CN101043195B - Stepping motor control apparatus - Google Patents
Stepping motor control apparatus Download PDFInfo
- Publication number
- CN101043195B CN101043195B CN2007100885857A CN200710088585A CN101043195B CN 101043195 B CN101043195 B CN 101043195B CN 2007100885857 A CN2007100885857 A CN 2007100885857A CN 200710088585 A CN200710088585 A CN 200710088585A CN 101043195 B CN101043195 B CN 101043195B
- Authority
- CN
- China
- Prior art keywords
- angle
- mentioned
- stepper motor
- output
- instruction
- 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.)
- Expired - Fee Related
Links
- 238000004804 winding Methods 0.000 claims abstract description 37
- 230000002964 excitative effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 239000000654 additive Substances 0.000 description 2
- 230000000996 additive effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Abstract
A stepping motor controlling device includes lead angle computing means which computes a lead angle according to the load torque current deviation of the stepping motor, adding means which adds an angle command to the lead angle to determine a winding exciting angle and voltage applying means which applies a voltage according to the winding exciting angle to the stepping motor.
Description
Technical field
The present invention relates to stepper motor control device according to angle commands for controlling stepper motor.
Background technology
Among the control device of used stepper motor; Owing to be to obtain current instruction value according to lowest high-current value instruction and angle instruction; Add applied voltage thereby the speed of may command stepper motor and position for the winding of stepper motor according to the current deviation of the difference of current instruction value and the winding current value of detecting.
Yet, among the control device of this kind stepper motor, owing to can not carry out the control corresponding with the load torque of stepper motor, thereby can not make the stepper motor high speed rotating.
Summary of the invention
The object of the present invention is to provide a kind of stepper motor control device that makes the stepper motor high speed rotating.
If adopt the present invention, a kind of stepper motor control device can be provided, it has: advance angle arithmetic unit, the corresponding advance angle of load torque current deviation of its computing and stepper motor; Adder, it is through asking for the excitatory angle of winding with angle instruction and advance angle addition; The voltage add-on device, it adds and the corresponding voltage of the excitatory angle of winding to stepper motor.
Among this stepper motor control device and since with advance angle be set at the corresponding value of load torque current deviation on, thereby can irrespectively make stepper motor produce roughly maximum torque with speed, make the stepper motor high speed rotating.
Description of drawings
Fig. 1 illustrates stepper motor control device of the present invention.
Fig. 2 illustrates the advance angle controller of stepper motor control device shown in Figure 1.
Fig. 3 illustrates another kind of stepper motor control device of the present invention.
Fig. 4 illustrates the angle estimator of stepper motor control device shown in Figure 3.
Fig. 5 illustrates another kind of stepper motor control device of the present invention.
Fig. 6 illustrates the position of magnetic pole corrector of stepper motor control device shown in Figure 5.Fig. 7, Fig. 8 then are the action specification figure of Fig. 5, stepper motor control device shown in Figure 6.
