CN204886766U - Low noise step motor drive controller is advanced in microstep - Google Patents
Low noise step motor drive controller is advanced in microstep Download PDFInfo
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- CN204886766U CN204886766U CN201520586193.3U CN201520586193U CN204886766U CN 204886766 U CN204886766 U CN 204886766U CN 201520586193 U CN201520586193 U CN 201520586193U CN 204886766 U CN204886766 U CN 204886766U
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Abstract
The utility model discloses a low noise step motor drive controller is advanced in microstep, include: the delay timer, the counter rotates, it advances to segment sincos generator module through the microstep, PWM generator module, the drive of H bridge is connected to step motor, the input of step motor device control register is connected through SPI serial bus and external equipment, the output of step motor device control register is to the delay timer, the counter rotates, sincos generator module is advanced to segment in the microstep, PWM generator module, H bridge drive output data information or control signal, the microstep advances to segment sincos generator module including segmentation logic control, the sin accumulator, cos accumulator and segmentation frequency divider, PWM generator module includes the delay counter, sin -PWM pulse width modulator, cos -PWM pulse width modulator and PWM frequency divider. The utility model discloses it is step -by -step to have the biggest 256 segmentations, range, phase place, and tunable frequency's constant voltage work structuring makes motor work have low vibration, the bass noise, it is little to generate heat, beneficial effect that conversion efficiency is high.
Description
Technical field
The utility model relates to a kind of driving controller of stepping motor, and this stepping motor can be applicable to video lens and drives as camera, video camera, also can be used for other machine field, as unmanned aerial vehicle (UAV) control The Cloud Terrace, and miniprinter etc.
Background technology
In prior art, the control method of stepping motor adopts constant current mode substantially, and its general principle is, the electric current of switching tube, motor passes through sampling resistor, obtain sampled voltage, this sampled voltage feeds back to comparator and compares with reference voltage, and comparator upset when current is excessive, turns off output switch pipe, now output current decay, after the fixed attenuation time, then reopen output switch pipe, electric current increases until comparator upset.Chip ceaselessly opens closing switch pipe, forms PWM pulse width modulation controlled.By changing the reference voltage of comparator, just curent change can be controlled; And in prior art, 32 segmentations are accomplished in maximum stepping segmentation at the most; The shortcoming of this circuit is that the noise that heating is obvious, vibration causes is comparatively large, stepping accuracy is not high.
Utility model content
The utility model is according to above not enough, provide a kind of micro-stepping low noise driving controller of stepping motor, this controller adopts constant voltage mode, built-in micro-stepping 256 is segmented device and is accurately controlled two-phase four line stepping motor, simultaneously, for the physical imperfection of stepping motor, controller can compensate the amplitude of the biphase current of stepping motor and relative phase, and noiseproof feature improves further.
The technical solution of the utility model is:
A kind of micro-stepping low noise driving controller of stepping motor, is characterized in that, comprising:
Stepping motor arranges control register, and it is connected with external equipment by SPI universal serial bus, and SPI universal serial bus is also connected to motor enable signal, and motor enable signal is connected to external equipment;
Delayer, data input pin is connected to stepping motor and arranges control register, for receiving the delay time information that motor starts to rotate, control end connects motor enable signal, delayer timing period can write stepping motor by spi and arrange control register, and time delay terminates rear motor and starts to rotate;
Revolution counter, data input pin is connected to stepping motor and arranges control register, and for receiving electric machine rotation step number set information, control end connects motor enable signal, and counting terminates rear generation electric machine rotation end signal;
Segmentation logic control, data input pin is connected to stepping motor and arranges control register, for receiving the segmentation set information of stepping motor micro-stepping, control end Con1 is connected to the output of delayer, control end Con2 connects the output of revolution counter, segmentation logic control achieves two functions: one is that the rotation of processing motor starts to terminate logic, two is the segmentation patterns setting micro-stepping, as 256 segmentation micro-stepping regime can be selected when needs stepping accuracy height, 64 segmentation micro-stepping regime can be selected when needs speed is fast;
Segmentation frequency divider, data input pin is connected to stepping motor and arranges control register, for receiving rotational frequency set information;
Sin accumulator, data input pin connects the output of segmentation logic control and segmentation frequency divider respectively, control end is connected to stepping motor and arranges control register, control end provides Sin accumulator to add deduct signal, Sin accumulator is special counter, by carrying out the calculating of+3 ,+2 ,+1 ,+0 or-1 ,-2 ,-3 in the different time periods, the sine wave of numeral can be exported, control sin road curent change;
Cos accumulator, data input pin connects the output of segmentation logic control and segmentation frequency divider respectively, control end is connected to stepping motor and arranges control register, control end provides Cos accumulator to add deduct signal, Cos accumulator is special counter, by carrying out the calculating of-0 ,-1 ,-2 ,-3 or+3 ,+2 ,+1 in the different time periods, the cosine wave of numeral can be exported, control cos road curent change;
Sin-PWM pulse width modulator, input is connected to the output of Sin accumulator, the control end of Sin-PWM pulse width modulator is connected to stepping motor and arranges control register, control end provides the range signal of pulse-width modulation, i.e. maximum duty cycle, the output of clock termination PWM frequency divider, Sin-PWM pulse width modulator carries out PWM to the output signal Sin-out of sin integrating instrument, and modulation depth arranges control register by stepping motor and sets;
Cos-PWM pulse width modulator, input is connected to the output of Cos accumulator, and the control end of Cos-PWM pulse width modulator is connected to stepping motor and arranges control register, and control end provides the range signal of pulse-width modulation, i.e. maximum duty cycle; The output of clock termination PWM frequency divider, in general Electric Machine Control, the amplitude of biphase current is equal, and now motor operates steadily, but the two-phase winding construction of motor is variant, and Non-completety symmetry, in this utility model, the amplitude of Sin-PWM and Cos-PWM can be arranged respectively, by arranging register, mechanical asymmetry for particular motor compensates, and motor runs more steady.
