CN101777864A - Micromotor control system - Google Patents
Micromotor control system Download PDFInfo
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- CN101777864A CN101777864A CN200910264734A CN200910264734A CN101777864A CN 101777864 A CN101777864 A CN 101777864A CN 200910264734 A CN200910264734 A CN 200910264734A CN 200910264734 A CN200910264734 A CN 200910264734A CN 101777864 A CN101777864 A CN 101777864A
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Abstract
The invention relates to a micromotor control system. A micromotor is provided with a rotor and two stator coils. The control system of the micromotor comprises an integrator, two current calculators and two current generators, wherein the integrator is used for receiving a stepper command of the rotor and for performing the integrator processing of the command so as to output a novel-frequency stepper command; the two current calculators are used for respectively receiving the stepper command outputted by the integrator, calculating the stepper command and for outputting a control signal for controlling the current in corresponding stator coils; and the two current generators are used for receiving the control signal, adjusting the current frequency according to the control signal and for outputting the novel-frequency current to the corresponding stator coils, so the rotor can realize the stepper position in the stepper command. A novel frequency is used for providing current to the stepping of the micromotor, and the novel frequency is far higher than the main vibration frequency of the machine of the system driven by the micromotor, so the resonance of the system can be prevented.
Description
Technical field
The present invention relates to the Stepping Motor Control method, relate in particular to a kind of micromotor control system of stepping motor being controlled according to the rotor step instruction.
Background technology
Existing stepping motor is not moving in a continuous manner the commentaries on classics in controlled process, but interrupted earthquake is changeed.Stepping motor has rotor and two stator coils of a permanent magnetism usually.The rotor of stepping motor can provide electric current to turn to settling position by giving in two stator coils any one.The direction of each stepping of rotor is by the current polarity decision that offers coil.By the current impulse of a sequence alternately being provided for two stator current coils, rotor can be from the incipient stability rotated position to new settling position, at interval possible a lot of steps of settling position that this is new and initial settling position.For example, by positive current pulses being provided for first stator coil, positive current pulses is provided then for second stator coil, negative current pulse is provided for then first stator coil, negative current pulse is provided for again second stator coil, this current sequence constitutes the current sequence circulation of a repetition, and stepping motor is rotated according to desired direction and step.In brief, prior art is the four steps motion of adjoining by provide suitable electric current that rotor is finished to coil, and this is the step cycle of one 360 degree.
In order to reduce the amplitude of stepping, often taking at present effective ways is by the electric current of controllable size and polarity being provided for simultaneously two stator coils, segment stepping once more, so that make the magnetic field of generation be positioned at centre position between stator tooth, rotor can be driven like this, and drops on balancedly that to adjoin between stator tooth that a bit of.The rotor Move Mode of this a bit of stepping is called as " micro-stepping is advanced ".
Fig. 2 is existing micromotor control system structured flowchart.The equipment that is driven according to the step instruction micro motor for driving is as lathe or tracking antenna.In existing technology, the step instruction that is produced by external control system (such as, the instruction of the velocity of rotation of per second 5 degree) is converted device and pulse generator and converts the corresponding number of pulses of per second (such as, 500 pulses of per second) to.Then, this transducer and pulse generator are exported the electric pulse of a corresponding frequencies again, and the numerical value that these pulses produce after counter is handled is input to sinusoidal calculations device and cosine calculator.Sinusoidal calculations device and cosine calculator carry out being transferred to current feedback circuit again after the computing to the signal of input, and current feedback circuit provides the required electric current that rotates by described step instruction requirement to the stator coil of electrical micro-machine.
