JPS59222091A - Step drive system of dc motor - Google Patents
Step drive system of dc motorInfo
- Publication number
- JPS59222091A JPS59222091A JP58098594A JP9859483A JPS59222091A JP S59222091 A JPS59222091 A JP S59222091A JP 58098594 A JP58098594 A JP 58098594A JP 9859483 A JP9859483 A JP 9859483A JP S59222091 A JPS59222091 A JP S59222091A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- motor
- positive
- outputs
- negative
- 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.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/2855—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
【発明の詳細な説明】
く技術分野〉
本発明は、ステップ入力を１パルス加える毎に、モータ
ーを１ステツプ角だけ回転させる直流モータのステップ
駆動方式に関するものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a step drive system for a DC motor in which the motor is rotated by one step angle each time one pulse of step input is applied.
〈従来技術〉
例えば、第１図に示すような偏差カウンタを利用するこ
とによって、直流モータをステップ駆動することかでき
る。偏差カウンタ１は制御部２からのステップ信号Ａと
エンコーダ３からの位置信号Ｂを入力し、ステップ信号
Ａに対する位置信号Ｂの偏差値をカラ・ントし、偏差値
かＯになる寸で偏差信号Ｃを出力することにより、増幅
器４及び駆動回路５を介し、モータ６を所定のステップ
角まで回転するものである。ここで、ステップ信号Ａの
入力量間隔がモータ６の駆動応答時間に充分対応できる
ものとすれば、ステラフ１ａ号ＡＫ対応したステップ駆
動が可能である。<Prior Art> For example, by using a deviation counter as shown in FIG. 1, a DC motor can be driven in steps. The deviation counter 1 inputs the step signal A from the control section 2 and the position signal B from the encoder 3, counts the deviation value of the position signal B with respect to the step signal A, and outputs a deviation signal when the deviation value reaches O. By outputting C, the motor 6 is rotated to a predetermined step angle via the amplifier 4 and the drive circuit 5. Here, if the input amount interval of the step signal A can sufficiently correspond to the drive response time of the motor 6, step drive compatible with the Stellaf No. 1a AK is possible.
第２図にこのときの信号波形例及びモータ６の回転角を
示す。今、偏差カウンタ１にステップ信号Ａの第１番目
のパルス（ＮＯ，１）か入力されたとする。これはモー
タ６を１ステツプ角だけ回転せよと論う命令となり、偏
差カウンタ１の偏差信号Ｃを” Ｈｉ ｇ ｈ ”とし
てモータ６を回転する。モータ６がある一定角度（１ス
テツプ角）回転すれば、エンコーダ３から位置信ｇＢの
第１番目のパルス（同ＮＯ，１）が発生し、偏差カウン
タ１に郁還される。位置信号Ｂの第１番目のパルス（Ｎ
Ｏ。FIG. 2 shows an example of the signal waveform and the rotation angle of the motor 6 at this time. Suppose now that the first pulse (NO, 1) of the step signal A is input to the deviation counter 1. This becomes a command to rotate the motor 6 by one step angle, and the motor 6 is rotated by setting the deviation signal C of the deviation counter 1 to "High". When the motor 6 rotates by a certain angle (one step angle), the first pulse (NO, 1) of the position signal gB is generated from the encoder 3 and sent back to the deviation counter 1. The first pulse of position signal B (N
O.
１）の発生により、偏差カウンタ１の偏差値ＪｊＣはＬ
ｏｗ”にリセットされ、モータ６の端子電圧は消滅し回
転運動は停止する。Due to the occurrence of 1), the deviation value JjC of deviation counter 1 becomes L.
ow", the terminal voltage of the motor 6 disappears, and the rotational movement stops.
再び、偏差カウンタｌにステップ信号Ａの第２番目のパ
ルス（ＮＯ，２）か入力されると、同じ動作か繰返えさ
れ、モータ６は更に、ｌステップ角だけ回転して停止す
る。When the second pulse (NO, 2) of the step signal A is input to the deviation counter l again, the same operation is repeated, and the motor 6 further rotates by l step angle and then stops.
