EP0140089B1 - Verfahren zur Steuerung eines Schrittmotors - Google Patents

Verfahren zur Steuerung eines Schrittmotors Download PDF

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Publication number
EP0140089B1
EP0140089B1 EP84110852A EP84110852A EP0140089B1 EP 0140089 B1 EP0140089 B1 EP 0140089B1 EP 84110852 A EP84110852 A EP 84110852A EP 84110852 A EP84110852 A EP 84110852A EP 0140089 B1 EP0140089 B1 EP 0140089B1
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EP
European Patent Office
Prior art keywords
motor
energy
voltage
supplied
pulse
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP84110852A
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English (en)
French (fr)
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EP0140089A1 (de
Inventor
Mohamed Mokdad
Mai Tu Xuan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Omega SA
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Omega SA
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Publication date
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    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C3/00—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means
    • G04C3/14—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means incorporating a stepping motor
    • G04C3/143—Means to reduce power consumption by reducing pulse width or amplitude and related problems, e.g. detection of unwanted or missing step

Definitions

  • the present invention relates to a method of supplying a stepping motor, in particular for a timepiece, method in which the quantity of energy E i (t) is compared during the duration of each control pulse. supplied to the motor at a predetermined amount of energy E; o , then the control pulse is interrupted as soon as said amounts of energy are equal.
  • EP-A-0 057 663 was cited in the research report (corresponding to US-A-4439717). It is a control device for a stepping motor in which the energy supplied to the motor is compared to a predetermined energy, then the control pulse is cut off when said energies are equal.
  • This device avoids the drawback which the known devices present and which is due to the fact that if the voltage of the power source varies, the power supplied to the motor also varies as indicated in the paragraph above.
  • the cited document proposes means which consist, on the one hand, in supplying the motor by keeping the current in the coil of said motor constant and, on the other hand, in analyzing the voltage signal present on the coil then to provide information on the induced voltage caused by the movement of the rotor.
  • the approach proposed by the present invention is completely different since it does not use the induced voltage any more than it requires keeping the current in the coil constant.
  • the process chosen here is limited to measuring the supply voltage at the motor terminals and the current flowing in its coil, integrating the product of the two measurements with respect to time and then cutting the supply when the energy thus measured is equal to a predetermined quantity of energy.
  • E s is generally smaller than E m and practically constant
  • the sum E m + E s is defined in the present case as representing the internal energy E; supplied to the engine. We can therefore write that: which means that the internal energy to be supplied to the motor is equal to the total energy supplied by the system (Et) minus the energy dissipated by the Joule effect (Eth).
  • This amount of energy E io can be determined for each caliber of watch that we are dealing with and it will play the role of threshold to limit the duration of the driving pulse sent to the motor. In other words, when the internal energy E i (t) supplied to the motor reaches the threshold value E io, the energy is cut. We will thus have sent to the motor just enough energy for its rotor to take the plunge, avoiding unnecessary overconsumption.
  • the process which has just been indicated is illustrated by the graph in FIG. 1.
  • the integration time t in seconds is plotted on the abscissa and, on the ordinate, the energy E i (t) in microjoules as well as a energy value E io for which it is ensured that the rotor will cross its pitch.
  • the pulse is cut off which gives a duration T; for this impulse.
  • Figure 1 also shows the variation of current 1 in the motor coil.
  • t T; max. It may indeed happen, for abnormally high load cases, that the energy E i (t) can never reach the threshold E io . It is then preferable to limit in time the duration of the control pulse, duration which will be chosen to be high, for example 10 ms.
  • FIG. 2 shows an example of simulation of the reaction of this servo-control during a variation of the voltage across the terminals of the motor or during a variation of the internal resistance of the supply battery.
  • E io required to drive the rotor is 1 ⁇ J.
  • This graph shows the same coordinates as those adopted for Figure 1.
  • the current I and energy E i curves referenced in 1 present a state in which the motor is supplied by a voltage U o equal to 1.7 V (new battery).
