JPS6173594A - Stepping motor drive system - Google Patents
Stepping motor drive systemInfo
- Publication number
- JPS6173594A JPS6173594A JP19496984A JP19496984A JPS6173594A JP S6173594 A JPS6173594 A JP S6173594A JP 19496984 A JP19496984 A JP 19496984A JP 19496984 A JP19496984 A JP 19496984A JP S6173594 A JPS6173594 A JP S6173594A
- Authority
- JP
- Japan
- Prior art keywords
- drive
- drive current
- stepping motor
- current value
- motor drive
- 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
- 238000000034 method Methods 0.000 claims description 19
- 230000003247 decreasing effect Effects 0.000 abstract description 3
- 230000005284 excitation Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010355 oscillation 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
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
Description
【発明の詳細な説明】
退」じＬ所
この発明は、プリンタその他の各種の位置決め制御装置
として使用するのに好適な、定電流駆動機能を備え、か
つ、その電流値を駆動状況に応じて変更可能とする制御
機構を有するステッピングモータ駆動回路を用いた無振
動制御方式のステッピングモータ駆動方式の改良に係り
、特に、制御対象物の振動を減少させることによって、
制御精度の向上を実現したステッピングモータ駆動方式
％式％
一般に、従来から用いられているステッピングモータの
定電流駆動方式においては、その電流値を一定の値に固
定している。[Detailed Description of the Invention] This invention is suitable for use as a printer or other various positioning control devices, and has a constant current drive function, and also controls the current value according to the drive situation. The present invention relates to an improvement of a vibration-free control type stepping motor drive system using a stepping motor drive circuit having a control mechanism that can be changed, and in particular, by reducing the vibration of a controlled object.
Stepping motor drive system % type that achieves improved control accuracy Generally, in the conventional constant current drive system of a stepping motor, the current value is fixed at a constant value.
この場合に、ステッピングモータの無振動制御方法では
、その電流値を大きく設定することによって、停止時の
ロータの振動の振幅、すなわちハンチングの振幅を減少
させることが可能となる。In this case, in the non-vibration control method for the stepping motor, by setting the current value to a large value, it is possible to reduce the amplitude of vibration of the rotor when the motor is stopped, that is, the amplitude of hunting.
しかし、このように無振動制御方法で電流値を大きく設
定すると、その反面で、回転駆動から停止への切換えの
際に、減速トルクが増大し、負の加速度が大になる。However, if the current value is set to a large value in this vibration-free control method, on the other hand, the deceleration torque increases and the negative acceleration increases when switching from rotational drive to stop.
そのため、制御対象物とロータとの間に遅れ要素が存在
する場合、ロータが停止しても、制御対象物に振動が発
生し易い、という難点がある。Therefore, if there is a delay element between the controlled object and the rotor, there is a problem in that even if the rotor stops, vibrations are likely to occur in the controlled object.
このように、従来のステッピングモータの定電流駆動方
式で、無振動制御を行う場合、その電流値を大きく設定
することにより、停止時のハンチングの振幅を減少させ
ることは可能であるが、停正時に制御対象物に振動が発
生し易い、という問題があり、その結果、制御対象物の
振動の減少には限界があって、制御精度は余り向上され
ない、という不都合があった。In this way, when performing vibration-free control using the conventional constant current drive method of a stepping motor, it is possible to reduce the hunting amplitude when stopping by setting a large current value, but it is possible to reduce the hunting amplitude when stopping. There is a problem in that vibrations are often generated in the object to be controlled, and as a result, there is a limit to the reduction of vibrations in the object to be controlled, and the control accuracy cannot be improved much.
１−−み
そこで、この発明のステッピングモータ駆動方式では、
従来の駆動方式において不可避的に生じる制御対象物の
振動の発生という不都合を解決し。1--So, in the stepping motor drive system of this invention,
This solves the problem of vibration of the controlled object that inevitably occurs with conventional drive systems.
制御対象物の振動を減少させることによって、制御精度
を向上させることを目的とする。The purpose is to improve control accuracy by reducing vibration of the controlled object.
