CN100459409C - Drive control apparatus for magnetic stepping motor and sewing machine - Google Patents
Drive control apparatus for magnetic stepping motor and sewing machine Download PDFInfo
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- CN100459409C CN100459409C CNB2006100748569A CN200610074856A CN100459409C CN 100459409 C CN100459409 C CN 100459409C CN B2006100748569 A CNB2006100748569 A CN B2006100748569A CN 200610074856 A CN200610074856 A CN 200610074856A CN 100459409 C CN100459409 C CN 100459409C
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Abstract
The invention relates to a driving controller of step motor, which can control the step motor via the feedback of code signal output by the coder. Wherein, the invention comprises an instruction number accouter which accounts via the driving impulse of step motor to obtain the instruction number account number; a signal accouter for accounting the impulse number of code signal to obtain the signal account value; a delay eliminate controller for eliminating the delay state of driven system via using the step motor to drive said system in special operation state of step motor, when the preset operation of driven system is completed, and the instruction number account value and the signal account value*C (C is positive constant) are different.
Description
(1) technical field
The present invention relates to when using step motor drive control to be driven system, can eliminate the driving control device and the sewing machine of the stepping motor that is driven phylogenetic hysteretic state.
(2) background technology
In the past, driving variously when being driven system, is to adopt the stepping motor (pulse motor) that can carry out the open loop type drive controlling mostly.For example, in electronic sewing machine, the needle swinging mechanism of swing shank, be small-sized and control simple stepping motor by what feed dog and cloth kept body to process using in the work feed driving mechanism etc. of cloth work feed.
When keeping frame to carry out the work feed action by mobile feed dog and cloth, if the load of stepping motor is big, load will have influence on control device and give the driving pulse of stepping motor (command pulse) number and poor with the umber of pulse of the rotation amount corresponding codes signal of stepping motor.It is moving that the maintenance of feed dog and cloth is frameed shift, and has the problem that the style distortion takes place.For this reason, a kind of following Stepping Motor Control technology appearring: guarantees according to the amount of movement that instructs by the output of stepping motor being set all the time for breakdown torque, thereby prevent the style distortion.
For example, sewing machine of record in day disclosure special permission communique 2004-321771 number (prior art document 1), set respectively stepping motor when quickening, deceleration initial stage etc. respectively drives the best deviation in the interval.Have the 1st counter and the 2nd counter, respectively to the number of drive pulses of giving stepping motor promptly the 1st umber of pulse and with the umber of pulse of the rotation amount corresponding codes signal of stepping motor promptly the 2nd umber of pulse count, any time in drive controlling is carried out computing to the actual deviation of the 1st umber of pulse and the 2nd umber of pulse.Regulate the output time of next driving pulse according to deviation of having set and actual deviation.Used the FEEDBACK CONTROL of code signal by employing, can make stepping motor that breakdown torque takes place when driving the thorn tabouret.
Electronic cycle sewing machine that day disclosure special permission communique is put down into record in 6 years the 126049th (prior art document 2) is provided with the origin sensor of X-axis and Y-axis and initial point search control apparatus etc.The workbench of electronic cycle sewing machine is removable on mutually orthogonal X-direction and Y direction.The initial point search control apparatus is controlled so as at the initial point of importing the moment power cut-off platform of transducing signal from the origin sensor of X-axis and Y-axis and resets.
In prior art document 1, in the step motor control program of record, use stepping motor to drive the thorn tabouret.Shown in prior art document 2, during power connection and make when beginning thorn tabouret and must reset by initial point.Before stinging the tabouret initial point and resetting, the count value of the 1st, the 2nd counter is removed, once more the count value of the 1st, the 2nd counter is removed behind the initial point homing action.
When carrying out the initial point homing action of thorn tabouret, the driving shaft at the stepping motor that the coding disk that is used to take place code signal is installed applies the load (torque) of following driving.Along with driving the driving torque of the required torque of thorn tabouret drive system near stepping motor, when the initial point homing action finished, the position of rotation of the driving shaft of stepping motor was with respect to departing from state (so-called hysteretic state) with becoming from the corresponding regular stop position of the driving pulse of control device.
