on the contrary to amplification that the A phases, which amplify summation module,
Unit and A phases are summed amplifying unit；
The A on the contrary respectively puts the electric current of the second sampled signal of the first sampled signal of A phases and A phases to amplifying unit
The reversed amplification that big multiple is -1 times；
The A phases sum amplifying unit to the electricity of reversed amplified the first sampled signal of A phases and the second sampled signal of A phases
After stream summation, to be amplified multiple again be 6 times of amplification, after obtaining A phase currents output give ADC sampling modules.
Optionally, in the two-phase stepping motor driver, the B phases amplify summation module include B on the contrary to
Amplifying unit and B phases are summed amplifying unit；
The B on the contrary respectively puts the electric current of the second sampled signal of the first sampled signal of B phases and B phases to amplifying unit
The reversed amplification that big multiple is -1 times；
The B phases sum amplifying unit to the electricity of reversed amplified the first sampled signal of B phases and the second sampled signal of B phases
After stream summation, to be amplified multiple again be 6 times of amplification, after obtaining B phase currents output give ADC sampling modules.
Optionally, in the two-phase stepping motor driver, the A phases full-bridge modules include：First metal-oxide-semiconductor, second
Metal-oxide-semiconductor, third metal-oxide-semiconductor, the 4th metal-oxide-semiconductor, first resistor, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, the 6th electricity
Resistance, the 7th resistance, the 8th resistance, the 9th resistance, the tenth resistance, the first capacitance and the second capacitance；
The drain electrode of drain electrode the second metal-oxide-semiconductor of connection of first metal-oxide-semiconductor and power end, the grid connection the of the first metal-oxide-semiconductor
One end of one resistance and one end of second resistance, the first output end of the other end connection A phase PWM drive signals of second resistance；
The other end of first resistor connects the drain electrode of the source electrode, third metal-oxide-semiconductor of the first metal-oxide-semiconductor and the A phase anodes of stepper motor；Described
The other end connection A phases PWM of one end of one end and the 4th resistance of the grid connection 3rd resistor of two metal-oxide-semiconductors, the 4th resistance drives
The second output terminal of dynamic signal；The other end of 3rd resistor connects the drain electrode and stepping of the source electrode, the 4th metal-oxide-semiconductor of the second metal-oxide-semiconductor
The A phase cathode of motor；The grid of the third metal-oxide-semiconductor connects one end of one end and the 6th resistance of the 5th resistance, the 6th resistance
The other end connection A phase PWM drive signals third output end；The source electrode of the other end connection third metal-oxide-semiconductor of 5th resistance, the
Amplify summation module with A phases in one end of seven resistance；The other end of 7th resistance is grounded, the first capacitance and the 7th resistor coupled in parallel；Institute
One end of one end and the 9th resistance of grid the 8th resistance of connection of the 4th metal-oxide-semiconductor is stated, the other end of the 9th resistance connects A phases
4th output end of PWM drive signal；The other end of 8th resistance connects the source electrode of the 4th metal-oxide-semiconductor, one end of the tenth resistance and A
Mutually amplification summation module；The other end of tenth resistance is grounded, the second capacitance and the tenth resistor coupled in parallel.
Optionally, in the two-phase stepping motor driver, the B phases full-bridge modules include the 5th metal-oxide-semiconductor, the 6th
Metal-oxide-semiconductor, the 7th metal-oxide-semiconductor, the 8th metal-oxide-semiconductor, eleventh resistor, twelfth resistor, thirteenth resistor, the 14th resistance, the 15th
Resistance, the 16th resistance, the 17th resistance, the 18th resistance, the 19th resistance, the 20th resistance, third capacitance and the 4th electricity
Hold；
The drain electrode of drain electrode the 6th metal-oxide-semiconductor of connection of 5th metal-oxide-semiconductor and power end, the grid connection the of the 5th metal-oxide-semiconductor
One end of 11 resistance and one end of twelfth resistor, the first of the other end connection B phase PWM drive signals of twelfth resistor are defeated
Outlet；The drain electrode of the source electrode, the 7th metal-oxide-semiconductor of the other end the 5th metal-oxide-semiconductor of connection of eleventh resistor and the B phases of stepper motor are just
Pole；6th metal-oxide-semiconductor grid connection thirteenth resistor one end and the 14th resistance one end, the 14th resistance it is another
The second output terminal of end connection B phase PWM drive signals；The other end of thirteenth resistor connects the source electrode of the 6th metal-oxide-semiconductor, the 8th
The drain electrode of metal-oxide-semiconductor and the B phase cathode of stepper motor；The grid of 7th metal-oxide-semiconductor connects one end and the tenth of the 15th resistance
One end of six resistance, the third output end of the other end connection B phase PWM drive signals of the 16th resistance；15th resistance it is another
One end connects the source electrode of the 7th metal-oxide-semiconductor, summation module is amplified in one end of the 17th resistance with B phases；The other end of 17th resistance
Ground connection, third capacitance and the 17th resistor coupled in parallel；The grid of 8th metal-oxide-semiconductor connects one end and the 19th of the 18th resistance
One end of resistance, the 4th output end of the other end connection B phase PWM drive signals of the 19th resistance；18th resistance it is another
Summation module is amplified in the source electrode of the 8th metal-oxide-semiconductor of end connection, one end of the 20th resistance with B phases；Another termination of 20th resistance
Ground, the 4th capacitance and the 20th resistor coupled in parallel.
