CN101741304A - CPLD-based multi-subdivision high-speed constant-torque controller of two-phase hybrid stepping motor - Google Patents
CPLD-based multi-subdivision high-speed constant-torque controller of two-phase hybrid stepping motor Download PDFInfo
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- CN101741304A CN101741304A CN201010013645A CN201010013645A CN101741304A CN 101741304 A CN101741304 A CN 101741304A CN 201010013645 A CN201010013645 A CN 201010013645A CN 201010013645 A CN201010013645 A CN 201010013645A CN 101741304 A CN101741304 A CN 101741304A
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Abstract
The invention relates to a multi-subdivision high-speed constant-torque controller of a stepping motor. The controller is technically characterized in that: an external pulse is input into an isolation circuit which is connected with a CPLD master control chip; the CPLD master control chip is connected with a subdivision number selecting switch, a forward and backward rotation switch, a startup and shutdown switch, a current detection and over-current protection circuit, a DA conversion circuit and a crystal circuit respectively; the DA conversion circuit is connected with a current setting circuit and two paths of constant current driving circuits; the two paths of constant current driving circuits are connected with a winding of the two-phase hybrid stepping motor; and the current detection and over-current protection circuit is connected with the winding of the two-phase hybrid stepping motor. The controller has a simple structure and does not need to be externally configured with a chip, independently serves as a master control chip and is not matched with other digital processing chips for use.
Description
Technical field
The present invention relates to a kind of two-phase hybrid stepping motor multi-subdivision high-speed constant-torque controller based on CPLD, is a kind of two-phase hybrid stepping motor controller.
Background technology
Stepping motor for high-precision control system, generally adopts the drive system of current control mode as the key component of servomechanism, and driving with segmentation is the Optimal Control mode.At present the most frequently used is to adopt single-chip microcomputer design controllor for step-by-step motor, and advantage is cheap, and mature technique and rich in natural resources are arranged, but assembler language write certain degree of difficulty, and programmed readability is not strong.Adopt DSP also can realize multi-subdivision high-speed control, carry out but the dsp software program is an order, and CPLD is the hardware connection, external identical crystal oscillator, the maximum speed that can reach is high more a lot of than DSP.FPGA is the same with CPLD, product Highgrade integration, systematization, and the process of shortening and simplification hardware designs and upgrading can realize multi-subdivision high-speed control, but the internal resource of FPGA is very abundant, and resource can not get sufficient utilization, some waste.From the paper that searches, there are many employing single-chip microcomputers and CPLD to be used in combination the design controllor for step-by-step motor, CPLD only does simple combinational logic and uses in system, though some also adopts CPLD separately as main control chip, but that adopt mostly is the CPLD of MAX3000 and MAX7000 series, because the just simple operation of this type of chip internal resource-constrained, the function of realization can not realize the operational mode up to 128 segmentations.
Summary of the invention
The technical problem that solves
For fear of the deficiencies in the prior art part, the present invention proposes a kind of two-phase hybrid stepping motor multi-subdivision high-speed constant-torque controller based on CPLD,
Technical scheme
A kind of two-phase hybrid stepping motor multi-subdivision high-speed constant-torque controller based on CPLD is characterized in that comprising that reset switch, crystal oscillating circuit, buffer circuit, segmentation count selector switch, forward-reverse switch, starting shutdown switch, CPLD main control chip, DA change-over circuit, current detecting current foldback circuit, electric current given circuit and 2 road constant-current drive circuits; External pulse is converted to 3.3V by buffer circuit with 5V, output control CPLD main control chip; The CPLD main control chip is according to the signal of segmentation number selector switch, forward-reverse switch or starting shutdown switch, and the quantized value of output subdivided data is to the DA change-over circuit under the clock signal control of crystal oscillating circuit output; Signal to the 2 road constant-current drive circuit of DA change-over circuit after according to electric current given circuit output analog-converted; 2 road constant-current drive circuits compare the voltage of the two-phase hybrid stepping motor current conversion of detection and the output voltage of DA change-over circuit, and voltage opening and turn-offing on the control motor windings; The current detecting current foldback circuit compares winding signal in the two-phase hybrid stepping motor and this circuit protection voltage, makes the logical signal of whether protecting and delivers to the CPLD main control chip.
It is synchronizing, 2 segmentations, 4 segmentations, 8 segmentations, 16 segmentations, 32 segmentations, 64 segmentations and 128 segmentations that selector switch is counted in described segmentation.
Described DA change-over circuit adopts NJU39610D2.
Beneficial effect
The two-phase hybrid stepping motor multi-subdivision high-speed constant-torque controller that the present invention proposes based on CPLD, native system adopts the MAX II series CPLD EPM570T100C3 of altera corp, the internal structure of itself and FPGA is very approaching, in small-scale sequential logic, use more convenient practicality, simple in structure, and CPLD inside is that hardware realizes that speed is very fast, be equipped with DA change-over circuit and constant-current drive circuit, can realize the multi-subdivision high-speed constant torque control of stepping motor fully.It is faster than employing DSP, single-chip microcomputer speed to adopt CPLD to do the master control chip separately under identical clock; Save resource than FPGA, and simple in structure, need not the outer configuring chip of joining; As main control chip, be not used separately with other digital processing chips, simple in structure.
