CN102735285B - Method for calibrating stepping motor for instrument - Google Patents
Method for calibrating stepping motor for instrument Download PDFInfo
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- CN102735285B CN102735285B CN201210217864.XA CN201210217864A CN102735285B CN 102735285 B CN102735285 B CN 102735285B CN 201210217864 A CN201210217864 A CN 201210217864A CN 102735285 B CN102735285 B CN 102735285B
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Abstract
The invention relates to a method for calibrating a stepping motor for an instrument. The method comprises the following steps of: driving the stepping motor to move in place towards a mechanical null position before the instrument is not provided with a pointer, and after the pointer is installed, allowing the pointer to point to a scale below an initial scale; controlling the instrument to be under a diagnosis mode, driving the stepping motor to move towards the mechanical null position at low speed, and when the pointer jumps reversely, controlling the instrument to record a step frequency serial number A under the current driving; calculating a step frequency serial number C according to the step frequency serial number A; recording the step frequency serial number C in a storage chip; and allowing the step frequency serial number C to correspond to the magnetic field direction in which a stator should be stopped after the motor reaches the mechanical null position. According to the method for calibrating the stepping motor for the instrument, the magnetic field direction of a rotor of the stepping motor is calibrated by utilizing the characteristic of generating counter motion caused by the reversion of the magnetic field direction of the stepping motor for the instruction in the process that the stepping motor is driven continuously at low speed in a microstep mode after reaching the mechanical null position, and a calibration result is recorded, so that the instrument is used subsequently, and the indication accuracy of the stepping motor for the instrument is improved.
Description
Technical field
The present invention relates to stepper motor to demarcate, particularly relate to a kind of scaling method of stepping motor for meter.
Background technology
At present, automobile instrument generally uses the technical scheme of Micro Controller Unit (MCU) driving stepper motor, and pointer is arranged on step motor shaft, and motor turns over certain angle, is reflected in change pointer being corresponding scale reading.The speed and angle-controlled in the type of drive of single-chip microcomputer that stepper motor rotates.
As shown in Figure 1, step motor stator 10 generally use two groups of coils that automobile instrument is used, rotor 20 is permanent magnet, Single-chip Controlling outputs to the change of the electric current of stator coil, thus the magnetic direction that change stator 10 is formed, rotor 20 self-field direction and its interaction produce acting force drive rotor and rotate, and when the magnetic direction deflection certain angle that curent change on stator coil is formed, rotor can rotate follows this deflection.
Mini-step controlling stepper motor is a kind of driving method generally adopted in automobile instrument application, stator field direction is turned over 360 ° and is divided into some steps by the method, the level direction of each step output signal of Single-chip Controlling and dutycycle, stator coil simulates the sinusoidal variations of electric current, and the curent change of stator two coils keeps the phase differential required, this phase differential depends on the design of stepper motor.
Automobile instrument stepper motor used needs to slow down through gear 30 from rotor to output shaft, its output shaft generally all can not 360 ° of rotations, due to limited location block 40 on the gear of output shaft, when output shaft gear block 40 contacts with the fixed stop 50 on motor housing, output shaft gear can not be rotated further again, stepper motor arrives mechanical zero, and now rotor can not be rotated further.
In automobile instrument application, the operation of making zero to pointer is generally that drive motor is to mechanical zero direction motion certain angle, when the initial position of motor is different, the angle that actual requirement turns over also can be different, if but do not use the zero testing function of motor, so stepper motor to arrive after mechanical zero just without any signal feedback, can only continue drive motor and cover remaining angle to mechanical zero direction, and finally stop.For same motor, final stator stops the magnetic direction difference kept when driving, and can cause different impacts, for the two poles of the earth rotor on rotor and pointer:
Suppose that rotor is in position as shown in Figure 1 when motor just arrives mechanical zero, if and final when stopping driving, the magnetic direction of stator keeps state as shown in Figure 2, and the block so now on output shaft gear can have the effect of a power to the fixed stop on motor housing.If be initial with this position, drive motor makes pointer move clockwise, and namely drive stator field to rotate counterclockwise, so in incipient certain angle, rotor can not rotate, and pointer also can not rotate.On rotor, the theoretical maximum error of this angle is 180 °, if the reduction gear ratio from rotor to output shaft is 180:1, the theoretical maximum error be so reflected on pointer is partially counterclockwise 1 °, and the deviation of reference position can be reflected on each position below.