このよう妃、ステップモータと同様、ステップ信９Ａか
１パルス入力される毎に、一定のステップ角てモータ６
が回転し、いわ−ゆる直流モータのステップ動作か可能
である。しかし、実際に、直流モータのステ・ノブ駆動
を実現する場合ＶＣは、第１図のような基本システムの
−ま寸では、モータの正逆回転制御や停止位置での安定
性などの点で大きな問題が生じた。In this way, as with a step motor, each time a step signal 9A or 1 pulse is input, a constant step angle is applied to the motor 6.
rotates, making it possible to perform the so-called step operation of a DC motor. However, when actually realizing the steering/knob drive of a DC motor, the VC is not suitable for the basic system shown in Figure 1. A big problem arose.
〈発明の目的〉
本発明ｆｄ、正逆転制御や停止位置での安定性を考慮し
た、非常［簡単な構成で直流モータステップ駆動システ
ムを実現する、有用な方式を提供するものである。<Objective of the Invention> The present invention provides a useful system for realizing a DC motor step drive system with an extremely simple configuration that takes forward/reverse control and stability at a stop position into consideration.
〈実施例〉
第３図に本発明の一実施例を示す。制御部２は正逆指示
信号ｕ／Ｄ及びステ・ノブ信号りを出力し、同期回路７
はこれら正逆指示信’ｔ ｕ ／ Ｄ 、ステップ信’
）°Ｄ、及びエンコーダ３′からの位置信号Ｅを入力し
、同期ステップ信号Ｆを発生する。誤差増幅器８はこの
同期ステップ信号Ｆとエンコーダ３′からの位置信躬Ｅ
を（例えば前者は（＋）側、後者はに）側＆ｉＣ）入力
し、モータ６の駆動１ｆｉｌＪ御信号として、その駆動
回路５に加減算出力である誤差信号Ｇを印加するもので
ある。ここで、エンコーダ３’ｕ第１図のエンコーダ３
と区別して示しているように、位置信号Ｅとして特に近
似正弦波形を出力するものとして（ハる。<Example> FIG. 3 shows an example of the present invention. The control unit 2 outputs a forward/reverse instruction signal u/D and a steering/knob signal, and a synchronization circuit 7
are these forward/reverse instruction signals 'tu/D, step signal'
)°D and the position signal E from the encoder 3' are input, and a synchronous step signal F is generated. The error amplifier 8 uses this synchronized step signal F and the positional information E from the encoder 3'.
(for example, the former is on the (+) side and the latter is on the ) side &iC), and an error signal G, which is an addition/subtraction calculation output, is applied to the drive circuit 5 as a drive 1filJ control signal for the motor 6. Here, encoder 3'u encoder 3 in FIG.
As shown separately, it is assumed that an approximate sinusoidal waveform is output as the position signal E (H).
このような構成で、同期回路７てけ、ステップ唐号りを
位置信号Ｅに同期させて同期ステップ信号Ｆを出力し、
また正逆指示信′８ｕ／ＤＫ応じて同期ステップ信号Ｆ
の正負の極性を制御する。With such a configuration, the synchronous circuit 7 synchronizes the step number with the position signal E and outputs the synchronous step signal F.
Also, in response to the forward/reverse instruction signal '8u/DK, the synchronous step signal F
Controls the positive and negative polarity of
そして、誤差増幅器８にお因で、
（１１同期ステップ信号Ｆ＝Ｏのとき
第４図に示すように、エンコーダ３′の位置信Ｊ８−Ｅ
が誤差増幅器８に負帰還されているので、位置信号Ｅが
負極性のとき正回転のトルクＴｕ。Then, due to the error amplifier 8, (11 When the synchronous step signal F=O, as shown in FIG. 4, the position signal J8-E of the encoder 3'
is negatively fed back to the error amplifier 8, so when the position signal E has negative polarity, the positive rotation torque Tu.
