JPS6110996A - Driving circuit of stepping motor - Google Patents

Abstract

PURPOSE:To equalize the torque of a stepping motor by turning all switching elements of power switching units OFF only when the current falls at one phase exciting time, thereby abruptly inclining the fall of the current at one phase exciting time, thereby maintaining the relation to the current at 2-phase exciting time constant. CONSTITUTION:A signal from a pulse generator 5 only when a current falls at one phase exciting time is set to L level, and the output from a distributor 3 is set to L level only during the L level of the signal to turn OFF the transistor of a power switching unit 1. Then, the counterelectromotive force of the motor coil L of the motor M is discharged rapidly through a diode, thereby abruptly falling the current at one phase exciting time. Accordingly, when a 2-phase stepping motor is driven by 1-2 phase excitation type, the relation that the current at the one phase exciting time is 2<1/2> times of the current at the 2 phase exciting time is maintained even at the high speed time. Consequently, the torque can be completely equalized to improve the frequency characteristic.

Description

【発明の詳細な説明】 ［技術分野］ 本発明は、］−２相励磁方式におけるステッピングモー
タの駆動回路に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field] The present invention relates to a driving circuit for a stepping motor in a -2-phase excitation system.

［背景技術１ 従来、２相ステツピングモータを１−２相〃ｊ磁方式で
駆動するには、第４図に示すような電流をモータコイル
に加えている。第４図（、）はＡ相のモータコイルの電
流波形を示し、第４図（ｂ）はＢ相の電流波形を示すも
のである。しかし、実際には、このままでは１相励磁時
と２相励磁時との間に出力トルクの差ができるため、１
相励磁時の電流値を２相励磁時の電流値のむ倍した第５
図のような電流波形を用いている。[Background Art 1] Conventionally, in order to drive a two-phase stepping motor using the 1-2 phase magnetic method, a current as shown in FIG. 4 is applied to the motor coil. FIG. 4(,) shows the current waveform of the A-phase motor coil, and FIG. 4(b) shows the B-phase current waveform. However, in reality, if this continues, there will be a difference in output torque between 1-phase excitation and 2-phase excitation, so 1
The fifth value is the current value during phase excitation multiplied by the current value during two-phase excitation.
The current waveform shown in the figure is used.

第５図のような電流波形を実現するための回路構成とし
ては、ｔＩＳ３図に示すような回路が従来より提供され
ている。１はステッピングモータのモータコイル■−に
直接スイッチング素子にて電流を流す電力スイッチング
部で、この電力スイッチング部１は以下のように構成さ
れてν・る。即ち、スイッチング素子たるトランジスタ
Ｑ、、Ｑ２を直列に接続した直列回路と、トランジスタ
Ｑ、、Ｑ。As a circuit configuration for realizing a current waveform as shown in FIG. 5, a circuit as shown in tIS3 has been conventionally provided. Reference numeral 1 denotes a power switching section which causes a current to flow directly through a switching element to a motor coil (1) of a stepping motor.This power switching section 1 is constructed as follows. That is, a series circuit in which transistors Q, , Q2, which are switching elements, are connected in series, and transistors Q, , Q.

を直列に接続した直列回路との並列回路を抵抗Ｒを作し
て電源（こ並列に接続し、トランジスタＱ１とＱ、との
接続点と、トランジスタＱ３とＱ、との接続点との間に
モータコイルＬを接続してし・る。A parallel circuit with a series circuit connected in series is made with a resistor R, and the power supply is connected in parallel, and between the connection point between transistors Q1 and Q and the connection point between transistors Q3 and Q. Connect motor coil L.

また、トランジスタＱ、、Ｑ、のベース・エミンタ間に
は保護用のダイオードＤ　、、Ｄ　、か接続してあり、
トランジスタＱ２とＱ、のコレクタからグイオート’Ｄ
２．Ｄ、が接地しである。この電力スイッチング部１は
Ａ相だけ具体回路が示しであるが、Ｂ相も同様である。In addition, protective diodes D,,D, are connected between the base and emitter of transistors Q,,Q,.
From the collectors of transistors Q2 and Q,
2. D is grounded. In this power switching section 1, a specific circuit is shown only for the A phase, but the B phase is also the same.