Otherwise, when stopping driving if final, stator field keeps state as shown in Figure 3, so due to the interaction between rotor field, the effect drive rotor that can produce power rotates, finally reach the direction contrary with stator field, namely rotor has turned over certain angle counterclockwise, as shown in Figure 3.Block now on output shaft gear can leave the certain gap of fixed stop, and pointer can have departing from of certain angle clockwise than position during mechanical zero.If be initial with this position, drive motor makes pointer move clockwise, namely drives stator field to rotate counterclockwise, so before driving, has created the deviation of clockwise direction certain angle.The theoretical maximum error of rotor is 180 °, if the reduction gear ratio from rotor to output shaft is 180:1, the theoretical maximum error be so reflected on pointer is inclined clockwise direction 1 °, and the deviation of reference position can be reflected on each position below.
For above-mentioned error, if be left intact, so will affect the pointing accuracy of pointer, solution can use motor zero testing function, but not all single-chip microcomputer can both support this function, the performance of all motors the requirement of this function neither can both be met.
Summary of the invention
Based on this, be necessary to provide a kind of simple to operate, without the need to the instrument step motor scaling method of extras.
A kind of instrument step motor scaling method, it comprises step:
When instrument does not install pointer, Driving Stepping Motor puts in place to the motion of mechanical zero direction, makes pointer be set up below rear sensing start index;
Under control instrument is in diagnostic mode, Driving Stepping Motor is with low speed to the motion of mechanical zero direction, and when oppositely beating appears in pointer, control instrument record is as the step number sequence number A of front wheel driving;
Step number sequence number C is calculated according to described step number sequence number A; Wherein, if motor stator magnetic field rotates clockwise when Driving Stepping Motor moves to mechanical zero direction, then the step number sequence number C step number sequence number that turns over 270 ° clockwise for stator field that step number sequence number A is corresponding or turn over counterclockwise corresponding to 90 °; If stator field rotates counterclockwise when Driving Stepping Motor moves to mechanical zero direction, then the step number sequence number C step number sequence number that turns over 270 ° counterclockwise for motor stator magnetic field that step number sequence number A is corresponding or turn over clockwise corresponding to 90 °; And
Described step number sequence number C is recorded in storage chip; It is corresponding that described step number sequence number C and motor arrive the magnetic direction that after mechanical zero, stator should stop.
In a preferred embodiment, described instrument step motor scaling method comprises step further: return mechanical zero according to described step number sequence number C Driving Stepping Motor; And Driving Stepping Motor makes pointer move to multiple calibration point respectively, when pointer index error meets preset range control instrument respectively record pointer move to number of motor steps corresponding to described multiple calibration point.
In a preferred embodiment, described instrument step motor scaling method comprises step further: in instrument normally uses, first setting start runs carries out stepper motor flyback action, and zero terminates to drive stator field to remain on stator field direction corresponding to step number sequence number C.
Instrument step motor scaling method of the present invention continues mini-step controlling at a slow speed after make use of instrument step motor arrival mechanical zero can produce heterodromous characteristic due to magnetic direction reversion, the demarcation of stepping motor rotor magnetic direction is carried out according to this Special Manifestations of counter motion, record calibration result simultaneously, make instrument for use afterwards, thus improve the pointing accuracy of instrument step motor.Scaling method of the present invention allows certain error to exist, and error then eliminates by the calibration of pointer and the using method of motor.As long as the inventive method adopts a computing machine to realize, this computing machine is connected with instrument by bus, does not need extra equipment investment, the easy easy realization of scaling method.
Accompanying drawing explanation
Fig. 1 is instrument step motor state one schematic diagram.
Fig. 2 is instrument step motor state two schematic diagram.
Fig. 3 is instrument step motor state three schematic diagram.
Fig. 4 is the instrument step motor calibration system Organization Chart of one embodiment of the invention.
Fig. 5 is the schematic diagram of instrument step motor state four in an embodiment.
Fig. 6 is the schematic diagram of instrument step motor state five in an embodiment.