PWM frequency divider, input connects clock module, and control end is connected to stepping motor and arranges control register, the chopping frequency of control PWM.
Sin control logic, play on-off action, input is connected to the output of Sin-PWM pulse width modulator, the control end of Sin control logic is connected to stepping motor and arranges control register, control end provides brake signal, cut-off signals, two the upper arm bridge metal-oxide-semiconductors exporting H bridge during brake state are opened, and underarm bridge two metal-oxide-semiconductors are closed, and during OFF state, four underarm bridges of H bridge are all closed;
Cos control logic, play on-off action, input is connected to the output of Cos-PWM pulse width modulator, and the control end of Cos control logic is connected to stepping motor and arranges control register, and control end provides brake signal, cut-off signals;
Sin-H bridge drives, and four control ends are connected respectively to the output of Sin control logic, and two outputs connect one group of coil of motor;
Cos-H bridge drives, and four control ends are connected respectively to the output of Cos control logic, and two outputs connect another group coil of motor;
Clock module, provides clock to each module;
Power supply, to each module for power supply.
On the basis of technique scheme, delay counter can also be comprised, this delay counter is connected between described Cos accumulator and described Cos-PWM pulse width modulator, the delay data input of delay counter is connected to described stepping motor and arranges control register, and delay counter is used for phase place and corrects.In the control method of desirable two-phase stepping motor, a wherein phase current magnitude of biphase current changes according to sin, and another phase current magnitude changes according to cos, both phase 90 °, and at this moment motor runs the most steady; But in the physics manufacturing process of real electrical machinery, two-phase mechanical structure, coil, load is all variant, cause phase current different at the mechanical delay of motor internal, now, we can pass through delay counter, the time delay that spontaneously introducing one is contrary with mechanical delay, the internal mechanical carrying out small electromotor postpones.By this compensation way, the operation of motor is more steady.
Described Sin-H bridge drives or the driving of Cos-H bridge comprises four MOS driving tubes, wherein two PMOS driving tubes, two NMOS driving tubes, four parasitic fly-wheel diodes.
Basic functional principle of the present utility model:
External equipment can arrange control register to stepping motor by SPI universal serial bus and carry out read-write operation, the operating state of motor is set, mainly contain following setting: motor starts the delay time information rotated, the electric machine rotation time sets, stepping segmentation set information, motor rotation frequency, direction of motor rotation, motor phase is corrected, motor output current amplitude, the brake of motor and shutoff etc.
After motor enable signal is come, need to arrange control register write data by SPI universal serial bus to stepping motor, and carry out time delay by delayer to enable, time of delay can not be oversize, oversize meeting causes pause and the noise of motor, time of delay can not be too short, and writing register manipulation must complete within this time of delay.
Come into force after motor enable signal is delayed, produce the commencing signal of electric machine rotation, motor starts to rotate; The rotation of another road is enable enters revolution counter, and make revolution counter start counting, the terminal of counting is set by control register, at the end of counting, produces and rotates end signal.
