CN204539022U - A kind of Stepping Motor Subdivision Driver - Google Patents
A kind of Stepping Motor Subdivision Driver Download PDFInfo
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- CN204539022U CN204539022U CN201520290876.4U CN201520290876U CN204539022U CN 204539022 U CN204539022 U CN 204539022U CN 201520290876 U CN201520290876 U CN 201520290876U CN 204539022 U CN204539022 U CN 204539022U
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Abstract
The utility model discloses a kind of Stepping Motor Subdivision Driver, and mainly comprise master controller, two-way 16 D/A converter, stepper motor driving circuit and current sampling circuits, stepper motor driving circuit comprises chopper circuit and bridge circuit; The input of two-way 16 D/A converter is all connected with the output of master controller, the output of two-way 16 D/A converter is all connected to the input of chopper circuit, the output of chopper circuit is connected to the input of bridge circuit, and the output of bridge circuit connects stepping motor; The output of master controller is connected with the input of chopper circuit, and current sampling circuit is connected between the input of chopper circuit and the output of bridge circuit.This is novel based on the sinusoidal subdivision driver of discrete device formation constant current chopper, and have segmentation number high, segmentation range of choice is wide, the large advantage of motor output current, and control is flexibly reliable, and applicability is good, and cost performance is high, has stronger practical feature.
Description
Technical Field
The utility model relates to a step motor drives technical field particularly, relates to a chopped step motor segmentation driver of double-phase step motor sine constant current based on discrete device realizes.
Background
As an action executing element, a stepping motor is used as an action executing element, in some automatic control fields, such as precision machining, aerospace automation technology and the like, due to the fact that the requirement on positioning precision is high, the requirement on the subdivision number of the stepping motor is higher and higher, and therefore the development of a high-precision low-cost high-cost stepping motor driving control system is of great significance.
Under the condition of normal operation, the rotating speed and the stop position of the stepping motor only depend on the frequency and the pulse number of the pulse signal and are basically not influenced by load change. When the driver receives a driving pulse signal, the stepping motor rotates in a preset direction by a fixed angle, which is called a 'step angle'. The running performance of the stepping motor is closely related to the driving mode, and the defects of the stepping motor can be overcome by changing the driving mode. Experiments show that the subdivision driving mode not only can reduce the step angle of the stepping motor, but also can reduce or eliminate low-frequency vibration, so that the motor runs more stably and uniformly. However, the driver of the stepping motor is often composed of an integrated chip, for example, the stepping motor driver chip 3955 is used to control the driver, although the advantage of simple circuit wiring can be well exerted, the driver lacks flexibility, and the design and application of the stepping motor driver circuit are limited to a certain extent. Some drivers use high-performance microcomputers, high-precision DA chips and the like to realize drive control, and although the drivers have good performance, the drivers have high cost and low cost performance.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a stepping motor subdivision driver, which is based on a discrete device to form a sine constant current chopping subdivision driver, realizes the constant torque, vibration-free and noise-free drive control of the stepping motor, and has the advantages of high subdivision number, wide subdivision selection range and large motor output current; and the rotating speed of the motor can be adjusted according to the input pulse frequency, the use and the control are reliable and flexible, the applicability is good, the cost performance is high, and the motor has the strong practical characteristics.
In order to achieve the above purpose, the solution of the present invention is:
a subdivision driver of a stepping motor mainly comprises a main controller, a double-path 16-bit DA converter, a stepping motor driving circuit and a current sampling circuit, wherein the stepping motor driving circuit comprises a chopper circuit and a bridge circuit; the input end of the double-path 16-bit DA converter is connected with the output end of the main controller, and outputs reference voltage under the control of the main controller; the output ends of the two-way 16-bit DA converters are connected to the input end of the chopper circuit, the output end of the chopper circuit is connected to the input end of the bridge circuit, and the output end of the bridge circuit is connected with the stepping motor; the output end of the main controller is connected with the input end of the chopper circuit so as to control the conduction direction of a bridge arm of the bridge circuit; the current sampling circuit is connected between the input end of the chopper circuit and the output end of the bridge circuit so as to filter the phase current of the sampled stepper motor.