Fig. 7 is the schematic diagram of instrument step motor state six in an embodiment.
Embodiment
Below in conjunction with specific embodiment and accompanying drawing, instrument step motor scaling method of the present invention is described in further detail.
Instrument particularly automobile instrument in process of production will through a large amount of automatic tests and calibration operation, and its implementation is by instrument and computing machine by bus, as CAN, K-Line bus, UART bus etc. couple together, as shown in Figure 4.
Instrument is in order to coordinate the Testing And Regulating of robotization, software function supports diagnostic mode, coupled computing machine is allowed to carry out special operational to instrument in this mode, as drive motor zero, drive motor turn over data etc. in corresponding step number, read-write memory.
Instrument step motor scaling method of the present invention is based on above-mentioned automated production and calibration process, performance characteristic when driving at a slow speed to mechanical zero direction is continued after making full use of stepper motor arrival mechanical zero, do not need extra equipment investment, do not need production operation personnel to possess very high technical ability, method easy to use realizes demarcating
For the stepper motor of the two poles of the earth rotor, instrument step motor scaling method of the present invention is described in detail below.Stepper motor calibrating procedure based on the inventive method is written in computing machine, is automatically performed by computer control instrument table.
Step one, first, send order by computing machine to instrument when instrument does not install pointer, after instrument controller receives orders, automatically drive instrument step motor put in place to the motion of mechanical zero direction and finally stop, pointer is made to be set up below rear sensing start index, as shown in Figure 5.Then by upper pointer, continue to demarcate.
Step 2, under control instrument is in diagnostic mode, continues Driving Stepping Motor and moves to mechanical zero direction with low speed.For ease of proving operation, low speed generally needs to make stator field direction velocity of rotation be less than 180 °s/sec, and such as stator field turns over 360 ° in 8 seconds, namely 45 °s/sec.Under driven at low speed, stator field direction continues to rotate clockwise.When reaching unanimity in stator field direction and direction, rotor field, reach critical conditions (see figure 6), if now stator field direction continues to turn over trickle angle clockwise, can make rotor that the motion contrary with stator field rotation direction occurs, namely rotor turns over maximum 180 ° counterclockwise, and pointer can rotate clockwise, namely driven at low speed pointer there will be that pointer is clockwise beats suddenly counterclockwise in the process of mechanical zero motion.If the reduction gear ratio from rotor to output shaft is 180:1, so pointer has about 1 ° in the motion along pointer direction, as shown in Figure 7.
When oppositely beating appears in pointer, control instrument record is as the step number sequence number A of front wheel driving.Namely under micro-step drive mode, stator field direction turns over 360 ° and is divided into some steps and completes, the corresponding stator field direction of each step, such as be divided into 24 micro-steppings, so just there is the step number sequence number from 0 to 23 micro-steppings, the step number sequence number that when instrument controller needs record pointer to occur oppositely to beat, stator field is corresponding.Wherein detect pointer and occur that the method for oppositely beating can be by video surveillance instrument pictures taken, obtained according to hand motion state automatic decision by computing machine, also artificially can monitor, then send order to instrument by computing machine, current step number sequence number A recorded by instrument controller.
Step 3, according to step number sequence number A, instrument controller calculates that the step number sequence number B turning over 180 ° clockwise or is counterclockwise continued in motor stator magnetic field on this basis, the stator field that step number sequence number B is corresponding is stator field direction when approximately just making pointer arrival mechanical zero.
Step 4, according to step number sequence number B, instrument controller calculates that instrument stator field turns over the step number sequence number C of 90 ° clockwise, be recorded in storage chip by step number sequence number C.Stator field direction when stopping drive motor being terminated as flyback action in the stator field direction utilizing step number sequence number C corresponding by instrument, after the stator field direction that step number sequence number C is corresponding and motor arrive mechanical zero, the magnetic direction of rotor interacts, output shaft gear block can be made to have the effect of a power to fixed stop, be conducive to improving the anti-seismic performance of pointer on mechanical zero.If calculate step number sequence number C based on step number sequence number A, then for stator field that step number sequence number A is corresponding turns over 270 ° or turn over 90 ° of corresponding step number sequence numbers counterclockwise clockwise.
