JP2003033090A - Driving method of stepping motor - Google Patents
Driving method of stepping motorInfo
- Publication number
- JP2003033090A JP2003033090A JP2002198301A JP2002198301A JP2003033090A JP 2003033090 A JP2003033090 A JP 2003033090A JP 2002198301 A JP2002198301 A JP 2002198301A JP 2002198301 A JP2002198301 A JP 2002198301A JP 2003033090 A JP2003033090 A JP 2003033090A
- Authority
- JP
- Japan
- Prior art keywords
- stepping motor
- yoke
- degrees
- phase difference
- stator
- 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.)
- Granted
Links
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- Control Of Stepping Motors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、ステッピングモータの
駆動方法に関し、特に、マイクロステップ駆動されるス
テッピングモータの駆動方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stepping motor driving method, and more particularly to a microstep driving stepping motor driving method.
【０００２】[0002]
【従来の技術】近年、機器の低騒音化、低振動化、微細
位置決め化のために、ステッピングモータの高分解能化
が求められ、高分解能が電気的に得られるマイクロステ
ップ駆動方法が多用化されている。2. Description of the Related Art In recent years, in order to reduce noise, vibration, and fine positioning of equipment, a stepping motor has been required to have a high resolution, and a microstep driving method for electrically obtaining a high resolution has been widely used. ing.
【０００３】ＰＭタイプのステッピングモータの従来例
を図９に基づいて説明する。A conventional example of a PM type stepping motor will be described with reference to FIG.
【０００４】図９において、１はフレーム、２は第１外
ヨーク、３は第１コイルボビン、４は第１内ヨーク、５
は第２外ヨーク、６は第２コイルボビン、７は第２内ヨ
ーク、８は円筒状永久磁石の外周の円周方向にＮ極とＳ
極とが交互になるように多極着磁されたロータ、９はブ
ラケット、１０はロータ８の軸に平行でロータ８の側面
に対向するようにして前記各ヨークに設けられている梯
形の極歯である。In FIG. 9, 1 is a frame, 2 is a first outer yoke, 3 is a first coil bobbin, 4 is a first inner yoke, 5
Is a second outer yoke, 6 is a second coil bobbin, 7 is a second inner yoke, and 8 is an N pole and an S pole in the circumferential direction of the outer circumference of the cylindrical permanent magnet.
The rotor is magnetized in multiple poles so that the poles alternate with each other, 9 is a bracket, and 10 is a trapezoidal pole provided on each yoke so as to be parallel to the axis of the rotor 8 and face the side surface of the rotor 8. It is a tooth.
【０００５】図９に示す従来例を駆動するには、先ず、
第１コイルボビン３にマイクロステップ制御で形成され
る正弦波を加え、第２コイルボビン６にマイクロステッ
プ制御で形成される余弦波（前記正弦波に対し９０°位
相がずれた正弦波）を加える。To drive the conventional example shown in FIG. 9, first,
A sine wave formed by microstep control is applied to the first coil bobbin 3, and a cosine wave formed by microstep control (a sine wave 90 ° out of phase with the sine wave) is added to the second coil bobbin 6.
【０００６】第１外ヨーク２と第１内ヨーク４には前記
正弦波による第１磁力が発生し、第２外ヨーク５と第２
内ヨーク７には前記余弦波による第２磁力が発生する。
又、前記第１外ヨーク２の極歯１０、第２外ヨーク５の
極歯１０、第１内ヨーク４の極歯１０、第２内ヨーク７
の極歯１０は、順次電気角で９０°づつずれた関係位置
に配設されており、且つ、電気角９０度の位相差がある
前記正弦波と前記余弦波とで各ヨークが励磁されてい
る。そして、前記の正弦波と余弦波とが電気角９０度の
位相差でマイクロステップ制御されているので、ロータ
８の前記Ｎ極とＳ極とが、前記第１外ヨーク２及び第１
内ヨーク４の極歯１０と、前記第２外ヨーク５及び第２
内ヨーク７の極歯１０とから受ける力もマイクロステッ
プ制御される波形に比例し、一方が増加し他方が減少す
る変化を電気角９０度で反転しながら繰り返し、ロータ
８は前記マイクロステップ制御に合わせて微小回転と停
止とを繰り返して駆動される。A first magnetic force due to the sine wave is generated in the first outer yoke 2 and the first inner yoke 4, and the second outer yoke 5 and the second magnetic field are generated.
A second magnetic force due to the cosine wave is generated in the inner yoke 7.
Also, the pole teeth 10 of the first outer yoke 2, the pole teeth 10 of the second outer yoke 5, the pole teeth 10 of the first inner yoke 4, and the second inner yoke 7.
Pole teeth 10 are sequentially arranged in relational positions shifted by 90 ° in electrical angle, and each yoke is excited by the sine wave and the cosine wave having a phase difference of 90 ° in electrical angle. There is. Since the sine wave and the cosine wave are microstep-controlled with a phase difference of an electrical angle of 90 degrees, the N pole and the S pole of the rotor 8 are connected to the first outer yoke 2 and the first pole.