正極性のとき逆回転ｄトルクＴＤが働らき、モークロは
トルクＴｕ、ＴＤの平衡点であるＰの位置に停止する。When the polarity is positive, the reverse rotation d torque TD acts, and the mokuro stops at the position P, which is the equilibrium point of the torques Tu and TD.
（２）位置膚り°Ｅに同期した正極性の同期ステ・ンプ
信にＪＦ（＝＋Ｖｓ）を入力した場合
？ｉｒ、 ５図にそのときの様子を示す。なお、同期ス
テップ信号Ｆと位置信号Ｅの波高値の関係はＶ ｓ −
ｉ： Ｖ Ａであるとする。同期ステップ信号Ｆか入力
されている間、誤差増幅器８は正極性電圧の、２！４差
信号Ｇを出力し、モータ６を初期位置Ｐｎから正回転さ
せる。回転により位置信号Ｅに同期して、同期ステップ
信５３Ｆの入力が切れると、（１）の場合と同様になり
、位置信号Ｅの１周期後の位置にイ目当してＰｎ＋１
の位置で停止場−る。(2) What if JF (=+Vs) is input to the positive polarity synchronous step signal synchronized with position change °E? Figure 5 shows the situation at that time. Note that the relationship between the peak values of the synchronous step signal F and the position signal E is V s −
i: Suppose that it is VA. While the synchronous step signal F is being input, the error amplifier 8 outputs a 2!4 difference signal G of positive polarity voltage, causing the motor 6 to rotate forward from the initial position Pn. When the input of the synchronous step signal 53F is cut off in synchronization with the position signal E due to rotation, the situation is the same as in case (1), and Pn+1 is aimed at the position after one cycle of the position signal E.
Stop at the location.
（３）位置簡号Ｅに同期した負極性の同期ステップ信’
；ｔＦ （＝−Ｖｓ ）を入力した場合波高値Ｖｓ、Ｖ
Ａが（２）の場合と同じ関係であるとして、第６図に示
すように、負極性の同期ステップ信号Ｆか入力されると
、その間は誤差増幅器８の誤差信号Ｇが負極性の電圧と
なり、モータ６を逆方向に回転させる。同期ステップ信
号Ｆの入力が切れると、（１）の場合と同様となり、初
期値をＰｎとすれば、逆方向で（２）の場合と同間隔の
位置ＰＯ−８に停止する。(3) Negative polarity synchronous step signal synchronized with position symbol E'
; When inputting tF (=-Vs), the peak value Vs, V
Assuming that A has the same relationship as in case (2), as shown in FIG. 6, when a negative polarity synchronous step signal F is input, the error signal G of the error amplifier 8 becomes a negative polarity voltage during that time. , rotates the motor 6 in the opposite direction. When the input of the synchronous step signal F is cut off, the situation is the same as in case (1), and if the initial value is set to Pn, it stops at position PO-8 at the same interval as in case (2) in the opposite direction.
このようにして、同期ステップ信号Ｆを１ノｆルス入力
する毎に、同期ステ・ノブ信号Ｆの極性に従って、正又
は逆方向に１ステツプ角だけ回転する。従って正逆回転
制御はこの極性の反転だけで非常に簡単である。また停
止は、エンコーダ３′からの近似正弦波形を有する位置
信号Ｅに基づいて行なわれ、安定した停止点を保持する
。 ・
′第７図は他の実施例を示すもので、誤差増幅器８の（
ト）側入力にコンデンサ９と抵抗１０による微分回路を
接続している。すなわち、これによって同期ステップ信
りＦを微分して誤差増幅器８に加えるようにし、モータ
６が回転しすぎないように、微分の後縁出力で１７シル
ス毎の制動力を強くしてｂる。In this way, each time the synchronized step signal F is inputted by 1 nolus, the rotor rotates by one step angle in the forward or reverse direction according to the polarity of the synchronized step knob signal F. Therefore, forward/reverse rotation control is very simple just by reversing the polarity. Further, the stopping is performed based on the position signal E having an approximate sinusoidal waveform from the encoder 3', and a stable stopping point is maintained.・'Figure 7 shows another embodiment, in which the error amplifier 8 (
A differentiation circuit consisting of a capacitor 9 and a resistor 10 is connected to the g) side input. That is, the synchronous step signal F is differentiated and applied to the error amplifier 8, and the trailing edge output of the differentiation is used to increase the braking force every 17 sills so that the motor 6 does not rotate too much.
