CN110912475B - Stepping motor driving method and system - Google Patents
Stepping motor driving method and system Download PDFInfo
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- CN110912475B CN110912475B CN201911138940.6A CN201911138940A CN110912475B CN 110912475 B CN110912475 B CN 110912475B CN 201911138940 A CN201911138940 A CN 201911138940A CN 110912475 B CN110912475 B CN 110912475B
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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
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/18—Shaping of pulses, e.g. to reduce torque ripple
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Abstract
The invention relates to the technical field of automatic control, in particular to a stepping motor driving method and system. The motor driving system includes a pulse distributor, a PWM generator, and a logic operator. The method comprises the following steps: the pulse distributor generates a driving sequence of the stepping motor according to the received pulse signal and the direction signal; the logic selection unit converts a high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and a driving sequence with a fixed duty ratio sent by a PWM generator is used as an output signal of a second time period; the logic selection unit directly takes the low-level driving sequence generated by the pulse distributor as an output signal. The motor driving system has the advantages of simple structure, simple and convenient operation process and low manufacturing cost, and constant current driving is carried out on the motor by utilizing the PWM signal with the fixed duty ratio.
Description
1 technical field
The invention relates to the technical field of automatic control, in particular to a stepping motor driving method and system.
2 background of the invention
The stepping motor is an actuating mechanism for converting an electric pulse signal into corresponding angular displacement, has high control precision and flexible and convenient control mode, and is widely applied to the fields of aerospace, aviation, electronics and the like. In the case of non-overload, the rotating speed and the stop position of the motor only depend on the frequency and the number of the pulse signals, and are not influenced by load change. The positioning and the speed regulation of the motor are respectively realized by controlling the number of pulses and the pulse frequency.
When the stepping motor rotates, when the current flowing through the motor coil exceeds the rated current, the motor can generate high temperature rise, and the motor can be burnt; the large current is easy to generate large current distortion, so that the torque pulsation and noise of the motor are increased, the phenomena of vibration desynchronization and overshoot during stopping are easy to generate during low-speed rotation, and finally the operation stability and the positioning precision of the motor are influenced, so that the current of the motor must be controlled.
The traditional motor constant current driving technology is generally realized by adopting a current closed loop mode, namely, the phase current is used as a control quantity, a given value is compared with a feedback value in real time, and a difference value is used for adjusting the PWM duty ratio in real time through a PID (proportion integration differentiation) resolver or a hysteresis comparator so as to achieve the purpose of adjusting the current.
Fig. 1 is a functional block diagram of constant current driving of a conventional stepping motor, and functional units thereof include: control unit 1, drive circuit 2, power circuit 3, current sensor 4, protection circuit 5.
The control unit is arranged on the circuit board and used for realizing the constant-current driving control function of the stepping motor and comprises a pulse distributor 7, a PWM generator 8, an A/D converter 9, a PID (proportion integration differentiation) resolver or hysteresis comparator 10 and a logic arithmetic unit 11.
The pulse distributor generates open-loop control logic of the stepping motor according to the pulse signal and the direction signal, and the output end of the pulse distributor is connected with the logic arithmetic unit.
The A/D conversion is used for sampling the current I of the motor windingfGiven a current I0With current I of the motor windingfAfter the difference is made, the difference is input into a PID resolver.
And the PID resolver or the hysteresis comparator resolves the PWM duty ratio in real time according to the input current difference, and the output end of the PID resolver or the hysteresis comparator is connected with the logic arithmetic unit.
The logic arithmetic unit combines the output logic of the pulse distributor and the PWM signal sent by the PWM generator to generate the constant current driving logic of the motor, and the output end of the logic arithmetic unit is connected with the driving circuit.
The input end of the driving circuit is a control unit, and the output end of the driving circuit is a power circuit and is used for controlling the on-off of the power tube.
The input end of the power circuit is a driving circuit, the output end of the power circuit is a motor winding, and controlled power supply of the current of the motor winding is realized according to driving logic.
