JPS61247296A - Pulse motor control system - Google Patents
Pulse motor control systemInfo
- Publication number
- JPS61247296A JPS61247296A JP6770585A JP6770585A JPS61247296A JP S61247296 A JPS61247296 A JP S61247296A JP 6770585 A JP6770585 A JP 6770585A JP 6770585 A JP6770585 A JP 6770585A JP S61247296 A JPS61247296 A JP S61247296A
- Authority
- JP
- Japan
- Prior art keywords
- phase
- speed
- phase excitation
- excitation
- pulse motor
- 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
- 230000005284 excitation Effects 0.000 claims abstract description 73
- 238000000034 method Methods 0.000 claims description 10
- 206010001497 Agitation Diseases 0.000 abstract 1
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 238000010438 heat treatment Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 12
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
Description
【発明の詳細な説明】
〔概 要〕
本発明はパルスモータ駆動回路の単一または複数の相の
組合せによル、複数区分の速度範囲で所望のトルク特性
を有する複数′Ｓ類の相励磁手段を設け、速度範囲に応
じ対応する相励磁手段に切替えるように゛し、高速およ
び低速における特性改譬を図ったものである。[Detailed Description of the Invention] [Summary] The present invention provides phase excitation of a plurality of S types having desired torque characteristics in a plurality of speed ranges by using a single phase or a combination of a plurality of phases of a pulse motor drive circuit. A means is provided to switch to a corresponding phase excitation means depending on the speed range, and the characteristics at high and low speeds are changed.
本発明はパルスモータ駆動回路の相励磁方式における高
速および低速の特性を改善したパルスモータ制御方式に
関するものである。The present invention relates to a pulse motor control method that improves high-speed and low-speed characteristics in a phase excitation method of a pulse motor drive circuit.
従来、パルスモータ駆動回路の通常の回路は第４図に示
すユニボー２駆動方式が用いられる。Conventionally, a Unibo 2 drive system shown in FIG. 4 has been used as a normal pulse motor drive circuit.
すなわち、４相の励磁コイル（励磁電圧）が励磁順にＬ
ｓＣＡ）ｔ Ｌｍ（Ｂ）ｔ Ｌｓ（４Ｌ４（Ｂ）のよう
に設けらｔＬ、６゜これらと直列にダイオードを介して
ドライバ素子ｈｔ１ｍｓ１ｓｗｌｉが接続され、その入
力側からそれぞれ相励磁信号の、■、■、■によりパル
ス制御される。励磁；イルＬｌ〜Ｌ４に並列接続される
ダイオードは励磁コイルに発生する反対方向の起電力の
発生によ〕ドライブ素子１１〜１４の破損を防止する丸
めのものである。そして、この並列回路とドライバ素子
の間に一定電圧ＶＣＣが印加される。In other words, the four-phase excitation coils (excitation voltage) are L in the order of excitation.
sCA)t Lm(B)t Ls(4L4(B) tL, 6° A driver element ht1ms1swli is connected in series with these through a diode, and from its input side, each of the phase excitation signals, ■, The diodes connected in parallel to the excitation coils Ll to L4 are rounded to prevent damage to the drive elements 11 to 14 due to the generation of electromotive force in the opposite direction generated in the excitation coil. Then, a constant voltage VCC is applied between this parallel circuit and the driver element.
この場合の励磁方式として最も多用されるもの鉱、２相
励磁方式と１−２相励磁方式である。前者は後述する実
施例の波形を示す第３図の右側に示すように、相励磁を
λＢ、ＢＯ，ＯＤ、ＤＡ、・・・・・・と常に２相を１
相重複させて励磁が進められる。The most frequently used excitation methods in this case are the two-phase excitation method and the 1-2 phase excitation method. In the former case, as shown on the right side of FIG. 3 showing the waveforms of the embodiment described later, the phase excitation is always λB, BO, OD, DA, etc.
Excitation is carried out with phase overlap.
これに対し、後者は同図の左側に示すように、相励磁を
人、λＢ、Ｂ、Ｂ０，０．ＯＤ、Ｄ、ＤＡ・・−・・と
２相励磁の間に１相励磁が交互に挾まれる。従って、両
者を同じタイミングパルスで駆動すると、後者の速度は
前者の半分となる。On the other hand, in the latter case, as shown on the left side of the figure, phase excitation is performed by humans, λB, B, B0, 0, . One-phase excitation is alternately sandwiched between two-phase excitations such as OD, D, DA, and so on. Therefore, if both are driven with the same timing pulse, the speed of the latter will be half that of the former.