The pole teeth 10 of the inner yoke 4, the second outer yoke 5 and the second
The force received from the pole teeth 10 of the inner yoke 7 is also proportional to the waveform under microstep control, and the change in which one increases and the other decreases is repeated while reversing at an electrical angle of 90 degrees, and the rotor 8 is adjusted to the microstep control. It is driven by repeating minute rotation and stop.
【０００７】[0007]
【発明が解決しようとする課題】しかし、上記の従来例
の構成では、ロータ８が左右反対方向に回転・停止する
場合には、前記極歯１０の幅が大きいと、方向による停
止位置の異なり方が大きくなるというヒステリシスの問
題点があり、又、前記のステータヨークの極歯１０とロ
ータ８のＮ極、Ｓ極との吸引・反発力が釣り合う位置も
極歯１０の幅が大きいと、それだけ誤差が大きくなり、
角度精度誤差が発生するという問題点がある。そして、
これらの問題点を解決するために、ヨークの極歯１０の
幅を狭くすると、磁気飽和によって磁束量が減少しトル
クが低下するという問題がおきる。However, in the configuration of the above-mentioned conventional example, when the rotor 8 is rotated and stopped in the left and right directions, if the width of the pole teeth 10 is large, the stop position varies depending on the direction. There is a problem of hysteresis that it becomes larger, and if the width of the pole tooth 10 is large at the position where the attraction / repulsive force of the pole tooth 10 of the stator yoke and the N pole and S pole of the rotor 8 are balanced. The error becomes that much,
There is a problem that an angle accuracy error occurs. And
If the width of the pole teeth 10 of the yoke is narrowed in order to solve these problems, there arises a problem that the amount of magnetic flux decreases due to magnetic saturation and the torque decreases.
【０００８】又、例えば、フレーム１には、コイル線を
外部に引き出すために、切り欠き１ａを設けているの
で、前記第１ヨーク側の磁気回路と前記第２ヨーク側の
磁気回路との間で磁気抵抗が異なり、磁気抵抗が高い側
の前記第２ヨーク側の磁気回路の磁束は、前記第１ヨー
ク側の磁気回路の磁束より少なくなるので、前記第１ヨ
ーク側と前記第２ヨーク側の磁束バランスが崩れ、前記
マイクロステップ駆動の場合に、前記磁束バランスの崩
れがそのまま影響して、角度精度を著しく悪化させると
いう問題点がある。そして、この問題点は、前記フレー
ム１の切り欠き１ａによるだけではなく、加工誤差その
他により前記第１ヨーク側の磁気抵抗と前記第２ヨーク
側の磁気抵抗とに差が存在すれば発生する。Further, for example, since the frame 1 is provided with the notch 1a for drawing out the coil wire to the outside, the magnetic circuit on the side of the first yoke and the magnetic circuit on the side of the second yoke are provided. Since the magnetic resistance is different, the magnetic flux of the magnetic circuit on the side of the second yoke having a higher magnetic resistance is smaller than the magnetic flux of the magnetic circuit on the side of the first yoke, so that the magnetic flux on the first yoke side and the magnetic flux on the second yoke side In the case of the micro step driving, there is a problem that the collapse of the magnetic flux balance directly affects the angular accuracy and the angle accuracy is significantly deteriorated. This problem occurs not only due to the notch 1a of the frame 1, but also when there is a difference between the magnetic resistance on the side of the first yoke and the magnetic resistance on the side of the second yoke due to processing errors and other factors.
【０００９】さらに、前記第１ヨーク側と前記第２ヨー
ク側の相互インダクタンスにより互いの漏洩磁束が影響
しあい、磁気分布に歪みが発生し、この歪みがあると、
前記マイクロステップ駆動の場合に、前記歪みがそのま
ま影響して、角度精度を著しく悪化させるという問題点
がある。Further, the mutual inductance of the first yoke side and the mutual inductance of the second yoke side influence each other's leakage magnetic flux to generate distortion in the magnetic distribution.
In the case of the micro step drive, there is a problem in that the distortion directly affects the angle accuracy and the angle accuracy is significantly deteriorated.
【００１０】本発明は、上記の問題点を解決し、高い角
度精度と大きなトルクとを得るということとを両立しう
るマイクロステップ駆動可能なステッピングモータの駆
動方法の提供を課題とする。It is an object of the present invention to provide a driving method of a stepping motor capable of microstep driving, which solves the above problems and achieves both high angular accuracy and large torque.