The input end of the current sensor is a motor winding, and the output end of the current sensor is a protection circuit and a control unit, and the current sensor is used for converting the current of the motor winding into a voltage signal.
The input end of the protection circuit is a current sensor, the output end of the protection circuit is a driving circuit, the protection circuit is used for realizing overcurrent protection of motor current, and the power tube is disconnected when the current of a motor winding exceeds a limit value.
FIG. 2 is a schematic diagram of a constant current driving scheme of a conventional stepping motor, in which a voltage is applied to a coil winding and a current I of the coil winding is detected if a current I is applied to the coil winding during each beat of controlfExceeding a given current value I0Reducing the PWM duty ratio or turning off the applied voltage U to reduce the current; if the current of the motor winding IfLower than the set current I0Increasing the current to the set current value I by increasing the PWM duty cycle or turning on the applied voltage U0And repeating the steps to make the current of the motor winding constant.
The constant current driving of the traditional stepping motor has the following defects:
1. most of the circuits are realized by adopting analog or digital circuits, an A/D conversion chip is required to collect the current of a motor winding, and the hardware circuit structure is complex;
2. in each beat of control, the PWM duty ratio needs to be solved in real time according to the magnitude of the feedback current, and the software has poor flexibility, high complexity and poor portability and expansibility.
Therefore, the existing motor control system has the technical problem of more complex software design and hardware design.
Disclosure of Invention
The invention provides a stepping motor driving method and system, which effectively solve the problems in the background art.
In a first aspect, an embodiment of the present invention provides a stepping motor driving method, which is applied to a stepping motor driving system, where the driving system includes a pulse distributor, a PWM generator, and a logic selection unit, and an input of the logic selection unit is connected to an output of the pulse distributor and an output of the PWM generator; the method comprises the following steps:
the pulse distributor generates a driving sequence of the stepping motor according to the received pulse signal and the direction signal;
the logic selection unit converts a high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and a driving sequence with a fixed duty ratio sent by a PWM generator is used as an output signal of a second time period; the logic selection unit directly takes the low-level driving sequence generated by the pulse distributor as an output signal.
Optionally, the step of converting the high-level driving sequence generated by the pulse distributor into two equal time periods by the logic selection unit includes:
and the logic selection unit is used for carrying out frequency doubling processing on the high-level driving sequence generated by the pulse distributor, so that the conversion is two sections.
Optionally, the frequency doubling processing is implemented by using a phase-locked loop PLL.
Optionally, the fixed duty ratio of the signal generated by the PWM generator has a value range of 0.4 to 0.6, and the frequency has a value range of 6 to 20 kHz.
In a second aspect, an embodiment of the present invention further provides a stepping motor driving system, including a pulse distributor, a PWM generator, and a logic selection unit, where an input of the logic selection unit is connected to an output of the pulse distributor and an output of the PWM generator; wherein the content of the first and second substances,
the pulse distributor generates a driving sequence of the stepping motor according to the received pulse signal and the direction signal;
the logic selection unit is used for converting a high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and a driving sequence with a fixed duty ratio sent by the PWM generator is used as an output signal of a second time period.
The logic selection unit directly takes the low-level driving sequence generated by the pulse distributor as an output signal.
In the motor driving method and system provided by the embodiment, the pulse distributor receives the pulse signal and the direction signal; the pulse distributor generates a driving sequence of the stepping motor according to the received pulse signal and the direction signal; the logic selection unit converts a high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and a driving sequence with a fixed duty ratio sent by a PWM generator is used as an output signal of a second time period; the logic selection unit directly takes the low-level driving sequence generated by the pulse distributor as an output signal. The motor driving system has the advantages of simple structure, simple and convenient operation process and low manufacturing cost, and constant current driving is carried out on the motor by utilizing the PWM signal with the fixed duty ratio.