Preferably, each of the two-way 16-bit DA converters is constituted by two digital potentiometers having an 8-bit DA conversion function and one operational amplifier by constituting an adder operational amplification circuit.
Preferably, the current sampling circuit includes two phase current sampling circuits and two low-pass filter circuits, an input end of the phase current sampling circuit is connected with a phase current output end of the bridge circuit, an output end of the phase current sampling circuit is connected with an input end of the low-pass filter, and an output end of the low-pass filter is connected with an input end of the chopper circuit.
Preferably, the main controller is a 51-chip microcomputer.
Preferably, the chopper circuit is an L6505D chip with two comparators inside.
Preferably, the bridge circuit is an H-bridge L298N chip.
Preferably, the current sampling circuit is an RC first-order active low-pass filter.
Preferably, the stepping motor subdivision driver further comprises a key, the key is connected with the main controller, the subdivision number of the driver, the size and the positive and negative rotation of the winding output current of the stepping motor are selected, and the rotating speed of the stepping motor is changed.
After the scheme is adopted, the utility model discloses for prior art beneficial effect lie in: the novel stepping motor subdivision driver realizes the sine constant-current chopping subdivision driving action of the two-phase stepping motor based on discrete devices. When the subdivision driver works, according to design requirements, a constant-current chopper circuit is adopted in a motor winding phase current control link, and winding current tracks the change of an input sine wave reference signal, so that the input sine wave reference signal is a bipolar signal.
The test result of the whole system proves that the novel design scheme is reliable and feasible, and if a microcomputer with higher processing speed is used, the running speed of the motor can be improved. Because the system design is simple, with low costs, the good reliability, practical nimble, the driving force is strong, satisfies double-phase miniwatt step motor's high segmentation control, has also explained simultaneously that the segmentation drive that adopts discrete device has very high practicality, and the system is from taking circuit protection moreover, can make the reliability of whole driver improve, has very high spreading value, can satisfy daily work's requirement.
Drawings
FIG. 1 is a vector diagram of magnetic field synthesis during 4-segment driving of a stepping motor;
FIG. 2 is a block diagram of a system design according to the present invention;
FIG. 3 is a circuit schematic of a 16-bit DA digital-to-analog converter;
FIG. 4 is a diagram of the output reference voltage of a 16-bit DA DAC;
FIG. 5 is a schematic diagram of a stepper drive circuit;
FIG. 6 is a circuit schematic of an RC low pass filter;
FIG. 7 is a waveform of sampling before and after filtering;
FIG. 8 is a test waveform of the sampling voltage and the DA output reference voltage; and
fig. 9 is an interface of a two-phase winding current sampling oscilloscope.
Description of the reference symbols
Main controller 116 bit DA converter 2
Chopper circuit 31 of stepping motor drive circuit 3
Bridge circuit 32 current sampling circuit 4
Button 5 stepping motor M
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
Before explaining the structural design of the novel stepping motor subdivision driver in detail, the technical principle of subdivision driving in the design of the two-phase stepping motor is explained first. In the driving design of the two-phase stepping motor, due to the production process of the stepping motor and other reasons, each phase of current may have non-sinusoidal transformation, so that the whole system controls the DA converter to output sinusoidal reference voltage through the main controller, and compares the sinusoidal reference voltage with the sampled phase current value of the motor to perform chopping driving. For a stepping motor with two-phase windings, a current sine conversion constant-current chopping drive design is adopted, iaFor the A-phase current to flow, ibFor the B-phase current to flow, icIs iaAnd ibThe resultant current of (2).
ia＝Im sin(jθ) (1)
ib＝Im cos(jθ) (2)
ic＝ia+ib (3)
In the formula: θ is the step angle of m subdivision, and j is 1,2, …, m.