青−一双
そのために、この発明のステッピングモータ駆動方式に
おいては、定電流駆動機能を備え、がっ、その電流値を
駆動状況に応じて変更可能とする制御機構を有するステ
ッピングモータ駆動回路を用いた無振動制御方式におい
て、停止相の駆動電流値を大停止相以前の駆動電流値を
小とするようにしている。For this purpose, the stepping motor drive system of the present invention uses a stepping motor drive circuit that is equipped with a constant current drive function and has a control mechanism that allows the current value to be changed according to the driving situation. In the non-vibration control method, the drive current value of the stop phase is made smaller than the drive current value before the large stop phase.
次に、この発明のステッピングモータ駆動方式について
、図面を参照しながら、その一実施例を詳細に説明する
。Next, an embodiment of the stepping motor drive system of the present invention will be described in detail with reference to the drawings.
第１図は、この発明のステッピングモータ駆動方式を実
施する場合に使用される定電流駆動機能を備え、かつ、
その電流値を駆動状況に応じて変更可能とする制御機構
を有する駆動回路の一例を示す機能ブロック図である。FIG. 1 shows a stepping motor equipped with a constant current drive function used when implementing the stepping motor drive method of the present invention, and
FIG. 2 is a functional block diagram illustrating an example of a drive circuit having a control mechanism that allows the current value to be changed depending on driving conditions.
図面において、 ＬＡはステッピングモータのＡ相励磁
コイル、Ｑ１〜Ｑ８はトランジスタ、ＤｌとＤ２はダイ
オード、Ｕ１〜Ｕ３は比較回路、ＳＷＩとＳＷ２はアナ
ログスイッチ、ＤＢはＡ相用と同様な構成のＢ利用駆動
回路部を示し、また、φＡとφＢは相切換え信号、ＩＡ
はＡ相励磁コイルＬＡの駆動電流、ＨＰは駆動電流制御
信号、＋ＶＲＩＩと−ＶＲＨは高電圧の定電源、＋ＶＲ
Ｌと−ＶＲＬは低電圧の定電源、ＶＴＩ＋は比較回路Ｕ
３の基ｄＩｉ電源、Ｖｏｓｃは外部から与えられる発振
電圧、＋Ｖｃｃと−Ｖｃｃは定電圧電源、ＶＲはモータ
の回転方向に応じた極性の出力電圧を示す。In the drawing, LA is the A-phase excitation coil of the stepping motor, Q1 to Q8 are transistors, Dl and D2 are diodes, U1 to U3 are comparison circuits, SWI and SW2 are analog switches, and DB is B, which has the same configuration as that for A phase. The drive circuit section used is shown, and φA and φB are phase switching signals, IA
is the drive current of the A-phase excitation coil LA, HP is the drive current control signal, +VRII and -VRH are the high voltage constant power supplies, +VR
L and -VRL are low voltage constant power supplies, VTI+ is comparison circuit U
In the base dIi power supply of 3, Vosc is an oscillation voltage applied from the outside, +Vcc and -Vcc are constant voltage power supplies, and VR is an output voltage with a polarity depending on the rotational direction of the motor.
この第１図では１図面を簡略化するために、主として、
Ａ相用の駆動回路部について詳細に示しており、Ｂ利用
駆動回路部ＤＢについては、その内部を省略しているが
、基本的にはＡ相用の駆動回路部と同様である。In this Fig. 1, in order to simplify one drawing, mainly,
The A-phase drive circuit section is shown in detail, and the inside of the B-use drive circuit section DB is omitted, but it is basically the same as the A-phase drive circuit section.
ディジタル入力信号として与えられる駆動電流制御信号
ＨＰは、Ａ相励磁コイルＬＡの駆動電流ＩＡ を制御す
るための制御信号で、アナログスイッチＳＷＩの切換え
を行う。The drive current control signal HP given as a digital input signal is a control signal for controlling the drive current IA of the A-phase excitation coil LA, and switches the analog switch SWI.
すなわち、この駆動電流制御信号ＨＰが” Ｈｉ ｇ
ｈ ”のときは、アナログスイッチＳＷＩは高電圧の定
電源＋ＶＲＨまたは−ＶＲＨ側に接続されるように動作
され、また、 ” Ｌ ｏ ｗ ”のときは、低電圧の
定電源＋ＶＲＬまたは−ＶＲＬ側に接続される。したが
って。That is, this drive current control signal HP is “High
h”, the analog switch SWI is operated to be connected to the high voltage constant power supply +VRH or -VRH side, and when it is “Low”, it is operated to be connected to the low voltage constant power supply +VRL or -VRL side. connected to.Thus.