Drawings
FIG. 1 is a block diagram of a constant current driving structure of a conventional stepping motor;
FIG. 2 is a schematic diagram of a constant current driving scheme of a conventional stepping motor;
fig. 3 is a schematic flowchart of a stepping motor driving method according to an embodiment of the present invention;
fig. 4 is a block diagram of a constant current driving structure of another stepping motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of constant current driving of a stepping motor according to an embodiment of the present invention;
fig. 6 is a control example diagram of constant current driving of a two-phase four-beat stepping motor in the stepping motor driving method according to the embodiment of the present invention.
Detailed Description
Referring to fig. 3, a flowchart of a stepping motor driving method according to an embodiment of the present invention is shown. Fig. 4 shows a structural block diagram of constant current driving of a stepping motor. Specifically, the constant-current driving system of the fixed duty ratio stepping motor comprises a control unit 1, a driving circuit 2, a power circuit 3, a stepping motor 4, a current sensor 5 and a protection circuit 6; the control unit comprises a pulse distributor 7, a PWM generator 10 and a logic selection unit 11. Fig. 5 is a schematic diagram of constant current driving of the stepping motor according to the present invention. Specifically, as shown in fig. 3 to 5, the motor driving method mainly includes the steps of:
s101, the pulse distributor generates a driving sequence of the stepping motor according to the received pulse signal and the direction signal;
and S102, the logic selection unit converts the high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and the driving sequence with a fixed duty ratio sent by the PWM generator is used as an output signal of a second time period.
S103, the logic selection unit directly uses the low-level driving sequence generated by the pulse distributor as an output signal.
Optionally, the step of converting the high-level driving sequence generated by the pulse distributor into two equal time periods by the logic selection unit includes:
and the logic selection unit performs frequency doubling processing on the driving sequence generated by the pulse distributor, so that the conversion is two sections.
Optionally, the frequency doubling processing is implemented by using a phase-locked loop PLL.
Optionally, the fixed duty ratio of the signal generated by the PWM generator has a value range of 0.4 to 0.6, and the frequency has a value range of 6 to 20 kHz.
In addition, the embodiment of the invention also provides a stepping motor driving system, which comprises a pulse distributor, a PWM generator and a logic selection unit, wherein the input of the logic selection unit is connected with the output of the pulse distributor and the output of the PWM generator; wherein the content of the first and second substances,
the pulse distributor is used for receiving a pulse signal and a direction signal;
the pulse distributor generates a driving sequence of the stepping motor according to the received pulse signal and the direction signal;
the logic selection unit is used for converting a high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and a driving sequence with a fixed duty ratio sent by the PWM generator is used as an output signal of a second time period;
the logic selection unit directly takes the low-level driving sequence generated by the pulse distributor as an output signal.
The stepping motor driving method and system provided by the invention is a constant-current driving method of a stepping motor with a fixed duty ratio, and a pulse distributor is used for generating a driving signal according to a pulse signal and a direction signal; 2) the logic selection unit doubles the frequency of the driving signal, so that the high level is equally divided into two sections; 3) the high level signal of the driving signals finally output by the control unit selects and outputs a high level signal in the first stage and a PWM signal in the second stage, as shown in the figures from PWM1 to PWM 8. The duty ratio of the PWM signal with the fixed duty ratio is 0.4-0.6, and the frequency is 6-20 kHz.
The scheme of the invention mainly has the following advantages:
1. an A/D conversion and a PID resolver or a hysteresis comparator in the constant current drive design of the traditional stepping motor are omitted, software and hardware resources corresponding to the A/D conversion and the PID resolver or the hysteresis comparator are omitted, and the software and hardware design is simplified;
2. the PWM chopping duty ratio is not resolved in real time through a PID resolver or a hysteresis comparator any more, a fixed input mode is adopted, and the PWM chopping duty ratio signal is not periodically updated, so that the software and hardware design complexity of a PWM generator is reduced;
3. the high-level driving signal sent by the control unit is equally divided into two sections, the high-level driving signal is applied in the former section, and the duty ratio driving signal is fixed in the latter section. The control method has the advantages that the software control is simple, the current distortion caused by the driving signal can be inhibited effectively, the motor is driven approximately in a constant current mode with low resource cost, the software and hardware design can be simplified greatly, and the system reliability is improved.
Claims (5)
1. A stepping motor driving method is applied to a driving system, the driving system comprises a pulse distributor, a PWM generator and a logic selection unit, and the input of the logic selection unit is connected with the output of the pulse distributor and the output of the PWM generator; characterized in that the method comprises:
the pulse distributor generates a driving sequence of the stepping motor according to the received pulse signal and the direction signal;
the logic selection unit converts a high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and a driving sequence with a fixed duty ratio sent by a PWM generator is used as an output signal of a second time period;
the logic selection unit directly takes the low-level driving sequence generated by the pulse distributor as an output signal.
2. The method of claim 1, wherein the step of the logic selection unit converting the high level driving sequence generated by the pulse divider into two equal time periods comprises:
the logic selection unit performs frequency doubling processing on the high-level driving sequence generated by the pulse distributor so as to convert the high-level driving sequence into two equal segments.
3. The method of claim 2, wherein the frequency doubling is implemented by means of a phase-locked loop (PLL).
4. The method of claim 3, wherein the fixed duty cycle of the PWM generator signal ranges from 0.4 to 0.6 and the frequency ranges from 6 to 20 kHz.
5. A stepping motor driving system is characterized by comprising a pulse distributor, a PWM generator and a logic selection unit, wherein the input of the logic selection unit is connected with the output of the pulse distributor and the output of the PWM generator; wherein the content of the first and second substances,
the pulse distributor is used for generating a driving sequence of the stepping motor according to the received pulse signal and the direction signal;
the logic selection unit is used for converting a high-level driving sequence generated by the pulse distributor into two equal time periods, wherein the driving sequence generated by the pulse distributor is used as an output signal of a first time period, and a driving sequence with a fixed duty ratio sent by the PWM generator is used as an output signal of a second time period;
the logic selection unit is used for directly using the low-level driving sequence generated by the pulse distributor as an output signal.
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| CN1268740A (en) * | 1999-02-09 | 2000-10-04 | 索尼公司 | CD disc driving device, CD driving method and CD disc device |
| CN101286721A (en) * | 2007-11-16 | 2008-10-15 | 西北工业大学 | Driving system of stepping motor with current negative feedback |
| CN202121539U (en) * | 2011-07-19 | 2012-01-18 | 南昌工程学院 | Constant frequency modulation subdivision driver for stepping motor |
| CN202586855U (en) * | 2012-05-24 | 2012-12-05 | 长安大学 | Automatically rotary dining-table actuating device based on singlechip control |
| CN105553357A (en) * | 2015-12-10 | 2016-05-04 | 中国航空工业集团公司西安航空计算技术研究所 | Constant current driving system and constant current driving method for stepping motor with fixed duty ratio |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4677764B2 (en) * | 2004-11-08 | 2011-04-27 | 日産自動車株式会社 | Control device for pulse width modulation signal driving device |
| US20070024228A1 (en) * | 2005-07-28 | 2007-02-01 | Matsushita Electric Industrial Co., Ltd. | Stepping motor drive apparatus and control method thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1268740A (en) * | 1999-02-09 | 2000-10-04 | 索尼公司 | CD disc driving device, CD driving method and CD disc device |
| CN101286721A (en) * | 2007-11-16 | 2008-10-15 | 西北工业大学 | Driving system of stepping motor with current negative feedback |
| CN202121539U (en) * | 2011-07-19 | 2012-01-18 | 南昌工程学院 | Constant frequency modulation subdivision driver for stepping motor |
| CN202586855U (en) * | 2012-05-24 | 2012-12-05 | 长安大学 | Automatically rotary dining-table actuating device based on singlechip control |
| CN105553357A (en) * | 2015-12-10 | 2016-05-04 | 中国航空工业集团公司西安航空计算技术研究所 | Constant current driving system and constant current driving method for stepping motor with fixed duty ratio |
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