Optionally, in the two-phase stepping motor driver, the A includes on the contrary the first amplifier, the to amplifying unit
Two amplifiers, the first diode, the second diode, third diode, the 4th diode, the 21st resistance, the 22nd resistance,
23rd resistance and the 24th resistance；The inverting input of first amplifier connects one end of the 21st resistance, the
The cathode of one end of 22 resistance and the first diode；The source electrode of the other end connection third metal-oxide-semiconductor of 22nd resistance, the
The other ends of 21 resistance connects the anode of the second diode and A phases are summed amplifying unit, the output end of the first amplifier connect
The anode of first diode and the cathode of the second diode, the in-phase input end ground connection of the first amplifier；Second amplifier it is anti-
The cathode of one end of phase input terminal the 23rd resistance of connection, one end and third diode of the 24th resistance；24th
The other end of resistance connects the source electrode of the 4th metal-oxide-semiconductor, and the other end of the 23rd resistance connects the anode and A phases of the 4th diode
Summation amplifying unit, the cathode of the anode and the 4th diode of the output end connection third diode of the second amplifier, the second amplifier
In-phase input end ground connection.
Optionally, in the two-phase stepping motor driver, A phases amplifying unit of summing includes third amplifier,
Four high guaily unit, the 25th resistance, the 26th resistance, the 27th resistance, the 28th resistance, the 29th resistance, third
Ten resistance, the first protection pipe, the 5th capacitance and the 6th capacitance；The inverting input of the third amplifier connects the 25th resistance
One end and the 26th resistance one end, the other end of the 26th resistance connects the anode of the second diode；25th
The adc circuit of the output end of the other end connection third amplifier of resistance, the cathode and A phases of the first protection pipe；First protection pipe
Plus earth, one end of one end and the 28th resistance of in-phase input end the 27th resistance of connection of third amplifier, second
The other end of 18 resistance connects the anode of the 4th diode, the output end of the other end connection four high guaily unit of the 27th resistance
With the inverting input of four high guaily unit；The in-phase input end of four high guaily unit U4 connects one end of the 29th resistance, the 30th electricity
One end of one end of resistance and the 6th capacitance；The other end connection feeder ear of 29th resistance also passes through the 5th capacity earth；The
The other end of 30 resistance connects the other end and ground of the 6th capacitance.
Second aspect of the embodiment of the present invention provides a kind of current sample using the two-phase stepping motor driver
Method, including：
Step A, drive control circuit distinguishes the A phases of stepper motor and positive charge electric current, the reverse charging electric current of B phases
It is sampled, and exports A phase two-way sampled signals and B phase two-way sampled signals；
Step B, amplifier circuit is amplified A phase two-way sampled signals and output is sampled to ADC after summation operation
Module, is amplified B phase two-way sampled signals and output is handled to ADC sampling modules after summation operation.
In technical solution provided in an embodiment of the present invention, two-phase stepping motor driver samples mould with stepper motor and ADC
Block connects, and two-phase stepping motor driver includes a circuit board, is provided on the circuit board：Drive control circuit and sampling are put
Big circuit；The drive control circuit to the positive charge electric current of the A phases of stepper motor and B phases, reverse charging electric current respectively into
Row sampling, and export A phase two-way sampled signals and B phase two-way sampled signals；Amplifier circuit to A phase two-way sampled signals into
ADC sampling modules are given in output after row amplification and summation operation；B phase two-way sampled signals are amplified and are exported after summation operation
It is handled to ADC sampling modules.By dividing two-way sampling that no dead zone sampling may be implemented, sampling is improved by amplifying summation
Accuracy, it is relatively low to solve the sample precision of the current sample of existing two-phase stepping motor, there is asking for sampling dead zone
Topic.
Description of the drawings
Fig. 1 is the structure diagram of two-phase stepping motor driver in the embodiment of the present invention.
Fig. 2 is the circuit diagram of drive control circuit in two-phase stepping motor driver in the embodiment of the present invention.
Fig. 3 is the circuit diagram of amplifier circuit in two-phase stepping motor driver in the embodiment of the present invention.
Fig. 4 is the current sample method flow diagram of two-phase stepping motor driver in the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.This hair
Embodiment in bright, the every other embodiment that those skilled in the art are obtained without creative efforts,
It shall fall within the protection scope of the present invention.
Referring to Fig. 1, the two-phase stepping motor driver provided in the embodiment of the present invention includes a circuit board, the circuit
Drive control circuit 10 and amplifier circuit 20 are provided on plate；A phase and B of the drive control circuit 10 to stepper motor
Positive charge electric current, the reverse charging electric current of phase are sampled respectively, and export A phase two-way sampled signals and the sampling of B phase two-way
Signal.Amplifier circuit 20 is amplified to A phase two-way sampled signals and ADC sampling modules are given in output after summation operation；To B
Phase two-way sampled signal is amplified and output is handled to ADC sampling modules after summation operation.
It is to be appreciated that the present embodiment only illustrates improvement and increased partial circuit in two-phase stepping motor driver,
Other circuits, such as MCU generate the circuit of PWM drive signal, and ADC sampling modules are the prior art, do not make to it herein in detail
It states.
The drive control circuit 10 includes A phases full-bridge modules 110 and B phases full-bridge modules 120；The A phases full-bridge modules
The output end of 110 connection A phase PWM drive signals, the both ends of stepper motor A phases and amplifier circuit 20；The B phases full-bridge mould
Block 110 connects the output end of B phase PWM drive signals, the both ends of stepper motor B phases and amplifier circuit 20；The A phases full-bridge
Module 110 is according to A phase PWM drive signals, and in stepper motor A phase positive charges, the electric current of a pair sampling resistor samples,
Obtain A the first sampled signals of phase；The electric current of another sampling resistor is sampled in A phase reverse chargings, A phases second is obtained and adopts
Sample signal；The first sampled signal of A phases and the second sampled signal of A phases are transferred to amplifier circuit 20.The B phases full-bridge modules
120 according to B phase PWM drive signals, and in stepper motor B phase positive charges, the electric current of a pair sampling resistor samples, and obtain B
The first sampled signal of phase；The electric current of another sampling resistor is sampled in B phase reverse chargings, B phases second is obtained and samples letter
Number；The first sampled signal of B phases and the second sampled signal of B phases are transferred to amplifier circuit 20.