Embodiment
With Fig. 1 and Fig. 2 stepper motor control device of the present invention is described below.The maximum current instruction Imax of stepper motor 2
*Input maximum current command input terminals 4.The angle instruction θ of stepper motor 2
*Input angle command input terminals 6.Sine wave signal generator 8 input angle instruction θ
*With utilize tables of data sine wave output signal sin (θ behind the additive value of advance angle Δ θ (stating after the explanation)
*+ Δ θ).Cosine wave signal generator 10 input angle instruction θ
*With utilize tables of data output cosine wave signal cos (θ behind the additive value of advance angle Δ θ
*+ Δ θ).Multiplier 12 instructs Imax with maximum current
*With sine wave signal sin (θ
*+ Δ θ) the multiply each other current instruction value i α of back output α phase
*Multiplier 14 instructs Imax with lowest high-current value
*With cosine wave signal cos (θ
*+ Δ θ) the multiply each other current instruction value i β of back output β phase
*Electric current detector 16,18 detects the output winding current value of detecting i α f after the winding electric flow valuve of α phase β phase of stepper motor 2, i β f.Subtracter 20 is from current instruction value i α
*In deduct output current deviation delta i α behind the winding current value of detecting i α f.Subtracter 22 is from current instruction value i β
*In deduct output current deviation delta i β behind the winding electric flow valuve i β f.The exciting curent of the α phase of output stepper motor 2 behind the current controller 24 input current deviation delta i α.The exciting curent of the β phase of output stepper motor 2 behind the current controller 26 input current deviation delta i β.Converter 28 adds α phase applied voltage V α, β phase applied voltage V β for the winding of stepper motor 2 according to the exciting curent of α phase, β phase.Encoder 30 detects the rotor-position of stepper motor 2.Computing detects angle θ f after the output of angle arithmetic unit 32 input coding devices 30.Advance angle controller 34 input current deviation delta i α, Δ i β and detect angle θ f after output advance angle Δ θ.Adder 36 is instructed θ with angle
*With the excitatory angle of computing winding after the advance angle Δ θ addition.
In addition, constitute the advance angle arithmetic unit of the corresponding advance angle of load torque current deviation of computing stepper motor by advance angle controller 34.In addition, constitute the adder of asking for the excitatory angle of winding after angle instruction and the advance angle addition by adder 36.In addition, constitute to stepper motor by sine wave signal generator 8, cosine wave signal generator 10, multiplier 12,14, subtracter 20,22, current controller 24,26, inverter 28 and add the voltage add-on device with the corresponding applied voltage of the excitatory angle of winding.In addition, the current deviation that constitutes angle (rotor magnetic pole position) and voltage add-on device according to stepper motor by coordinate converter 38 is asked for the coordinate conversion device of load torque current deviation.In addition, constitute the angle detection device of the angle that detects stepper motor by encoder 30, angle arithmetic unit 32.In addition; Constitute restraint device by amplitude limiter 42; It is directly output and the corresponding value of load torque current deviation when spending less than 120 with the corresponding value of load torque current deviation, with the corresponding value of load torque current deviation be 120 degree when above, output 120 degree.In addition, constitute by adder 46 set angle is added to the adder in the output of restraint device.
Among this stepper motor control device; By coordinate converter 38 according to current deviation Δ i α, Δ i β and detect angle θ f computational load torque current deviation delta iq; Obtain and the corresponding advance angle Δ of load torque current deviation Δ iq θ by advance angle controller 34; By adder 36 angle is instructed and to obtain the excitatory angle of winding after θ * and the advance angle Δ θ addition, obtain α with the corresponding current instruction value i of the excitatory angle of winding by sine wave signal generator 8, cosine wave signal generator 10, multiplier 12,14
*, i β
*, by subtracter 20,22, current controller 24,26, converter 28 according to current instruction value i α
*, i β
*Add α applied voltage V α, β phase applied voltage V β mutually for the winding of stepper motor 2 with current deviation Δ i α, the Δ i β of the difference of the winding current value of detecting i α f, i β f.And do not carry out control according to the d shaft current of d shaft current deviation.
Among this kind stepper motor control device; Because advance angle Δ θ is set at the corresponding value with load torque current deviation Δ iq; Thereby can carry out and the corresponding control of the load torque of stepper motor 2; Owing to can irrespectively make stepper motor 2 produce roughly maximum torque with speed, thereby can make the stepper motor high speed rotating.
With Fig. 3, Fig. 4 another kind of stepper motor control device of the present invention is described below, angle θ P is inferred in output behind the angle estimator 52 input winding current value of detecting i α f, i β f and α phase applied voltage V α, the β phase applied voltage V β.Advance angle controller 54 input current deviation delta i α, Δ i β and infer angle θ P after output advance angle Δ θ.That is, 54 uses of advance angle controller are inferred angle θ P replacement and detected angle θ f, and are identical with advance angle controller 34, computing advance angle Δ θ.Adder 56 is instructed θ with angle
*With the excitatory angle of computing winding after the advance angle Δ θ addition.