【００１１】[0011]
【課題を解決するための手段】本願第１発明のステッピ
ングモータの駆動方法は、上記の課題を解決するため
に、相互に電気角９０度の位相差で励磁される１対のス
テータヨークを有し、両ステータヨーク間の漏洩磁束が
互いに影響しあうステッピングモータにおいて、前記ス
テータヨークを励磁する電圧又は電流の位相差を、電気
角９０度からずらせてマイクロステップ駆動することを
特徴とする。In order to solve the above problems, a stepping motor driving method according to a first aspect of the present invention has a pair of stator yokes that are excited with a phase difference of 90 ° in electrical angle. However, in the stepping motor in which the leakage magnetic fluxes between the two stator yokes influence each other, the phase difference of the voltage or the current exciting the stator yoke is shifted from the electrical angle of 90 degrees to perform microstep driving.
【００１２】又、本願第１発明のステッピングモータの
駆動方法は、上記の課題を解決するために、電圧又は電
流の位相差を電気角６０度〜８８度とすることが好適で
ある。Further, in the stepping motor driving method of the first invention of the present application, in order to solve the above-mentioned problems, it is preferable that the phase difference between the voltage and the current is 60 to 88 degrees in electrical angle.
【００１３】本願第２発明のステッピングモータの駆動
方法は、上記の課題を解決するために、相互に電気角９
０度の位相差で励磁される１対のステータヨークを有
し、両ステータヨーク間に磁気抵抗の差があるステッピ
ングモータにおいて、前記ステータヨークを励磁する電
圧又は電流の波形を、前記ステータヨークの前記磁気抵
抗が小さい側には鋸波近似波形、他方には正弦波近似波
形としてマイクロステップ駆動することを特徴とする。In order to solve the above-mentioned problems, the stepping motor driving method according to the second aspect of the present invention has an electrical angle of 9 degrees.
In a stepping motor having a pair of stator yokes excited with a phase difference of 0 degree and having a difference in magnetic resistance between the two stator yokes, a waveform of a voltage or a current for exciting the stator yokes is calculated as follows. It is characterized in that the step of approximating a sawtooth wave is used on the side where the magnetic resistance is small and the step of approximating a sine wave is used on the other side to perform microstep driving.
【００１４】本願第３発明のステッピングモータの駆動
方法は、相互に電気角９０度の位相差で励磁されるステ
ータヨークを有し、両ステータヨーク間に磁気抵抗の差
があるステッピングモータにおいて、前記ステータヨー
クを励磁する電圧又は電流の最大値を、前記ステータヨ
ークの前記磁気抵抗が小さい側には低く、他方には高く
してマイクロステップ駆動することを特徴とする。According to a third aspect of the present invention, there is provided a stepping motor driving method, wherein the stepping motor has stator yokes that are excited by a phase difference of 90 ° in electrical angle, and there is a difference in magnetic resistance between the two stator yokes. It is characterized in that the maximum value of the voltage or current for exciting the stator yoke is set low on the side where the magnetic resistance of the stator yoke is small and set high on the other side to perform microstep driving.
【００１５】又、本願第３発明のステッピングモータの
駆動方法は、上記の課題を解決するために、ステータヨ
ークを励磁する電圧又は電流の最大値の比は、１．１３
〜１．５であることが好適である。Further, in the stepping motor driving method of the third invention of the present application, in order to solve the above problems, the ratio of the maximum value of the voltage or current for exciting the stator yoke is 1.13.
It is preferably ˜1.5.
【００１６】[0016]
【作用】本願第１発明のステッピングモータの駆動方法
は、１対のステータヨークを励磁する電圧又は電流の位
相差を電気角９０度からずらせてマイクロステップ駆動
する。従来例では、１対のステータヨークを励磁する電
圧又は電流の位相差を電気角９０度に固定しているが、
互いのステータヨークからの漏洩磁束が影響しあい、そ
の結果、双方のステータヨークの極歯からロータに作用
する磁力が位相差９０°に設定した際の理想的な状態か
ら外れ、角度精度が悪化する。According to the method of driving the stepping motor of the first aspect of the invention, the phase difference between the voltages or the currents for exciting the pair of stator yokes is shifted from the electrical angle of 90 degrees for microstep driving. In the conventional example, the phase difference between the voltage or current exciting the pair of stator yokes is fixed at an electrical angle of 90 degrees.
The magnetic fluxes leaking from each other's stator yokes affect each other, and as a result, the magnetic force acting on the rotor from the pole teeth of both stator yokes deviates from the ideal state when the phase difference is set to 90 °, and the angular accuracy deteriorates. .
【００１７】本願第１発明では、１対のステータヨーク
を励磁する電圧又は電流の位相差を双方の磁力バランス
を考慮して設定しているので、前記極歯に作用する双方
の磁力バランスを理想的な場合に近づけることができ、
角度精度が向上する。尚、電圧又は電流の位相差は電気
角６０度〜８８度とすることが好適であった。In the first invention of the present application, since the phase difference between the voltage or the current for exciting the pair of stator yokes is set in consideration of the magnetic force balance between the two, the magnetic force balance acting on the pole teeth is ideal. You can get closer to
Angle accuracy is improved. In addition, it was preferable that the phase difference of the voltage or the current be 60 to 88 degrees in electrical angle.