Under hysteretic state, be that the count value of the 2nd counter is littler than the count value of the 1st counter mostly, both are inconsistent.Under this hysteretic state, if remove the count value of the 1st, the 2nd counter once more, then making in the processing of carrying out subsequently, even regulate the output time of driving pulse as mentioned above, breakdown torque also can not take place in stepping motor.Existence can not prevent the problem of style distortion reliably.
(3) summary of the invention
The object of the present invention is to provide a kind of when being driven system by step motor drive control, can eliminate and be driven driving control device and the sewing machine that phylogenetic hysteretic state also can be driven the stepping motor of system with the breakdown torque driving.
The driving control device of stepping motor of the present invention, code signal according to encoder output comes the described stepping motor of FEEDBACK CONTROL, it is characterized in that, be provided with: the instruction number counter obtains the instruction number count value by the number of drive pulses of giving described stepping motor is counted; Event counter is by counting the picked up signal count value to the umber of pulse of described code signal; Lag behind and eliminate control part, when the compulsory exercise of the system that is driven that finishes to be undertaken by the driving of described stepping motor, when the occasion that the inconsistent hysteretic state of described instruction number count value and described signal-count value * C (C is the positive constant of regulation) has taken place, by under specific action form, driving the described system that is driven, eliminate the described hysteretic state that is driven system by described stepping motor.
Adopt above-mentioned formation, in the compulsory exercise that finishes the system that is driven, when the occasion of hysteretic state has taken place in the system of being driven, lag behind and eliminate control part and drive under specific action form by stepping motor and be driven system.Make the instruction number count value consistent by this driving, eliminate hysteretic state with signal-count value * C.The result is in driving is subsequently handled, and can make stepping motor generation breakdown torque drive the system of being driven.
When the occasion that described hysteretic state has taken place, the described driven object that is driven in the system is moved towards the direction with the direction of action of described compulsory exercise.And, preferably after moving, move towards the direction identical again with the direction of action of described compulsory exercise towards described rightabout.By carrying out repeatedly towards described rightabout moving and the moving towards described equidirectional continuous with it, until described instruction number count value and described signal-count value * C (C is the positive constant of stipulating) consistent till, can eliminate hysteretic state more reliably.
The present invention is applicable to having the sewing machine that comes the driving control device of FEEDBACK CONTROL stepping motor according to the code signal of encoder output.
Adopt this formation, when the compulsory exercise of the system that is driven (for example processing cloth work feed mechanism) that above-mentioned sewing machine had finishes, can eliminate and be driven phylogenetic hysteretic state, in the precision (for example processing the precision of the cloth feed amount of cloth) that can improve the amount of movement of the system that is driven in the processing of making subsequently.
(4) description of drawings
Fig. 1 is the stereogram of the fancy knotting sewing machine of one embodiment of the invention.
Fig. 2 is the stereogram of the formation of expression cloth-feeding device.
Fig. 3 is the block diagram of the control system of expression fancy knotting sewing machine.
The flow chart that Fig. 4 resets and controls for initial point.
Fig. 5 eliminates the flow chart of control for lagging behind.
(5) embodiment
In order to illustrate in greater detail the present invention, describe with reference to accompanying drawing.Fig. 1～Fig. 5 represents the present invention is applicable to an embodiment of fancy knotting sewing machine.
As shown in Figure 1, fancy knotting sewing machine 1 has: support portion 2, from the upright post portion 3 that establishes of the rearward end of support portion 2 and from the horn portion 4 of extension forwards opposite to each other of the upper end of this post portion 3 and support portion 2.
In post portion 3 and horn portion 4, be provided with electrical motor of sewing machine 5 and the actuating force of this electrical motor of sewing machine 5 passed to the actuating force transmission mechanism (not shown) of shank 6 by main shaft.At the leading section of horn portion 4 is that the inside of chain-drive section 7 is provided with the shank up-down mechanism (not shown) that shank 6 is moved up and down.By driving electrical motor of sewing machine 5, then suture needle moves up and down by shank 6.These technology are technique known, the explanation that the Therefore, omited is detailed.