When being made as the winding resistance of the α phase of stepper motor 2 R α, being made as L α to the winding inductance of α phase, when being made as S to Laplacian, inverse function characteristic arithmetic unit 58 the winding current value of detecting i α f coefficient (R α+SL α) doubly.The winding resistance of the β phase of stepper motor 2 be made as R β, when being made as L β to the winding inductance of β phase, inverse function characteristic arithmetic unit 60 is with the winding current value of detecting i β f coefficient (R β+SL β) doubly.Subtracter 62 deducts the output of inverse function characteristic arithmetic unit 58 from α phase applied voltage V α.Subtracter 64 deducts the output of inverse function characteristic arithmetic unit 60 from β phase applied voltage V β.That is, be made as the winding electric flow valuve of α phase i α (=i α f), when being made as e α to the speed electromotive force of α phase, the output of subtracter 62 constitutes speed electromotive force e α according to the relation of following formula.
In addition, be made as the winding electric flow valuve of β phase i β (=i β f), when being made as e β to the speed electromotive force of β phase, the output of subtracter 64 constitutes speed electromotive force e β according to the following formula relation.
Angle arithmetic unit 70 according to following formula computing infer angle θ P.
θp＝tan
-i(-eα/eβ) (3)
And constitute angle estimator 52 by inverse function characteristic arithmetic unit 58,60, smoothing circuit 66,68, angle arithmetic unit 70 etc., constitute the angle estimating device of inferring the stepper motor angle by angle estimator 52.
Among this stepper motor control device; By coordinate converter 38 according to current deviation Δ i α, Δ i β and infer angle θ P computational load torque current deviation delta iq; Identical with Fig. 1, stepper motor control device shown in Figure 2; Because advance angle Δ θ is set at the corresponding value with load torque current deviation Δ iq; Thereby can carry out the corresponding control of load torque of stepper motor 2, owing to can irrespectively make stepper motor 2 produce roughly maximum torque with speed, thereby can make the stepper motor high speed rotating.
In the above-described embodiment, be provided with adder 46, it is the set angle of 90 degree of setting on the set angle lead-out terminal 44 and the output addition of amplitude limiter 42, but also can be arranged on the corresponding value of load torque current deviation on add the adder of set angle.In addition, in the above-described embodiment, set angle is decided to be 90 degree, but also can set angle be set at 0～90 degree.In addition; In the above-described embodiment; Be provided with amplitude limiter 42, the directly output of output PI compensator 40 when its output at PI compensator 40 is spent less than 120 is output as 120 outputs 120 when above at PI compensator 40 and spends; But directly output and the corresponding value of load torque electric current in the time of also can being provided with the corresponding value of load torque current deviation less than predetermined angular; With the corresponding value of load torque current deviation be the restraint device of the above time output predetermined angular of predetermined angular, at this moment, predetermined angular can be set at 100～140 degree.In addition, in the above-described embodiment, use be PI compensator 40, but also can use the P compensator to replace PI compensator 40.