One of counter output has and the corresponding to numerical value of 360 degree stepping period numbers.For example, if this numerical value is 100, so each input pulse of counter represent one four advance step by step the cycle be 3.6 the degree the micro-steppings of advancing or retreating advance.And in fact, the rotation of the physics of the pairing rotor of each pulse equals the number of 3.6 degree divided by stepping period in the once complete rotor rotation.Utilize the rising edge of pulse and the direction that trailing edge is controlled the electrical micro-machine stepping, when counter receives pulse, the rotation direction of determining electrical micro-machine according to the rising edge and the trailing edge of pulse, the rising edge of each pulse and trailing edge are respectively 1 and-1, the number of pulses or the increase of counter output or reduce 1, nominal sine and cosine functions is just recomputated, and current feedback circuit provides corresponding electric current just for the electrical micro-machine coil.
Above-mentioned this micromotor control system is existing in following two problems:
First, because whenever calculator calculates a pulse, just, cosine value also will be calculated again, new current value is provided for the electrical micro-machine coil thereupon, so just, the service speed of cosine calculator and current feedback circuit set the upper limit just for the available velocity of rotation of electrical micro-machine.Certainly, can improve the upper limit of velocity of rotation by the amplitude that the increase micro-stepping is advanced, promptly by reducing the quantity that micro-stepping is advanced in each stepping period.But the amplitude that the increase micro-stepping is advanced has but reduced stepping motor stepping accuracy.
The second, for specific crucial velocity of rotation, the pulse frequency of prior art equipment can be consistent with the mechanical resonance of equipment, such as, by the antenna of electrical micro-machine driving.Because electrical micro-machine is to come in to change aerial position with discontinuous micro-stepping.On the pulse frequency of key, micro-stepping is advanced and will be caused mechanical shock bad in this system, and the amplitude of this bad mechanical shock can reduce by reducing the amplitude that micro-stepping advances, and promptly increases the frequency that micro-stepping is advanced in each stepping period.
So the basic problem of system shown in Figure 2 is that if will increase the amplitude that micro-stepping is advanced in order to improve rotor rotation speed, its result will increase the weight of mechanical shock.And, just must reduce velocity of rotation in order to alleviate mechanical shock.So as for alleviating mechanical shock, must be cost just to sacrifice velocity of rotation, the method that does not up to the present also make the best of both worlds.
Also have document to propose another kind of method, high velocity of rotation can be provided.This method is to utilize the micro-stepping of a change in location corresponding some low velocities of rotation of coming in, second bigger micro-stepping corresponding some higher velocities of rotation of coming in, and the 3rd bigger micro-stepping corresponding some higher velocities of rotation of coming in, by that analogy.But it does not change the size that micro-stepping is advanced in a kind of continuous mode, but according to the scope of velocity of rotation, selects in the micro-stepping of some pre-sizings is advanced, and does not have bigger micro-stepping to advance, and causes excessive mechanical oscillation thus.
Summary of the invention
But the object of the present invention is to provide a kind of micro-motor rotor high speed rotating and can not increase the weight of a kind of micromotor control system of its driving arrangement mechanical oscillation.It is implemented by following technical proposals:
Controlled electrical micro-machine has a rotor and two stator coils, and its described control system comprises:
One integrator in order to receiving the step instruction of described rotor, and carries out integral processing to this instruction, exports the step instruction of new frequency;
Two electric current calculators in order to receiving the described step instruction of integrator output respectively, and calculate the control signal that output is controlled current value in the corresponding stator coil to this step instruction;
With two current feedback circuits, in order to receiving above-mentioned control signal, and power frequency is adjusted according to control signal, export the electric current of new frequency to corresponding stator coil, make rotor realize stepping position in the described step command.
Described system further design is, described new frequency is greater than the mechanical master oscillator frequenc of described electrical micro-machine institute driving arrangement.
Described system further design is that described two electric current calculators are sinusoidal calculations device and cosine calculator.
The present invention utilizes an integrator to come the treatment conversion speed command, the electric current calculator determines to offer the new current values of stator coil, and be electrical micro-machine required electric current when stepping is provided with a fixing new frequency, this new frequency is higher than any by the mechanical master oscillator frequenc of this electrical micro-machine driving arrangement far away.Integrator, just, the output of cosine electric current calculator, electric current maker is benchmark with this fixing new frequency all, the location frequency that micro-stepping is advanced always is being higher than the mechanical resonance frequency of electrical micro-machine institute driving arrangement, the resonance of having avoided system to occur.