The amplifier circuit 20 amplifies summation module 210 including A phases and amplifies summation module 220 with B phases；The A phases
Amplify summation module 210 and connect A phases full-bridge modules 110 and ADC sampling modules, B phases amplify summation module 220 and connect B phase full-bridges
Module 120 and ADC sampling modules.The A phases amplify summation module 210 to the second sampled signal of the first sampled signal of A phases and A phases
Electric current be amplified and make summation operation, obtain output after A phase currents and give ADC sampling modules；B phases amplify summation module 220
It is amplified and is made summation operation to the electric current of the second sampled signal of the first sampled signal of B phases and B phases, is obtained defeated after B phase currents
Go out and gives ADC sampling modules.
In further embodiment, the A phases amplify summation module 210 and sum on the contrary to amplifying unit 211 with A phases including A
Amplifying unit 212；The A connects A phases full-bridge modules 110 and A phases to amplifying unit 211 on the contrary and sums amplifying unit 212, A phases
Amplifying unit 212 of summing connects ADC sampling modules.The A is on the contrary to amplifying unit 211 respectively to the first sampled signal of A phases and A
The electric current of the second sampled signal of phase is amplified the reversed amplification that multiple is -1 times；A phases sum amplifying unit 212 to reversely amplifying
It is amplified the amplification that multiple is 6 times again after the electric current summation of the second sampled signal of the first sampled signal of A phases and A phases afterwards, obtains
ADC sampling modules are given in output after to A phase currents.
It includes that B sums amplifying unit 222 to amplifying unit 221 and B phases on the contrary that the B phases, which amplify summation module 220,；It is described
B connects B phases full-bridge modules 120 and B phases to amplifying unit 221 on the contrary and sums amplifying unit 222, and B phases are summed the company of amplifying unit 222
Connect ADC sampling modules.The B is on the contrary to amplifying unit 221 respectively to the second sampled signal of the first sampled signal of B phases and B phases
Electric current is amplified the reversed amplification that multiple is -1 times；B phases sum amplifying unit 222 to the reversed amplified sampling of B phases first
It is amplified the amplification that multiple is 6 times again after the electric current summation of the second sampled signal of signal and B phases, is exported after obtaining B phase currents
Give ADC sampling modules.
Also referring to Fig. 2, the drive control circuit 10 is two full-bridge circuits, is made of four half-bridges.This implementation
Four resistance sampling schemes of example are on each lower bridge joint of its 4 half-bridges to ground resistance.In the specific implementation, if three
Phase then increases in its corresponding lower bridge to ground resistance.
The A phases full-bridge modules 110 include：First metal-oxide-semiconductor M1, the second metal-oxide-semiconductor M2, third metal-oxide-semiconductor M3, the 4th metal-oxide-semiconductor
M4, first resistor R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance
R7, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10, the first capacitance C1 and the second capacitance C2；
The drain electrode of the second metal-oxide-semiconductor M2 of drain electrode connection of the first metal-oxide-semiconductor M1 and power end DC+, the grid of the first metal-oxide-semiconductor M1
Pole connects one end of one end and second resistance R2 of first resistor R1, and the other end of second resistance R2 connects A phase PWM drive signals
The first output end PA+H；The other end of first resistor R1 connect the source electrode, third metal-oxide-semiconductor M3 of the first metal-oxide-semiconductor M1 drain electrode and
The A phase anodes VAS+ of stepper motor；One end of the grid connection 3rd resistor R3 of the second metal-oxide-semiconductor M2 and the 4th resistance R4's
One end, the second output terminal PA-H of the other end connection A phase PWM drive signals of the 4th resistance R4；The other end of 3rd resistor R3
Connect the drain electrode of the source electrode, the 4th metal-oxide-semiconductor M4 of the second metal-oxide-semiconductor M2 and the A phase cathode VAS- of stepper motor；The third metal-oxide-semiconductor
The grid of M3 connects one end of one end and the 6th resistance R6 of the 5th resistance R5, and the other end connection A phases PWM of the 6th resistance R6 drives
The third output end PA+L of dynamic signal；The source electrode of the other end connection third metal-oxide-semiconductor M3 of 5th resistance R5, the one of the 7th resistance R7
Amplify summation module 210 with A phases in end；The other end of 7th resistance R7 is grounded, and the first capacitance C1 is in parallel with the 7th resistance R7；It is described
The grid of 4th metal-oxide-semiconductor M4 connects one end of one end and the 9th resistance R9 of the 8th resistance R8, and the other end of the 9th resistance R9 connects
Meet the 4th output end PA-L of A phase PWM drive signals；The other end of 8th resistance R8 connects the source electrode of the 4th metal-oxide-semiconductor M4, the tenth
Amplify summation module 210 with A phases in one end of resistance R10；The other end of tenth resistance R10 is grounded, the electricity of the second capacitance C2 and the tenth
It is in parallel to hinder R10.