With Fig. 5, Fig. 6 another kind of stepper motor control device of the present invention is described below, the 1st maximum current instruction Imax1
*Input maximum current command input terminals 72.The 2nd maximum current instruction Imax2
*(=2 * Imax1
*) input maximum current command input terminals 74.Position of magnetic pole corrector 76 input maximum current instruction Imax1
*, Imax2
*, detect angle θ f after, output correction angle θ h, lowest high-current value instruction Imax
*Subtracter 78 is from angle instruction θ
*Middle subtraction correction angle θ h.Multiplier 80 instructs Imax with lowest high-current value
*With sine wave signal sin (θ
*-θ h+ Δ θ) the back output current command value i α that multiplies each other
*Multiplier 82 instructs Imax with lowest high-current value
*With cosine wave signal cos (θ
*-θ h+ Δ θ) the back output current command value i β that multiplies each other
*
As the 1st step output 0, then as the 2nd step output 1, D circuits for triggering 86 do not decide the output of device 84 for D terminal input action to action setting apparatus 84 when dropping into power supply.D circuits for triggering 88 are given the output of the Q terminal of D terminal input D circuits for triggering 86.D circuits for triggering 90 are given the output of the Q terminal of D terminal input D circuits for triggering 88.D circuits for triggering 92 are given the output of the Q terminal of D terminal input D circuits for triggering 90.D circuits for triggering 94 are given the output of the Q terminal of D terminal input D circuits for triggering 92.Clock pulse generator 96 produces clock pulse, gives the CK terminal output clock pulse of D circuits for triggering 86～94.The input terminal of switch 98 is connected with angle arithmetic unit 32, and when the Q of D circuits for triggering 90 terminal was output as 0, input terminal was connected with the A lead-out terminal, and when the Q of D circuits for triggering 90 terminal was output as 1, input terminal was connected with the B lead-out terminal.The A input terminal of switch 100 is connected with maximum current command input terminals 72; The B input terminal is connected with maximum current command input terminals 74; When the Q of D circuits for triggering 90 terminal is output as 0; The A input terminal is connected with lead-out terminal, and when the Q of D circuits for triggering 90 terminal was output as 1, the B input terminal was connected with lead-out terminal.When latch circuit 102 is output as 1 when the Q of D circuits for triggering 88 terminal, latch the output of the A lead-out terminal of switch 98, the value of output latch.When latch circuit 104 is output as 1 when the Q of D circuits for triggering 92 terminal, the output of the B lead-out terminal of locking switch 98, the value of output latch.Subtracter 106 outputs deduct the value of the output of latch circuit 104 from the output of latch circuit 102.The output valve that angle correction value generator 108 is being stored based on subtracter 106, i.e. the relation of differential seat angle δ and angle correction value Δ, i.e. the angle correction Value Data table of the relation of following formula is according to the output valve output angle correction value Δ of subtracter 106.
Δ＝tan
-i{a·sinδ/(1-a·cosδ)} (4)
Here, a=Imax1
*/ Imax2
*110 outputs 0 of 0 setting apparatus.The A input terminal of switch 112 is connected with 0 setting apparatus 110; The B input terminal is connected with angle correction value generator 108; When the Q of D circuits for triggering 94 terminal is output as 0; The A input terminal is connected with lead-out terminal, and when the Q of D circuits for triggering 94 terminal was output as 1, the B input terminal was connected with lead-out terminal.And from the output of position of magnetic pole corrector 76 to multiplier 80,82 output switchs 100, i.e. lowest high-current value instruction Imax
*, correction angle θ h is promptly exported in the output of giving subtracter 78 output switchs 112.In addition; By magnetic poles position correction devices such as D circuits for triggering 86～94, switch 98,100,112, angle correction value generators 108; It exports the instruction of the 1st maximum current when motor starts; Then export the instruction of the 2nd maximum current, the 2nd angle when detecting the 1st angle when exporting the instruction of the 1st maximum current and exporting the instruction of the 2nd maximum current is exported the correction value of angle instruction with the change information of the 1st angle and the 2nd angle.