【００１８】本願第２発明のステッピングモータの駆動
方法は、１対のステータヨークを励磁する電圧又は電流
の波形を、前記ステータヨークの磁気抵抗が小さい側に
は鋸波近似波形、他方には正弦波近似波形としているの
で、磁気回路の磁気抵抗の差により発生する双方の磁力
の差を打消すことができ、角度精度が向上する。In the stepping motor driving method of the second invention of the present application, the waveform of the voltage or current for exciting the pair of stator yokes is approximated to a sawtooth waveform on the side where the magnetic resistance of the stator yoke is small, and the other is a sine wave. Since the waveform is a wave approximate waveform, it is possible to cancel the difference between the two magnetic forces generated by the difference in the magnetic resistance of the magnetic circuit, and the angle accuracy is improved.
【００１９】本願第３発明のステッピングモータの駆動
方法は、１対のステータヨークを励磁する電圧又は電流
の最大値を、前記ステータヨークの磁気抵抗が小さい側
には低く、他方には高くしているので、磁気回路の磁気
抵抗の差により発生する双方の磁力の差を打消すことが
でき、角度精度が向上する。そして、両ステータヨーク
を励磁する電圧又は電流の最大値の比は、１．１３〜
１．５であることが好適であった。In the stepping motor driving method of the third invention of the present application, the maximum value of the voltage or current for exciting the pair of stator yokes is set low on the side where the magnetic resistance of the stator yoke is small and high on the other side. Therefore, it is possible to cancel the difference between the two magnetic forces generated by the difference in the magnetic resistance of the magnetic circuit, and the angle accuracy is improved. Then, the ratio of the maximum values of the voltage or current for exciting both stator yokes is 1.13 to
A value of 1.5 was preferred.
【００２０】[0020]
【実施例】本発明のＰＭ形ステッピングモータの第１参
考例を図１〜図３、図９に基づいて説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first reference example of a PM type stepping motor according to the present invention will be described with reference to FIGS.
【００２１】本参考例では、図９に示す各ヨーク２、
４、５、７の極歯１０を、図１、図２に示す基部側の幅
が広く先端側の幅が狭く両側辺１０ｂが内側凸の円弧形
状を有する極歯１０ａとしている。In this reference example, each yoke 2 shown in FIG.
The pole teeth 10 of 4, 5, and 7 are pole teeth 10a shown in FIGS. 1 and 2 having a wide base side and a narrow tip side width, and both side edges 10b having an arcuate shape inwardly convex.
【００２２】本参考例の全体構造は、従来例と同様に、
図９に示すものと基本的に同一であり、その要部は図２
に示すように構成されている。The entire structure of this reference example is similar to that of the conventional example.
It is basically the same as that shown in FIG. 9, and the main part thereof is shown in FIG.
It is configured as shown in.
【００２３】図２、図９において、１はフレーム、２は
第１外ヨーク、３は第１コイルボビン、４は前記第１外
ヨーク２に対し極歯位置が電気角で１８０度ずれた第１
内ヨーク、５は前記第１外ヨーク２に対し極歯位置が電
気角で９０度ずれた第２外ヨーク、６は第２コイルボビ
ン、７は前記第１内ヨーク４に対し極歯位置が電気角で
９０度ずれた第２内ヨーク、８は円筒状永久磁石の外周
の円周方向にＮ極とＳ極とが交互になるよう多極着磁さ
れたロータ、９はブラケット、１０ａはロータ８の軸に
平行してロータ８の側面に平行に対向して前記各ヨーク
に多数設けられている基部側の幅が広く先端側の幅が狭
く両側辺１０ｂが内側凸の円弧形状を有する極歯１０ａ
である。そして、この円弧形状の半径は極歯の高さの
２．５〜４倍であることが実験結果から望ましいが、本
参考例では３倍にしている。In FIGS. 2 and 9, 1 is a frame, 2 is a first outer yoke, 3 is a first coil bobbin, and 4 is a first outer yoke 2 whose pole teeth are displaced by an electrical angle of 180 degrees from each other.
The inner yoke 5 is a second outer yoke whose pole tooth position is deviated from the first outer yoke 2 by an electrical angle of 90 degrees, 6 is a second coil bobbin, and 7 is a pole tooth position which is electric with respect to the first inner yoke 4. A second inner yoke which is deviated by 90 degrees in angle, 8 is a multi-pole magnetized rotor so that N poles and S poles alternate in the circumferential direction of the outer circumference of a cylindrical permanent magnet, 9 is a bracket, and 10a is a rotor A plurality of poles having a large width on the base side and a small width on the front end side, which are provided in parallel on the side faces of the rotor 8 in parallel with the axis of the rotor 8 and are parallel to the side faces of the rotor 8, have a circular arc shape in which both sides 10b are convex inward. Tooth 10a
Is. It is desirable from the experimental results that the radius of this arc shape is 2.5 to 4 times the height of the pole teeth, but in this reference example it is set to 3 times.