  • the command pulse length is short, about 4.8 ms.
  • the state referenced 2 is that for which the battery is at a discharge level for which the voltage U o is equal to 1.5 V.
  • the coincidence of E; and E io only intervenes when the pulse duration reaches 6.2 ms.
  • the command pulse has a duration of 6.8 ms.
  • the block diagram in FIG. 3 makes it possible to carry out all the operations mentioned above.
  • the actual control block 4 receives at its input the control pulses (timing) of duration T; max and for which it will be a question of adjusting the width, the supply voltage U o , the predetermined quantity of energy E io and the energy supplied to the motor E; (t).
  • This command 4 satisfies the following operating conditions: cut the pulse if E i (t) becomes larger than E io or maintain it until a previously defined value T; max if E i (t) always remains lower than E io .
  • the circuit 5 is a sensor block which makes it possible to read the value of the current I (t) in the coil of the motor 8 and the value of the voltage U o at its terminals and to make the difference U o- RI.
  • Circuit 6 is a multiplier which performs the operation [5] mentioned above.
  • circuit 7 is an integrator which integrates the product (U o ⁇ RI) I (t) in time space from which the value of internal energy E i (t) results.
  • FIG. 3 is a block diagram allowing the operations necessary to implement the method according to the invention to be carried out. In practice, there are several ways of achieving this and the diagram in FIG. 4 describes a possible embodiment which will be explained now.
  • the motor M is supplied at its terminals by the voltage U o .
  • the alternating polarity pulses are sent to the motor by a bridge of transistors 31, 32, 33 and 34.
  • the transistors 31 and 32 are conductive, the current flows in the direction of arrow 35 while it flows in the direction of the arrow 36 when it is the transistors 33 and 34 which conduct.
  • an operational amplifier 38 at the output 42 from which appears a voltage proportional to the product of the resistance R of the coil and the current 1 flowing in this coil.
  • a second operational amplifier 39 combines, via three resistors r of equal values, the voltage U o and the voltage R ⁇ to provide at its output 40 a voltage U o- RI.
  • the voltages formed on lines 40 and 42 are sent respectively to the inputs X and Y of a multiplier 43 which, at its output 44, delivers a voltage U proportional to (U o ⁇ RI) I (t) to a factor of scale close.
  • This voltage U in turn attacks an integrator circuit composed of the operational amplifier 45 to which a network formed by the resistor RM and the capacitor C is applied.
  • a transistor 47 is connected in parallel on the capacitor C, which makes it possible to short-circuit the said capacitor as soon as the control pulse has ceased (reset of the integrator). The control of transistor 47 is therefore linked by line 48 to the falling edge of the control pulse.
  • FIG. 4 also shows two type D flip-flops, 49 and 50 which each receive on their clock input CP the control pulses (timing) coming from the frequency divider (not shown) with which the watch is equipped. These flip-flops rock on the rising edge of the pulse and attack by their outputs Q and Q two NOR gates 51 and 52 and two inverters 53 and 54 to finally supply the signals A, B, C and D which control the transistors 31, 33, 34 and 32 respectively. There is at the output Q of the flip-flop 49 the control pulse 55 which begins with the rising edge (timing) and which ends as soon as the reset input of the same flip-flop is actuated. On the exit Q of the same flip-flop, we will find the same pulse 55 but inverted. The purpose of the flip-flop 50 is to ensure the alternating polarity of the control pulses.
  • the reset input of flip-flop 49 receives via line 60 and via an OR gate 56 the signal from a comparator 57.
  • the inputs + and-of this comparator respectively receive the signals E i (t) from which it was question above and E io which is a predetermined quantity of energy fixed once and for all and which depends on the type of watch to be adjusted. E io is practically in the form of a stabilized voltage.
  • E I (t) E io
  • the comparator 57 provides a signal 1 which, through the OR gate 56, resets the flip-flop 49 to zero and thus interrupts the motor pulse 55 ( falling edge T;).
  • the circuit of FIG. 4 is produced by means of conventional logic elements with regard to the doors 51, 52, 53, 54, 56 and 58 and the flip-flops 49 and 50.
  • the multiplier 43 can be of the AD 534 type from the manufacturer Analog Devices. We can choose as operational amplifiers 38, 39 and 45 those bearing the reference LF 355 N from the manufacturer National Semiconductor.
  • the comparator 57 may be of the LM 311 type from the same manufacturer National Semiconductor.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
  • Electromechanical Clocks (AREA)
  • Valve Device For Special Equipments (AREA)
  • Vehicle Body Suspensions (AREA)

Claims (1)