Wherein, the first metal-oxide-semiconductor M1 to the 4th metal-oxide-semiconductor M4 constitutes A phase full-bridge circuits, the 7th resistance R7 and the tenth resistance R10
For two high precision sampling resistances of A phases.When the present embodiment defines the operation of stepper motor forward direction, the first metal-oxide-semiconductor M1 and the 4th MOS
Pipe M4 conductings, the second metal-oxide-semiconductor M2 and the M3 cut-offs of third metal-oxide-semiconductor, electric current flow through the tenth resistance R10, and A phase inductances are in forward direction at this time
Charged state.As the third metal-oxide-semiconductor M3 and the 4th metal-oxide-semiconductor M4 conductings, the first metal-oxide-semiconductor M1 and the second metal-oxide-semiconductor M2 of A phase full-bridge circuits
When cut-off, electric current flows through the 7th resistance R7 and the tenth resistance R10, and (it is (anti-that electric current flows successively through the 7th resistance R7, third metal-oxide-semiconductor M3
To fly-wheel diode), stepper motor A phase windings (from VAS+ to VAS-), the 4th metal-oxide-semiconductor M4, the tenth resistance R10 formed it is reversed continuous
Stream), then A phase inductances are in positive freewheeling state.In positive high-speed cruising, need to be in 100% charged state, electric current only flows
Cross the tenth resistance R10.So only being sampled to the electric current of the tenth resistance R10 when positive, A the first sampled signals of phase JA-_ is obtained
FDB, that is, A phases are sampled without dead zone when can guarantee positive operation.
When can similarly obtain stepper motor inverted running, when the second metal-oxide-semiconductor M2 and third metal-oxide-semiconductor M3 of A phase full-bridge circuits are led
Logical, the first metal-oxide-semiconductor M1 and the 4th metal-oxide-semiconductor M4 cut-offs, electric current flow through the 7th resistance R7, and A phase inductances are in reverse charging shape at this time
State.Third metal-oxide-semiconductor M3 when A phase full-bridge circuits and the 4th metal-oxide-semiconductor M4 conductings, the first metal-oxide-semiconductor M1 and the second metal-oxide-semiconductor M2 cut-offs,
Electric current flows through the 7th resistance R7 and the tenth resistance R10, then A phase inductances are in reversed freewheeling state.In reversed high-speed cruising, need
It to be in 100% charged state, electric current flows only through the 7th resistance R7.So only being adopted to the electric current of the 7th resistance R7 when reversed
Sample obtains A the second sampled signals of phase JA+_FDB, you can ensures that A phases are sampled without dead zone when inverted running.
The B phases full-bridge modules 120 include the 5th metal-oxide-semiconductor M5, the 6th metal-oxide-semiconductor M6, the 7th metal-oxide-semiconductor M7, the 8th metal-oxide-semiconductor
M8, eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, the 14th resistance R14, the 15th resistance R15, the tenth
Six resistance R16, the 17th resistance R17, the 18th resistance R18, the 19th resistance R19, the 20th resistance R20, third capacitance C3
With the 4th capacitance C4；
The drain electrode of the 6th metal-oxide-semiconductor M6 of drain electrode connection of the 5th metal-oxide-semiconductor M5 and power end DC+, the grid of the 5th metal-oxide-semiconductor M5
Pole connects one end of one end and twelfth resistor R12 of eleventh resistor R11, and the other end of twelfth resistor R12 connects B phases
First output end PB+H of PWM drive signal；The other end of eleventh resistor R11 connects the source electrode of the 5th metal-oxide-semiconductor M5, the 7th
The B phase anodes VBS+ of the drain electrode of metal-oxide-semiconductor M7 and stepper motor；The grid connection thirteenth resistor R13's of the 6th metal-oxide-semiconductor M6
One end of one end and the 14th resistance R14, the second output terminal of the other end connection B phase PWM drive signals of the 14th resistance R14
PB-H；The other end of thirteenth resistor R13 connects drain electrode and the stepper motor of the source electrode, the 8th metal-oxide-semiconductor M8 of the 6th metal-oxide-semiconductor M6
B phase cathode VBS-；One end of the 15th resistance R15 of grid connection of the 7th metal-oxide-semiconductor M7 and the one of the 16th resistance R16
End, the third output end PB+L of the other end connection B phase PWM drive signals of the 16th resistance R16；15th resistance R15's is another
One end connects the source electrode of the 7th metal-oxide-semiconductor M7, summation module 220 is amplified in one end of the 17th resistance R17 with B phases；17th resistance
The other end of R17 is grounded, and third capacitance C3 is in parallel with the 17th resistance R17；The grid connection the 18th of the 8th metal-oxide-semiconductor M8
One end of one end of resistance R18 and the 19th resistance R19, the other end connection B phase PWM drive signals of the 19th resistance R19
4th output end PB-L；The other end of 18th resistance R18 connects one end of the source electrode of the 8th metal-oxide-semiconductor M8, the 20th resistance R20
Amplify summation module 220 with B phases；The other end of 20th resistance R20 is grounded, and the 4th capacitance C4 is in parallel with the 20th resistance R20.
Wherein, the 5th metal-oxide-semiconductor M5 constitutes the full-bridge circuit of B phases to the 8th metal-oxide-semiconductor M8, the 17th resistance R17 and the
20 resistance R20 are two high precision sampling resistances of B phases.When defining the operation of stepper motor forward direction, when B phases full-bridge circuit the 5th
Metal-oxide-semiconductor M5 and the 8th metal-oxide-semiconductor M8 conductings, the 6th metal-oxide-semiconductor M6 and the 7th metal-oxide-semiconductor M7 cut-offs, electric current flow through the 20th resistance R20,
B phase inductances are in positive charge state at this time.As the 7th metal-oxide-semiconductor M7 of B phases full-bridge circuit and the 8th metal-oxide-semiconductor M8 conductings, the 5th MOS
Pipe M5 and the 6th metal-oxide-semiconductor M6 cut-offs, electric current flow through the 17th resistance R17 and the 20th resistance R20, then B phase inductances are in forward direction
Freewheeling state.In positive high-speed cruising, need to be in 100% charged state, electric current flows only through the 20th resistance R20.So
Only the electric current of the 20th resistance R20 is sampled when positive, obtains B the first sampled signals of phase JB-_FDB, you can is ensured positive
B phases are sampled without dead zone when operation.