【００２４】この円弧形状を設けることによって、中央
部分の幅を狭くしても、基部側の幅が従来の梯形板状の
極歯の場合と比較して広くなる。これらのことが、極歯
の幅を狭くして角度精度を向上させることと、極歯の基
部側の幅を広くして磁気飽和を防ぎトルクの低下をなく
することとの両立を可能にする。By providing this arcuate shape, even if the width of the central portion is narrowed, the width on the base side becomes wider than that in the case of the conventional trapezoidal pole tooth. These make it possible to reduce the width of the pole teeth to improve the angle accuracy and to widen the width of the pole teeth on the base side to prevent magnetic saturation and prevent the torque from decreasing. .
【００２５】前記の角度精度誤差の改善効果を表１に示
す。Table 1 shows the effect of improving the angle accuracy error.
【００２６】[0026]
【表１】 [Table 1]
【００２７】本参考例では各ヨーク２、４、５、７の極
歯１０ａの数を夫々２５にしている。従って、本参考例
のＰＭ形ステッピングモータでは、全極歯１０ａの数が
２５×４＝１００になり、極歯間角度は３６０度÷１０
０＝３．６度（電気角で９０度）になる。そして、使用
するマイクロステップ正弦波の電気角９０度（物理角
３．６度）に対応するステップ数（パルス数）を８０に
しているので、１ステップは３．６度÷８０＝０．０４
５度になる。表１は、従来例では、角度精度が０．０４
５度の６．２４倍であるが、本参考例では３．１８倍に
なることを示している。In this reference example, the number of pole teeth 10a of each yoke 2, 4, 5, 7 is 25. Therefore, in the PM type stepping motor of this reference example, the number of all pole teeth 10a is 25 × 4 = 100, and the pole tooth angle is 360 ° / 10
It becomes 0 = 3.6 degrees (90 degrees in electrical angle). Since the number of steps (the number of pulses) corresponding to the electrical angle of 90 degrees (physical angle of 3.6 degrees) of the micro step sine wave to be used is 80, one step is 3.6 degrees / 80 = 0.04.
It will be 5 degrees. Table 1 shows that the conventional example has an angle accuracy of 0.04.
This is 6.24 times 5 degrees, but in this reference example, it is 3.18 times.
【００２８】なお図２において、第１外ヨーク２の極歯
Ａ、第１内ヨーク４の極歯Ｂ、第２外ヨーク５の極歯
Ｃ、第２内ヨーク７の極歯Ｄの励磁状態は表２に示すよ
うな関係にある。In FIG. 2, the pole teeth A of the first outer yoke 2, the pole teeth B of the first inner yoke 4, the pole teeth C of the second outer yoke 5, and the pole teeth D of the second inner yoke 7 are excited. Have a relationship as shown in Table 2.
【００２９】そして表２においてＮ（Ｎ極）→Ｏ（中
性）は、磁束がＮ極の状態から中性の状態に８０ステッ
プによって漸次変化することを示しており、Ｏ→Ｓ、Ｓ
→Ｏ、Ｏ→Ｎも同様の意味を有している。In Table 2, N (N pole) → O (neutral) indicates that the magnetic flux gradually changes from the N pole state to the neutral state in 80 steps, and O → S, S.
→ O and O → N have the same meaning.
【００３０】[0030]
【表２】 [Table 2]
【００３１】図３は、本参考例と従来例とのトルクを比
較したもので、本参考例では周波数が高くなっても、ト
ルクの低下が少なく、角度精度とトルクとを両立できる
ことを示している。FIG. 3 is a comparison of the torques of the present reference example and the conventional example, showing that even if the frequency is increased, the torque is less likely to decrease and the angle accuracy and the torque are compatible with each other. There is.
【００３２】本発明のＰＭ形ステッピングモータの第２
参考例を図４、図５、図９に基づいて説明する。Second PM type stepping motor of the present invention
A reference example will be described with reference to FIGS. 4, 5, and 9.
【００３３】図４は、本参考例で使用する各ヨーク２、
４、５、７の平面図で、極歯１０ｃを上方から見た形状
を示している。極歯１０ｃは正面から見れば両側辺１０
ｄ、１０ｄが直線形状で従来例の梯形板状と同様のもの
であるが、図４の平面図に示すように、ロータ軸に垂直
に切った断面がロータ軸側に凸の円弧形状１０ｅになっ
ている。本参考例では前記円弧形状１０ｅの半径をロー
タ８の外径半径と同じにしたが、これに限らず内側凸で
あれば自由に設定できる。あるいは直線でも良い。FIG. 4 shows each yoke 2 used in this reference example.