So namely complete the demarcation to stepping motor rotor magnetic direction, and the stator field direction that should stop after drive motor is arrived mechanical zero is recorded in the storer of instrument.When having multiple motor in instrument, as long as can demarcation be completed according to the method described above one by one.
If do not have timely complete operation at the moment computing machine that pointer is beated, can continue to wait for, following stator field direction continues to rotate clockwise, and rotor can follow this rotation makes motor again get back to mechanical zero.Magnetic direction be rotated further the phenomenon that can repeat pointer noted earlier and beat clockwise, still can carry out staking-out work.
It should be noted that, stepper motor is different to the train of reduction gears odevity of output shaft process from rotor, and the direction that making zero needs to drive stator field to rotate can be different, and the so corresponding direction from step number sequence number A reckoning step number sequence number C is also different.When driving stator field to rotate counterclockwise to make pointer make zero, continue to rotate counterclockwise 270 ° or rotate clockwise 90 ° and obtain step number sequence number C from step number A.When driving stator field to rotate clockwise to make pointer make zero, continue to rotate clockwise 270 ° or rotate counterclockwise 90 ° and obtain step number sequence number C from step number A.
Stepper motor scaling method of the present invention allows certain error to exist, and error is then eliminated by the calibration of pointer and the using method of stepper motor.Wherein, the calibration steps of pointer is:
First, mechanical zero is returned according to the step number sequence number C Driving Stepping Motor recorded in storage chip.
Then, Driving Stepping Motor makes pointer move to multiple calibration point respectively, when pointer index error meets preset range control instrument respectively record pointer move to number of motor steps corresponding to the plurality of calibration point.Namely to have eliminated when pointer is installed this error below start index after completing all calibration points one by one, and in calibration process, employed the result that motor demarcates, the error that caused of magnetic direction before demarcating has not been introduced.
Before stepper motor enters normal use, all need to make zero, to ensure instrument machinery and the consistance of electrical specification in the initial state used at every turn.Flyback action makes motor get back to mechanical zero, and the initial state namely in mechanical property can both be consistent.After flyback action terminates, the direction that stator field stops is through the direction that motor is demarcated, and avoids the error that magnetic direction causes, and the initial state in electrical specification can be made to be consistent.
Enter normal function based on the initial state after above zero to use, what in normal function, instrument was used is through the number of motor steps of calibration, has namely eliminated pointer and has installed inaccurate produced error.
Stepper motor scaling method of the present invention is also applicable to carry out at fixed stop opposite side the situation demarcating, calibrate and use.With the difference of aforementioned scaling method be pointer have a rebound phenomenon time magnetic direction and the reckoning of step number sequence number, namely for the motor mentioned in scaling method noted earlier, if carry out demarcating on the right side of fixed stop and calibrate, so rezero operation should drive stator field direction counterclockwise movement, recording step number sequence number A when occurring that pointer is oppositely beated, then going out to continue to turn over counterclockwise 270 ° or turn over the step number sequence number C of 90 ° along pointers based on this serial number calculation.
Stepper motor scaling method of the present invention is also applicable to the situation of multipolar dynamo, other ways of deceleration and ratio of gear.
Stepper motor scaling method of the present invention also can use and realize according to the mode of order stepwise rotation, does not namely re-use continuous driven at low speed, and certain step number but each order is passed by, the appearance until pointer is beated, records and the corresponding step number sequence number that converts.Such as, stator field is turned over 360 ° and be divided into 24 steps, a subcommand is sent by computing machine, instrument controller to be passed by 4 steps with regard to drive motor stator field, send a subcommand more just to go further 4 steps, until occur that pointer is oppositely beated, this computer-chronograph sends order to instrument, instrument controller can using current step number sequence number as step number sequence number A, and then extrapolate step number sequence number C, the error of maximum 3 steps can be there is in step number sequence number A here and the pointer step number sequence number occurred when oppositely beating, but this error can not have an impact after subsequent calibrations and motor using method.