Description of drawings
Fig. 1: the block diagram of control system embodiment of the present invention
Fig. 2: pulse input and buffer circuit figure
Embodiment
Now in conjunction with the embodiments, accompanying drawing is further described the present invention:
Referring to Fig. 1, shown in embodiment wherein, comprise pulse input, controller and two-phase hybrid stepping motor based on the two-phase hybrid stepping motor multi-subdivision high-speed Constant Torque Holding System of CPLD.Controller comprises: a reset switch, crystal oscillating circuit, pulse input isolation circuit, three segmentation number selector switches; a forward-reverse switch, a starting shutdown switch, CPLD main control chip, DA change-over circuit; the current detecting current foldback circuit, electric current given circuit, constant-current drive circuit.
Buffer circuit adopts chip ADUM1200, and the CPLD main control chip adopts EPM570T100C3, and the DA change-over circuit adopts the NJU39610D2DA conversion chip, and constant-current drive circuit adopts chip for driving LMD18245T.
The circuit connecting relation is: the external pulse input isolation circuit, and buffer circuit connects the CPLD main control chip; The CPLD main control chip connects segmentation number selector switch, forward-reverse switch, starting shutdown switch, current detecting current foldback circuit, DA change-over circuit and crystal oscillating circuit respectively; The DA change-over circuit connects electric current given circuit and 2 road constant-current drive circuits, and 2 road constant-current drive circuits connect the winding of two-phase hybrid stepping motor; The current detecting current foldback circuit connects the winding of two-phase hybrid stepping motor.
Referring to Fig. 1 and Fig. 2, describe the workflow of controller of the present invention in detail.The external pulse input is connected to 3 pin of buffer circuit isolating chip ADUM1200, through buffer circuit, pulse signal voltage is through Filtering Processing, magnitude of voltage is converted to 3.3V by 5V, 6 pin output from isolating chip ADUM1200 is connected to CPLD, and CPLD adopts EPM570T100C3, the CPLD internal resource forms the circuit of expectation according to program placement-and-routing.This circuit is according to the signal of segmentation number selector switch, forward-reverse switch, starting shutdown switch, the clock signal of crystal oscillating circuit output, under pulse output and the control crystal oscillating circuit clock signal, output digital quantity subdivided data, these data are the quantized value of sinusoidal and cosine waveform data, two paths of data timesharing output.This quantized value outputs to the DA change-over circuit, this circuit adopts the NJU39610D2DA conversion chip, this chip is to drive the D/A that designs for the two-phase stepping motor segmentation specially, a slice NJU39610D2 inside has two-way D/A conversion, 7 bit resolutions, and sense of current control Sign output, according to the given magnitude of voltage of electric current given circuit, export the analogue value of corresponding size.This analogue value outputs to constant-current drive circuit, it is core that constant-current drive circuit adopts special driving chip LMD18245T, this circuit converts magnitude of voltage to according to the current value that detects from two-phase hybrid stepping motor, compare with the analogue value of D/A output, if detected current conversion value is greater than the analogue value of D/A output, circuit is by the voltage that is added on the motor windings, otherwise conducting is added in the voltage on the motor windings.Like this, the analogue value of the D/A output that the output of D/A circuit is different just flows through different current values in the winding, and the size of the electric current that flows through on the motor windings keeps constant ratio relation with the analogue value that the D/A circuit is exported all the time.The current detecting current foldback circuit is that the electric current that flows through in the motor windings is detected in real time; convert magnitude of voltage to; the decide voltage good with a calculating compares; when this voltage when deciding voltage; guard signal is output as high level; when this voltage when deciding voltage; guard signal is output as low level; this guard signal is input to CPLD; the two-phase protection of motor is separate, and the two-way guard signal carries out or logic, no matter is the high level which has certain width; CPLD operates with regard to execute protection, and the NJU39610D2DA conversion chip resets.
Referring to Fig. 1, this controller main control chip adopts CPLD EPM570T100C3, make full use of resource in the sheet, and external circuit is simple, reliability height, control program realize that by placement-and-routing hardware connects in sheet, speed is fast, realize the High-speed Control of motor, synchronizing, 2 segmentations, 4 segmentations, 8 segmentations, 16 segmentations, 32 segmentations, 64 segmentations, the operation of 128 finely divided states.