In the plan views of 4, 5, and 7, the shape of the pole tooth 10c viewed from above is shown. The pole teeth 10c have both sides 10 when viewed from the front.
d and 10d are linear shapes, which are similar to the conventional trapezoidal plate shape, but as shown in the plan view of FIG. 4, a cross section cut perpendicular to the rotor axis has an arc shape 10e convex toward the rotor axis side. Has become. In the present reference example, the radius of the arcuate shape 10e is set to be the same as the outer diameter radius of the rotor 8, but the present invention is not limited to this and can be set freely as long as it is convex inside. Alternatively, it may be a straight line.
【００３４】従来例のＰＭ形ステッピングモータでは、
図９において、ロータ８と極歯１０との間の距離が極歯
１０の全幅で等距離であるので、極歯１０の全面の各位
置の磁束密度が略同一になるのに対して、本参考例で
は、各極歯１０ｃ毎に、極歯１０ｃの中心線からずれた
位置では、ロータ８と極歯１０ｃとの間の距離が大きく
なり、極歯１０ｃ表面での磁束密度は中心線近傍で大き
く、中心線からはずれるほど小さくなり、磁束分布の広
がりが少なくなり、角度精度が向上する。In the PM type stepping motor of the conventional example,
In FIG. 9, since the distance between the rotor 8 and the pole teeth 10 is equal in the entire width of the pole teeth 10, the magnetic flux densities at the respective positions on the entire surface of the pole teeth 10 are substantially the same, whereas In the reference example, for each pole tooth 10c, the distance between the rotor 8 and the pole tooth 10c becomes large at a position deviated from the center line of the pole tooth 10c, and the magnetic flux density on the surface of the pole tooth 10c is near the center line. Is large, and becomes smaller as it deviates from the center line, the spread of the magnetic flux distribution is reduced, and the angle accuracy is improved.
【００３５】[0035]
【表３】 [Table 3]
【００３６】表３に、本参考例と従来例との角度精度の
比較を示す。図４では作図の都合上、極歯１０ｃの数を
１２にしているが、実際の数は２５であって、第１実施
例と同様である。表３は、従来例では、角度精度が０．
０４５度の６．２４倍であるが、本参考例では４．５８
倍になることを示している。Table 3 shows a comparison of angular accuracy between this reference example and the conventional example. In FIG. 4, the number of pole teeth 10c is 12 for convenience of drawing, but the actual number is 25, which is the same as in the first embodiment. Table 3 shows that in the conventional example, the angle accuracy is 0.
It is 6.24 times 045 degrees, but is 4.58 in this reference example.
It shows that it doubles.
【００３７】図５は、本参考例と従来例とのトルクを比
較したもので、本参考例では周波数が高くなっても、ト
ルクの低下が少く、角度精度とトルクとを両立できるこ
とを示している。FIG. 5 is a comparison of the torques of the present reference example and the conventional example, showing that even if the frequency becomes high, the torque decrease is small and the angle accuracy and the torque are compatible with each other. There is.
【００３８】本発明のステッピングモータの駆動方法の
第１実施例を図６に基づいて説明する。A first embodiment of the method of driving a stepping motor according to the present invention will be described with reference to FIG.
【００３９】本実施例では、図９に示す従来例のＰＭ形
ステッピングモータに、図６に示すように、位相差が８
３度の２つのマイクロステップ正弦波電圧を２つのコイ
ル３、６に加える定電圧駆動である。尚、実験による
と、位相差が６０度から８８度の範囲が望ましい。In this embodiment, the conventional PM type stepping motor shown in FIG. 9 has a phase difference of 8 as shown in FIG.
It is a constant voltage drive in which two microstep sine wave voltages of 3 degrees are applied to the two coils 3 and 6. According to experiments, it is desirable that the phase difference is in the range of 60 degrees to 88 degrees.
【００４０】[0040]
【表４】 [Table 4]
【００４１】表４に、本実施例と従来例との角度精度の
比較を示す。本実施例では一つのヨークの極歯１０の数
は２５であって、第１参考例と同様である。表４は、従
来例では、角度精度が０．０４５度の６．２４倍である
が、本実施例では３．９６倍になることを示している。Table 4 shows a comparison of angular accuracy between this embodiment and the conventional example. In this embodiment, the number of pole teeth 10 of one yoke is 25, which is the same as in the first reference example. Table 4 shows that in the conventional example, the angle accuracy is 6.45 times 0.045 degrees, but in the present embodiment, it is 3.96 times.
【００４２】本実施例では定電圧駆動であるが、定電流
駆動でも同様である。In this embodiment, constant voltage driving is used, but constant current driving is also the same.
【００４３】本発明のステッピングモータの駆動方法の
第２実施例を図７に基づいて説明する。A second embodiment of the stepping motor driving method of the present invention will be described with reference to FIG.
【００４４】本実施例では、図９に示す従来例のＰＭ形
ステッピングモータに、図７に示すように、磁気抵抗が
低い側のコイルにマイクロステップ鋸波電圧を加え、他
方にマイクロステップ正弦波電圧を加えている。両波形
の位相差は９０度である。In the present embodiment, as shown in FIG. 7, a microstep sawtooth wave voltage is applied to a coil having a low magnetic resistance and a microstep sine wave is applied to the other PM type stepping motor shown in FIG. Applying voltage. The phase difference between the two waveforms is 90 degrees.