In support portion 2, be provided with: cloth maintaining body 8; Make this cloth maintaining body 8 go up the cloth-feeding device 9 (with reference to Fig. 2) that moves at directions X (left and right directions of fancy knotting sewing machine 1) and Y direction (fore-and-aft direction of fancy knotting sewing machine 1); Synchronously form the rotating shuttle (not shown) of style stitching with moving up and down of suture needle; The rotary driving force of electrical motor of sewing machine 5 is passed to the lower shaft 10 (with reference to Fig. 2) of rotating shuttle by main shaft; And the tangent mechanism (not shown) that upper thread and bottom line is cut off simultaneously during sewing finishing.
Cloth maintaining body 8 is that the cloth of seeing rectangular frame-like by bowing keeps frame 11 and this cloth to keep the cloth support plate 12 of frame 11 downsides to come the mechanism of clamping processing cloth.Leading section at the presser feet handle 13 that constitutes cloth maintaining body 8 is formed with the guide part 13a that bows and see rectangular frame-like.The upright support 11a that moves up and down that cloth keeps frame 11 rearward end that is located at guide part 13a upper support.Support 11a is connecting the leading section of pressure handle bar 15, and it can be that rotate at the center with pivot fulcrum 14 that this pressure handle bar 15 is installed at the left and right sides of presser feet handle 13 sidepiece.The rearward end of pressure handle bar 15 is connecting the rearward end of presser feet wrench 17 by connecting rod 16.Pressure handle bar 15 and presser feet wrench 17 rotate together by connecting rod 16.
Upside at presser feet handle 13 is provided with the tabular presser feet action plate 18 of level that can move up and down, and this presser feet action plate 18 can move up and down with respect to horn portion 4 by presser feet driving mechanism (not shown).Presser feet wrench 17 is followed the decline of this presser feet action plate 18 and (is seen it is counterclockwise from right flank) downwards and rotate.And pressure handle bar 15 rotates downwards with this presser feet wrench 17.When pressure handle bar 15 rotated downwards, cloth kept frame 11 to move by support 11a downwards.Processing cloth is remained on cloth keeps frame 11 and this cloth to keep between the cloth support plate 12 of frame 11 downsides.
Cloth maintaining body 8 is installed on the directions X moving body 29 (with reference to Fig. 2) of cloth-feeding device 9.Thus, processing cloth moves on directions X and Y direction by cloth-feeding device 9 under the state that is kept frame 11 and 12 clampings of cloth support plate by cloth.That is, cloth-feeding device 9 keeps body 19 (driven object) to move the work feed action of processing cloth along directions X and Y direction by making the cloth that keeps frame 11 and cloth support plate 12 to constitute by above-mentioned cloth.
As shown in Figure 2, in support portion 2, this cloth-feeding device 9 has lower shaft 10, Y direction travel mechanism 20 (Y-axis drive system) and the directions X travel mechanism 21 (X-axis drive system) that sets towards the Y direction.
Y direction travel mechanism 20 at first is described.
Roughly first half in support portion 2 inside, 1 pair Y traversing guide member 22 about being provided with abreast along fore-and-aft direction (Y direction).The rear and front end portion of each Y traversing guide member 22 is affixed with support portion 2 respectively.On this 1 couple's Y traversing guide member 22, supporting Y direction moving body 23 with suspended state, this Y direction moving body 23 has regulation on fore-and-aft direction width, and be length direction with left and right directions (directions X).
It can be the driven pulley 24 that the center is rotated with the pivot fulcrum of left and right directions that front in support portion 2 inside is provided with.Rear end side in support portion 2 inside rotatably is provided with the drive pulley (not shown) of left and right directions.Affixed driven gear (not shown) on the rotating shaft of this drive pulley.Be fixed in driven wheel and the engagement of this driven gear on the driving shaft of Y direction drive motor 25.Be linked with the Y direction synchronous belt 26 of the bigger rubber system of width in driven pulley 24 and drive pulley upper edge Y direction.On the part of Y direction synchronous belt 26, use fixture (not shown) fixing the substantial middle portion of Y direction moving body 23.
Under the driving of Y direction drive motor 25, Y direction travel mechanism 20 makes Y direction synchronous belt 26 rotate along the Y direction by driven pulley 24, drive pulley, driven gear and driven wheel.Y direction moving body 23 is followed this rotation and is moved on the Y direction by 22 guiding of Y traversing guide member.