第８図は更に他の実施例を示すもので、誤差増幅器８の
に）側入力に、抵抗１１及びコンデンサ１２を介して位
置値’ｉ３Ｆのモータ速度成分も負帰還するようにし、
停止ザーボ系の安定化を図ったものである。これらによ
れば、更にきめの細かｂ制御を行ない、より実用的々シ
ステムを構成できることとなる。FIG. 8 shows still another embodiment, in which the motor speed component of the position value 'i3F is also negatively fed back to the side input of the error amplifier 8 via a resistor 11 and a capacitor 12.
This is intended to stabilize the stop servo system. According to these, more fine-grained b control can be performed and a more practical system can be constructed.
〈発明の効果〉
以」二のように本発明によれば、簡単な回路構成で、停
止位置での安定性が良く、正逆回転制御も容易に行なえ
るものであって、有用な直流モータのステップ駆動方式
が提供できる。<Effects of the Invention> As described in (2) below, according to the present invention, a useful DC motor can be achieved, which has a simple circuit configuration, has good stability at a stopped position, and can easily perform forward/reverse rotation control. A step drive method can be provided.
第１図は従来例を示すブロック構成図、第２図は第１図
の動作を説明する信号波形例及びモータの回転角を示す
図、第３図は本発明の一実施例を示すブロック構成図、
＠４図〜＠６図は第３図のそれぞれ異なる状慇時の動作
を説明する図、第７図は本発明の他の実施例を示すブロ
ック構成図、第１．８図は本発明の更に他の実施例を示
すブロック構成図である。
３′・・・エンコーダ、 ５・駆動回路、 ６・モータ
、 ７・・・同期回路、 ８・９．誤差増幅器、Ｅ・・
位置信号、 Ｆ・・・同期ステップ信号。Fig. 1 is a block configuration diagram showing a conventional example, Fig. 2 is a diagram showing an example of a signal waveform and the rotation angle of the motor to explain the operation of Fig. 1, and Fig. 3 is a block configuration diagram showing an embodiment of the present invention. figure,
@Figures 4 to 6 are diagrams explaining the operation in different situations in Figure 3, Figure 7 is a block diagram showing another embodiment of the present invention, and Figures 1.8 are diagrams explaining the operation in different situations of Figure 3. FIG. 3 is a block configuration diagram showing still another embodiment. 3'... Encoder, 5. Drive circuit, 6. Motor, 7... Synchronous circuit, 8.9. Error amplifier, E...
Position signal, F...Synchronized step signal.
Claims (1)
とともに、該位置信号と加減算されかつ位置信号に同期
した同期ステップ信号により、モータを駆動するように
したことを特徴とする直流モータのステップ駆動方式。1. A step of a DC motor characterized in that the motor is driven by a synchronized step signal which returns a motor position signal having an approximate sinusoidal waveform and which is added to or subtracted from the position signal and synchronized with the position signal. Drive system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58098594A JPS59222091A (en) | 1983-05-31 | 1983-05-31 | Step drive system of dc motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58098594A JPS59222091A (en) | 1983-05-31 | 1983-05-31 | Step drive system of dc motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59222091A true JPS59222091A (en) | 1984-12-13 |
Family
ID=14223958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58098594A Pending JPS59222091A (en) | 1983-05-31 | 1983-05-31 | Step drive system of dc motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59222091A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62285683A (en) * | 1986-05-31 | 1987-12-11 | Tokyo Keiki Co Ltd | Speed controller for motor |
-
1983
- 1983-05-31 JP JP58098594A patent/JPS59222091A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62285683A (en) * | 1986-05-31 | 1987-12-11 | Tokyo Keiki Co Ltd | Speed controller for motor |
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