【００４５】[0045]
【表５】 [Table 5]
【００４６】表５に、本実施例と従来例との角度精度の
比較を示す。本実施例では一つのヨークの極歯１０の数
は２５であって、第１参考例と同様である。表５は、従
来例では、角度精度が０．０４５度の６．２４倍である
が、本実施例では４．９８倍になることを示している。Table 5 shows a comparison of angular accuracy between this embodiment and the conventional example. In this embodiment, the number of pole teeth 10 of one yoke is 25, which is the same as in the first reference example. Table 5 shows that in the conventional example, the angle accuracy is 6.45 times 0.045 degrees, but in the present embodiment, it is 4.98 times.
【００４７】本実施例では定電圧駆動であるが、定電流
駆動でも同様である。In this embodiment, constant voltage driving is used, but constant current driving is also the same.
【００４８】本発明のステッピングモータの駆動方法の
第３実施例を図８に基づいて説明する。A third embodiment of the stepping motor driving method of the present invention will be described with reference to FIG.
【００４９】本実施例では、図９に示す従来例のＰＭ形
ステッピングモータに、図８に示すように、磁気抵抗が
低い側のコイルに最大値５Ｖのマイクロステップ正弦波
電圧を加え、他方に最大値６Ｖのマイクロステップ正弦
波電圧を加えている。両波形の位相差は９０度である。In this embodiment, the conventional PM type stepping motor shown in FIG. 9 is applied with a microstep sine wave voltage of maximum value 5 V to the coil having the lower magnetic resistance as shown in FIG. A microstep sinusoidal voltage with a maximum value of 6V is applied. The phase difference between the two waveforms is 90 degrees.
【００５０】[0050]
【表６】 [Table 6]
【００５１】表６に、本実施例と従来例との角度精度の
比較を示す。本実施例では一つのヨークの極歯１０の数
は２５であって、第１参考例と同様である。表６は、従
来例では、角度精度が０．０４５度の６．２４倍である
が、本実施例では４．１６倍になることを示している。Table 6 shows a comparison of the angular accuracy between this embodiment and the conventional example. In this embodiment, the number of pole teeth 10 of one yoke is 25, which is the same as in the first reference example. Table 6 shows that in the conventional example, the angle accuracy is 6.45 times 0.045 degrees, but in the present embodiment, it is 4.16 times.
【００５２】本実施例では定電圧駆動であるが、定電流
駆動でも同様である。In this embodiment, constant voltage driving is used, but constant current driving is also the same.
【００５３】本発明は上記実施例に限定されず、例えば
第１参考例、第２参考例あるいは第１参考例と第２参考
例とを組み合わせたものに、第１実施例〜第３実施例の
いずれかの特徴部分を組み合わせることが可能である。The present invention is not limited to the above-mentioned embodiments. For example, a first reference example, a second reference example or a combination of the first reference example and the second reference example may be applied to the first to third examples. It is possible to combine any of the characteristic parts of
【００５４】[0054]
【発明の効果】本発明のステッピングモータの駆動方法
は、角度精度が向上すると共に高周波領域でのトルク低
下を防ぐことができるという効果を奏する。The stepping motor driving method of the present invention has the effects of improving the angular accuracy and preventing the torque from decreasing in the high frequency range.
【図１】本発明のステッピングモータの第１参考例の極
歯の正面図である。FIG. 1 is a front view of pole teeth of a first reference example of a stepping motor of the present invention.
【図２】本発明のステッピングモータの第１参考例の一
部展開斜視図である。FIG. 2 is a partially exploded perspective view of a first reference example of a stepping motor according to the present invention.
【図３】本発明のステッピングモータの第１参考例のト
ルク特性と従来例のトルク特性との比較を示す図であ
る。FIG. 3 is a diagram showing a comparison between the torque characteristic of the first reference example and the torque characteristic of the conventional example of the stepping motor of the present invention.
【図４】本発明のステッピングモータの第２参考例のス
テータヨークの平面図である。FIG. 4 is a plan view of a stator yoke of a second reference example of the stepping motor of the invention.
【図５】本発明のステッピングモータの第２参考例のト
ルク特性と従来例のトルク特性との比較を示す図であ
る。FIG. 5 is a diagram showing a comparison between the torque characteristic of the second reference example of the stepping motor of the present invention and the torque characteristic of the conventional example.
【図６】本発明のステッピングモータの駆動方法の第１
実施例で使用する電圧波形を示す図である。FIG. 6 is a first stepping motor driving method according to the present invention.
It is a figure which shows the voltage waveform used in an Example.
【図７】本発明のステッピングモータの駆動方法の第２
実施例で使用する電圧波形を示す図である。FIG. 7 is a second step of the stepping motor driving method according to the present invention.