The following describes directions X travel mechanism 21.
At the upper surface of Y direction moving body 23, along left and right directions affixed abreast before and after 1 pair directions X guide rail component 27.The ways 28 that on directions X guide rail component 27, has 1 pair, the shape of this directions X guide rail component 27 of formation clamping.Directions X moving body 29 can move on directions X by this ways 28.
It can be the driven pulley 30 that the center is rotated with the pivot fulcrum of fore-and-aft direction that right-hand member side in support portion 2 inside is provided with.Left end side in support portion 2 inside rotatably is provided with the strong axle 31 of spending of fore-and-aft direction extension.Spend the rearward end of strong axle 31 affixed driven gear 32.Be fixed in driven wheel 34 and this driven gear 32 engagements on the driving shaft of directions X drive motors 33.Barrel member 35 outside this spends the peripheral part of strong axle 31 to embed to have.Be somebody's turn to do outer barrel member 35 by constituting by unlimited straight-line ball spline.Basically can ignore Y direction moving body 23 and the contact resistance of spending strong axle 31.Driven pulley 30 and outside barrel member 35 upper edge directions Xs be linked with the directions X synchronous belt 36 of the bigger rubber system of width.On the part of directions X synchronous belt 36, use fixture (not shown) fixing the substantial middle portion of directions X moving body 29.
Under the driving of directions X drive motors 33, directions X travel mechanism 21 by driven pulley 30, spend strong axle 31, outer barrel member 35, driven gear 32 and driven wheel 34 that directions X synchronous belt 36 is rotated along directions X.Directions X moving body 29 is followed this rotation and is moved on directions X by 27 guiding of directions X guide rail component.
The directions X drive motors 33 that is made of stepping motor is used to drive directions X travel mechanism 21.The Y direction drive motor 25 that is made of stepping motor is used to drive Y direction travel mechanism 20.Directions X travel mechanism 21 is connected with the Y direction moving body 23 of Y direction travel mechanism 20.The cloth that is installed on the directions X moving body 29 keeps body 19 to move on directions X, Y direction.The above-mentioned directions X drive motors 33 and the resolution of Y direction drive motor 25 for example are 800 pulses.
The following describes the control system of fancy knotting sewing machine 1.
As shown in Figure 3, control device 40 (driving control device of stepping motor) has input/output interface 41, microcomputer, drive circuit 42～44 etc.Microcomputer comprises CPU45, ROM46, RAM47 etc.
The parts that are connected with input/output interface 41 have: start shutdown switch 48, initial point reset switch 53, electrical motor of sewing machine 5 drive circuit 42, drive the directions X drive motors 33 of directions X driving mechanism drive circuit 43, drive the Y direction drive motor 25 of Y direction driving mechanism drive circuit 44, be arranged on initial point in the directions X travel mechanism 21 reset usefulness directions X origin sensor 49, be arranged on the reset Y direction origin sensor 50 etc. of usefulness of initial point in the Y direction travel mechanism 20.Directions X origin sensor 49 and Y direction origin sensor 50 each free proximity sense constitute.
The light behind the disk grooving has been passed through in the light accepting part detection of X encoder 51 by light from light source.In a single day light accepting part detects light, and the code signal that X encoder 51 just moves relevant directions X is to input/output interface 41 outputs.Utilize this rotation amount of exporting the driving shaft that detects directions X drive motors 33 (anglec of rotation).Y encoder 52 with X encoder 51 identical formations is installed on the driving shaft of Y direction drive motor 25.This Y encoder 52 is exported the code signal that relevant Y direction moves to input/output interface 41.
Directions X drive motors 33 revolutions 1 circle, X encoder 51 is just exported 800 code signals.Y encoder 52 too, Y direction drive motor 25 revolutions 1 circle is just exported 800 code signals.