４は１相励磁時におけるトルりむらを補正すべく補正手
段である基準電圧設定回路で、１相励磁時に出力電流か
２相励磁時の電流値よりＪシ倍になるように基準電圧が
切替わるようにしておくものである。２は電力スイ、チ
ング部１の各トランジスタＱ１−〇、を所定のパルス幅
でもってオンオフ制御するためのパルスを出力するＰＷ
Ｍ制御回路である。３はＰ　Ｗ　Ｍ制御回路２からのパ
ルスを入力してｆｉｒ、　７図に示すようなパルスを出
力する分配回路で、該分配回路３から該パルスか電力ス
イッチング部の各トランジスタＱ１−Ｑ、のベースに夫
々入力される。このように分配回路３からの各パルスで
もって電力スイッチング部１をスイッチングするととも
に、基キ１電圧設定回路４により１相励磁時に１−２相
励磁時の場合より０倍の電流をモータコイルＬ　＋、：
流すことで、第５図のような電流波形を得ている。しか
しながら、かかる従来例の駆動回路においては、出力電
流波形は第６図に示すように１相励磁時１こ出力電流を
大きくした部分の立ち下がり時に電流の滅貨が緩慢（２
部）となる問題を有している。これは第３図の回路でト
ランジスタＱ３．モータコイルＬ。4 is a reference voltage setting circuit which is a correction means for correcting torque unevenness during one-phase excitation, and the reference voltage is set so that the output current during one-phase excitation is J times the current value during two-phase excitation. It is something that can be changed. 2 is a power switch, which outputs a pulse for controlling each transistor Q1-〇 of the switching section 1 on and off with a predetermined pulse width;
This is an M control circuit. 3 is a distribution circuit that inputs pulses from the PWM control circuit 2 and outputs pulses as shown in FIG. are respectively input to the base. In this way, the power switching unit 1 is switched by each pulse from the distribution circuit 3, and the base voltage setting circuit 4 applies a current that is 0 times as much to the motor coil L during 1-phase excitation as compared to the case when 1-2 phase excitation is performed. +, :
By flowing the current, a current waveform as shown in FIG. 5 is obtained. However, in such a conventional drive circuit, as shown in FIG. 6, the output current waveform is such that the current decays slowly (2
The problem is as follows. This is the circuit shown in FIG. 3 with transistor Q3. Motor coil L.

トランジスタＱ　２１抵抗Ｒへと破線で示す電流か流れ
ているとすると、各トランジスタＱ１〜Ｑ、の入力信号
は第７図のようになっているため、モータコイルＬの逆
起Ｔ、　力がトランジスタＱ１．モータコイルＬ、ダイ
オードｌ）１へと実線に示す経路で電力消費を行う。し
かしこの経路は抵抗損失分か小さいため電力消費に時間
がかかることか原因となっているからである。Assuming that the current shown by the broken line flows to the transistor Q21 and the resistor R, the input signals of each transistor Q1 to Q are as shown in Fig. 7, so the back electromotive force T of the motor coil L is Q1. Power is consumed through the path shown by the solid line from the motor coil L to the diode 1). However, this is because the resistance loss in this path is small, which causes the power consumption to take a long time.

［発明の１１￥）］ 本発明は一ヒ述の点に鑑みて提供したものであって、１
相励磁時の電流の立ち１ζが９の部分の傾斜を急峻にし
て２相励磁時の電流の関係を一定に保ってトルクを均一
化することを目的としたステッピングモータの駆動回路
を提供するものである。[11 yen of the invention] The present invention has been provided in view of the points mentioned in 1.
To provide a driving circuit for a stepping motor, the purpose of which is to make the slope of the current rise steeply at the part where 1ζ is 9 during phase excitation, to maintain a constant relationship between currents during two-phase excitation, and to equalize torque. It is.

［発明の開示１ 以下、本発明の実施例を図面により説明する。[Disclosure of the invention 1 Embodiments of the present invention will be described below with reference to the drawings.

尚、全体の構成は従来例と同様であり、モータコイルＹ
、の１相励磁時における電流の立ちＦかり時だけその傾
斜を急峻にすべく、電力スイッチング部〕の全てのトラ
ンジスタＱ１〜Ｑ、をオフせしめる制御手段を設けたこ
とを要旨とするものである。The overall configuration is the same as the conventional example, and the motor coil Y
The gist of the present invention is to provide a control means for turning off all transistors Q1 to Q of the power switching section in order to make the slope steeper only when the current rises F during one-phase excitation of the power switching section. .

すなわち、制御手段を構成するパルス発生器５を形成し
、このパルス発生器５からの出力パルスを分配回路３の
す七ノドパルスとして人力するようにしたものである。That is, a pulse generator 5 constituting the control means is formed, and the output pulses from the pulse generator 5 are manually applied to the distribution circuit 3 as seven pulses.

つまり、第２図（ａ）にボオ′Ｉ−うな信号をパルス発
生器５から出力し、１相励磁時の電流の立ち下がりの時
だけ上記信号を１、レベルとし、このＬレベルの間たけ
分配回路３からの１出力もＬレベルとして電力スイッチ
ング部１のトランジスタＱ１〜Ｑ、をオフにしているも
のである。In other words, as shown in FIG. 2(a), a signal is output from the pulse generator 5, and the signal is set to level 1 only when the current falls during one-phase excitation, and the signal is set to level 1 during this L level. One output from the distribution circuit 3 is also at L level, turning off the transistors Q1 to Q of the power switching section 1.