The amplitude that electrical micro-machine micro-stepping of the present invention is advanced is unfixed.The step instruction of integrator output is the variable quantity that the last relatively hyposynchronous carry of a back stepping position is put.Therefore, when the velocity of rotation of rotor was high, micro-stepping was advanced just big; When velocity of rotation was low, micro-stepping was advanced just little.No matter concerning the still low velocity of rotation of high velocity of rotation, in fact, realize in a kind of continually varying mode with regard to the change in location of rotor.Therefore, the present invention has just avoided the maximum stepping quantitative limitation that exists or maximum rotational speed restriction in existing technical equipment.In low conversion speed, the precision that has but kept existing micro-stepping to advance.
Description of drawings
Fig. 1 is the structured flowchart of system of the present invention.
Fig. 2 is the structured flowchart of existing micromotor control system.
Embodiment
Below by drawings and the specific embodiments the present invention and advantage thereof are described further.
Contrast Fig. 1, system of the present invention mainly is made up of rotor, stator coil and an integrator, two electric current calculators and two current feedback circuits of electrical micro-machine.Integrator in the present embodiment is a RC integrating circuit, and two electric current calculators adopt sinusoidal calculations device and cosine calculator respectively.
The outside is transported to the RC integrating circuit to the rotor step instruction by rotor, this integrator circuit carries out the step instruction that will produce a new frequency after the integral processing to the step instruction of input, and this instruction specifies rotor position in the stepping periods of 360 degree also to be transported to respectively in sinusoidal calculations device and the cosine calculator.This instruction can be stated as the number of degrees that per second rotates in stepping period, if instruction is to be explained by other some units, integrator can multiply by a corresponding parameters with the velocity of rotation instruction so.
The input of sinusoidal calculations device and cosine calculator receives the step instruction of the above-mentioned new fixed frequency of integrator output terminal output respectively, carry out corresponding sine and cosine calculating according to the instruction that receives, be output into ratio with integrator nominally calculate the gained functional value.Sine value and cosine value two calculators are not done the calculating of sinusoidal and cosine value, also comprise each calculating that nonlinearity erron and other characteristic errors of being caused by electrical micro-machine or electrical micro-machine driving arrangement are compensated of kind.Because just, the cosine calculator can calculate the control signal of the current value (size and polarity) that offers the micromotor stator coil, thereby make rotor turn to correspondence position according to step instruction.
The control signal of above-mentioned control micromotor stator coil current value is imported by the current feedback circuit input, this control signal is adjusted the power frequency in the current feedback circuit, the electric current that produces new frequency is input to corresponding stator coil by its output, make rotor produce by step instruction requirement reach the rotation of new change location.
The output of the integrator in the system of the present invention, the output of sinusoidal calculations device and cosine calculator, the electric current output of electric current maker all is same new frequency.
This new frequency is set, and it is higher than the mechanical master oscillator frequenc in electrical micro-machine and the driving arrangement.The minimum value that micro-stepping is advanced is the step value by integrator minimum of providing in its output, or just, the minimum step value of cosine calculator output, or the electric current maker minimum step value that provides electric current to produce is determined.Because the location of electrical micro-machine in its control system is to be benchmark with new frequency, the change of stepping position each time is the relative increment decision by the pairing step instruction of output each time of integrator.Therefore, the velocity of rotation height, the angle that micro-motor rotor rotates is just big.Otherwise velocity of rotation is low, and the angle that micro-motor rotor rotates is just little.Like this, the present invention in fact just realizes stepping position in a kind of mode that continuously changes the position.Therefore, the present invention has avoided the upper limit of the stepping position that exists in existing technical equipment.Simultaneously, in low conversion speed, but kept minimum micro-stepping to advance, promptly kept the accuracy of stepping, and minimum micro-stepping is only advanced by integrator and just, cosine calculator and electric current maker determine.No matter be that rotor rotation speed is a height or low, the instruction of the position of each stepping all is the new frequency that adopts the mechanical principal resonant frequency that is higher than electrical micro-machine institute driving arrangement, avoids increasing the weight of mechanical resonance.