Segmentation logic control, Sin accumulator, Cos accumulator and segmentation frequency divider form micro-stepping segmentation sin/cos generator module.The function of this generator is, after input receives electric machine rotation commencing signal, accumulator carries out plus and minus calculation according to certain algorithm, produce the digital signal changed according to similar sine (sin) and cosine (cos): Sin-out and Cos-out, the current magnitude variation of the corresponding final output driving current of this digital signal changes in amplitude.Stepping motor arranges control register can arrange the change direction of current amplitude to set the rotating of motor; Segmentation number is set and can sets the step number that in Sin integrating instrument, Cos accumulator plus and minus calculation, sin, cos change to ' 1 ' maximum from ' 0 ' minimum value, maximumly be set to 256 steps, namely output current changes in amplitude is 256 segmentations, now exports closest to sinusoidal wave; The divider ratio that control register can arrange segmentation frequency divider is set, the time cycle of each computing in Sin, Cos accumulator plus and minus calculation is set, thus the cycle that setting current magnitude variation often walks, i.e. the rotational frequency cycle;
Delay counter, Sin-PWM pulse width modulator, Cos-PWM pulse width modulator and PWM frequency divider form PWM generator module.The function of this module is: the output of Sin integrating instrument, Cos accumulator numeral variable signal Sin-out, Cos-out are converted to motor H bridge can PWM pulse-width signal.PWM pulse width modulator can realize with counter or digital multiplier, and the different range signals of input are converted into different duty cycle signals, and amplitude is larger, and duty ratio is larger, and output current is larger.Delay counter does delay disposal to Cos-out signal, changes the relative phase of Sin-out and Cos-out, and the count value that this relative phase arranges control register setting delay counter by stepping motor changes; In addition, stepping motor arranges the modulation depth that control register can set the pulse width modulator of Sin-PWM and Cos-PWM respectively, thus the last maximal current magnitude exported of setting.
The PWM of the pulse width modulator of Sin-PWM and Cos-PWM exports respectively through Sin control logic and Cos control logic, after increasing brake and turn-off function, drives the grid end of the MOS power tube of two H bridges.The output of two H bridges is connected to two-phase stepping motor, and Driving Stepping Motor operates.
The utility model has maximum 256 segmentation steppings, and amplitude, phase place, the constant voltage operation structure of frequency-adjustable, makes machine operation have low vibration, low-audio noise, generate heat little, the beneficial effect that conversion efficiency is high.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Embodiment
Now by reference to the accompanying drawings the utility model is further described:
As shown in the figure, a kind of micro-stepping low noise driving controller of stepping motor, comprising:
Stepping motor arranges control register, and it is connected with external equipment by SPI universal serial bus, and SPI universal serial bus is also connected to motor enable signal, and motor enable signal is connected to external equipment; SPI universal serial bus has SIN, SCK, CS, SOUT port.
Delayer, data input pin is connected to stepping motor and arranges control register, and for receiving the delay time information that motor starts to rotate, control end connects motor enable signal;
Revolution counter, data input pin is connected to stepping motor and arranges control register, and for receiving electric machine rotation step number set information, control end connects motor enable signal;
Segmentation logic control, data input pin is connected to stepping motor and arranges control register, and for receiving the segmentation set information of stepping motor micro-stepping, control end Con1 is connected to the output of delayer, and control end Con2 connects the output of revolution counter;
Segmentation frequency divider, data input pin is connected to stepping motor and arranges control register, for receiving rotational frequency set information;
Sin accumulator, data input pin connects the output of segmentation logic control and segmentation frequency divider respectively, and control end is connected to stepping motor and arranges control register, and control end provides Sin accumulator to add deduct signal;
Cos accumulator, data input pin connects the output of segmentation logic control and segmentation frequency divider respectively, and control end is connected to stepping motor and arranges control register, and control end provides Cos accumulator to add deduct signal;
Sin-PWM pulse width modulator, input is connected to the output of Sin accumulator, and the control end of Sin-PWM pulse width modulator is connected to stepping motor and arranges control register, and control end provides the range signal of pulse-width modulation, i.e. maximum duty cycle;
Cos-PWM pulse width modulator, input is connected to the output of Cos accumulator, and the control end of Cos-PWM pulse width modulator is connected to stepping motor and arranges control register, and control end provides the range signal of pulse-width modulation, i.e. maximum duty cycle;
PWM frequency divider, input connects clock module, and control end is connected to stepping motor and arranges control register, the chopping frequency of control PWM.
Sin control logic, play on-off action, input is connected to the output of Sin-PWM pulse width modulator, and the control end of Sin control logic is connected to stepping motor and arranges control register, and control end provides brake signal, cut-off signals;
Cos control logic, input is connected to the output of Cos-PWM pulse width modulator, and the control end of Cos control logic is connected to stepping motor and arranges control register, and control end provides brake signal, cut-off signals;
Sin-H bridge drives, and four control ends are connected respectively to the output of Sin control logic, and two outputs connect one group of coil of motor, and two-phase four line stepping motor selected by motor;
Cos-H bridge drives, and four control ends are connected respectively to the output of Cos control logic, and two outputs connect another group coil of motor;
Clock module, provides clock to each module;
Power supply, to each module for power supply.
Delay counter can also be comprised, this delay counter is connected between described Cos accumulator and described Cos-PWM pulse width modulator, the delay data input of delay counter is connected to described stepping motor and arranges control register, and delay counter is used for phase place and corrects.