上記二二ポーラ駆動方式の２相励磁方式まえは１−２相
励磁方式のパルスモータを使用する場合の大きな問題点
は、第５図の特性（ロ））の実線（Ｉ）に示すように、
供給するパルス周波数ＰＰ８により速度を増すと、発生
トルクは著しく減少し、とくに高速範囲のトルク特性が
低下する。The major problem when using a pulse motor that uses the above-mentioned 22-polar drive system, 2-phase excitation system, and 1-2 phase excitation system is as shown in the solid line (I) of characteristic (B) in Figure 5. ,
When the speed is increased by the supplied pulse frequency PP8, the generated torque decreases significantly, and the torque characteristics particularly in the high speed range deteriorate.
その理由は、同図（６）■、■に低速、高速の範囲にお
ける励磁コイルを流れる電流イ、イ２の波形を示し、こ
の電流積分値から明らかなように、前者より後者が著し
く減少し、発生トルクも同じ傾向を示すからである。The reason for this is that the waveforms of currents A and A2 flowing through the excitation coil in the low-speed and high-speed ranges are shown in (6) (6) and (2) of the same figure, and as is clear from the current integral values, the latter is significantly smaller than the former. This is because the generated torque also shows the same tendency.
また、低速範囲においては、とくに起動、停止時過大の
励磁電流が流れ発熱が大きく、かつ動特性が低下しくオ
ーバシェード等）、騒音が大きくなるという欠点がある
。In addition, in a low speed range, an excessive excitation current flows especially when starting and stopping, generating a large amount of heat, and the dynamic characteristics are deteriorated (overshading, etc.), resulting in increased noise.
これに対しζ第６図に示す定電流チョッパ方式の回路が
提案された。In response to this, a constant current chopper type circuit shown in FIG. 6 was proposed.
同図において、パルスモータ１０′はＭ、４ＥＯパルス
七−夕１０と機能的に等価なものである。ドライバ素子
１１８１１および１ｚ、１４の低電圧側をそれぞれ共通
接続し、抵抗ＲＡＩＲＥを介して接地される。この抵抗
Ｒａ＠ Ｒｎを流れる電流値を電圧に変換し、それぞれ
抵抗γム□＊ｒｌｔ−経て比較器３１ｅ ３１の負端子
に入力し、正端子には指定された電流値に対応する電圧
を入力する。比較器５＊ｔ５ｚは両人力を比較し、抵抗
Ｂム、Ｒｍを流れる電流が指定電流以下ならオン。In the figure, a pulse motor 10' is functionally equivalent to the M, 4EO pulse Tanabata 10. The low voltage sides of the driver elements 11811, 1z, and 14 are commonly connected and grounded via a resistor RAIRE. The current value flowing through this resistor Ra @ Rn is converted into a voltage and input to the negative terminal of the comparator 31e 31 through the resistor γm □*rlt-, and the voltage corresponding to the specified current value is input to the positive terminal. do. Comparator 5*t5z compares the power of both people and turns on if the current flowing through resistors B and Rm is less than the specified current.
以上ならオフを出力する。比較器５ｔｅ ５ｍの出力を
、ドライバ索子１ｉｅ １ｍおよび１１ｅ １４の入力
側に設けたＡＮＤ回路２１＊ ２ｍおよび２ｆｉｅ ２
４ の各一方に入力し、他方には相励磁信号人２人およ
びＢ、Ｂを入力する。このように励磁電流が指定電流以
下か以上かに応じて相励磁信号をオン、オフして制御す
るものである。第５図（ロ））の破線（ＩＩ）は、この
ように制御されたパルスモータの速度−発生トルク特性
を示す。しかし、との場合は回路構成が複雑となシ、か
つ相励磁によるパルスモータの電流値をさらに制御する
ととになシ、他の特性に影響を与える。If it is more than that, outputs OFF. AND circuits 21* 2m and 2fie 2 in which the output of the comparator 5te 5m is provided on the input side of the driver cables 1ie 1m and 11e 14.
4, and input the two phase excitation signals and B, B to the other. In this way, the phase excitation signal is controlled by being turned on or off depending on whether the excitation current is less than or equal to the specified current. The broken line (II) in FIG. 5(b) shows the speed-generated torque characteristic of the pulse motor controlled in this manner. However, in this case, the circuit configuration is complicated, and further control of the current value of the pulse motor by phase excitation will affect other characteristics.
本発明の目的は、パルスモータの相励磁による電流値を
さらに制御するととなく、高速および低速の特性を改善
するようにしたパルスモータの制御方式を提供すること
にある。An object of the present invention is to provide a control method for a pulse motor that not only further controls the current value due to phase excitation of the pulse motor but also improves high-speed and low-speed characteristics.