Among this stepper motor control device, one drops into power supply, and action setting apparatus 84 promptly exports 0, and the output of the Q terminal of D circuits for triggering 86～94 becomes 0.Therefore the input terminal of switch 98 is connected with the A lead-out terminal.In addition, because the A input terminal of switch 100 is connected with lead-out terminal, thereby instruct Imax to multiplier 80,82 as lowest high-current value from position of magnetic pole corrector 76
*Output maximum current instruction Imax1
*In addition, because the A input terminal of switch 112 is connected with lead-out terminal, thereby export 0 to subtracter 78 as correction angle θ h from position of magnetic pole corrector 76.Therefore, current instruction value i α
*Become Imax1
*, sin (θ
*+ Δ θ), in addition, current instruction value i β
*Become Imax1
*, cos (θ
*+ Δ θ), according to current instruction value i α
*, i β
*, the winding current value of detecting i α f, i β f, add applied voltage V α, V β for the winding of stepper motor 2.Then, 84 outputs 1 of action setting apparatus, clock pulse generator 96 1 output clock pulse; Promptly as shown in Figure 7; The output of the Q terminal of D circuits for triggering 86 becomes 1, and clock pulse generator 96 1 output next clock pulses are because the output of the Q terminal of D circuits for triggering 88 becomes 1; Thereby detect angle θ f, i.e. the 1st angle θ 1 of Fig. 8 (stating after the explanation) on this time point of latch circuit 102 breech locks.Then, clock pulse generator 96 1 output next clock pulses, because the output of the Q terminal of D circuits for triggering 90 becomes 1, thereby the input terminal of switch 98 is connected with the B lead-out terminal.In addition, because the B input terminal of switch 100 is connected with lead-out terminal, thereby instruct Imax to multiplier 80,82 as lowest high-current value from position of magnetic pole corrector 76
*Output maximum current instruction Imax2
*Therefore, current instruction value i α
*Become Imax2
*Sin (θ
*+ Δ θ), in addition, current instruction value i β
*Become Imax2
*Cos (θ
*+ Δ θ), according to current instruction value i α
*, i β
*, the winding current value of detecting i α f, i β f, add applied voltage V α, V β for the winding of stepper motor 2.Then; Clock pulse generator 96 1 output next clock pulses because the output of the Q terminal of D circuits for triggering 92 becomes 1, thereby detect angle θ f on this time point of latch circuit 104 breech locks; Be the 2nd angle θ 2 of Fig. 8; So, subtracter 106 computing differential seat angle δ (=θ 1-θ 2), the angle correction value generator 108 outputs angle correction value Δ corresponding with differential seat angle δ.Then; Clock pulse generator 96 1 output next clock pulses; Because the output of the Q terminal of D circuits for triggering 94 becomes 1, the B input terminal of switch 112 is connected with lead-out terminal, thereby gives subtracter 78 as correction angle θ h output angle correction value Δ from position of magnetic pole corrector 76.Therefore, current instruction value i α
*Become Imax2
*Sin (θ
*-Δ+Δ θ), in addition, current instruction value i β
*Become Imax2
*Cos (θ
*-Δ+Δ θ), according to current instruction value i α
*, i β
*, the winding current value of detecting i α f, i β f, add applied voltage V α, V β for the winding of stepper motor 2.
Fig. 8 is 50 extremely right, and the angle of the stepper motor of basic stepping angle 1.8 degree is changeed the illustration apart from characteristic (θ-T characteristic), when solid line is represented the rated current power supply, i.e. and lowest high-current value instruction Imax
*Be maximum current instruction Imax2
*The time θ one T characteristic, when dotted line representes that represented characteristic is rated current 50% energising, i.e. lowest high-current value instruction Imax
*θ-T characteristic during for maximum current instruction Imax1.As everyone knows, the rotor angle of stepper motor is if torque will take place is made as T with the relation that torque takes place, and torque constant is made as kt, and position of magnetic pole is made as θ, and then available following formula is approximate, and it is proportional that torque T and motor current take place.
T＝kt·Imax
*·sinθ (5)
Point A is the point that is referred to as point of safes, supposes that rotor stops on an A, if will put A is made as initial magnetic pole position, receives the influence of load torque, finally causes flase drop to go out initial magnetic pole position.For example, when switching on rated current, under the rotor halted state of stepper motor, under the situation of the load torque effect of 0.1Nm, the position that rotor stops, promptly initial magnetic pole position becomes the B point, causes from an A deviation position deviation λ=θ 2-θ
*And, in case error appears on initial magnetic pole position, because the increase of the phase error between the magnetic line of force and the electric current, thereby the low problem of torque appears taking place.