この駆動電流制御信号ＨＰによって、定電流駆動回路へ
の出力電流の大きさの切換えが行われる。This drive current control signal HP switches the magnitude of the output current to the constant current drive circuit.
なお、アナログスイッチＳＷ２は、モータの回転方向に
応じた極性の電圧を選択するスイッチで、相切換え信号
φＡによって切換え制御され、アナログスイッチＳＷ１
からの出力電流が得られる。Note that the analog switch SW2 is a switch that selects a polarity voltage according to the rotational direction of the motor, and is switched and controlled by the phase switching signal φA.
The output current from is obtained.
すなわち、正極性の場合には、高電圧の定電源＋ＶＲ１
１、または低電圧の定電源十ＶＲＬが選択され、反対に
、負極性の場合は、高電圧の定電源−ＶＲＨｌまたは低
電圧の定電源−ＶｒｌＬが選択されて、モータの回転方
向に応じた極性の出力電圧ＶＲが、比較回路Ｕ１へ与え
られる。That is, in the case of positive polarity, high voltage constant power supply +VR1
1, or a low voltage constant power supply VRL is selected, and conversely, in the case of negative polarity, a high voltage constant power supply -VRHL or a low voltage constant power supply -VrlL is selected, depending on the rotation direction of the motor. A polar output voltage VR is applied to a comparator circuit U1.
すでに説明したように、この発明のステッピングモータ
駆動方式では、停止相の駆動電流を大、停止相以前の駆
動電流を小とするようにしている。As already explained, in the stepping motor drive method of the present invention, the drive current during the stop phase is large and the drive current before the stop phase is small.
第２図（１）と（２）は、従来の駆動方式による駆動電
流値が大で固定の場合と、この発明のステッピングモー
タ駆動方式による場合について、駆動電流とモータ軸、
およびホイールのフィンガー先端の関係の一例を示すタ
イムチャートで、図（１）は従来の駆動方式による駆動
電流値が大で固定の場合、図（２）はこの発明のＩ駆動
方式によって１ステツプ前の駆動電流値を小さくした場
合を示す。図面において、横軸は時間を示す。Figures 2 (1) and (2) show the drive current, motor shaft, and
Figure (1) is a time chart showing an example of the relationship between the finger tip of the wheel and the tip of the finger of the wheel. Figure (1) shows the case where the drive current value is large and fixed by the conventional drive method, and Figure (2) shows the case where the drive current value is large and fixed by the I drive method of the present invention. This shows the case where the drive current value is decreased. In the drawings, the horizontal axis indicates time.
この第２図（１）と（２）を対比すれば明らかなように
、従来の駆動電流値が大で固定の場合を示す第２図（１
）では、第２図（２）の波形に比べて、モータ軸とディ
シイ（花弁型）ホイールのフィンガー先端の挙動が、大
きく異なっている。As is clear from comparing Figure 2 (1) and (2), Figure 2 (1) shows the conventional case where the drive current value is large and fixed.
), the behavior of the motor shaft and the tip of the finger of the Dish (petal-shaped) wheel is significantly different from the waveform shown in FIG. 2 (2).
その主要な原因は、従来の駆動方式の場合には、減速時
の加速度が大きいため、フィンガーにたわみが生じてい
るからである。The main reason for this is that in the case of the conventional drive system, the acceleration during deceleration is large, causing the fingers to bend.
これに対して、第２図（２）のように、この発明のステ
ッピングモータ駆動方式によって、停止相の１つ前のス
テップの駆動電流値を小さくすると、モータ軸が停止す
るのに要する時間はやや長くなるが、ホイールのフィン
ガー先端の振動は小さくすることができる。On the other hand, as shown in FIG. 2 (2), if the stepping motor drive method of the present invention reduces the drive current value for the step before the stop phase, the time required for the motor shaft to stop will be reduced. Although it is a little longer, the vibration at the tip of the wheel finger can be reduced.
以上に詳細に説明したとおり、この発明のステッピング
モータ駆動方式では、定電流駆動機能を備え、かつ、そ
の電流値を駆動状況に応じて変更可能とする制御機構を
有するステッピングモータ駆動回路を用いた無振動制御
方式において、停止相の駆動電流値を大停止相以前の駆
動電流値を小とするようにしている。As explained in detail above, the stepping motor drive method of the present invention uses a stepping motor drive circuit that has a constant current drive function and a control mechanism that allows the current value to be changed depending on the driving situation. In the non-vibration control method, the drive current value of the stop phase is made smaller than the drive current value before the large stop phase.