従って、モータＭのモータコイルＩ７の逆起電υをダイ
オードｌ’）　、　＝　Ｄ　、を通して速く放電させ、
第２図（ｂ）（ｃ）に示すように１相励磁時の電流の立
ち下がり部分を急峻にするようにしたものである。Ｒつ
て、２相人チッピングモータを１−２相励磁ノｊ式で駆
動する場合、１相励磁時の電流が２相励磁時の電流の９
語倍という関係か高速時においても保たれるため、トル
クが完全に均一化され、周波数特性も向上するものであ
る。Therefore, the back electromotive force υ of the motor coil I7 of the motor M is quickly discharged through the diode l'), = D,
As shown in FIGS. 2(b) and 2(c), the falling part of the current during one-phase excitation is made steep. When driving a 2-phase chipping motor using the 1-2 phase excitation type, the current during 1-phase excitation is 9 times the current during 2-phase excitation.
Since the relationship of multiplication is maintained even at high speeds, the torque is completely equalized and the frequency characteristics are also improved.

「発明の効果」 本発明は上述のように、第１．第２のスイ・ノチング素
ｒを直列に接続した直列回路と、第３゜第４のスイッチ
ング素子を直列に接続した直列回路とを電源に大々並列
に接続し、第１．第２のスイッチング素子の接続点とｆ
５３．第４のスイッチング素子の接続点との間にモータ
コイルを接続し、各スイッチング素子に保護用グイオー
トを夫々並列的に接続した電力スイッチング部を形成し
、上記電力スインチング部の各スイッチング素子を適宜
な間隔でオンオフ駆動するパルスを出力するＰＷＭ制御
回路を形成し、該ＰＷＭ制御回路からのパルスを入力し
電力スイッチング部のスイッチング素子を略交互にオン
３７制御して前記モータコイルを１−２相励磁する分配
回路を設け、モータコイルの１相励磁時の電流値を２相
励磁時の電流値より所定倍大きい電流を流してモータの
Ｉルクむらを補正する補正手段を有するステンピンクモ
ータの駆動回路において、モータコイルの１相励磁時の
電流の立ち下がり時にだけ電力スインチング部の全ての
スイッチング素子をオフとする制御手段を設けたもので
あるから、制御手段によりモータコイルの１相励磁の電
流の立ち下がり時にたけ電力スインチング部の全てのス
イ／チング素ｊ′をオフとすることで、スイ／チング素
ｒ−かオー７している間モータコイルに生じた逆起電力
はダイオードを介して急速に放電し、そのため、１相励
磁時のモータコイルへの電流の立ち下かり部分は糸、唆
となり、］−２相励磁方式における］相励磁時の電流値
と２相励磁時の電流値との関係を高速時においても所定
イａに保たれるため、トルクか完全に均一化され、しか
も周波数特性も向上するという効果を奏するものである
。"Effects of the Invention" As described above, the present invention has the following advantages. A series circuit in which the second switching element r is connected in series, and a series circuit in which the third and fourth switching elements are connected in series are connected roughly in parallel to the power supply. The connection point of the second switching element and f
53. A power switching section is formed in which a motor coil is connected between the connection point of the fourth switching element and protective guides are connected in parallel to each switching element, and each switching element of the power switching section is connected as appropriate. A PWM control circuit is formed that outputs pulses that are driven on and off at intervals, and the pulses from the PWM control circuit are input to control the switching elements of the power switching section to be turned on almost alternately to excite the motor coil in 1-2 phases. A driving circuit for a stainless pink motor, which has a distribution circuit for correcting I-lux irregularities of the motor by flowing a current that is a predetermined times larger than the current value during two-phase excitation, so that the current value during one-phase excitation of the motor coil is a predetermined times larger than the current value during two-phase excitation. In this method, since a control means is provided that turns off all switching elements of the power switching section only when the current during one-phase excitation of the motor coil falls, the control means controls the current during one-phase excitation of the motor coil. By turning off all the switching elements j' in the power switching section at the time of falling, the back electromotive force generated in the motor coil during the switching element r- or 7 is rapidly reduced through the diode. Therefore, the falling part of the current to the motor coil during one-phase excitation becomes a thread, and the current value during phase excitation and the current value during two-phase excitation in the -2-phase excitation method are Since the relationship is maintained at a predetermined value a even at high speeds, the torque is completely equalized and the frequency characteristics are also improved.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の実施例のブロンク図、第２し１は同上
のタイムチャート、第３図は同上の従来例のプロ／り回
路図、第４図は同Ｊ二のタイムチャート、第５図は同上
のタイムチャート、第６図は同上の動作波形図、第７図
は同上のタイムチャートである。 １は電力スイッチング部、２はＰ　Ｗ　ｋｉ制御回路、
３は分配回路、Ｉ−はモータコイルを示す。 第６図 Ｐ Ｔ″″′ 第７図 手続補正書（自発） 昭和５９年１０月　１　日 特許 」和５９年特許願第１１３０５８４す 明　の名称 テッピンジ七−夕の駆動回路 −１，１５，１ヨをする者 事件との関係　　　　　特　許　出願人性　　所　　大
阪府門真市太字門真１０４８番地名　称　（５８３）松
下電工株式会社 代表者小　林　　郁 ４、代理人 」番号　５３〇 三命令の日付 発 補　　正　　書 願書番号　　　特願昭５９−　］　３　（１５８４号１
、本願明細書第５頁第１行ｌ」乃至第２イ１目の「入力
信号」を１入力信号Ａ−ＤＪと訂正する。 ２、添（＝Ｉ図面中第７図を別紙のように訂正する。 代理人　弁理士　石　ＦＪ、Ｉ　　艮　七第７図Fig. 1 is a bronch diagram of the embodiment of the present invention, Fig. 2 is a time chart of the same as above, Fig. 3 is a professional circuit diagram of the conventional example of the above, Fig. 4 is a time chart of J2 of the same, and Fig. 4 is a time chart of the same as above. FIG. 5 is a time chart same as above, FIG. 6 is an operation waveform diagram same as above, and FIG. 7 is a time chart same as above. 1 is a power switching section, 2 is a PW ki control circuit,
3 indicates a distribution circuit, and I- indicates a motor coil. Figure 6 P T''''' Figure 7 Procedural amendment (spontaneous) Patent dated October 1, 1980 Patent application No. 1130584 of 1982 Name of Tepping Tanabata drive circuit - 1, 15, 1 Relationship with the case of a person who commits a crime Patent Applicant Location 1048 Bold Kadoma, Kadoma City, Osaka Name (583) Matsushita Electric Works Co., Ltd. Representative Iku Kobayashi 4, Agent No. 5303 Amendment date of the order Application number: Patent application No. 1584-] 3 (No. 1584 1
, "input signal" in page 5, line 1, line 1 to line 2, line 1 of this specification is corrected to 1 input signal A-DJ. 2. Attachment (=I amend Figure 7 in the drawing as shown in the attached sheet. Agent Patent Attorney Ishi FJ, I Ai Figure 7)