What store the drive controlling that can carry out various driving mechanisms, various styles in advance in ROM46 makes the reset various control programs of control (aftermentioned) etc. of distinctive initial point in control, the present embodiment.RAM47 is equipped with the stitch data memory (not shown) of storage for the stitch data of making usefulness.And RAM47 is equipped with: instruction number counter 47a that the number of drive pulses of giving directions X drive motors 33 and Y direction drive motor 25 is counted and the event counter 47b that the umber of pulse of the code signal of X encoder 51 and 52 outputs of Y encoder is counted.Set as required and be used to store by the various memories of the operation result of CPU45 calculation process, indicating device, counter etc. again.
Below with reference to the reset control and lag behind and eliminate control of the control device 40 performed initial points of the flowchart text fancy of Fig. 4 and Fig. 5 knotting sewing machine 1.During explanation, the initial point that directions X only the is described control that resets, for the control that resets of the initial point of Y direction, because of identical with the control that resets of the initial point of directions X, the Therefore, omited explanation.Symbol Si (i=11,12,13 among the figure ...) represent each step number.
The operator connects the power supply of fancy knotting sewing machine 1, in case press initial point reset switch 53, control device 40 just begins the initial point control that resets.At first, control device 40 is removed (step S11) with the instruction number count value CC of instruction number counter 47a and the signal-count value SC of event counter 47b.The step of then dividing a word with a hyphen at the end of a line S12 carries out initial point homing action (specified action).
In the initial point homing action of this step S12, control device 40 at every turn from CPU45 during to the drive circuit 43 output driving pulses (driving command) of directions X drive motors 33, the instruction number count value CC of increment instruction counter 47a successively just.Again, at each X encoder 51 with code signal during to input/output interface 41 outputs, the signal-count value SC of increment signal counter 47b successively just.After the detection signal level of having switched directions X origin sensor 49, control device 40 finishes the initial point homing action.
Secondly, when the initial point homing action finished, whether control device 40 decision instruction counting number value CC and signal-count value SC consistent (step S13).When inconsistent, control device 40 is judged as "No", the step of dividing a word with a hyphen at the end of a line S14, and carrying out lags behind eliminates action (with reference to Fig. 5).In this lagged behind the elimination action, control device 40 was at first given 4 driving pulses (step S21) to directions X drive motors 33, made cloth keep body 19 to move towards the direction opposite with the final moving direction of above-mentioned initial point homing action (with reference to step S12).
Then, control device 40 revests 4 driving pulses (step S22) to directions X drive motors 33, make cloth keep body 19 towards the direction identical with the final moving direction of above-mentioned initial point homing action (with reference to step S12) (with the side of step S21 in the opposite direction) move.Finish this hysteresis then and eliminate action, return the step S13 (with reference to Fig. 4) that initial point resets and controls.Control device 40 is carried out the hysteresis of above-mentioned steps S14 repeatedly and is eliminated action, until till being judged as instruction number count value CC and signal-count value SC is consistent among the step S13.Above-mentioned step S21, the cloth among the step S22 keep the shift action of body 19 to be equivalent to specific action form.
Among the step S13, when instruction number count value CC was consistent with signal-count value SC, control device 40 was judged as "Yes", the step of dividing a word with a hyphen at the end of a line S15.Respectively instruction number count value CC and signal-count value SC are removed, finish the control that resets of this initial point.
Among the above-mentioned steps S12, behind the execution initial point homing action, on the driving shaft of the directions X drive motors 33 that X encoder 51 is installed, be applied with the load that driving took place by directions X synchronous belt 36.Along with driving the driving torque of the required torque of directions X travel mechanism 21 near directions X drive motors 33, directions X synchronous belt 36 produces elongation.Utilize the influence of this elongation, when finishing the initial point homing action, the position of rotation of the driving shaft of directions X drive motors 33 is with respect to departing from state (so-called hysteretic state) with forming from the corresponding regular stop position of the driving pulse of control device 40.
Under this hysteretic state, be mostly signal-count value SC less than instruction number count value CC, both are inconsistent.Yet, even this hysteretic state, by making cloth keep body 19 to move, also can avoid the driving shaft of directions X drive motors 33 to be subjected to load effect (comprising the influence of directions X synchronous belt 36 elongations) from directions X travel mechanism 21 towards the direction opposite with the final moving direction of initial point homing action.Thus, the position of rotation of the driving shaft of directions X drive motors 33 with consistent from the corresponding regular stop position of the driving pulse of control device 40, can eliminate hysteretic state.
