JP3120082B2 - Drive device for N-phase stepping motor - Google Patents
Drive device for N-phase stepping motorInfo
- Publication number
- JP3120082B2 JP3120082B2 JP26708794A JP26708794A JP3120082B2 JP 3120082 B2 JP3120082 B2 JP 3120082B2 JP 26708794 A JP26708794 A JP 26708794A JP 26708794 A JP26708794 A JP 26708794A JP 3120082 B2 JP3120082 B2 JP 3120082B2
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- JP
- Japan
- Prior art keywords
- phase
- stepping motor
- excitation
- driving
- connection point
- 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.)
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- Control Of Stepping Motors (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、Ｎ相ステッピングモー
タに関するもので、特に、ハーフステップ駆動が可能な
Ｎ相ステッピングモータの駆動装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an N-phase stepping motor, and more particularly to a driving device for an N-phase stepping motor capable of half-step driving.
【０００２】この種の多相ステッピングモータの駆動手
段としては、従来２種の方式が提案されており、例え
ば、特開昭６１−１５０６５５号公報等における５相ス
テッピングモータの４−５相駆動によるハーフステップ
駆動回路が知られている。2. Description of the Related Art Two types of driving means for a multi-phase stepping motor of this type have been conventionally proposed. For example, a 4-phase driving of a 5-phase stepping motor disclosed in Japanese Patent Application Laid-Open No. 61-150655 or the like has been proposed. Half-step driving circuits are known.
【０００３】即ち、この従来例によれば、２個１組の出
力トランジスタ（Ｔ１）（Ｔ２）・・・・・・（Ｔ９）
（Ｔ１０）を直列接続した５組の出力段トランジスタを
並列接続して駆動回路を形成し、ペンタゴン結線される
５相ステッピングモータの巻線（φ１）より（φ５）の
接続点と各組の出力段トランジスタ（Ｔ１）（Ｔ２）・
・・・・・（Ｔ９）（Ｔ１０）の接続部とを接続し、接
続点の２または３個を正または負極に接続することによ
り、４相励磁と５相励磁とを交互に繰り返す駆動回路
で、これによれば、ペンタゴン結線のステッピングモー
タを４−５相励磁駆動によりハーフステップ駆動を行う
事ができて、ステッピングモータのロータの回転をより
滑らかにすることができたが、この駆動回路では、４相
励磁と５相励磁との励磁パターン切換時に大きな振動が
発生すると共に、４相励磁時と５相励磁時のトルク変動
が発生する欠点がある。That is, according to this conventional example, a pair of output transistors (T1) (T2) (T9)
(T10) of the five sets of the output stage transistor connected in series are connected in parallel to form a drive circuit, five-phase stepping motor windings Pentagon connection (.phi.1) from (.phi.5) connection point and each set of output Step transistors (T1) (T2)
······ Driving circuit that alternates between four-phase excitation and five-phase excitation by connecting the connection points of (T9) and (T10) and connecting two or three of the connection points to the positive or negative electrode According to this , the pentagon-connected stepping motor can be half-step driven by 4-5-phase excitation driving, and the rotation of the rotor of the stepping motor can be made smoother. However, there is a drawback that large vibrations are generated when the excitation pattern is switched between the four-phase excitation and the five-phase excitation, and torque fluctuations occur during the four-phase excitation and the five-phase excitation.
【０００４】[0004]
【発明が解決しようとする課題】本発明は、かかる従来
の欠点に鑑みてなされたもので、従来、ステッピングモ
ータに適用されていた回路構成をそのまま使用し、しか
も、トルク変動が小さく、さらに振動の発生も小さく極
めて円滑な回転特性を有るＮ相ステッピングモータのハ
ーフステップ駆動装置を提供する事をその解決課題とす
る。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional drawbacks, and uses the circuit configuration conventionally applied to a stepping motor as it is, has a small torque fluctuation, and further has a vibration. It is an object of the present invention to provide a half-step driving device for an N-phase stepping motor having extremely smooth rotation characteristics with little occurrence of vibration.
【０００５】[0005]
【課題を解決するための手段】請求項１に示す本発明駆
動装置は、奇数相数からなるＮ相ステッピングモータの
各相巻線を、その始端及び終端を順次に接続して環状に
結線し、これらの相の接続点に各別にスイッチング手段
を接続し、前記スイッチング手段により、環状結線を構
成する各相巻線の接続点を駆動電源に接続して （Ｎ−
１）−Ｎ 相勵磁を行うＮ相ステッピングモ−タの駆動
装置において、駆動時に前記駆動電源に接続される接続
点の合計数が入力パルスを受ける毎に３または４を交互
に繰り返すように制御することを特徴とするＮ相ステッ
ピングモータの駆動装置である。According to a first aspect of the present invention, there is provided a driving device in which each phase winding of an N-phase stepping motor having an odd number of phases is connected in a ring shape by sequentially connecting the starting end and the end thereof. Switching means are individually connected to the connection points of these phases, and the connection points of the respective phase windings forming the ring connection are connected to the driving power source by the switching means.
1) In a driving device of an N-phase stepping motor that performs -N-phase excitation, the total number of connection points connected to the driving power source during driving is controlled so that 3 or 4 is alternately repeated each time an input pulse is received. A driving device for an N-phase stepping motor.
【０００６】これによりハーフステップ駆動において、
トルク変動も小さく、また、振動の発生も小さく極めて
円滑なロータの回転特性が得られる。Accordingly, in half-step driving,
An extremely smooth rotor rotation characteristic with small torque fluctuation and small vibration is obtained.
【０００７】以下、本発明駆動装置の回路構成を簡単に
説明した後、本発明に係る多相ステッピングモータのハ
ーフステップ駆動について説明する。実施例では５相ス
テッピングモータについて代表例として説明する。[0007] Hereinafter, after briefly describing the circuit configuration of the driving device of the present invention, the half-step driving of the polyphase stepping motor according to the present invention will be described. In the embodiment, a five-phase stepping motor will be described as a representative example.
【実施例】図１はステッピングモータの巻線（Ａ）より
（Ｅ）をペンタゴン接続した例である。出力段トランジ
スタ（Ｔ１）より（Ｔ１０）は、（Ｔ１）（Ｔ６）、
（Ｔ２）（Ｔ７）、（Ｔ３）（Ｔ８）、（Ｔ４）（Ｔ
９）、（Ｔ５）（Ｔ１０）の５組に分けられ、２個１組
にて直列接続された１組の出力段トランジスタ（Ｔ１）
（Ｔ６）、（Ｔ２）（Ｔ７）、（Ｔ３）（Ｔ８）、（Ｔ
４）（Ｔ９）、（Ｔ５）（Ｔ１０）の接続部に接続され
ている。FIG. 1 shows an example in which a winding (A) is connected to a winding (A) of a stepping motor by a pentagon. From the output transistor (T1), ( T10) is (T1) (T6),
(T2) (T7), (T3) (T8), (T4) (T
9), one set of output stage transistors (T1) divided into five sets (T5) and (T10) and connected in series by two sets
(T6), (T2) (T7), (T3) (T8), (T
4) It is connected to the connection parts of (T9), (T5) and (T10).
【０００８】次に、本発明の１態様である５相ステッピ
ングモータのペンタゴン結線によるハーフステップ駆動
について説明する。Next, a description will be given of half-step driving of a five- phase stepping motor according to one embodiment of the present invention by pentagon connection.
【０００９】本発明の骨子は、従来例のような４−５相
勵磁における５相勵磁時に、電源に接続する接続点の数
を４として、その接続点の内２つを電源に接続し、他の
接続点の内一方の接続点を電源電圧の３／４の電位に、
他方の接続点を電源電圧の１／４の電位に接続すること
により行われる。In the gist of the present invention, the number of connection points to be connected to the power supply is set to 4 at the time of the 5-phase excitation in the 4- to 5-phase excitation as in the conventional example, and two of the connection points are connected to the power supply. And one of the other connection points is set to a potential of ３ of the power supply voltage,
This is performed by connecting the other connection point to a potential of 1/4 of the power supply voltage.
【００１０】図２は、本発明の駆動回路の動作を示すシ
ーケンスチャートである。同図に於いて、先ずシーケン
ス０の場合には、スイッチング素子Ｔ１、Ｔ８及びＴ９
が導通して巻線Ａ及び巻線Ｄの接続点１が駆動電源の正
極側に接続されると共に、巻線Ｅと巻線Ｃの接続点３並
びに巻線Ｅと巻線Ｂの接続点４は電源の負極側に各々接
続される結果、いわゆる４相勵磁状態を構成する。この
時に各相に流れる電流はＡ：Ｂ：Ｃ：Ｄ：Ｅ＝１：１：
１：１：０となる。次にシーケンス１に移行すると、ト
ランジスタ（Ｔ２Ｔ７）（Ｔ３Ｔ８）のデューティを制
御して接続点２の電位を電源の正極側と負極側の電位差
の３／４の電位とし、接続点３の電位を１／４の電位と
する。ここではいわゆる５相勵磁の状態を構成すること
になる。このときに各相に流れる電流は、 Ａ：Ｂ：Ｃ：Ｄ：Ｅ＝０．５：１：１：１：０．５ となる。更に、シーケンス２の場合には、トランジスタ
がＴ１、Ｔ２及びＴ９が導通するので、接続点１及び２
が電源の正極側に、そして接続点４は負極側に各々接続
され、再度４勵磁状態に戻る。以下、同様にシーケンス
３より１９においても、順次４−５相勵磁状態を繰り返
すことになる。駆動電源に接続される接続点の合計数は
３から４へ、４から３へ、のように交互に繰り返す。FIG. 2 is a sequence chart showing the operation of the drive circuit of the present invention. In the figure, first, in the case of the sequence 0, the switching elements T1, T8 and T9
Are connected, the connection point 1 between the windings A and D is connected to the positive side of the driving power source, and the connection point 3 between the windings E and C and the connection point 4 between the windings E and B. Are connected to the negative side of the power source, respectively, so that a so-called four-phase exciting state is formed. At this time, the current flowing through each phase is A: B: C: D: E = 1: 1:
1: 1: 0. Next, when the sequence proceeds to Sequence 1, the duty of the transistors (T2T7) and (T3T8) is controlled to set the potential of the connection point 2 to 3/4 of the potential difference between the positive electrode side and the negative electrode side of the power supply. The potential is set to 1/4. Here, a so-called five-phase exciting state is formed. At this time, the current flowing in each phase is A: B: C: D: E = 0.5: 1: 1: 1: 0.5. Further, in the case of the sequence 2, since the transistors T1, T2 and T9 conduct, the connection points 1 and 2
Are connected to the positive side of the power supply and the connection point 4 is connected to the negative side, respectively, and return to the 4 excitation state again. Hereinafter, similarly in the sequence 3 to 19, the 4-5 phase exciting state is sequentially repeated. The total number of connection points connected to the drive power supply alternates from 3 to 4, from 4 to 3, and so on.
【００１１】このシーケンス０からシーケンス１へ変化
する場合の駆動電流の変化は、接続点の合計数の変化
と、接続点の電位偏位によって行われるものである。即
ち、図３に示されるように、シーケンス０からシーケン
ス１へ変化した場合（Ａ：Ｂ：Ｃ：Ｄ：Ｅ）＝（１：
１：１：１：０）から、（Ａ：Ｂ：Ｃ：Ｄ：Ｅ）＝
（０．５：１：１：１：０．５）へ変化する。このとき
に電流が変化する相はＡ相とＥ相であり、Ａ相が１から
０．５に、Ｅ相が０から０．５に変化するのである。こ
のように本願の電流の変化はすべて０．５である。ここ
で従来例はどのように変化するかというと、ステップ１
からステップ２へ変化した場合（φ１、φ２、φ３、φ
４、φ５）＝（１：１：１：１：０）から、（φ１、φ
２、φ３、φ４、φ５）＝（２／３：１：２／３：１：
２／３）へ変化し、φ１、φ３相が１から２／３に、φ
５が０から２／３に変化し、最大の変化は０と２／３の
間で行う。このように本願発明のものは従来例のものと
比較して電流の変化の割合が小さくなり、それだけ振動
も小さくなる。The change in the drive current when the sequence 0 changes to the sequence 1 is performed by the change in the total number of connection points and the potential deviation of the connection points. That is, as shown in FIG. 3, when the sequence changes from sequence 0 to sequence 1 (A: B: C: D: E) = (1:
1: 1: 1: 0), (A: B: C: D: E) =
(0.5: 1: 1: 1: 0.5). At this time, the phases in which the current changes are the A phase and the E phase, and the A phase changes from 1 to 0.5 and the E phase changes from 0 to 0.5. Thus, the change of the current of the present application is all 0.5. Here, how the conventional example changes is as follows.
From step 2 to step 2 (φ1, φ2, φ3, φ
4, φ5) = (1: 1: 1: 1: 0) to (φ1, φ5
2, φ3, φ4, φ5) = (2/3: 1: 2/3: 1:
2/3) to change, .phi.1, the 2/3 .phi.3 phase from 1, phi
5 is changed to 0 from 2/3 biggest change is carried out at between 0 and 2/3. As described above, in the case of the present invention, the rate of change of the current is smaller than that of the conventional example, and the vibration is accordingly reduced.
【００１２】かかる構成の駆動回路による発生ベクトル
図は図４の如くである。同図から分かるように各シーケ
ンス毎に合成トルクのベクトルは電気角で１８度ずつ回
転していわゆるハーフステップ駆動が達成される。 FIG. 4 shows a vector diagram generated by the driving circuit having such a configuration. As can be seen from the figure, the so-called half-step drive is achieved by rotating the vector of the combined torque by 18 degrees in electrical angle for each sequence .
【００１３】本発明による前者の現象はシーケンスの切
替える場合に当然発生し、順次、勵磁相が切り替つて行
き、振動の非常に小さいハーフステップ駆動が実行され
て行く。４相勵磁状態と５相勵磁状態でのトルク変動が
従来例（点線で示す。）に比較して小さくなることがわ
かる。The former phenomenon according to the present invention naturally occurs when the sequence is switched, and the exciting phase is sequentially switched, and half-step driving with very small vibration is performed. It can be seen that the torque fluctuations in the four-phase exciting state and the five-phase exciting state are smaller than in the conventional example (indicated by the dotted line).
【００１４】即ち、本発明による勵磁パターン変化は、
勵磁パターン変化の前後での電流量の平均化するように
行なわせるため、従来例のような大きな振動が発生せ
ず、振動が発生したとしても極めて小さく、円滑な回転
特性が得られる。また、４相勵磁状態と５相勵磁状態で
の発生トルクの変動を小さくすることができる。That is, the change of the excitation pattern according to the present invention is as follows.
Since the current amounts before and after the change in the energizing pattern are averaged, a large vibration unlike the conventional example is not generated, and even if the vibration is generated, a very small and smooth rotation characteristic can be obtained. Further, it is possible to reduce the fluctuation of the generated torque in the four-phase exciting state and the five-phase exciting state.
【００１５】[0015]
【発明の効果】本発明によれば、４−５相励磁方式によ
るハーフステップ駆動を行う場合に、接続点の合計数の
変化と、接続点の電位変化によって行うことにより、励
磁パターン切替時の振動を極めて小さく抑える事が出来
ると共に、４相励磁状態と５相励磁状態のトルク変動を
小さくすることが出来るという利点がある。According to the present invention, when the half-step driving by the 4-5-phase excitation method is performed, the change in the total number of connection points and the change in the potential of the connection points are performed, so that the excitation pattern can be switched. There is an advantage that vibration can be suppressed to a very small level and torque fluctuations in the four-phase excitation state and the five-phase excitation state can be reduced.
【図１】本発明に係わるステッピングモータの巻線Ａよ
りＥをペンタゴン結線した図面である。FIG. 1 is a drawing in which windings A to E of a stepping motor according to the present invention are pentagon-connected.
【図２】本発明の駆動回路の動作を示すシーケンスチャ
ートである。FIG. 2 is a sequence chart showing an operation of the drive circuit of the present invention.
【図３】本発明でシーケンス０から４まで変化したとき
の巻線ＡよりＥの電圧変化を示す図面である。FIG. 3 is a diagram showing a voltage change from a winding A to a winding E when a sequence 0 to 4 changes in the present invention.
【図４】本発明の駆動回路と従来装置よる発生ベクトル
図である。FIG. 4 is a diagram showing generated vectors by a driving circuit of the present invention and a conventional device.
【図５】従来装置でステップ１から５まで変化したとき
の巻線φ１よりφ５の電圧変化を示す図である。FIG. 5 is a diagram showing a voltage change from the winding φ1 to φ5 when changing from step 1 to step 5 in the conventional device.
ＡないしＥ、φ１ないしφ５・・・・・巻線 Ｔ１ないしＴ１０・・・・・出力段トランジスタ。 A to E, φ1 to φ5 ... winding T1 to T10 ... output stage transistors.
フロントページの続き (56)参考文献 特開 昭63−194598（ＪＰ，Ａ) 特開 平１−103196（ＪＰ，Ａ) 特開 平５−191999（ＪＰ，Ａ) 特開 平４−368499（ＪＰ，Ａ) 特公 平３−37400（ＪＰ，Ｂ２) (58)調査した分野(Int.Cl.7，ＤＢ名) H02P 8/00 - 8/38 Continuation of front page (56) References JP-A-63-194598 (JP, A) JP-A-1-103196 (JP, A) JP-A-5-191999 (JP, A) JP-A-4-368499 (JP) , A) Japanese Patent Publication No. 3-37400 (JP, B2) (58) Fields surveyed (Int. Cl. 7 , DB name) H02P 8/00-8/38
Claims (3)
ッピングモータの各相巻線を、その始端及び終端を順次
に接続して環状に結線し、これらの相の接続点に各別に
スイッチング手段を接続し、前記スイッチング手段によ
り、環状結線を構成する励磁相の接続点を駆動電源に接
続して（Ｎ−１）−Ｎ相励磁を行うＮ相ステッピングモ
ータの駆動装置において、（Ｎ−１）相励磁時には、１
つの励磁相の両端の接続点を駆動電源の一方の極に接続
し、かつそれに対向する１つの接続点を駆動電源の他方
の極に接続し、Ｎ相励磁時には、１つの接続点を駆動電
源の一方の極に、他の１つの接続点を駆動電源の他方の
極に、残る接続点の内２ケを上記駆動電源の電圧範囲内
の上記駆動電源をスイッチング手段でデューティ制御し
た電位に接続したことを特徴とするＮ相ステッピングモ
ータ駆動装置。A phase winding of an N-phase stepping motor having an odd number of phases of 5 or more is connected in a ring by connecting its starting end and its end in order, and each phase winding is connected to a connecting point of these phases. A driving device for an N-phase stepping motor that separately connects switching means, connects the connection point of the excitation phase forming the annular connection to a driving power source by the switching means, and performs (N-1) -N-phase excitation. N-1) During phase excitation, 1
Connection point at both ends of two excitation phases to one pole of drive power supply
And, and connect one of the connection points which faces it to the other pole of the drive power source, N phase at the time of excitation, a single connection point to one pole of the driving electric <br/> source, the other one connection point to the other pole of the driving power, the drive power source in the voltage range of the driving power source to two positions of the remaining connection points to duty control by switching means
An N-phase stepping motor driving device, wherein the driving device is connected to a different potential .
グモータである請求項１記載のステッピングモータ駆動
装置。2. The stepping motor driving device according to claim 1, wherein the N-phase stepping motor is a five-phase stepping motor.
の始端及び終端を順次に接続して環状に結線し、これら
の相の接続点に各別にスイッチング手段を接続し、前記
スイッチング手段により、環状結線を構成する各相巻線
の接続点を駆動電源に接続して４−５相励磁を行う５相
ステッピングモータの駆動装置において、駆動時に前記
駆動電源の正極及び負極に接続される接続点の合計数が
入力パルスを受ける毎に３又は４を交互に繰り返すよう
に制御し、４相励磁時には、１つの励磁相の両端の接続
点を駆動電源の一方の極に接続し、かつそれに対向する
１つの接続点を駆動電源の他方の極に接続し、５相励磁
時には、１つの接続点を駆動電源の正極に、他の１つの
接続点を駆動電源の負極に、残る接続点の内２ケの接続
点をスイッチング手段でデューティ制御した駆動電源電
圧の１／４、３／４の電位に接続したことを特徴とする
５相ステッピングモータの駆動装置。3. The phase windings of a five-phase stepping motor are connected in a ring by sequentially connecting the start and end thereof, and switching means are individually connected to the connection points of these phases. In a driving device for a five-phase stepping motor that performs 4-5-phase excitation by connecting a connection point of each phase winding constituting a ring connection to a driving power source, a connection connected to a positive electrode and a negative electrode of the driving power source during driving controlled so that the total number of points is repeated alternately every 3 or 4 receives the <br/> input pulse, at the time of 4-phase excitation, the connection points at both ends of one excitation phase to one pole of the driving power source connect and an opposed
One connection point is connected to the other pole of the drive power supply, and during five-phase excitation, one connection point is connected to the positive electrode of the drive power supply , another connection point is connected to the negative electrode of the drive power supply, and two of the remaining connection points are connected. Drive power supply whose connection point is duty-controlled by switching means.
A driving device for a five-phase stepping motor, wherein the driving device is connected to a potential of 1/4 and 3/4 of the pressure .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26708794A JP3120082B2 (en) | 1994-10-31 | 1994-10-31 | Drive device for N-phase stepping motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26708794A JP3120082B2 (en) | 1994-10-31 | 1994-10-31 | Drive device for N-phase stepping motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08130897A JPH08130897A (en) | 1996-05-21 |
| JP3120082B2 true JP3120082B2 (en) | 2000-12-25 |
Family
ID=17439868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26708794A Expired - Fee Related JP3120082B2 (en) | 1994-10-31 | 1994-10-31 | Drive device for N-phase stepping motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3120082B2 (en) |
-
1994
- 1994-10-31 JP JP26708794A patent/JP3120082B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH08130897A (en) | 1996-05-21 |
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