Ｃ問題点を解決するための手段〕
前記目的を達成するため、本発明のパルスモータ制御方
式はパルス七−夕の複数相の励磁フィルの各相に単一ま
たは複数の相を組合せて順次励磁す志パルスモータ駆動
回路におい【、これらの励磁相の組合せによりたとえば
後述の１−２相励磁回路や２相励磁回路のように各速度
範囲で所望のトルク特性を有する複数種類の相励磁手段
を設け、速度範囲に応じて切替えるようにしたものであ
る。Means for Solving Problem C] In order to achieve the above object, the pulse motor control method of the present invention sequentially excites each phase of a pulse Tanabata multi-phase excitation filter by combining a single phase or a plurality of phases. In the Sushi pulse motor drive circuit, by combining these excitation phases, it is possible to create multiple types of phase excitation means having desired torque characteristics in each speed range, such as a 1-2 phase excitation circuit or a 2-phase excitation circuit described later. It is designed to switch according to the speed range.
１種類の相励磁手段のみを用いて高速範囲で所望のトル
ク特性を得ようとすると、低速範囲では励磁電流が過大
となりかつ動特性が低下する。逆に低速範囲で励磁電流
を抑えたトルク特性をもたせると、高速範囲ではトルク
が不足する。そζで励磁相の組合せによる複数の相励磁
手段で速度範囲を分担させることによル、それぞれの速
度範囲に所望のトルク特性をもたせるようにしたもので
ある。If an attempt is made to obtain desired torque characteristics in a high speed range using only one type of phase excitation means, the excitation current will become excessive and the dynamic characteristics will deteriorate in a low speed range. Conversely, if a torque characteristic is provided in which the excitation current is suppressed in the low speed range, the torque will be insufficient in the high speed range. Therefore, by sharing the speed range with a plurality of phase excitation means based on combinations of excitation phases, desired torque characteristics can be provided in each speed range.
第１図は本発明の実施例の構成説明図、第２図は実施例
の特性説明図、第５図は実施例の動作を示す波形図であ
る。FIG. 1 is a configuration explanatory diagram of an embodiment of the present invention, FIG. 2 is a characteristic diagram of the embodiment, and FIG. 5 is a waveform diagram showing the operation of the embodiment.
本発明の実施例として、４相の励磁コイルを有し、これ
にユニポーラ駆動方式の１−２相励磁回路と２相励磁回
路とを適用した場合を考える。As an embodiment of the present invention, a case will be considered in which a four-phase excitation coil is provided, and a unipolar drive type 1-2 phase excitation circuit and a 2-phase excitation circuit are applied thereto.
まず、第２図、第５図を用いて原理を具体的に説明する
。First, the principle will be specifically explained using FIGS. 2 and 5.
第２図は第５図（α）と同じパルスモータの駆動回路に
おけるｐｐｓ （速度）−発生トルクの特性図である０
図の特性（ＩＬ）は２相励磁、４Ｉ性（■２）拡１−２
相励磁を示す、すなわち、第３図の各相（ム〜Ｄ）波形
図と励磁相に示すように、右側の２相励磁が９人、λＢ
、ＢＯ・・・と進むのに対し、左側の１−２相励磁では
ＡＤ、人、λＢ、Ｂ、ＢＯ・・・のように２相と１相が
交互に励磁され半分の速度で進む。従って特性は第２図
に示すように、１−２相励磁の特性（工りは２相励磁の
特性（ＩＯに対し低速方向にシフトしたものとなる。い
ま、負荷側で必要とするトルクをＴｏとし、全速度範囲
がＰ！〜Ｐ３であるとすると、特性（Ｉｚ）は低速範囲
では適応したトルクを与えるが、速Ｉｉ！がＰ＋＋以上
ではトルク不足となる。これに対し、特性（工１）では
高速範囲では適応したトルクを与えるが、低速範囲では
必要以上のトルクを発生し、モータの起動、停止時に発
熱が大きく、かつ動特性が低下しくオーバシュート等）
、騒音も大きくなるという欠点がある。そこで両特性の
良い特性の範囲のみを用いることとし、実線で示すよう
に、低速範囲は１−２相励磁の特性（Ｉｇ）・を、高速
範囲は２相励磁の％性（ｂ）を用いることとし、速１ｊ
ｌＰｚで切替えるようにしたものである。Figure 2 is a characteristic diagram of pps (speed) vs. generated torque in the same pulse motor drive circuit as Figure 5 (α).