For example, by dividing the driving field into 4 parts, the winding is energized according to the above formula, and a 4-part driving type magnetic field synthesis vector diagram shown in fig. 1 can be obtained.
The utility model relates to a step motor segmentation driver, as shown in fig. 2, mainly include main control unit 1, 16 bit DA converter 2 of double-circuit, step motor drive circuit 3 and current sampling circuit 4. Wherein the stepping motor drive circuit 3 includes a chopper circuit 31 and a bridge circuit 32. Wherein,
the output end of the main controller 1 is connected with the input end of the two-way 16-bit DA converter 2, so that a reference voltage is output under the control of the main controller 1; the output end of the main controller 1 is also connected with the input end of the chopper circuit 31 to control the conduction direction of the bridge arm of the bridge circuit 32;
the output ends of the two-way 16-bit DA converters 2 are connected to the input end of a chopper circuit 31, the output end of the chopper circuit 31 is connected to the input end of a bridge circuit 32, and the output end of the bridge circuit 32 is connected with a stepping motor M;
the current sampling circuit 4 is connected between the input end of the chopper circuit 31 and the output end of the bridge circuit 32 to filter the sampled phase current of the stepper motor M.
Preferably, the novel stepping motor subdivision driver further comprises a key 5, and the key 5 is connected with the main controller 1 to select subdivision numbers of the driver, sizes and positive and negative rotation of winding output currents of the stepping motor and change the rotating speed of the stepping motor.
Preferably, the main controller 1 is a 51-chip microcomputer. The chopper circuit 31 is an L6505D chip with two comparators inside. The bridge circuit 32 is an H-bridge L298N chip. The current sampling circuit 4 is an RC first-order active low-pass filter. Specifically, the current sampling circuit 4 includes two phase current sampling circuits and two low-pass filter circuits, an input end of the phase current sampling circuit is connected to a phase current output end of the bridge circuit 32, an output end of the phase current sampling circuit is connected to an input end of the low-pass filter, and an output end of the low-pass filter is connected to an input end of the chopper circuit 31.
This novel two-phase step motor segmentation driver selects subdivision number, motor winding output current's size and the positive and negative rotation of motor through button 5, can change the rotational speed of motor through the frequency of difference. Under the action of a control circuit, the two-way 16-bit DA converter 2 outputs reference voltage, the current sampling circuit 4 tracks the change of two-phase current of the stepping motor M, the reference voltage is converted into voltage through conversion, the voltage is filtered, the voltage is compared with the two-way DA output voltage through a self-contained comparator in an L6506D chip, the switching of an L298N bridge circuit is controlled through comparison, meanwhile, the conducting direction of a bridge arm of the L298N is controlled through a single chip microcomputer, the direction of the motor phase current is changed, and constant-current chopping is achieved to control the rotation of the motor.
The system requires that the reference voltage output by the DA is sine wave, the subdivision number reaches 128 subdivisions or more, the rotating speed requirement of the motor is changed along with the input pulse frequency, and the singlechip is used for controlling the DA digital-to-analog converter to generate the sine wave reference voltage. Therefore, the accuracy requirement of the system on DA is relatively high, and theoretically 16-bit DA can meet the 256-subdivision design requirement. Assuming that the reference voltage is 1V, the system operates at 128 minutes, and the value of the partial sine wave at a certain angle and the output value of the 16-bit DA are shown in table 1 below. As can be seen from Table 1, the 16-bit DA output value is very close to the ideal sine wave, and the relative error is less than 0.0001%, so that the design requirement of 128 subdivision can be met.