When the hysteretic state that takes place when directions X travel mechanism 21 is eliminated, once more instruction number count value CC and signal-count value SC are removed.Making in the processing subsequently, regulate the output time of driving pulse according to poor (deviation: be equivalent to phase place) of the umber of pulse of the code signal of the number of drive pulses of giving directions X drive motors 33 and X encoder 51 outputs.Like this, can be according to the instruction of driving pulse, can when keeping optimum phase, drive directions X drive motors 33.The result is that breakdown torque takes place directions X drive motors 33, can drive the system of being driven, and can further improve the precision that cloth keeps the amount of movement of body 19.Thereby can prevent the style distortion.
Cloth-feeding device 9 has along the directions X travel mechanism 21 and the Y direction travel mechanism 20 of directions X mutually orthogonal in the horizontal plane and Y direction driving cloth maintenance body 19, constitutes the elimination of carrying out hysteretic state simultaneously for directions X travel mechanism 21 and Y direction travel mechanism 20.Therefore, can drive the elimination of the hysteretic state that directions X travel mechanism 21 that cloth keeps body 19 takes place and the elimination of the hysteretic state that Y direction travel mechanism 20 takes place simultaneously.So just can promptly eliminate a plurality of hysteretic states that system takes place that are driven at short notice.
The action (with reference to step S21, S22) of eliminating hysteretic state is to carry out the finish time at the initial point homing action of cloth-feeding device 9.Thus, the initial point homing action of carrying out during for power connection, the hysteretic state that can reliably cloth-feeding device 9 be taken place is eliminated.
The initial point homing action is to finish when switching is arranged at the detection signal level of the directions X origin sensor 49 of cloth-feeding device 9 and Y direction origin sensor 50.Thus, can set origin position according to the allocation position of these directions X origin sensors 49 and Y direction origin sensor 50.
The present invention is not limited to the foregoing description, for example can do following distortion or expansion.
In step S21, the S22 of elimination action that lag behind, the number of drive pulses of giving directions X drive motors 33 is not defined as " 4 pulses ".Also below 4 or more than 4.Also can import and set this number of drive pulses by the operator.
In the elimination action that lags behind, also can omit step S22.This occasion, behind the initial point homing action performed make processing before, must make cloth keep body 19 reverse (direction identical) mobile with the number of drive pulses in the opposite direction of being given among the step S21 with the direction of step S12.
The resolution of directions X drive motors 33 and Y direction drive motor 25 (800 pulse) and the resolution of X encoder 51 and Y encoder 52 are that the umber of pulse (revolution 1 circle is 800) of code signal is identical.Thus, in the present embodiment, in initial point resetted the step S13 that controls, whether decision instruction counting number value CC was consistent with signal-count value SC.When the resolution (umber of pulse) of code signal is higher than the resolution of stepping motor, also can adopt the whether consistent structure of decision instruction counting number value CC and signal-count value SC * C (C is the positive constant of regulation).
Action is eliminated in the peculiar hysteresis of present embodiment shown in Figure 5, also can be when the initial point homing action finishes, carry out, but after cloth keeps body 19 just to move to making the starting position, carry out immediately or cloth keep body 19 just moved to the sewing finishing position after execution immediately.
The present invention is applicable to that to cloth being kept body 19 example of the driving control device of the directions X drive motors 33 of directions X driving and the Y direction drive motor 25 that the Y direction drives is described.But be not limited to this, come structure the present invention of driving control device of FEEDBACK CONTROL stepping motor all applicable so long as have, for example also applicable to the needle swinging mechanism of swing shank, keep body to process the work feed driving mechanism etc. of the work feed of cloth by feed dog and cloth according to code signal.
Others, the insider can carry out various changes to the foregoing description and be implemented without departing from the spirit and scope of the present invention, and the present invention also comprises these change forms.