The characteristics (IL) in the figure are two-phase excitation, 4I characteristics (■2) expansion 1-2
In other words, as shown in the waveform diagram of each phase (Mu to D) and the excitation phase in Figure 3, the two-phase excitation on the right is 9 people, λB
, BO, etc., whereas in the 1-2 phase excitation on the left side, the 2-phase and 1-phase are alternately excited like AD, person, λB, B, BO, etc., and the movement progresses at half the speed. Therefore, as shown in Figure 2, the characteristics are the characteristics of 1-2 phase excitation (the characteristics are those of 2 phase excitation (shifted in the lower speed direction with respect to IO). Now, the torque required on the load side is To, and the entire speed range is P!~P3, the characteristic (Iz) gives an appropriate torque in the low speed range, but when the speed Ii! is P++ or more, the torque is insufficient. 1) gives an appropriate torque in the high speed range, but in the low speed range it generates more torque than necessary, generates a lot of heat when starting and stopping the motor, and deteriorates the dynamic characteristics, resulting in overshoot, etc.)
However, the disadvantage is that the noise is also louder. Therefore, we decided to use only the range of good characteristics for both characteristics, and as shown by the solid line, the low speed range uses the 1-2 phase excitation characteristic (Ig), and the high speed range uses the 2 phase excitation characteristic (b). This year, speed 1j
It is designed to switch using lPz.
第１図は実線の特性を実現する丸めの本発明の構成説明
図である。FIG. 1 is an explanatory diagram of the configuration of the present invention with rounding that realizes the characteristics indicated by the solid line.
同図において、あらかじめ速度指定回路１１により速ｇ
（ｐｐｓ）を指定し、この速度を速度弁別回路１２に
送シ低速範囲か高速範囲かを弁別し、何れかを指定する
信号を１−２相励磁回路１３と２相励磁回路１４に送ル
、指定された回路内の相励磁テーブルによりたとえば第
３図の１−２相、２相に対応した励磁相の組合せを所定
のタイミングで読出す。In the figure, the speed g is set in advance by the speed designation circuit 11.
(pps), and sends this speed to the speed discrimination circuit 12. Discriminates whether it is a low speed range or a high speed range, and sends a signal specifying either to the 1-2 phase excitation circuit 13 and the 2-phase excitation circuit 14. , the combination of excitation phases corresponding to, for example, phases 1-2 and 2 in FIG. 3 is read out at a predetermined timing using the phase excitation table in the designated circuit.
とＯｍａ相の組合せを速度弁別回路１２からのセレクト
制御信号で選択し、１−２相／２相回路選択回路１５に
一旦保持する。この内容をモータドライブ回路１６の各
相ド２イパ素子の入力側に相励磁信号として送る。この
各相ドライバ素子からモータ励磁信号が電源電圧Ｖ６６
の給電されたパルスモータ１０の各相励磁コイルに供給
することにより、駆動が開始される。The combination of the and Oma phases is selected by the select control signal from the speed discrimination circuit 12 and temporarily held in the 1-2 phase/2-phase circuit selection circuit 15. This content is sent as a phase excitation signal to the input side of each phase do-2-iper element of the motor drive circuit 16. The motor excitation signal from each phase driver element is the power supply voltage V66.
Driving is started by supplying power to each phase excitation coil of the pulse motor 10.
以上説明したように、本発明によれば、パルスモータ駆
動回路の複数の相の組合せにより、複数組の相励磁手段
を設けて複数速度範囲に対し各所望のトルク特性をもた
せることができる。これにより、複数種類の相励磁手段
はユニポー２駆動方式の回路のみとし、これを切替えれ
ばよいから構成が簡単となる。この場合、従来問題とな
った低速範囲に対してはたとえば１−２相励磁を用い励
磁電流を比較的減少することができ、従って起動時、停
止時の過大な発熱や前述の動特性の低下を防止すること
ができる。As described above, according to the present invention, by combining a plurality of phases of the pulse motor drive circuit, it is possible to provide a plurality of sets of phase excitation means and provide desired torque characteristics for a plurality of speed ranges. This simplifies the configuration because the plurality of types of phase excitation means are only the circuits of the Unipaw 2 drive system and only need to be switched between them. In this case, the excitation current can be relatively reduced by using, for example, 1-2 phase excitation for the low speed range that has traditionally been a problem, resulting in excessive heat generation at startup and stop, and the reduction in dynamic characteristics described above. can be prevented.
また、高速範囲に対しては、たとえば２相励磁として励
磁電流を所定値以上に増加することができ、従来のトル
ク不足を解消できる。このようにして、低速、高速を通
じ【良好なパルスモータ駆動特性をもたせることが可能
となる。Furthermore, for high-speed ranges, the excitation current can be increased to a predetermined value or more by, for example, two-phase excitation, and the conventional torque shortage can be resolved. In this way, it is possible to provide good pulse motor drive characteristics at both low and high speeds.