Sin-H bridge drives or the driving of Cos-H bridge comprises four MOS driving tubes and four parasitic fly-wheel diodes.
Segmentation logic control, Sin accumulator, Cos accumulator and segmentation frequency divider (rotational frequency setting) are included in the module of micro-stepping segmentation sin/cos generator.
Delay counter, Sin-PWM pulse width modulator, Cos-PWM pulse width modulator and PWM frequency divider are included in the module of PWM generator.
Claims (3)
1. a micro-stepping low noise driving controller of stepping motor, is characterized in that, comprising:
Stepping motor arranges control register, and it is connected with external equipment by SPI universal serial bus, and SPI universal serial bus is also connected to motor enable signal, and motor enable signal is connected to external equipment;
Delayer, data input pin is connected to stepping motor and arranges control register, and for receiving the delay time information that motor starts to rotate, control end connects motor enable signal;
Revolution counter, data input pin is connected to stepping motor and arranges control register, and for receiving electric machine rotation step number set information, control end connects motor enable signal;
Segmentation logic control, data input pin is connected to stepping motor and arranges control register, and for receiving the segmentation set information of stepping motor micro-stepping, control end Con1 is connected to the output of delayer, and control end Con2 connects the output of revolution counter;
Segmentation frequency divider, data input pin is connected to stepping motor and arranges control register, for receiving rotational frequency set information;
Sin accumulator, data input pin connects the output of segmentation logic control and segmentation frequency divider respectively, and control end is connected to stepping motor and arranges control register, and control end provides Sin accumulator to add deduct signal;
Cos accumulator, data input pin connects the output of segmentation logic control and segmentation frequency divider respectively, and control end is connected to stepping motor and arranges control register, and control end provides Cos accumulator to add deduct signal;
Sin-PWM pulse width modulator, input is connected to the output of Sin accumulator, and the control end of Sin-PWM pulse width modulator is connected to stepping motor and arranges control register, and control end provides the range signal of pulse-width modulation, i.e. maximum duty cycle;
Cos-PWM pulse width modulator, input is connected to the output of Cos accumulator, and the control end of Cos-PWM pulse width modulator is connected to stepping motor and arranges control register, and control end provides the range signal of pulse-width modulation, i.e. maximum duty cycle;
PWM frequency divider, input connects clock module, and control end is connected to stepping motor and arranges control register, the chopping frequency of control PWM;
Sin control logic, play on-off action, input is connected to the output of Sin-PWM pulse width modulator, and the control end of Sin control logic is connected to stepping motor and arranges control register, and control end provides brake signal, cut-off signals;
Cos control logic, input is connected to the output of Cos-PWM pulse width modulator, and the control end of Cos control logic is connected to stepping motor and arranges control register, and control end provides brake signal, cut-off signals;
Sin-H bridge drives, and four control ends are connected respectively to the output of Sin control logic, and two outputs connect one group of coil of motor;
Cos-H bridge drives, and four control ends are connected respectively to the output of Cos control logic, and two outputs connect another group coil of motor;
Clock module, provides clock to each module;
Power supply, to each module for power supply.
2. a kind of micro-stepping low noise driving controller of stepping motor as claimed in claim 1, it is characterized in that, also comprise delay counter, this delay counter is connected between described Cos accumulator and described Cos-PWM pulse width modulator, the delay data input of delay counter is connected to described stepping motor and arranges control register, and delay counter is used for phase place and corrects.
3. a kind of micro-stepping low noise driving controller of stepping motor as claimed in claim 1 or 2, is characterized in that, described Sin-H bridge drives or the driving of Cos-H bridge comprises four MOS driving tubes and four parasitic fly-wheel diodes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520586193.3U CN204886766U (en) | 2015-08-06 | 2015-08-06 | Low noise step motor drive controller is advanced in microstep |
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| CN201520586193.3U CN204886766U (en) | 2015-08-06 | 2015-08-06 | Low noise step motor drive controller is advanced in microstep |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105048902A (en) * | 2015-08-06 | 2015-11-11 | 杭州瑞盟科技有限公司 | Micro-stepping low-noise stepping motor driving controller |
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- 2015-08-06 CN CN201520586193.3U patent/CN204886766U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105048902A (en) * | 2015-08-06 | 2015-11-11 | 杭州瑞盟科技有限公司 | Micro-stepping low-noise stepping motor driving controller |
| CN105048902B (en) * | 2015-08-06 | 2017-11-24 | 杭州瑞盟科技有限公司 | Micro-stepping low noise driving controller of stepping motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Peng Jinming Inventor before: Peng Jinming Inventor before: Ding Qiang Inventor before: Ruan Zhipeng |
|
| COR | Change of bibliographic data | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151216 Effective date of abandoning: 20171124 |
|
| AV01 | Patent right actively abandoned |