Although it is pointed out that Fig. 1 integrator is described as the independent device that separates with sinusoidal, cosine calculator, these devices can be finished by a single microcomputer, and for example a digital computer is finished.
The foregoing description is to adopt a new frequency, and this frequency is to decide according to the electrical micro-machine that is adopted and its control system.The main points of its setting are: this frequency should be higher than the mechanical master oscillator frequenc of the system that is driven by this electrical micro-machine, avoids increasing the weight of mechanical resonance with this.
Claims (3)
1. micromotor control system, described electrical micro-machine has a rotor and two stator coils, it is characterized in that the described control system of this electrical micro-machine comprises:
One integrator in order to receiving the step command of described rotor, and carries out integral processing to this order, exports the step command of new frequency;
Two electric current calculators in order to receiving the described step command of integrator output, and calculate the control signal that output is controlled current value in the corresponding stator coil to this step command;
With two current feedback circuits, in order to receiving above-mentioned control signal, and power frequency is adjusted according to control signal, export the electric current of new frequency to corresponding stator coil, make rotor realize stepping position in the described step command.
2. a kind of micromotor control system according to claim 1 is characterized in that the mechanical master oscillator frequenc of described new frequency greater than described electrical micro-machine institute driving arrangement.
3. a kind of micromotor control system according to claim 1 is characterized in that described two electric current calculators are sinusoidal calculations device and cosine calculator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910264734A CN101777864A (en) | 2009-12-31 | 2009-12-31 | Micromotor control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910264734A CN101777864A (en) | 2009-12-31 | 2009-12-31 | Micromotor control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158161A (en) * | 2011-02-21 | 2011-08-17 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN102756955A (en) * | 2011-04-28 | 2012-10-31 | 深圳市大族激光科技股份有限公司 | Device and method for controlling lifting mechanism |
| CN109756160A (en) * | 2017-11-02 | 2019-05-14 | 杭州三花研究院有限公司 | The control system and control method of stepper motor, the refrigerant valve with stepper motor |
| CN111987947A (en) * | 2020-07-13 | 2020-11-24 | 深圳市兆威机电股份有限公司 | Stepping motor, starting control method and device thereof, and computer readable storage medium |
-
2009
- 2009-12-31 CN CN200910264734A patent/CN101777864A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158161A (en) * | 2011-02-21 | 2011-08-17 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN102158161B (en) * | 2011-02-21 | 2014-03-26 | 中国人民解放军第二炮兵工程学院 | Stepping angle compensation method for stepping motor |
| CN102756955A (en) * | 2011-04-28 | 2012-10-31 | 深圳市大族激光科技股份有限公司 | Device and method for controlling lifting mechanism |
| CN102756955B (en) * | 2011-04-28 | 2015-01-07 | 深圳市大族激光科技股份有限公司 | Device and method for controlling lifting mechanism |
| CN109756160A (en) * | 2017-11-02 | 2019-05-14 | 杭州三花研究院有限公司 | The control system and control method of stepper motor, the refrigerant valve with stepper motor |
| CN111987947A (en) * | 2020-07-13 | 2020-11-24 | 深圳市兆威机电股份有限公司 | Stepping motor, starting control method and device thereof, and computer readable storage medium |
| CN111987947B (en) * | 2020-07-13 | 2022-06-10 | 深圳市兆威机电股份有限公司 | Stepping motor, starting control method and device thereof, and computer readable storage medium |
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Application publication date: 20100714 |