When can similarly obtain stepper motor inverted running, as the 6th metal-oxide-semiconductor M6 of B phases full-bridge circuit and the 7th metal-oxide-semiconductor M7 conductings,
5th metal-oxide-semiconductor M5 and the 8th metal-oxide-semiconductor M8 cut-offs, electric current flow through the 17th resistance R17, and B phase inductances are in reverse charging shape at this time
State.The 7th metal-oxide-semiconductor M7 when B phase full-bridge circuits and the 8th metal-oxide-semiconductor M8 conductings, the 5th metal-oxide-semiconductor M5 and the 6th metal-oxide-semiconductor M6 cut-offs,
Electric current flows through the 17th resistance R17 and the 20th resistance R20, then B phase inductances are in reversed freewheeling state.In reversed high-speed cruising
When, it needs to be in 100% charged state, electric current flows only through the 17th resistance R17.So only to the 17th resistance R17 when reversed
Electric current sampled, obtain B the second sampled signals of phase JB+FDB, you can ensure that B phase is without dead zone sampling when inverted running.
Also referring to Fig. 3, the A includes on the contrary the first amplifier U1, the second amplifier U2, the one or two to amplifying unit 211
Pole pipe D1, the second diode D2, third diode D3, the 4th diode D4, the 21st resistance R21, the 22nd resistance
R22, the 23rd resistance R23 and the 24th resistance R24；The 21st electricity of inverting input connection of the first amplifier U1
Hinder the cathode of one end of R21, one end and the first diode D1 of the 22nd resistance R22；The other end of 22nd resistance R22
The source electrode of third metal-oxide-semiconductor M3 is connected, the other end of the 21st resistance R21 connects the positive of the second diode D2 and sums with A phases
Amplifying unit 212, the cathode of the anode and the second diode D2 of the first diode D1 of output end connection of the first amplifier U1, first
The in-phase input end of amplifier U1 is grounded；The inverting input of the second amplifier U2 connects one end of the 23rd resistance R23, the
The cathode of one end and third diode D3 of 24 resistance R24；The other end of 24th resistance R24 connects the 4th metal-oxide-semiconductor
The source electrode of M4, the other end of the 23rd resistance R23 connects the anode of the 4th diode D4 and A phases are summed amplifying unit 212, the
The cathode of the anode and the 4th diode D4 of the output end connection third diode D3 of two amplifier U2, the second amplifier U2's is same mutually defeated
Enter end ground connection.
The A phases sum amplifying unit 212 include third amplifier U3, four high guaily unit U4, the 25th resistance R25, second
16 resistance R26, the 27th resistance R27, the 28th resistance R28, the 29th resistance R29, the 30th resistance R30,
One protection pipe ZD1, the 5th capacitance C5 and the 6th capacitance C6；The inverting input of the third amplifier U3 connects the 25th resistance
The other end of one end of one end of R25 and the 26th resistance R26, the 26th resistance R26 is connecting the second diode D2 just
Pole；The other end of 25th resistance R25 connects the output end of third amplifier U3, the cathode of the first protection pipe ZD1 and A phases
Adc circuit (input terminal ISENA+)；The plus earth of first protection pipe ZD1, the in-phase input end connection second of third amplifier U3
The other end of one end of one end and the 28th resistance R28 of 17 resistance R27, the 28th resistance R28 connects the four or two pole
The anode of pipe D4, the output end of the other end connection four high guaily unit U4 of the 27th resistance R27 and the reverse phase of four high guaily unit U4 are defeated
Enter end；The in-phase input end of four high guaily unit U4 connects one end of the 29th resistance R29, one end of the 30th resistance R30 and the
One end of six capacitance C6；The other end connection feeder ear 3.3V of 29th resistance R29, also pass through the 5th capacitance C5 ground connection；The
The other end of 30 resistance R30 connects the other end and ground of the 6th capacitance C6.
Wherein, the first amplifier U1, the 21st resistance R21, the 22nd resistance R22 constitute reverse amplification circuit,
The second sampled signal of A phases JA+_FDB is reversely amplified.The second amplifier U2, the 23rd resistance R23 and the 24th
Resistance R24 constitutes reverse amplification circuit, is reversely amplified to the first sampled signal of A phases JA-_FDB.Two times reversely amplified
Number is -1 times.To after two sampled signals of A phases respectively reversed amplification again by amplifying circuit of summing (by third amplifier U3, the
25 resistance R25, the 26th resistance R26, the 27th resistance R27, the 28th resistance R28 are constituted) sum and puts
Greatly, amplification factor is 6 times.It finally exports to the adc circuit of A phases and is handled that (this processing is the prior art, is not made herein in detail
It states).Four high guaily unit U4, the 29th resistance R29 and the 30th resistance R30 constitute voltage offset electric circuit, and bias voltage is
1.65V。
Please continue to refer to Fig. 3, the B includes on the contrary the 5th amplifier U5, the 6th amplifier U6, the five or two to amplifying unit 221
Pole pipe D5, the 6th diode D6, the 7th diode D7, the 8th diode D8, the 31st resistance R31, the 32nd resistance
R32, the 33rd resistance R33 and the 34th resistance R34；The 31st electricity of inverting input connection of the 5th amplifier U5
Hinder the cathode of one end of R31, one end and the 5th diode D5 of the 32nd resistance R32；The other end of 32nd resistance R32
The source electrode of the 7th metal-oxide-semiconductor M7 is connected, the other end of the 31st resistance R31 connects the positive of the 6th diode D6 and sums with B phases
Amplifying unit 222, the cathode of the anode and the 6th diode D6 of the 5th diode D5 of output end connection of the 5th amplifier U5, the 5th
The in-phase input end of amplifier U5 is grounded；The inverting input of the 6th amplifier U6 connects one end of the 33rd resistance R33, the
The cathode of one end of 34 resistance R34s and the 7th diode D7；The other end of 34th resistance R34 connects the 8th metal-oxide-semiconductor
The source electrode of M8, the other end of the 33rd resistance R33 connects the anode of the 8th diode D8 and B phases are summed amplifying unit 222, the
The output end of six amplifier U6 connects the anode of the 7th diode D7 and the cathode of the 8th diode D8, and the 6th amplifier U6's is same mutually defeated
Enter end ground connection.