Claims (18)
1, a kind of driving control device of stepping motor, the code signal of exporting according to encoder comes the described stepping motor of FEEDBACK CONTROL, it is characterized in that, is provided with:
The instruction number counter obtains the instruction number count value by the number of drive pulses of giving described stepping motor is counted;
Event counter is by counting the picked up signal count value to the umber of pulse of described code signal;
Lag behind and eliminate control part, when the compulsory exercise of the system that is driven that finishes to be undertaken by the driving of described stepping motor, when the occasion that described instruction number count value and the inconsistent hysteretic state of described signal-count value * C have taken place, by under specific action form, driving the described system that is driven by described stepping motor, eliminate the described hysteretic state that is driven system, C is the positive constant of regulation.
2, the driving control device of stepping motor as claimed in claim 1, it is characterized in that, control part is eliminated in described hysteresis, by give the driving pulse of specified quantity to described stepping motor, the described driven object that is driven in the system is moved towards the direction with the direction of action of described compulsory exercise, eliminate the described hysteretic state that is driven system.
3, the driving control device of stepping motor as claimed in claim 2, it is characterized in that, control part is eliminated in described hysteresis, in order to move towards described rightabout after described stepping motor has been given driving pulse, give the driving pulse identical to described stepping motor again, the described driven object that is driven in the system is moved towards the direction identical with the direction of action of described compulsory exercise with described specified quantity.
4, the driving control device of stepping motor as claimed in claim 3, it is characterized in that, control part is eliminated in described hysteresis, carry out repeatedly in order to move towards described rightabout and the driving of continuous with it described stepping motor that moves towards described equidirectional, until described instruction number count value is with till described signal-count value * C is consistent, C is the positive constant of stipulating.
5, the driving control device of stepping motor as claimed in claim 1 is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
6, the driving control device of stepping motor as claimed in claim 2 is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
7, the driving control device of stepping motor as claimed in claim 3 is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
8, the driving control device of stepping motor as claimed in claim 4 is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
9, as the driving control device of each described stepping motor in the claim 1 to 8, it is characterized in that,
Control part is eliminated in described hysteresis, eliminates the described hysteretic state that takes place when the described initial point homing action that is driven in the system finishes.
10, a kind of sewing machine has stepping motor, encoder and comes the driving control device of the described stepping motor of FEEDBACK CONTROL according to the code signal of this encoder output, it is characterized in that described driving control device is provided with:
The instruction number counter obtains the instruction number count value by the number of drive pulses of giving described stepping motor is counted;
Event counter is by counting the picked up signal count value to the umber of pulse of described code signal;
Lag behind and eliminate control part, when the compulsory exercise of the system that is driven that finishes to be undertaken by the driving of described stepping motor, when the occasion that described instruction number count value and the inconsistent hysteretic state of described signal-count value * C have taken place, by under specific action form, driving the described system that is driven by described stepping motor, eliminate the described hysteretic state that is driven system, C is the positive constant of regulation.
11, sewing machine as claimed in claim 10, it is characterized in that, control part is eliminated in described hysteresis, by give the driving pulse of specified quantity to described stepping motor, the described driven object that is driven in the system is moved towards the direction with the direction of action of described compulsory exercise, eliminate the described hysteretic state that is driven system.
12, sewing machine as claimed in claim 11, it is characterized in that, control part is eliminated in described hysteresis, in order to move towards described rightabout after described stepping motor has been given driving pulse, give the driving pulse identical to described stepping motor again, the described driven object that is driven in the system is moved towards the direction identical with the direction of action of described compulsory exercise with described specified quantity.
13, sewing machine as claimed in claim 12, it is characterized in that, control part is eliminated in described hysteresis, carry out repeatedly in order to move towards described rightabout and the driving of continuous with it described stepping motor that moves towards described equidirectional, until described instruction number count value is with till described signal-count value * C is consistent, C is the positive constant of stipulating.
14, sewing machine as claimed in claim 10 is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
15, as sewing machine as described in the claim 11, it is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
16, sewing machine as claimed in claim 12 is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
17, sewing machine as claimed in claim 13 is characterized in that,
The described system that is driven has X-axis drive system and Y-axis drive system that the driven object of making moves on mutually orthogonal directions X and the Y direction in horizontal plane,
Control part is eliminated in described hysteresis, by driving described X-axis drive system simultaneously and described Y-axis drive system is eliminated described hysteretic state.