Table 116 bit DA sine output theoretical value and present error
Because the existing 16-bit DA chip is expensive and cannot meet the requirement of low design cost, when a novel system is designed, two low-cost digital potentiometers with 8-bit DA conversion functions are generated into a digital-to-analog converter with 16-bit DA functions by using an adder principle in analog-to-digital conversion. That is, the 16-bit DA converter 2 is configured by two digital potentiometers having an 8-bit DA conversion function and one operational amplifier, and constitutes an adder operational amplifier circuit. The method is applied to a subdivision driver of a stepping motor, the schematic diagram is shown in fig. 3, and the output voltage is formula (4).
Vout＝D×VREF/216×C (4)
In the formula: c is a constant.
By testing the output of two paths of 16-bit DA reference voltages under 128-subdivision, an oscilloscope test chart is shown in fig. 4, the amplitudes of two paths of signals are the same, the phase angle difference is 90 degrees, and the design requirements are met.
The novel stepping motor driving circuit diagram is shown in fig. 5, the stepping motor driving circuit is composed of an L6506D and an L298N, two comparators are arranged in the L6506D, feedback phase currents of the windings are respectively converted into voltages through detection resistors and then compared with reference voltages output by two paths of 16-bit DA, the reference voltages are compared with phase currents sampled by a motor, when the sampled voltages of the load windings reach the reference voltages output by the DA, the corresponding comparators reset triggers of the load windings, so that an H-bridge circuit of the L298N is disconnected, the currents are gradually weakened through a backflow channel, next comparison is waited, closed-loop control of the currents in the windings is achieved, and accuracy of step distances is finally achieved. The working frequency of the oscillator is as follows:
f＝1/(0.68*R*C) (5)
because the drive of the stepping motor is switched on and off in real time, voltage burrs and high-frequency components exist in the sampling voltage, if the sampling voltage is directly sent to the comparator, the output current of the motor has errors with the actual set current, and the errors can be increased along with the increase of the switching frequency. Therefore, the novel system adopts a first-order active filter, and filters the sampled motor phase current as shown in fig. 6.
As can be seen from equation (7), the output of the filter is not affected by the load and meets the design requirements. As shown in fig. 7, the sampling waveform before filtering is compared with the sampling waveform after filtering, and only the dc component remains in the sampling waveform after filtering, which meets the requirement of theoretical design and proves the effectiveness of filter design.
The sampled voltage is filtered and then sent to the comparator end, the test waveform is shown in figure 8, the actual output current of the motor is very close to the set current, and the experiment proves that the system design is effective.
Since the frequency of the reference voltage of the DA is changed according to the change of the pulse frequency inputted to the microcomputer in order to meet the design requirement of flexible system control, the driver can be more flexibly used. And the reference voltages output by the two paths of DA can meet the requirement of constant-current chopping drive only when the reference voltages change simultaneously. The system enables the four digital potentials MCP41010 to be changed simultaneously by software design. Wherein the output value of each reference voltage is performed by a table look-up.
This novel two-phase step motor segmentation actuating system sets up the back before the start, the start test. When the two-phase stepping motor runs at 128-fine, the interface of the current sampling current of the two-phase winding on the oscilloscope is shown in fig. 9, the amplitudes of the two-phase winding AB of the stepping motor are the same, and the phase angle difference is 90 degrees. After a plurality of tests, the driver can stably run under different subdivision numbers and different reference voltages, the initially set target of system design is completed, the subdivision number of a circuit can reach 128 subdivision, the current is generally set to be about 1A because the used stepping motor is small, and if the heat dissipation treatment is carried out, the output current of the motor can reach about 1.75A.
In conclusion, the test results of the whole system prove that the novel design scheme is reliable and feasible, and if a microcomputer with higher processing speed is used, the running speed of the motor can be improved. Because the system design is simple, with low costs, the good reliability, practical nimble, the driving force is strong, satisfies double-phase miniwatt step motor's high segmentation control, has also explained simultaneously that the segmentation drive that adopts discrete device has very high practicality, and the system is from taking circuit protection moreover, can be whole driver's reliability improvement, has very high spreading value, can satisfy daily work's requirement.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made within the scope of the claims of the present invention should fall within the scope of the claims of the present invention.