また５相以上の駆動回路にも同様に有効に適用できる。Further, the invention can be similarly effectively applied to drive circuits with five or more phases.
第１図は本発明の実施例の構成説明図、第２図は本発明
の実施例の特性図、第３図は本発明の実施例の動作を示
す波形図、第４図はパルス駆動回路の一般説明図、！！
５図に）、 （６） Ｆｉ従来のパルスセータの特性説
明図、第６図は従来の定電流チ耳ツバ方式の回路説明図
であシ、図中、１０はパルスモータ、１１拡速度指定回
路、１２は速度弁別回路、１３は１−２相励磁回路、１
４は２相励磁回路、１５は１−２相／２相回路選択回路
、１６はモータドライブ回路、１０はパルスモータを示
す。Fig. 1 is a configuration explanatory diagram of an embodiment of the present invention, Fig. 2 is a characteristic diagram of an embodiment of the present invention, Fig. 3 is a waveform diagram showing the operation of an embodiment of the present invention, and Fig. 4 is a pulse drive circuit. General explanatory diagram of,! !
Figure 5), (6) Figure 6 is an explanatory diagram of the characteristics of a conventional pulse sweater, and Figure 6 is a circuit diagram of a conventional constant current chimular collar method. , 12 is a speed discrimination circuit, 13 is a 1-2 phase excitation circuit, 1
4 is a two-phase excitation circuit, 15 is a 1-2 phase/2-phase circuit selection circuit, 16 is a motor drive circuit, and 10 is a pulse motor.
Claims (2)
複数の相を組合せて順次励磁するパルスモータ駆動回路
において、指定された速度が複数区分された各速度範囲
の何れにあるかを弁別する手段と、前記励磁相の組合せ
により各速度範囲で所望のトルク特性を有する複数種類
の相励磁手段とを設け、速度範囲に応じ対応する相励磁
手段を選択するようにしたことを特徴とするパルスモー
タ制御方式。(1) In a pulse motor drive circuit that sequentially excites each phase of an excitation coil consisting of multiple phases, either single or in combination, it is possible to determine which of multiple speed ranges a specified speed is within. and a plurality of types of phase excitation means having desired torque characteristics in each speed range by the combination of the excitation phases, and the corresponding phase excitation means is selected according to the speed range. Pulse motor control method.
２相励磁手段とを設け、それぞれ低速，高速の速度範囲
に応じて切替えることを特徴とする特許請求の範囲第１
項記載のパルスモータ制御方式。(2) Claim 1, characterized in that it has a 4-phase excitation coil, and is provided with a 1-2 phase excitation means and a 2-phase excitation means, each of which is switched according to a low-speed and high-speed speed range.
Pulse motor control method described in section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6770585A JPS61247296A (en) | 1985-03-30 | 1985-03-30 | Pulse motor control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6770585A JPS61247296A (en) | 1985-03-30 | 1985-03-30 | Pulse motor control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61247296A true JPS61247296A (en) | 1986-11-04 |
Family
ID=13352642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6770585A Pending JPS61247296A (en) | 1985-03-30 | 1985-03-30 | Pulse motor control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61247296A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01177898A (en) * | 1987-12-29 | 1989-07-14 | Toto Ltd | Drive for stepping motor |
| JPH02202398A (en) * | 1989-01-27 | 1990-08-10 | Seiko Epson Corp | Control method of step motor for small printer |
| JPH0923690A (en) * | 1995-06-13 | 1997-01-21 | Samsung Electron Co Ltd | Method and apparatus for driving variable reluctance motor at double speed |
| JPH09117199A (en) * | 1995-10-20 | 1997-05-02 | Kofu Nippon Denki Kk | Controller and control method for stepping motor |
-
1985
- 1985-03-30 JP JP6770585A patent/JPS61247296A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01177898A (en) * | 1987-12-29 | 1989-07-14 | Toto Ltd | Drive for stepping motor |
| JPH02202398A (en) * | 1989-01-27 | 1990-08-10 | Seiko Epson Corp | Control method of step motor for small printer |
| JPH0923690A (en) * | 1995-06-13 | 1997-01-21 | Samsung Electron Co Ltd | Method and apparatus for driving variable reluctance motor at double speed |
| JPH09117199A (en) * | 1995-10-20 | 1997-05-02 | Kofu Nippon Denki Kk | Controller and control method for stepping motor |
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