In addition, with 50% when energising of rated current, under the state that the rotor of stepper motor stops, under the situation of the load torque effect of 0.1Nm, rotor stops at a C.And except that bearing load, because change has taken place exciting curent, bigger departing from takes place from an A in some C, and some C instructs θ with respect to angle
*Promptly from an A deviation position deviation ε=θ 1-θ
*And; Through at first with 50% excitatory stepper motor 2 of rated current; Detect angle θ 1, and then, detect angle θ 2 with the excitatory stepper motor 2 of rated current; (the above-mentioned formula of substitution (4) of=θ 1-θ 2=ε-λ) can derive the angle correction value Δ that is used to revise the initial magnetic pole position error with the differential seat angle δ of angle θ 1 and angle θ 2.
Among Fig. 5, stepper motor control device shown in Figure 6, one drops into power supply, owing to can at first give multiplier 80,82 as lowest high-current value instruction Imax from position of magnetic pole corrector 76
*Output maximum current instruction Imax1
*, thereby can be at first with rated current 50% excitatory stepper motor 2.Then, latch circuit 102 breech lock angle θ 1.Then, owing to can give multiplier 80,82 as lowest high-current value instruction Imax from position of magnetic pole corrector 76
*Output maximum current instruction Imax2
*, thereby can be with the excitatory stepper motor 2 of rated current.Then, latch circuit 104 breech lock angle θ 2.Then, subtracter 106 computing differential seat angle δ, the angle correction value generator 108 outputs angle correction value Δ corresponding with differential seat angle δ gives subtracter 78 as correction angle θ h output angle correction value Δ by position of magnetic pole corrector 76, and the excitatory angle of winding becomes θ
*-Δ+Δ θ.Therefore, even owing to load torque when starting acts under the situation of rotor, still can revise the error of initial magnetic pole position, thereby can not strengthen the phase error between the magnetic line of force and electric current, it is low to prevent torque.For example,, produce on the rotor on the purposes of drive system of vertical axis of the load torque that causes by gravity, also can revise the error of initial magnetic pole position even when motor stops.
In addition, be the value angle correction value generator 108 of having stored the angle correction tables of data owing to what use, thereby can calculate angle correction value Δ rapidly.
Maximum current is instructed Imax1 here
*, Imax2
*Be set at 50% and rated current of rated current, but and it is nonessential like this.Obtain angle correction value Δ through angle correction value generator 108 here, if but the processing time have more than needed, also available formula (4) computing angle correction value Δ.
In addition, in an embodiment of the present invention, encoder 30 is used for the angle detector, if but the detector of the suitable performance of resolver etc. for example also can replace.In addition, the angle detector also needs not to be the direct-connected transducer of motor drive shaft.In addition, the two-phase stepper motor is detailed, but among heterogeneous stepper motor, also applicable the present invention.
Claims (7)
1. the control device according to the stepper motor of angle commands for controlling stepper motor is characterized in that, comprising:
A, advance angle arithmetic unit, the corresponding advance angle of load torque current deviation of its computing and above-mentioned stepper motor;
B, adder, it is through asking for the excitatory angle of winding with above-mentioned angle instruction and above-mentioned advance angle addition;
C, voltage add-on device, it adds and the corresponding applied voltage of the excitatory angle of above-mentioned winding for above-mentioned stepper motor, wherein,
Above-mentioned advance angle arithmetic unit has:
Restraint device; It is in the value corresponding with above-mentioned load torque current deviation directly output and the corresponding value of above-mentioned load torque current deviation during less than predetermined angular, is that the afore mentioned rules angle is exported the afore mentioned rules angle when above in the value corresponding with above-mentioned load torque current deviation;
Adder, it is added to set angle in the output of above-mentioned restraint device.