効 果
したがって、この発明のステッピングモータ駆動方式に
よれば、プリンタその他の各種の位置決め制御装置にお
いて、制御対象物の振動が減少され、その制御精度が著
しく向上される、という優れた効果が得られる。Effects Therefore, according to the stepping motor drive method of the present invention, in printers and other various positioning control devices, the excellent effects of reducing the vibration of the controlled object and significantly improving the control accuracy can be obtained. .
１上■はこの発明のステッピングモータ駆動方式を実施
する場合に使用される定電流駆動機能を備え、かつ、そ
の電流値を駆動状況に応じて変更可能とする制御機構を
有する駆動回路の一例を示す機能ブロック図、第４１↓
バζ工υ−は従来の駆動方式による駆動電流値が大で固
定の場合と、この発明のステッピングモータ駆動方式に
よる場合について、駆動電流とモータ軸、およびホイー
ルのフィンガー先端の関係の一例を示すタイムチャート
で、図（１）は従来の駆動方式による駆動電流値が大で
固定の場合、図（２）はこの発明の駆動方式によって１
ステツプ前の駆動電流値を小さくした場合を示す。
図面において、ＬＡはステッピングモータのＡ相励磁コ
イル、Ｑ１〜Ｑ８はトランジスタ、０１とＤ２はダイオ
ード、Ｕｌ−Ｕ３は比較回路、ＳＷｌとＳＷ２はアナロ
グスイッチ、ＤＢはＡ相用と同様な構成のＢ利用駆動回
路部を示す。Part 1 shows an example of a drive circuit that is used when implementing the stepping motor drive method of the present invention and has a constant current drive function and a control mechanism that allows the current value to be changed depending on the driving situation. Functional block diagram shown, No. 41↓
The bar ζ engineering υ− shows an example of the relationship between the drive current, the motor shaft, and the tip of the finger of the wheel when the drive current value is large and fixed according to the conventional drive method and when the stepping motor drive method of the present invention is used. In the time charts, Figure (1) shows when the drive current value is large and fixed by the conventional drive method, and Figure (2) shows the case where the drive current value is large and fixed by the drive method of the present invention.
This shows the case where the drive current value before the step is reduced. In the drawing, LA is the A-phase excitation coil of the stepping motor, Q1 to Q8 are transistors, 01 and D2 are diodes, Ul-U3 is a comparison circuit, SWl and SW2 are analog switches, and DB is B with the same configuration as that for A phase. The drive circuit section used is shown.
Claims (1)
に応じて変更可能とする制御機構を有するステツピング
モータ駆動回路を用いた無振動制御方式において、停止
相の駆動電流値を大停止相以前の駆動電流値を小とする
ことを特徴とするステツピングモータ駆動方式。In a vibration-free control method using a stepping motor drive circuit that has a constant current drive function and a control mechanism that allows the current value to be changed according to the driving situation, the drive current value of the stop phase is changed to the large stop phase. A stepping motor drive method characterized by reducing the previous drive current value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19496984A JPS6173594A (en) | 1984-09-18 | 1984-09-18 | Stepping motor drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19496984A JPS6173594A (en) | 1984-09-18 | 1984-09-18 | Stepping motor drive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6173594A true JPS6173594A (en) | 1986-04-15 |
Family
ID=16333350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19496984A Pending JPS6173594A (en) | 1984-09-18 | 1984-09-18 | Stepping motor drive system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6173594A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6317598U (en) * | 1986-07-18 | 1988-02-05 | ||
| JP2010239676A (en) * | 2009-03-30 | 2010-10-21 | Mitsubishi Electric Corp | Controller of ac rotary machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5341713A (en) * | 1976-09-29 | 1978-04-15 | Hitachi Ltd | Driving circuit for pulse motor |
-
1984
- 1984-09-18 JP JP19496984A patent/JPS6173594A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5341713A (en) * | 1976-09-29 | 1978-04-15 | Hitachi Ltd | Driving circuit for pulse motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6317598U (en) * | 1986-07-18 | 1988-02-05 | ||
| JP2010239676A (en) * | 2009-03-30 | 2010-10-21 | Mitsubishi Electric Corp | Controller of ac rotary machine |
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