1. Verfahren zur Steuerung eines Schrittmotors, insbesondere für ein Uhrwerk, bei dem
- eine vorbestimmte Energiemenge E10 festgelegt wird, die dem Motor zuzuführen ist und bei der man sicher ist, dass er um einen Schritt fortschreitet im Falle von normalen Belastungen,
- diese Steuerimpulse dem Motor zugeführt werden,
- die Spannung Uo an den Anschlüssen der Motorspule gemessen wird sowie der Strom I(t), der in dieser Spule fliesst während eines jeden Steuerimpulses,
- die Differenz Uo―RI gebildet wird, wobei der Wert R den Spulenwiderstand darstellt,
- das Produkt (Uo-RI)I(t) gebildet wird,
- dieses Produkt über die Zeit t integriert wird, wobei der Wert dieses Integrals die Energie Ei(t) darstellt, die dem Motor zugeführt wird, wobei die Grenzen dieses Integrals zwischen einer ersten Zeit liegt, die dem Beginn des Steuerimpulses entspricht und einer zweiten Zeit, die dem Ende dieses Steuerimpulses entspricht,
- der Wert der Energie Ei(t) mit dem vorbestimmten Wert Eio verglichen wird und
- der Steuerimpuls unterbrochen wird, sowie Ei(t) = Eio ist, dadurch gekennzeichnet, dass die dem Motor zugeführten Steuerimpulse hinsichtlich ihrer Dauer begrenzt sind auf eine vorgegebene Periode Ti max, derart, dass die dem Motor zugeführte Energie Ei(t) nicht ausreicht, um die vorbestimmte Energie Eio zu erreichen, wobei die Versorgung des Motors nach dieser vorgegebenen Periode Ti max unterbrochen wird und anschliessend die verlorenen Schritte gemessen werden, um die angehäufte Verspätung auszugleichen.
EP84110852A 1983-09-16 1984-09-12 Verfahren zur Steuerung eines Schrittmotors Expired EP0140089B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH5050/83 1983-09-16
CH505083A CH653206GA3 (de) 1983-09-16 1983-09-16

Publications (2)

Publication Number Publication Date
EP0140089A1 EP0140089A1 (de) 1985-05-08
EP0140089B1 true EP0140089B1 (de) 1988-11-17

Family

ID=4287109

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84110852A Expired EP0140089B1 (de) 1983-09-16 1984-09-12 Verfahren zur Steuerung eines Schrittmotors

Country Status (5)

Country Link
US (1) US4590412A (de)
EP (1) EP0140089B1 (de)
JP (1) JPS6088385A (de)
CH (1) CH653206GA3 (de)
DE (1) DE3475236D1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3772477D1 (de) * 1986-07-02 1991-10-02 Asulab Sa Verfahren und vorrichtung zur kontrolle eines schrittmotors.
US4910543A (en) 1988-02-08 1990-03-20 Canon Kabushiki Kaisha Camera
CH672043B5 (de) * 1988-02-12 1990-04-30 Ebauchesfabrik Eta Ag
EP2251972B1 (de) * 2009-05-14 2014-07-02 STMicroelectronics Srl Verfahren und Hardwaresystem zur Steuerung einem Schrittmotors in einen Spannungsvorwärstkopplungsmodus

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH616045B (fr) * 1978-06-20 Ebauches Sa Procede pour reduire la consommation d'une piece d'horlogerie electronique et piece d'horlogerie electronique mettant en oeuvre ce procede.
FR2464478A1 (fr) * 1979-09-04 1981-03-06 Suisse Horlogerie Detecteur d'avance d'un moteur pas a pas
CH641921B (fr) * 1980-02-19 Berney Sa Jean Claude Piece d'horlogerie avec un dispositif de controle du moteur pas a pas.
CH640999B (fr) * 1980-08-25 Ebauchesfabrik Eta Ag Procede et dispositif de commande d'une moteur pas a pas de piece d'horlogerie electronique.
CH647383GA3 (de) * 1981-02-04 1985-01-31
CH644989GA3 (de) * 1981-03-18 1984-09-14
CH646576GA3 (de) * 1981-10-02 1984-12-14

Also Published As

Publication number Publication date
US4590412A (en) 1986-05-20
DE3475236D1 (en) 1988-12-22
JPS6088385A (ja) 1985-05-18
JPH038712B2 (de) 1991-02-06
CH653206GA3 (de) 1985-12-31
EP0140089A1 (de) 1985-05-08

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