18, as each described sewing machine in the claim 10 to 17, it is characterized in that,
Control part is eliminated in described hysteresis, eliminates the described hysteretic state that takes place when the described initial point homing action that is driven in the system finishes.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005123738A JP4802545B2 (en) | 2005-04-21 | 2005-04-21 | Stepping motor drive control device and sewing machine |
| JP2005123738 | 2005-04-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1855691A CN1855691A (en) | 2006-11-01 |
| CN100459409C true CN100459409C (en) | 2009-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100748569A Active CN100459409C (en) | 2005-04-21 | 2006-04-20 | Drive control apparatus for magnetic stepping motor and sewing machine |
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| Country | Link |
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| JP (1) | JP4802545B2 (en) |
| CN (1) | CN100459409C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101974831B (en) * | 2010-08-16 | 2013-02-20 | 陆涛 | Button sewing machine and binding method of five-hole buttons |
| JP5799920B2 (en) | 2012-09-07 | 2015-10-28 | 株式会社デンソー | Head-up display device for vehicle |
| EP2976281A4 (en) | 2013-03-22 | 2016-11-23 | Otis Elevator Co | Preventative maintenance by detecting lifetime of components |
| CN104199466A (en) * | 2014-06-26 | 2014-12-10 | 拓卡奔马机电科技有限公司 | Control method and system for closed-loop stepping motor of sewing machine |
| CN104528277B (en) * | 2014-11-27 | 2017-01-11 | 苏州紫金港智能制造装备有限公司 | Dual-motor coaxial-line real-time synchronous dragging system and synchronization method |
| US10103659B2 (en) * | 2015-12-07 | 2018-10-16 | Microchip Technology Incorporated | Stepper trajectory driver with numerical controlled oscillators operated at frequency provided by a synchronized clock signal |
| CN111272057A (en) * | 2020-03-31 | 2020-06-12 | 佛山科学技术学院 | Active displacement sensor system, control method and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759395A (en) * | 1993-08-17 | 1995-03-03 | Oriental Motor Co Ltd | Driving of stepping motor |
| JP2000262095A (en) * | 1999-03-12 | 2000-09-22 | Kaya Denshi Kk | Stepping motor drive device |
| CN2559167Y (en) * | 2002-07-25 | 2003-07-02 | 深圳市雷赛机电技术开发有限公司 | Multi-subdivision high-voltage two-phase step-by-step motor driver |
| CN1536118A (en) * | 2003-04-08 | 2004-10-13 | 兄弟工业株式会社 | Sewing machine and recording medium recorded with pulse electric machine control program |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5989590A (en) * | 1982-11-11 | 1984-05-23 | Brother Ind Ltd | Pwm controller in speed control of motor |
| JPS62123991A (en) * | 1985-11-25 | 1987-06-05 | Canon Inc | Controller for drive of pulse motor |
| JP2970166B2 (en) * | 1991-12-30 | 1999-11-02 | 日本電気株式会社 | Stepper motor drive |
| JP2003180096A (en) * | 2001-12-11 | 2003-06-27 | Fdk Corp | Driving control method of stepper motor |
-
2005
- 2005-04-21 JP JP2005123738A patent/JP4802545B2/en not_active Expired - Fee Related
-
2006
- 2006-04-20 CN CNB2006100748569A patent/CN100459409C/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759395A (en) * | 1993-08-17 | 1995-03-03 | Oriental Motor Co Ltd | Driving of stepping motor |
| JP2000262095A (en) * | 1999-03-12 | 2000-09-22 | Kaya Denshi Kk | Stepping motor drive device |
| CN2559167Y (en) * | 2002-07-25 | 2003-07-02 | 深圳市雷赛机电技术开发有限公司 | Multi-subdivision high-voltage two-phase step-by-step motor driver |
| CN1536118A (en) * | 2003-04-08 | 2004-10-13 | 兄弟工业株式会社 | Sewing machine and recording medium recorded with pulse electric machine control program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1855691A (en) | 2006-11-01 |
| JP4802545B2 (en) | 2011-10-26 |
| JP2006304511A (en) | 2006-11-02 |
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