The B phases sum amplifying unit 222 include the 7th amplifier U7, the 8th amplifier U8, the 35th resistance R35, third
16 resistance R36, the 37th resistance R37, the 38th resistance R38, the 39th resistance R39, the 40th resistance R40,
Two protection pipe ZD2 and the 7th capacitance C7；The inverting input of the 7th amplifier U7 connect the 35th resistance R35 one end and
One end of 36th resistance R36, the other end of the 36th resistance R36 connect the anode of the 6th diode D6；35th
The other end of resistance R35 connects the adc circuit (input of the output end of the 7th amplifier U7, the cathode of the second protection pipe ZD2 and B phases
Hold ISENB+)；The in-phase input end of the plus earth of second protection pipe ZD2, the 7th amplifier U7 connects the 37th resistance R37's
One end of one end and the 38th resistance R38, the anode of the other end connection octode D8 of the 38th resistance R38, third
The other end of 17 resistance R37 connects the inverting input of the output end and the 8th amplifier U8 of the 8th amplifier U8；8th amplifier U8
In-phase input end connect one end of the 39th resistance R39, the 40th resistance R40 one end and the 7th capacitance C7 one end；
The other end of 39th resistance R39 connects feeder ear 3.3V, and the other end of the 40th resistance R40 connects the another of the 7th capacitance C7
One end and ground.
Wherein, the 5th amplifier U5, the 31st resistance R31, the 32nd resistance R32 constitute reverse amplification circuit,
The second sampled signal of B phases JB+_FDB is reversely amplified.The 6th amplifier U6, the 33rd resistance R33 and the 34th
Resistance R34 constitutes reverse amplification circuit, is reversely amplified to the first sampled signal of B phases JB-_FDB.Two times reversely amplified
Number is -1 times.To after two sampled signals of B phases respectively reversed amplification again by amplifying circuit of summing (by the 7th amplifier U7, the
35 resistance R35, the 36th resistance R36, the 37th resistance R37, the 38th resistance R38 are constituted) sum and puts
Greatly, amplification factor is 6 times.It finally exports to the adc circuit of B phases and is handled that (this processing is the prior art, is not made herein in detail
It states).8th amplifier U8, the 39th resistance R39, the 40th resistance R40 constitute voltage offset electric circuit, bias voltage 1.65V.
The two-phase stepping motor driver in the embodiment of the present invention is described above, below to the embodiment of the present invention
In the current sample method of two-phase stepping motor driver be described, referring to Fig. 4, the current sample method includes：
Step S100, drive control circuit is to the A phases of stepper motor and positive charge electric current, the reverse charging electric current of B phases
It is sampled respectively, and exports A phase two-way sampled signals and B phase two-way sampled signals；
Step S200, amplifier circuit is amplified A phase two-way sampled signals and output is adopted to ADC after summation operation
Egf block, is amplified B phase two-way sampled signals and output is handled to ADC sampling modules after summation operation.
The detailed process of the step S100~S200 can be found in the operation principle of above-mentioned two-phase stepping motor driver, this
Place does not repeat.
In conclusion there are problems that sampling dead zone for the higher and double resistance samplings of the cost of existing current sensor,
No dead zone sampling may be implemented so that PWM duties in two-phase stepping motor driver provided by the invention and its current sample method
Than accomplishing 100%, and it is at low cost, and sample precision is high, improves the high speed capacity of stepper motor.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of two-phase stepping motor driver, connect with stepper motor and ADC sampling modules, which is characterized in that including an electricity
Road plate is provided on the circuit board：Drive control circuit and amplifier circuit；
The drive control circuit adopts the A phases of stepper motor and positive charge electric current, the reverse charging electric current of B phases respectively
Sample, and export A phase two-way sampled signals and B phase two-way sampled signals；Amplifier circuit puts A phase two-way sampled signals
ADC sampling modules are given in output after big and summation operation；B phase two-way sampled signals are amplified and after summation operation output to
ADC sampling modules are handled.