It is a figure which shows the voltage waveform used in an Example.
【図８】本発明のステッピングモータの駆動方法の第３
実施例で使用する電圧波形を示す図である。FIG. 8 is a third step of the stepping motor driving method according to the present invention.
It is a figure which shows the voltage waveform used in an Example.
【図９】ステッピングモータの一般的な構成を示す図で
ある。FIG. 9 is a diagram showing a general configuration of a stepping motor.
１ フレーム １ａ 切り欠き ２ 第１外ヨーク ３ 第１コイルボビン ４ 第１内ヨーク ５ 第２外ヨーク ６ 第２コイルボビン ７ 第２内ヨーク ８ ロータ ９ ブラケット １０ 極歯 １０ａ 極歯 １０ｂ 側辺 １０ｃ 極歯 １０ｄ 側辺 1 frame 1a cutout 2 First outer yoke 3 First coil bobbin 4 First inner yoke 5 Second outer yoke 6 Second coil bobbin 7 Second inner yoke 8 rotor 9 bracket 10 pole teeth 10a pole teeth 10b side 10c pole teeth 10d side
Claims (5)
る１対のステータヨークを有し、両ステータヨーク間の
漏洩磁束が互いに影響しあうステッピングモータにおい
て、前記ステータヨークを励磁する電圧又は電流の位相
差を電気角９０度からずらせてマイクロステップ駆動す
ることを特徴とするステッピングモータの駆動方法。1. In a stepping motor having a pair of stator yokes that are excited with a phase difference of an electrical angle of 90 degrees, and a leakage magnetic flux between the two stator yokes influences each other, a voltage for exciting the stator yokes. Alternatively, a stepping motor driving method is characterized in that the phase difference of currents is shifted from an electrical angle of 90 degrees to perform microstep driving.
８８度とする請求項１に記載のステッピングモータの駆
動方法。2. The phase difference of voltage or current is measured as an electrical angle of 60 degrees.
The stepping motor driving method according to claim 1, wherein the stepping motor is set to 88 degrees.
る１対のステータヨークを有し、両ステータヨーク間に
磁気抵抗の差があるステッピングモータにおいて、前記
ステータヨークを励磁する電圧又は電流の波形を、前記
ステータヨークの前記磁気抵抗が小さい側には鋸波近似
波形、他方には正弦波近似波形としてマイクロステップ
駆動することを特徴とするステッピングモータの駆動方
法。3. In a stepping motor having a pair of stator yokes that are excited with a phase difference of 90 electrical degrees from each other and having a difference in magnetic resistance between the two stator yokes, a voltage for exciting the stator yoke or A stepping motor driving method, wherein the current waveform is microstep-driven as a sawtooth wave approximate waveform on the side of the stator yoke where the magnetic resistance is small and a sinusoidal wave approximate waveform on the other side.
るステータヨークを有し、両ステータヨーク間に磁気抵
抗の差があるステッピングモータにおいて、前記ステー
タヨークを励磁する電圧又は電流の最大値を、前記ステ
ータヨークの前記磁気抵抗が小さい側には低く、他方に
は高くしてマイクロステップ駆動することを特徴とする
ステッピングモータの駆動方法。4. In a stepping motor having stator yokes that are excited with a phase difference of 90 electrical degrees to each other and having a difference in magnetic resistance between the two stator yokes, the maximum voltage or current that excites the stator yoke is maximized. A method of driving a stepping motor, characterized in that the value is set low on the side of the stator yoke having a small magnetic resistance and set high on the other side to perform microstep driving.
の最大値の比は、１．１３〜１．５である請求項４に記
載のステッピングモータの駆動方法。5. The method of driving a stepping motor according to claim 4, wherein the ratio of the maximum values of the voltage or current for exciting the stator yoke is 1.13 to 1.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002198301A JP3726075B2 (en) | 2002-07-08 | 2002-07-08 | Stepping motor drive method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002198301A JP3726075B2 (en) | 2002-07-08 | 2002-07-08 | Stepping motor drive method |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9871995A Division JP3366487B2 (en) | 1995-04-24 | 1995-04-24 | Stepping motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100794453B1 (en) * | 2007-10-08 | 2008-01-16 | 김성곤 | A dual spindle structure which has a rotation different at an identity shaft each other |
| EP4131768A4 (en) * | 2020-03-30 | 2024-06-05 | Oriental Motor Co., Ltd. | Control device for stepping motor |
-
2002
- 2002-07-08 JP JP2002198301A patent/JP3726075B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100794453B1 (en) * | 2007-10-08 | 2008-01-16 | 김성곤 | A dual spindle structure which has a rotation different at an identity shaft each other |
| EP4131768A4 (en) * | 2020-03-30 | 2024-06-05 | Oriental Motor Co., Ltd. | Control device for stepping motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3726075B2 (en) | 2005-12-14 |
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