2. the control device of stepper motor according to claim 1; It is characterized in that: above-mentioned advance angle arithmetic unit has the coordinate conversion device, and it obtains above-mentioned load torque current deviation according to the angle of above-mentioned stepper motor and the current deviation of above-mentioned voltage add-on device.
3. the control device of stepper motor according to claim 2 is characterized in that: be provided with the angle detection device of the angle that detects above-mentioned stepper motor, the angle that detects that above-mentioned angle detection device detects is used as the angle of above-mentioned stepper motor.
4. the control device of stepper motor according to claim 2 is characterized in that: be provided with the angle estimating device of the angle of inferring above-mentioned stepper motor, the angle of inferring that above-mentioned angle estimating device is inferred out is used as the angle of above-mentioned stepper motor.
5. the control device of stepper motor according to claim 1 is characterized in that: with the afore mentioned rules angle initialization is 100～140 degree.
6. the control device of stepper motor according to claim 1 is characterized in that: above-mentioned set angle is set at 0～90 degree.
7. the control device of stepper motor according to claim 1; It is characterized in that having: the position of magnetic pole corrector, it exports the instruction of the 1st maximum current when motor starts; Then export the instruction of the 2nd maximum current; The 1st angle when detecting the instruction of above-mentioned the 1st maximum current of output and the 2nd angle when exporting above-mentioned the 2nd maximum current instruction are utilized the change information of above-mentioned the 1st angle and above-mentioned the 2nd angle, export the correction value of above-mentioned angle instruction.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006074795 | 2006-03-17 | ||
| JP2006-074795 | 2006-03-17 | ||
| JP2006074795A JP4481262B2 (en) | 2006-03-17 | 2006-03-17 | Stepping motor control device |
| JP2006079483A JP4362488B2 (en) | 2006-03-22 | 2006-03-22 | Stepping motor drive device |
| JP2006079483 | 2006-03-22 | ||
| JP2006-079483 | 2006-03-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101043195A CN101043195A (en) | 2007-09-26 |
| CN101043195B true CN101043195B (en) | 2012-07-04 |
Family
ID=38595858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100885857A Expired - Fee Related CN101043195B (en) | 2006-03-17 | 2007-03-16 | Stepping motor control apparatus |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4481262B2 (en) |
| CN (1) | CN101043195B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104716879B (en) * | 2015-02-27 | 2017-03-15 | 深圳市雷赛软件技术有限公司 | A kind of current control method of motor and device |
| WO2019073599A1 (en) * | 2017-10-13 | 2019-04-18 | 日立ジョンソンコントロールズ空調株式会社 | Motor drive device, refrigeration cycle device equipped with same, and motor drive method |
| JP7111471B2 (en) * | 2018-01-24 | 2022-08-02 | マブチモーター株式会社 | Control device |
| CN108448965B (en) * | 2018-03-20 | 2021-02-26 | 浙江理工大学 | Heavy-load closed-loop driving system and method of two-phase hybrid stepping motor |
| CN109391189B (en) * | 2018-10-17 | 2020-09-29 | 浙江大华技术股份有限公司 | Stepping motor rotation angle compensation method and device |
| EP3736967B1 (en) * | 2019-05-06 | 2022-06-29 | Melexis Technologies NV | Lead angle detection for bldc motor control |
| CN113258841B (en) * | 2021-06-23 | 2021-09-24 | 深圳市杰美康机电有限公司 | Medium-speed torque compensation method and device for two-phase hybrid stepping motor |
| CN113179058B (en) * | 2021-06-29 | 2021-09-28 | 深圳市杰美康机电有限公司 | Stepper motor current harmonic suppression method based on harmonic current injection method |
| CN113472244B (en) * | 2021-06-30 | 2022-03-04 | 深圳市杰美康机电有限公司 | Control method, device and equipment of stepping motor and storage medium |