2. two-phase stepping motor driver according to claim 1, which is characterized in that the drive control circuit includes A
Phase full-bridge modules and B phase full-bridge modules；
The A phases full-bridge modules are according to A phase PWM drive signals, the electricity of a pair sampling resistor in stepper motor A phase positive charges
Stream is sampled, and A the first sampled signals of phase are obtained；The electric current of another sampling resistor is sampled in A phase reverse chargings, is obtained
Obtain the second sampled signal of A phases；The first sampled signal of A phases and the second sampled signal of A phases are transferred to amplifier circuit；
The B phases full-bridge modules are according to B phase PWM drive signals, the electricity of a pair sampling resistor in stepper motor B phase positive charges
Stream is sampled, and B the first sampled signals of phase are obtained；The electric current of another sampling resistor is sampled in B phase reverse chargings, is obtained
Obtain the second sampled signal of B phases；The first sampled signal of B phases and the second sampled signal of B phases are transferred to amplifier circuit.
3. two-phase stepping motor driver according to claim 2, which is characterized in that the amplifier circuit includes A
Mutually amplification summation module amplifies summation module with B phases；
The A phases amplify summation module and the electric current of the second sampled signal of the first sampled signal of A phases and A phases are amplified and are asked
And operation, it obtains output after A phase currents and gives ADC sampling modules；
The B phases amplify summation module and the electric current of the second sampled signal of the first sampled signal of B phases and B phases are amplified and are asked
And operation, it obtains output after B phase currents and gives ADC sampling modules.
4. two-phase stepping motor driver according to claim 3, which is characterized in that the A phases amplify summation module packet
A is included to sum amplifying unit to amplifying unit and A phases on the contrary；
The A is on the contrary respectively amplified again the electric current of the second sampled signal of the first sampled signal of A phases and A phases to amplifying unit
The reversed amplification that number is -1 times；
A phases amplifying unit of summing seeks the electric current of reversed amplified the first sampled signal of A phases and the second sampled signal of A phases
With rear, to be amplified multiple again be 6 times of amplification, after obtaining A phase currents output give ADC sampling modules.
5. two-phase stepping motor driver according to claim 4, which is characterized in that the B phases amplify summation module packet
B is included to sum amplifying unit to amplifying unit and B phases on the contrary；
The B is on the contrary respectively amplified again the electric current of the second sampled signal of the first sampled signal of B phases and B phases to amplifying unit
The reversed amplification that number is -1 times；
B phases amplifying unit of summing seeks the electric current of reversed amplified the first sampled signal of B phases and the second sampled signal of B phases
With rear, to be amplified multiple again be 6 times of amplification, after obtaining B phase currents output give ADC sampling modules.
6. two-phase stepping motor driver according to claim 5, which is characterized in that the A phases full-bridge modules include：The
One metal-oxide-semiconductor, the second metal-oxide-semiconductor, third metal-oxide-semiconductor, the 4th metal-oxide-semiconductor, first resistor, second resistance, 3rd resistor, the 4th resistance,
Five resistance, the 6th resistance, the 7th resistance, the 8th resistance, the 9th resistance, the tenth resistance, the first capacitance and the second capacitance；
The drain electrode of drain electrode the second metal-oxide-semiconductor of connection of first metal-oxide-semiconductor and power end, the first electricity of grid connection of the first metal-oxide-semiconductor
One end of resistance and one end of second resistance, the first output end of the other end connection A phase PWM drive signals of second resistance；First
The other end of resistance connects the drain electrode of the source electrode, third metal-oxide-semiconductor of the first metal-oxide-semiconductor and the A phase anodes of stepper motor；Described second
One end of one end and the 4th resistance of the grid connection 3rd resistor of metal-oxide-semiconductor, the other end connection A phases PWM drivings of the 4th resistance
The second output terminal of signal；The other end of 3rd resistor connects drain electrode and the stepping electricity of the source electrode, the 4th metal-oxide-semiconductor of the second metal-oxide-semiconductor
The A phase cathode of machine；The grid of the third metal-oxide-semiconductor connects one end of one end and the 6th resistance of the 5th resistance, the 6th resistance
The other end connects the third output end of A phase PWM drive signals；The source electrode of the other end connection third metal-oxide-semiconductor of 5th resistance, the 7th
Amplify summation module with A phases in one end of resistance；The other end of 7th resistance is grounded, the first capacitance and the 7th resistor coupled in parallel；It is described
The grid of 4th metal-oxide-semiconductor connects one end of one end and the 9th resistance of the 8th resistance, the other end connection A phases PWM of the 9th resistance
4th output end of drive signal；The other end of 8th resistance connects the source electrode of the 4th metal-oxide-semiconductor, one end of the tenth resistance and A phases
Amplify summation module；The other end of tenth resistance is grounded, the second capacitance and the tenth resistor coupled in parallel.
7. two-phase stepping motor driver according to claim 6, which is characterized in that the B phases full-bridge modules include the
Five metal-oxide-semiconductors, the 6th metal-oxide-semiconductor, the 7th metal-oxide-semiconductor, the 8th metal-oxide-semiconductor, eleventh resistor, twelfth resistor, thirteenth resistor, the 14th
Resistance, the 15th resistance, the 16th resistance, the 17th resistance, the 18th resistance, the 19th resistance, the 20th resistance, third electricity
Hold and the 4th capacitance；
The drain electrode of drain electrode the 6th metal-oxide-semiconductor of connection of 5th metal-oxide-semiconductor and power end, the grid connection the 11st of the 5th metal-oxide-semiconductor
One end of resistance and one end of twelfth resistor, the first output of the other end connection B phase PWM drive signals of twelfth resistor
End；The other end of eleventh resistor connects the drain electrode of the source electrode, the 7th metal-oxide-semiconductor of the 5th metal-oxide-semiconductor and the B phase anodes of stepper motor；
One end of one end and the 14th resistance of the grid connection thirteenth resistor of the 6th metal-oxide-semiconductor, the other end of the 14th resistance
Connect the second output terminal of B phase PWM drive signals；The other end of thirteenth resistor connects source electrode, the 8th MOS of the 6th metal-oxide-semiconductor
The drain electrode of pipe and the B phase cathode of stepper motor；The grid of 7th metal-oxide-semiconductor connects one end and the 16th electricity of the 15th resistance
One end of resistance, the third output end of the other end connection B phase PWM drive signals of the 16th resistance；The other end of 15th resistance
Amplify summation module with B phases in one end of the source electrode, the 17th resistance that connect the 7th metal-oxide-semiconductor；The other end of 17th resistance is grounded,
Third capacitance and the 17th resistor coupled in parallel；The grid of 8th metal-oxide-semiconductor connects one end and the 19th resistance of the 18th resistance
One end, the 19th resistance the other end connection B phase PWM drive signals the 4th output end；The other end of 18th resistance connects
Amplify summation module with B phases in one end of the source electrode, the 20th resistance that connect the 8th metal-oxide-semiconductor；The other end of 20th resistance is grounded, the
Four capacitances and the 20th resistor coupled in parallel.