Stepper motor scaling method of the present invention does not increase extra input on the basis of existing equipment, do not need there is higher technical requirement to operating personnel, make full use of the characteristic of stepper motor self, by Software for Design and with design the operating process that matches and realize demarcation to motor, calibration, and be applied in function use, the error that effective elimination is produced by magnetic direction, improves the stepper motor pointing accuracy in automobile instrument.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (3)
1. an instrument step motor scaling method, is characterized in that, comprises step:
When instrument does not install pointer, Driving Stepping Motor puts in place to the motion of mechanical zero direction, makes pointer be set up below rear sensing start index;
Under control instrument is in diagnostic mode, Driving Stepping Motor is with low speed to the motion of mechanical zero direction, and when oppositely beating appears in pointer, control instrument record is as the step number sequence number A of front wheel driving;
Step number sequence number C is calculated according to described step number sequence number A; Wherein, if motor stator magnetic field rotates clockwise when Driving Stepping Motor moves to mechanical zero direction, then the step number sequence number C step number sequence number that turns over 270 ° clockwise for stator field that step number sequence number A is corresponding or turn over counterclockwise corresponding to 90 °; If stator field rotates counterclockwise when Driving Stepping Motor moves to mechanical zero direction, then the step number sequence number C step number sequence number that turns over 270 ° counterclockwise for motor stator magnetic field that step number sequence number A is corresponding or turn over clockwise corresponding to 90 °; And
Described step number sequence number C is recorded in storage chip; It is corresponding that described step number sequence number C and motor arrive the magnetic direction that after mechanical zero, stator should stop.
2. instrument step motor scaling method according to claim 1, is characterized in that, comprise step further:
Mechanical zero is returned according to described step number sequence number C Driving Stepping Motor;
Driving Stepping Motor makes pointer move to multiple calibration point respectively, when pointer index error meets preset range control instrument respectively record pointer move to number of motor steps corresponding to described multiple calibration point.
3. instrument step motor scaling method according to claim 1, is characterized in that, comprise step further:
In instrument normally uses, first setting start runs carries out stepper motor flyback action, and zero terminates to drive stator field to remain on stator field direction corresponding to step number sequence number C.
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| CN201210217864.XA CN102735285B (en) | 2012-06-28 | 2012-06-28 | Method for calibrating stepping motor for instrument |
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| CN112762978B (en) * | 2020-12-25 | 2023-04-11 | 惠州市德赛西威汽车电子股份有限公司 | Calibration method for vehicle-mounted instrument pointer |
| CN113676387B (en) * | 2021-08-11 | 2023-02-24 | 北京小米移动软件有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
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| EP1760875A1 (en) * | 2005-08-30 | 2007-03-07 | Protronic N.V. | Method and apparatus detecting an operating state of a motor |
| CN101430212A (en) * | 2008-12-01 | 2009-05-13 | 上海德科电子仪表有限公司 | Gage pointer zero-return detection method |
| CN102289191A (en) * | 2011-08-02 | 2011-12-21 | 东莞丝丽雅电子科技有限公司 | Mechanism for positioning pointers of watch and methods for positioning, resetting and calibrating pointers |
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2012
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| US5877694A (en) * | 1995-03-15 | 1999-03-02 | Nippondenso Co., Ltd. | Indicating instrument and method of operation thereof |
| US20020117988A1 (en) * | 2001-02-23 | 2002-08-29 | Takashi Komura | Indicating instrument for a vehicle |
| EP1760875A1 (en) * | 2005-08-30 | 2007-03-07 | Protronic N.V. | Method and apparatus detecting an operating state of a motor |
| CN101430212A (en) * | 2008-12-01 | 2009-05-13 | 上海德科电子仪表有限公司 | Gage pointer zero-return detection method |
| CN102289191A (en) * | 2011-08-02 | 2011-12-21 | 东莞丝丽雅电子科技有限公司 | Mechanism for positioning pointers of watch and methods for positioning, resetting and calibrating pointers |
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Address after: 516006 Guangdong province Huizhou Zhongkai hi tech Industrial Development Zone Pearl River Road No. 1 Patentee after: HUIZHOU DESAY SV AUTOMOTIVE CO., LTD. Address before: 516006 Guangdong province Huizhou Zhongkai hi tech Industrial Development Zone Pearl River Road No. 1 Patentee before: Huizhou Desay SV Auto. Electronics Co., Ltd. |