Referring to Fig. 2, comprise the pulse input, buffer circuit.This buffer circuit comprises 2, one capacitor C 2 of 1, one resistance R of 1, one resistance R of a capacitor C and pulse output.1 metering function of resistance R, 2 of resistance R are eliminated interference effect.Under the situation that does not have resistance R 2, turn off the pulse input of external signal generator, motor sometimes can be rotated further, and detects the square wave input in pulse output when motor is rotated further, and proves interference signal.Add resistance R 2, turn off the pulse input of external signal generator, and repetition test repeatedly, motor all stops operating, and detects less than signal in pulse output, proves the interference signal elimination.
Claims (3)
1. two-phase hybrid stepping motor multi-subdivision high-speed constant-torque controller based on CPLD is characterized in that comprising that reset switch, crystal oscillating circuit, buffer circuit, segmentation count selector switch, forward-reverse switch, starting shutdown switch, CPLD main control chip, DA change-over circuit, current detecting current foldback circuit, electric current given circuit and 2 road constant-current drive circuits; External pulse is converted to 3.3V by buffer circuit with 5V, output control CPLD main control chip; The CPLD main control chip is according to the signal of segmentation number selector switch, forward-reverse switch or starting shutdown switch, and the quantized value of output subdivided data is to the DA change-over circuit under the clock signal control of crystal oscillating circuit output; Signal to the 2 road constant-current drive circuit of DA change-over circuit after according to electric current given circuit output analog-converted; 2 road constant-current drive circuits compare the voltage of the two-phase hybrid stepping motor current conversion of detection and the output voltage of DA change-over circuit, and voltage opening and turn-offing on the control motor windings; The current detecting current foldback circuit compares winding signal in the two-phase hybrid stepping motor and this circuit protection voltage, makes the logical signal of whether protecting and delivers to the CPLD main control chip; Described CPLD main control chip adopts EPM570T100C3; Described constant-current drive circuit adopts LMD18245T.
2. the two-phase hybrid stepping motor multi-subdivision high-speed constant-torque controller based on CPLD according to claim 1 is characterized in that: it is synchronizing, 2 segmentations, 4 segmentations, 8 segmentations, 16 segmentations, 32 segmentations, 64 segmentations and 128 segmentations that selector switch is counted in described segmentation.
3. the two-phase hybrid stepping motor multi-subdivision high-speed constant-torque controller based on CPLD according to claim 1 is characterized in that: described DA change-over circuit adopts NJU39610D2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010100136450A CN101741304B (en) | 2010-01-21 | 2010-01-21 | CPLD-based multi-subdivision high-speed constant-torque controller of two-phase hybrid stepping motor |
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| CN2010100136450A CN101741304B (en) | 2010-01-21 | 2010-01-21 | CPLD-based multi-subdivision high-speed constant-torque controller of two-phase hybrid stepping motor |
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| CN101741304A true CN101741304A (en) | 2010-06-16 |
| CN101741304B CN101741304B (en) | 2012-05-23 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103701376A (en) * | 2013-11-25 | 2014-04-02 | 嘉兴中润微电子有限公司 | Current attenuation mode control circuit of motor drive chip |
| CN104022697A (en) * | 2014-06-13 | 2014-09-03 | 四川亚美动力技术有限公司 | Constant current source driving module for stepping motor of engine |
| CN107154760A (en) * | 2017-06-06 | 2017-09-12 | 深圳市杰美康机电有限公司 | A kind of high speed high torque (HT) implementation method of composite stepper motor |
| CN107482969A (en) * | 2017-08-18 | 2017-12-15 | 迪百仕电机科技（苏州）有限公司 | A kind of step motor control system |
| CN107800339A (en) * | 2017-11-24 | 2018-03-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of step motor control system based on constant current chopper subdivision |
| CN107992097A (en) * | 2017-11-24 | 2018-05-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of system for realizing in-orbit sun precision tracking |
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2010
- 2010-01-21 CN CN2010100136450A patent/CN101741304B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103701376A (en) * | 2013-11-25 | 2014-04-02 | 嘉兴中润微电子有限公司 | Current attenuation mode control circuit of motor drive chip |
| CN104022697A (en) * | 2014-06-13 | 2014-09-03 | 四川亚美动力技术有限公司 | Constant current source driving module for stepping motor of engine |
| CN104022697B (en) * | 2014-06-13 | 2016-06-08 | 四川亚美动力技术有限公司 | Engine stepper motor constant-current source driver module |
| CN107154760A (en) * | 2017-06-06 | 2017-09-12 | 深圳市杰美康机电有限公司 | A kind of high speed high torque (HT) implementation method of composite stepper motor |
| CN107482969A (en) * | 2017-08-18 | 2017-12-15 | 迪百仕电机科技（苏州）有限公司 | A kind of step motor control system |
| CN107800339A (en) * | 2017-11-24 | 2018-03-13 | 中国科学院长春光学精密机械与物理研究所 | A kind of step motor control system based on constant current chopper subdivision |
| CN107992097A (en) * | 2017-11-24 | 2018-05-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of system for realizing in-orbit sun precision tracking |
| CN107800339B (en) * | 2017-11-24 | 2019-03-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of step motor control system based on constant current chopper subdivision |
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