Claims (1)

【特許請求の範囲】[Claims] （１）　第１，第２のスイッチング素子を直列に接続し
た直列回路と、第３，第４のスイッチング素子を直列に
接続した直列回路とを電源に夫々並列に接続し、第１，
第２のスイッチング素子の接続点と第３，第４のスイッ
チング素子の接続点との間にモータコイルを接続し、各
スイッチング素子に保護用ダイオードを夫々並列的に接
続した電力スイッチング部を形成し、上記電力スイッチ
ング部の各スイッチング素子を適宜な間隔でオンオフ駆
動するパルスを出力するＰＷＭ制御回路を形成し、該Ｐ
ＷＭ制御回路からのパルスを入力し電力スイッチング部
のスイッチング素子を略交互にオンオフ制御して前記モ
ータコイルを１−２相励磁する分配回路を設け、モータ
コイルの１相励磁時の電流値を２相励磁時の電流値より
所定倍大きい電流を流してモータのトルクむらを補正す
る補正手段を有するステッピングモータの駆動回路にお
いて、モータコイルの１相励磁時の電流の立ち下がり時
にだけ電力スイッチング部の全てのスイッチング素子を
オフとする制御手段を設けて成ることを特徴とするステ
ッピングモータの駆動回路。(1) A series circuit in which the first and second switching elements are connected in series, and a series circuit in which the third and fourth switching elements are connected in series are connected in parallel to the power supply, respectively, and the first and second switching elements are connected in parallel to the power supply.
A motor coil is connected between a connection point of the second switching element and a connection point of the third and fourth switching elements, and a power switching section is formed in which a protection diode is connected in parallel to each switching element. , a PWM control circuit is formed that outputs pulses that turn on and off each switching element of the power switching section at appropriate intervals, and
A distribution circuit is provided which inputs pulses from the WM control circuit and almost alternately controls on/off switching elements of the power switching section to excite the motor coil in 1-2 phases, so that the current value during 1-phase excitation of the motor coil is set to 2. In a stepping motor drive circuit that has a correction means that corrects torque unevenness in the motor by flowing a current that is a predetermined times larger than the current value during phase excitation, the power switching section is activated only when the current falls during one phase excitation of the motor coil. A driving circuit for a stepping motor, comprising a control means for turning off all switching elements.