8. two-phase stepping motor driver according to claim 7, which is characterized in that the A is on the contrary to amplifying unit packet
Include the first amplifier, the second amplifier, the first diode, the second diode, third diode, the 4th diode, the 21st resistance,
22nd resistance, the 23rd resistance and the 24th resistance；The inverting input connection the 21st of first amplifier
One end of resistance, the 22nd resistance one end and the first diode cathode；The other end of 22nd resistance connects third
The source electrode of metal-oxide-semiconductor, the other end of the 21st resistance connects the anode of the second diode and A phases are summed amplifying unit, first transports
The output end put connects the anode of the first diode and the cathode of the second diode, the in-phase input end ground connection of the first amplifier；Institute
The inverting input for stating the second amplifier connects one end of the 23rd resistance, one end of the 24th resistance and third diode
Cathode；The other end of 24th resistance connects the source electrode of the 4th metal-oxide-semiconductor, and the other end of the 23rd resistance connects the four or two pole
The anode and A phases of pipe are summed amplifying unit, the anode of the output end connection third diode of the second amplifier and the 4th diode
Cathode, the in-phase input end ground connection of the second amplifier.
9. two-phase stepping motor driver according to claim 8, which is characterized in that the A phases are summed amplifying unit packet
Include third amplifier, four high guaily unit, the 25th resistance, the 26th resistance, the 27th resistance, the 28th resistance, second
19 resistance, the 30th resistance, the first protection pipe, the 5th capacitance and the 6th capacitance；The inverting input of the third amplifier connects
One end of one end and the 26th resistance of the 25th resistance is connect, the other end of the 26th resistance connects the second diode
Anode；The adc circuit of the output end of the other end connection third amplifier of 25th resistance, the cathode and A phases of the first protection pipe；
The in-phase input end of the plus earth of first protection pipe, third amplifier connects one end and the 28th resistance of the 27th resistance
One end, the other end of the 28th resistance connects the anode of the 4th diode, the other end connection the 4th of the 27th resistance
The inverting input of the output end and four high guaily unit of amplifier；The in-phase input end of four high guaily unit U4 connects the one of the 29th resistance
It holds, one end of one end and the 6th capacitance of the 30th resistance；The other end connection feeder ear of 29th resistance also passes through the 5th
Capacity earth；The other end of 30th resistance connects the other end and ground of the 6th capacitance.
10. a kind of current sample method using two-phase stepping motor driver described in claim 1, which is characterized in that packet
It includes：
Step A, drive control circuit carries out the A phases of stepper motor and positive charge electric current, the reverse charging electric current of B phases respectively
Sampling, and export A phase two-way sampled signals and B phase two-way sampled signals；
Step B, amplifier circuit is amplified A phase two-way sampled signals and ADC sampling modules are given in output after summation operation,
B phase two-way sampled signals are amplified and output is handled to ADC sampling modules after summation operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810109297.3A CN108282119A (en) | 2018-02-05 | 2018-02-05 | A kind of two-phase stepping motor driver and its current sample method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810109297.3A CN108282119A (en) | 2018-02-05 | 2018-02-05 | A kind of two-phase stepping motor driver and its current sample method |
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Citations (4)
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|---|---|---|---|---|
| US20120176075A1 (en) * | 2011-01-12 | 2012-07-12 | Nidec Servo Corporation | Drive circuit and drive method of a stepping motor |
| CN104660127A (en) * | 2014-12-04 | 2015-05-27 | 重庆谱思机器人控制***有限公司 | Stepping motor controller and control method thereof |
| CN204886773U (en) * | 2015-08-26 | 2015-12-16 | 深圳市青蓝自动化科技有限公司 | Step motor closed loop control system |
| CN206818783U (en) * | 2017-06-14 | 2017-12-29 | 台安科技(无锡)有限公司 | A kind of three-phase current maximum selecting device |
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2018
- 2018-02-05 CN CN201810109297.3A patent/CN108282119A/en active Pending
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|---|---|---|---|---|
| US20120176075A1 (en) * | 2011-01-12 | 2012-07-12 | Nidec Servo Corporation | Drive circuit and drive method of a stepping motor |
| CN104660127A (en) * | 2014-12-04 | 2015-05-27 | 重庆谱思机器人控制***有限公司 | Stepping motor controller and control method thereof |
| CN204886773U (en) * | 2015-08-26 | 2015-12-16 | 深圳市青蓝自动化科技有限公司 | Step motor closed loop control system |
| CN206818783U (en) * | 2017-06-14 | 2017-12-29 | 台安科技(无锡)有限公司 | A kind of three-phase current maximum selecting device |
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Application publication date: 20180713 |