| CN115940708A (en) * | 2023-03-15 | 2023-04-07 | 深圳市杰美康机电有限公司 | Stepping motor closed-loop control method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1347568A2 (en) * | 2002-03-19 | 2003-09-24 | Japan Servo Co. Ltd. | Stepping motor driver |
| US6850026B2 (en) * | 2002-03-15 | 2005-02-01 | Japan Servo Co., Ltd. | Stepping motor driver |
| CN1630182A (en) * | 2003-12-19 | 2005-06-22 | 松下电器产业株式会社 | Stepping motor drive device and method |
| EP1583218A1 (en) * | 2004-04-02 | 2005-10-05 | Japan Servo Co. Ltd. | Stepping motor control apparatus |
| CN1677836A (en) * | 2004-03-30 | 2005-10-05 | 日本伺服株式会社 | Stepping motor driver |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3768476B2 (en) * | 2002-09-30 | 2006-04-19 | 日本サーボ株式会社 | Stepping motor drive device |
-
2006
- 2006-03-17 JP JP2006074795A patent/JP4481262B2/en not_active Expired - Fee Related
-
2007
- 2007-03-16 CN CN2007100885857A patent/CN101043195B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6850026B2 (en) * | 2002-03-15 | 2005-02-01 | Japan Servo Co., Ltd. | Stepping motor driver |
| EP1347568A2 (en) * | 2002-03-19 | 2003-09-24 | Japan Servo Co. Ltd. | Stepping motor driver |
| CN1630182A (en) * | 2003-12-19 | 2005-06-22 | 松下电器产业株式会社 | Stepping motor drive device and method |
| CN1677836A (en) * | 2004-03-30 | 2005-10-05 | 日本伺服株式会社 | Stepping motor driver |
| EP1583218A1 (en) * | 2004-04-02 | 2005-10-05 | Japan Servo Co. Ltd. | Stepping motor control apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101043195A (en) | 2007-09-26 |
| JP4481262B2 (en) | 2010-06-16 |
| JP2007252141A (en) | 2007-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101043195B (en) | Stepping motor control apparatus | |
| US6653829B1 (en) | Low cost approach to measuring high resolution rotary position of electric machines | |
| CN102027670B (en) | Motor control device, and electric steering device | |
| KR101301385B1 (en) | Speed control apparatus for the switched reluctance motor | |
| CN103595326B (en) | Motor control assembly and motor control method | |
| EP1972053B1 (en) | Electric motor control | |
| EP1400009B1 (en) | Extended speed range operation of permanent magnet brushless machines using optimal phase angle control in the voltage mode operation | |
| EP1969711B1 (en) | Electric motor control | |
| US10666183B2 (en) | Motor control circuit | |
| CN102487264B (en) | Magnetic flow controller used for sensitive motor | |
| US7728543B2 (en) | Stepping motor controlling device | |
| CN102299674B (en) | Method for drive-controlling electric machinery | |
| WO2018132291A1 (en) | Force feel using a brushless dc motor | |
| EP2689527B1 (en) | A method and apparatus for control of electrical machines | |
| CN110729940A (en) | Method for detecting initial phase of permanent magnet synchronous motor | |
| CN110497959B (en) | Compensator anti-wind system and method for motion control system | |
| WO2007114058A1 (en) | Permanent magnet synchronization motor magnetic pole position detecting method | |
| Al-Fiky et al. | Speed control modeling for in-wheel permanent magnet brushless DC motors for electric vehicles | |
| CN110601633A (en) | Permanent magnet synchronous motor initial phase detection system | |
| CN114389504A (en) | Optimal torque control for multiphase synchronous motors with open circuit conditions | |
| US11736048B1 (en) | Feedforward current control for dual wound synchronous motor drives | |
| JP4281316B2 (en) | Electric machine control device, electric machine control method and program | |
| JP2004274855A (en) | Method and device for detection and adjustment of rotor position | |
| US20030015989A1 (en) | Method and system for controlling an induction machine | |
| CN209930171U (en) | Position self-detection device for rotor of electro-magnetic doubly-salient motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120704 Termination date: 20210316 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |