CN202168029U - Subdivided driving device for stepping motor - Google Patents
Subdivided driving device for stepping motor Download PDFInfo
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- CN202168029U CN202168029U CN2011202836486U CN201120283648U CN202168029U CN 202168029 U CN202168029 U CN 202168029U CN 2011202836486 U CN2011202836486 U CN 2011202836486U CN 201120283648 U CN201120283648 U CN 201120283648U CN 202168029 U CN202168029 U CN 202168029U
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Abstract
The utility model discloses a subdivided driving device for a stepping motor. The subdivided driving device comprises a central processing unit as well as an optocoupler isolation circuit, a current detecting and conditioning circuit, an LED (Light-Emitting Diode) indicating circuit, an RS232 (Recommend Standard 232) communication circuit, a power supply circuit, a voltage-current protecting circuit and a power driving circuit that are respectively connected with the central processing unit; and the power driving circuit is further connected with the stepping motor. The driving device is driven by a high-performance digital signal controller so as to remarkably overcome the defects that the motor has high noise at low speed and is easy to step out at high speed.
Description
Technical field
The utility model belongs to the stepping motor technical field, particularly a kind of high segmentation, digital, the fine driving device for step-by-step that divides technology.
Background technology
Stepping motor is a kind of specific type of electric machine as control usefulness; It is the electric drive device that is converted into digital quantity angular displacement; Its running and control impuls are synchronous; The not long-term accumulation of step pitch error, it is comparatively simple and have an open-loop control system of certain precision to form structure, also can when requiring more high accuracy, form closed-loop control system.Stepping motor is owing to high-precision location control, position and speed control is easy, the step pitch error does not have advantages such as accumulation, in the Industry Control of low load, low velocity, uses very extensively.It is extensively applied to becomes indispensable important electric machine assembly in the fields such as Digit Control Machine Tool, automatic production line, industrial instrumentation instrument, computer equipment.
But the operation of stepping motor can not need special-purpose driving arrangement, so the performance of stepping motor depends on the quality of its drive system performance to a great extent by common power of alterating and direct current power supply.Stepper motor driver in the market is made up of single-chip microcomputer and discrete component mostly, and level of integrated system is low, poor anti jamming capability; Step angle resolution is not high; Cause the stepping motor positioning accuracy not high, have two problems of step-out and vibration, restricted the application of stepping motor.To the solution of this problem, except improving load characteristic and additional mechanical damping, can also aspect driving power, improve, as introducing electromagnetic damping, adopting ways such as segmenting driving to solve.
The micro-stepping driving of stepping motor technology be 20th century the mid-1970s grow up, it is a kind of Drive Control Technique that can significantly improve the comprehensive serviceability of stepping motor.American scholar T .R.Fredriksen in 1975 have proposed the control method of stepping motor stepper angle fraction first in U.S.'s incremental motion control system and device annual meeting.In thereafter more than 20 year, the micro-stepping driving of stepping motor technology has obtained very big development, and has obtained in practice using widely.Facts have proved that the micro-stepping driving of stepping motor technology can reduce the step angle of stepping motor, improve the stationarity of step run, increase the flexibility of control etc.
Stepper motor driver is as a kind of power electronic device, and is very high to its control real-time requirement, so the high speed development of microprocessor, is a key factor of pushing stepping motor driver development.Based on the chip microcontroller step motor control is present a kind of important means.Stepping motor itself is exactly a discrete type automation executive component, so it is particularly suitable for adopting single-chip microcomputer and embedded system control.Compare with special use, single-chip microcomputer has greater flexibility, more is prone to realize complicated control strategy.Along with the develop rapidly of microprocessor technology and the raising of single-chip microcomputer cost performance, utilize the chip microcontroller step motor control very general.
Traditional constant current chopper drive circuit obtains the correspondent voltage signal through resistance to current sample on the motor windings; The conducting and the shutoff of exporting high-low level control switch pipe with given voltage ratio; Guarantee like this winding current near set-point more among a small circle in repeatedly the concussion, its mean value is stabilized on the set-point.Although winding current is constant under copped wave drives; Torque output evenly; But because current waveform is a zigzag, this type of drive can produce bigger electromagnetic noise, and exports chopping frequency because compare operation is uncontrollable with door; Too high change frequency can increase the switching loss of switching tube, influences its useful life.
Electric current during current hysteresis ring control technology drives constant current chopper is given to be converted into the sine ladder wave by the voltage simulation by a constant value; The motor current signal that it and actual detected are obtained compares; Remove the respective switch device of conducting or shutoff inverter again through hysteresis comparator, make actual current tracing preset change in current.This method has reduced step angle, has improved resolution, but the motor speed electromagnetic noise that the switching frequency conversion produces when going up and down exists equally.
Fixed switching frequency type Current Control then is the error with the current signal of given sinusoidal current signal and actual measurement; After current regulator is handled, compare with the triangular signal of a fixed frequency again and produce the PWM ripple; Its duty ratio receives the control of the error signal after current regulator is handled, and the PWM wave frequency is the frequency of triangular carrier.Wherein current regulator should have the effect of ratio or proportional integral, with the adjustment current error signal, makes the error of current of electric size and phase place minimum.Because the fixed switching frequency type has great advantage at tool aspect electromagnetic noise and the output current harmonics, therefore become at present with the sinusoidal current segmentation analog control mode of single-chip microcomputer as main control chip.
But single-chip microcomputer is limited to by computational speed and precision, and when adopting segmentation control, the segmentation number can not reach very high, and noise is big under the low frequency, and motor is prone to shake, and temperature rise is also big down in normal operation.In addition, for remedying single-chip microcomputer arithmetic speed inferior position, the adjuster that adopts analog computing amplifier to constitute usually, its parameter is difficult for often adjustment once setting, and is poor to the variation adaptive capacity of the variation of operating mode and object; And senior control strategy and the control method of the also very difficult realization of analog controller, accuracy of detection is not high, and control precision is poor; The control circuit integrated level that also useful analogue device constitutes is not high, and the complicated reliability of hardware designs is low, and is repeatable poor.
Based on above analysis, the design people studies improvement to existing micro-stepping driving of stepping motor device, and this case produces thus.
The utility model content
The utility model technical problem to be solved is to defective and deficiency in the aforementioned background art, and a kind of micro-stepping driving of stepping motor device is provided, and it can significantly improve, and traditional stepper motor driver low speed noise is big, the shortcoming of at a high speed easy step-out.
The utility model is for solving above technical problem, and the technical scheme that is adopted is:
A kind of micro-stepping driving of stepping motor device; Comprise CPU and the optical coupling isolation circuit that is attached thereto respectively, current detecting modulate circuit, LED indicating circuit, RS232 communicating circuit, power circuit, electric current and voltage protective circuit, power driving circuit, said power driving circuit also is connected with stepping motor.
Above-mentioned current detecting modulate circuit adopts isolated form current Hall sensor winding current.
After adopting such scheme; The utility model combines the basic principle that segmentation drives and constant current chopper drives to propose the permanent width of cloth controlling schemes of current phasor; With the motion control chip TMS320F28X of company of Texas Instruments (TI) as main control unit; With current sensor senses to voltage become digital value through after the A/D conversion, through software integration ratio PI control, export the power controlling switching tube through special cell at the inner and given sine-wave subdivision digital quantity of controller again.Drive system inside has realized that full digital current closed-loop PI regulates.Adopt digital control unit to abandon the complicated hardware circuit, hardware complexity obviously reduces, thereby improves reliability.High-frequency clock provides possibility to realizing complicated High Accuracy Control algorithm; Adopt the New type of current control mode; Be that virtual frequency doubling technology has been realized inner fine branch technology, make that low segmentation gear operating characteristics of motor is identical with the runnability of high segmentation gear motor.
Thus, the utlity model has following improvement:
(1) lower noise and temperature rise.Traditional segmentation control mode, each external command pulse, corresponding staircase waveform current data input, motor takes a step forward.And novel input control mode; Each pulse; Evenly import K staircase waveform current data; The numerical value of K is provided with decision by the segmentation of the maximum of system's setting segmentation number and active user's interface, and this input mode is equivalent to segment multiple and changes into original K and change into original k times with the frequency of input pulse is virtual doubly the time.This virtual frequency doubling technology can significantly improve the noiseproof feature of motor under low speed or low subdividing running state, reduces the caloric value of motor simultaneously;
(2) reduce hardware cost, the enhancement algorithms controlled function improves system reuse property.Owing to adopted digital winding current PI control, reduced the designing requirement of system to hardware circuit.Parameter K p in the PI regulon, Ki, Kd can be through upper computer software according to the field condition completion of manually adjusting; Consider the complexity that pid parameter is adjusted, regulate becoming simple relatively based on the digital PID parameter tuning of upper computer software with respect to the PI of conventional analogue driver.
Description of drawings
Fig. 1 is the integrated stand composition of the utility model;
Fig. 2 is the structural representation of electric current and voltage protective circuit in the utility model;
Fig. 3 is the structural representation of power circuit in the utility model;
Fig. 4 is the structural representation of power driving circuit in the utility model;
Fig. 5 is a Current Regulation anti-saturation digital PID block diagram in the utility model;
Fig. 6 (a) is the main program flow chart when adopting the utility model segmentation to drive;
Fig. 6 (b) is the eCAP capture interrupt program flow diagram when adopting the utility model segmentation to drive;
Fig. 6 (c) is the ePWM interrupt service routine flow chart when adopting the utility model segmentation to drive.
Embodiment
Below will combine accompanying drawing, the technical scheme of the utility model will be elaborated.
As shown in Figure 1; The utility model provides a kind of micro-stepping driving of stepping motor device; Comprise CPU 6, optical coupling isolation circuit 2, current detecting modulate circuit 9, LED indicating circuit 3, RS232 communicating circuit 1, power circuit 5, electric current and voltage protective circuit 4 and power driving circuit 7, below will describe its annexation respectively.
Power driving circuit 7 (its structure can be as shown in Figure 4) is connected with stepping motor 8, and with the pwm signal power amplification of CPU 6 outputs, the driving power pipe makes stepping motor 8 work; Current detecting modulate circuit 9 also is connected with power driving circuit 7, the current signal of the winding of acquisition process stepping motor 8.
Said power driving circuit 7 comprises two parts, drive circuit and power main circuit.The pwm signal that drive circuit produces CPU is converted into the signal that is enough to the action of driving switch pipe; The power main circuit is an inverter circuit, and the direct current that external power source is supplied with is transformed to the alternating current that drives composite stepper motor.
Said current detecting modulate circuit 9 is done voltage through current transformer to power main circuit dc bus current and is transformed; And magnitude of voltage is amplified AD allowed band in the sheet adjust to CPU element through the instrument differential operational amplifier, adopt low-pass filter circuit to being input to the signal filtering of AD simultaneously.
The voltage of said electric current and voltage protective circuit 4 employing comparator unit and default and current value ratio according to different situations output protection signal, are guaranteed switching tube, motor and other drive plate electronic component safety.
This patent is according to the permanent width of cloth rotation of current phasor principle; Electric current in the control motor windings; Make motor internal set up uniform circular magnetic field; The resultant magnetic field vector of each phase winding electric current resultant vector of each phase winding (the only poor parameter of it and the former) in other words should rotatablely move in the space constant amplitude, thus the permanent torque of motor and uniform subdivision control on the realization theory meaning.Specifically can realize according to following steps:
Step 1: set up a kind of function Mathematical Modeling of the micro-stepping driving of stepping motor based on the permanent width of cloth control of current phasor, if the electric current of control two phases
In the formula: i
a, i
bIt is respectively the electric current of A phase, B phase winding; I
mBe the amplitude of current phasor, θ is the angle that rotor departs from reference point, then the resultant current vector
This is with I
mBe amplitude, with-θ is the vector of argument, when θ changed, the resultant current vector turned over the angle of response, and the amplitude size remains unchanged, and biphase current is changed according to sinusoidal rule, then the permanent width of cloth Rotating with Uniform of current phasor.
Step 2: the voltage that the current detecting modulate circuit is outputed to becomes digital value after through the A/D conversion, does closed loop integration ratio PI control with given sine-wave subdivision digital quantity in that controller is inner, exports the power controlling switching tube through special cell again.The saturated PI control method of anti-integration is adopted in the current closed-loop adjusting, and current detecting is passed through current transformer isolation sampling with conditioning and amplified completion with difference.
The utility model adopts the saturated conventional PID of anti-integration to regulate when motor is in constant-speed operation, eliminates steady-state error, sees shown in Figure 5.The numeric type position formula of pid control algorithm is as follows:
Here:
Be referred to as ratio, integration, the differential coefficient of PID controller respectively.Consider working control amount output valve U (k) often to receive the restriction of actuator (like the aperture of valve) and be limited within the specific limits that promptly there is saturation effect in system, regulating system is introduced the AntiwindupPI algorithm.After to output violent change, integral is compensated, work as U
kIn the time of between maximum limit definite value and irreducible minimum definite value, U
kEqual U '
k, compensate inoperative; Work as U
kGreater than maximum limit definite value, U '
kGet positive limit value, U '
kDeduct U
kObtain negative value, weaken excessive positive integral; Work as U
kLess than irreducible minimum definite value, U '
kGet negative limit value, U '
kDeduct U
kObtain on the occasion of, compensate excessive negative integral.
The implementation step of the utility model is seen shown in Fig. 6 (a)-(c).Whole procedure mainly is divided into three parts according to function: segmentation drives main program, eCAP capture interrupt program and ePWM interrupt service routine.The main program part has mainly been accomplished the initialization setting of system control register, clock, ePWM module, ADC module, eCAP module and interrupt vector.Processor unit read-write IO pin segmentation number and direction selector switch signal and electric current loop pid parameter, the interruption of opening ePWM, eCAP, ADC module simultaneously.Processor (6) is provided with the virtual frequency K of calculating according to the segmentation of IO simultaneously..CPU wait for that the external command pulse is to triggering the eCAP capture interrupt.Inner in each capture interrupt, the rising edge clock processor reads the timer counting of the two-stage degree of depth FIFO of eCAP unit, evenly the reading in the time of a calculating K electric current.Processor reads continuously and calculates two-way phase voltage controlled quentity controlled variable (K logarithm value) renewal ePWM unit comparator, and drive motors is accomplished K micro-stepping elongation, waits band next instruction pulse capture to interrupt taking place.
The ePWM interrupt routine is accomplished the Current Control of fixed switching frequency, and the size of switching frequency is by the period register decision of ePWM module, desirable 20KHZ～25KHZ scope fixed frequency in the enforcement usually.In each EPWM location counter zero interrupted, the two-way current signal that processor is accomplished current detecting and modulate circuit output read and amplitude calculating, and called current PI adjustment module output controlled quentity controlled variable voltage V
pThe triggering of ADC current sample incident is by the counting zero synchronous triggering of ePWM.
Above embodiment is merely the technological thought of explanation the utility model; Can not limit the protection range of the utility model with this; Every technological thought that proposes according to the utility model, any change of on the technical scheme basis, being done all falls within the utility model protection range.
Claims (2)
1. micro-stepping driving of stepping motor device; It is characterized in that: comprise CPU and the optical coupling isolation circuit that is attached thereto respectively, current detecting modulate circuit, LED indicating circuit, RS232 communicating circuit, power circuit, electric current and voltage protective circuit, power driving circuit, said power driving circuit also is connected with stepping motor.
2. a kind of micro-stepping driving of stepping motor device as claimed in claim 1 is characterized in that: said current detecting modulate circuit adopts isolated form current Hall sensor winding current.
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| CN2011202836486U CN202168029U (en) | 2011-08-05 | 2011-08-05 | Subdivided driving device for stepping motor |
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| CN2011202836486U CN202168029U (en) | 2011-08-05 | 2011-08-05 | Subdivided driving device for stepping motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104467347A (en) * | 2013-09-17 | 2015-03-25 | 三星电子株式会社 | Stepping motor and system thereof |
| CN105450111A (en) * | 2015-12-30 | 2016-03-30 | 国网山东郓城县供电公司 | Power generator drive control system |
| CN106533286A (en) * | 2016-12-13 | 2017-03-22 | 西北工业大学 | Integrated stepper motor driving system with multiple degrees of freedom |
| CN107370425A (en) * | 2016-05-13 | 2017-11-21 | 深圳市智创电机有限公司 | The control method and device of motor |
| CN108427345A (en) * | 2018-03-15 | 2018-08-21 | 广州视源电子科技股份有限公司 | Load equipment control method, device and system based on square wave pulse signal |
| CN111327190A (en) * | 2020-03-27 | 2020-06-23 | 深圳市皓文电子有限公司 | Method and device for improving dynamic tracking performance of DCDC constant current power supply |
-
2011
- 2011-08-05 CN CN2011202836486U patent/CN202168029U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104467347A (en) * | 2013-09-17 | 2015-03-25 | 三星电子株式会社 | Stepping motor and system thereof |
| CN104467347B (en) * | 2013-09-17 | 2018-08-24 | 三星电子株式会社 | Stepper motor and stepping motor system |
| CN105450111A (en) * | 2015-12-30 | 2016-03-30 | 国网山东郓城县供电公司 | Power generator drive control system |
| CN107370425A (en) * | 2016-05-13 | 2017-11-21 | 深圳市智创电机有限公司 | The control method and device of motor |
| CN107370425B (en) * | 2016-05-13 | 2019-12-03 | 深圳市智创电机有限公司 | The control method and device of motor |
| CN106533286A (en) * | 2016-12-13 | 2017-03-22 | 西北工业大学 | Integrated stepper motor driving system with multiple degrees of freedom |
| CN106533286B (en) * | 2016-12-13 | 2019-04-19 | 西北工业大学 | A kind of integrated driving system of stepping motor of multiple degrees of freedom |
| CN108427345A (en) * | 2018-03-15 | 2018-08-21 | 广州视源电子科技股份有限公司 | Load equipment control method, device and system based on square wave pulse signal |
| CN111327190A (en) * | 2020-03-27 | 2020-06-23 | 深圳市皓文电子有限公司 | Method and device for improving dynamic tracking performance of DCDC constant current power supply |
| CN111327190B (en) * | 2020-03-27 | 2021-04-02 | 深圳市皓文电子有限公司 | Method and device for improving dynamic tracking performance of DCDC constant current power supply |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: CHANGZHOU HETAI WEITE ELECTRICAL MACHINERY CO., LT Free format text: FORMER OWNER: LI JUNKE Effective date: 20131218 |
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| C41 | Transfer of patent application or patent right or utility model | ||
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Free format text: CORRECT: ADDRESS; FROM: 214100 WUXI, JIANGSU PROVINCE TO: 213011 CHANGZHOU, JIANGSU PROVINCE |
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| TR01 | Transfer of patent right |
Effective date of registration: 20131218 Address after: 213011, Changzhou, Jiangsu, Qishuyan Province, No. 108 Beiyang Road Patentee after: Changzhou Hetai Motor Co., Ltd. Address before: 214100, room 100, set garden, No. 401, Binhu District, Binhu District, Jiangsu, Wuxi Patentee before: Li Junke |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151009 Address after: 213000, Jiangsu Wujin District, Changzhou province observation Town, Qin San village industrial concentration area Patentee after: Changzhou Hetai electrical Limited by Share Ltd Address before: 213011, Changzhou, Jiangsu, Qishuyan Province, No. 108 Beiyang Road Patentee before: Changzhou Hetai Motor Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120314 Termination date: 20200805 |
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| CF01 | Termination of patent right due to non-payment of annual fee |