Claims (8)
1. A stepper motor subdivision driver is characterized in that: the device mainly comprises a main controller, a two-way 16-bit DA converter, a stepping motor driving circuit and a current sampling circuit, wherein the stepping motor driving circuit comprises a chopper circuit and a bridge circuit; the input end of the double-path 16-bit DA converter is connected with the output end of the main controller, and outputs reference voltage under the control of the main controller; the output ends of the two-way 16-bit DA converters are connected to the input end of the chopper circuit, the output end of the chopper circuit is connected to the input end of the bridge circuit, and the output end of the bridge circuit is connected with the stepping motor; the output end of the main controller is connected with the input end of the chopper circuit so as to control the conduction direction of a bridge arm of the bridge circuit; the current sampling circuit is connected between the input end of the chopper circuit and the output end of the bridge circuit so as to filter the phase current of the sampled stepper motor.
2. A stepper motor sub-division driver as defined in claim 1, wherein: each of the two-way 16-bit DA converters is constituted by two digital potentiometers having an 8-bit DA conversion function and an operational amplifier by constituting an adder operational amplification circuit.
3. A stepper motor sub-division driver as defined in claim 1, wherein: the current sampling circuit comprises two phase current sampling circuits and two low-pass filter circuits, the input end of each phase current sampling circuit is connected with the phase current output end of the bridge circuit, the output end of each phase current sampling circuit is connected with the input end of the low-pass filter, and the output end of the low-pass filter is connected with the input end of the chopper circuit.
4. A stepper motor sub-division driver as defined in claim 1, wherein: the main controller is a 51-chip microcomputer.
5. A stepper motor sub-division driver as defined in claim 1, wherein: the chopper circuit is an L6505D chip with two comparators inside.
6. A stepper motor sub-division driver as defined in claim 1, wherein: the bridge circuit is an H bridge L298N chip.
7. A stepper motor sub-division driver as defined in claim 1, wherein: the current sampling circuit is an RC first-order active low-pass filter.
8. A stepper motor sub-division driver as defined in claim 1, wherein: the stepping motor subdivision driver also comprises a key, the key is connected with the main controller, the subdivision number of the driver, the size of the output current of the winding of the stepping motor and the positive and negative rotation are selected, and the rotating speed of the stepping motor is changed.
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| CN201520290876.4U CN204539022U (en) | 2015-05-07 | 2015-05-07 | A kind of Stepping Motor Subdivision Driver |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107982634A (en) * | 2017-10-18 | 2018-05-04 | 南京久益电脑控制仪器有限公司 | Intelligence is dredged through instrument |
| CN107992097A (en) * | 2017-11-24 | 2018-05-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of system for realizing in-orbit sun precision tracking |
| CN108809171A (en) * | 2018-05-23 | 2018-11-13 | 北京控制工程研究所 | It is a kind of to determine frequency PWM full-bridge type motor micro-stepping subdivision drive control methods and circuit |
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2015
- 2015-05-07 CN CN201520290876.4U patent/CN204539022U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107982634A (en) * | 2017-10-18 | 2018-05-04 | 南京久益电脑控制仪器有限公司 | Intelligence is dredged through instrument |
| CN107992097A (en) * | 2017-11-24 | 2018-05-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of system for realizing in-orbit sun precision tracking |
| CN107992097B (en) * | 2017-11-24 | 2021-07-16 | 中国科学院长春光学精密机械与物理研究所 | System for realizing on-orbit sun precision tracking |
| CN108809171A (en) * | 2018-05-23 | 2018-11-13 | 北京控制工程研究所 | It is a kind of to determine frequency PWM full-bridge type motor micro-stepping subdivision drive control methods and circuit |
| CN108809171B (en) * | 2018-05-23 | 2021-04-13 | 北京控制工程研究所 | Fixed-frequency PWM full-bridge motor micro-step subdivision drive control method and circuit |
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