CN102097991B - Stepping motor driving device and driving method - Google Patents
Stepping motor driving device and driving method Download PDFInfo
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Abstract
The invention provides a stepping motor driving device and a driving method, which perform drive control via monitoring a position relationship of an excitation stable point of a step motor and a rotor, thereby greatly reducing falling out of step, and can realize stable drive motion via torque control. An excitation phase control part (4) via calculating an excitation phase stable instruction making the excitation stable point in a stagger arrangement with the actual rotor position in a clockwise direction or an anti-clockwise direction, wherein the actual rotor position is obtained by a rotor position counter (7) when successive setting of excitation stable points makes rotor reach a rotor position indicated via utilizing position instructions of a controller (3), and outputs the excitation instructions corresponding to excitation phase set instructions to an electric motor driver (5), thereby controlling torque size and direction generated in the stepping motor (1).
Description
Technical field
The present invention relates to driver of step motor and driving method.
Background technology
In the time that stepping motor is carried out to torque control, carry out torque control by controlling motor current value.As a method of carrying out this torque control, with good grounds driving load, speed are controlled the driving method (with reference to patent documentation 1) of motor current; As additive method, have and utilize the constant current value of out-of-step free degree to implement acceleration and deceleration, driving method at the uniform velocity.In addition, in the time motor current value being controlled by constant current value, to preventing that current value that step-out is used from estimating at surplus and carrying out torque settings.
Prior art document
Patent documentation 1: Japan Patent JP 06-009439 communique
Summary of the invention
The problem to be solved in the present invention
To stepping motor, according to driving load, rotary speed to control the driving method of motor current, its circuit scale is larger and complicated, need Expenses Cost, between development period, the adjustment time.On the other hand, utilize constant current value to implement in the acceleration and deceleration running of motor or the driving method of at the uniform velocity running in the Current Control of not implementing to increase and decrease according to the size of load motor current, the problem existing is: owing to considering load change and in order to prevent that step-out estimates that surplus to a certain degree sets motor current, therefore can consume useless power.
The present invention completes in order to address these problems, its object is to provide a kind of driver of step motor and driving method, to drive control by excitation point of safes and the rotor-position relation of supervision stepping motor, be difficult to step-out, and by carrying out torque control, realize stable drive actions.
For the method for dealing with problems
The present invention, in order to address the above problem, is characterized in that, comprises following structure.
A kind of drive unit of stepping motor, the stop position of the rotor determining according to the excitation phase by coil is excitation point of safes, drives control with the phase difference of actual rotor-position, it is characterized in that, comprise: rotor-position test section, for detection of the rotor-position in direction of rotation with respect to stator of above-mentioned stepping motor, and excitation phase control portion, the position command of the rotor-position of the above-mentioned rotor of instruction based on from controller input, generate coil is carried out to the excitation instruction of excitation, above-mentioned excitation phase control portion by calculate make above-mentioned excitation point of safes with respect to actual rotor-position in the clockwise direction or the excitation counterclockwise staggering set mutually instruction, export motor driver to by setting mutually excitation instruction corresponding to instruction with above-mentioned excitation, thereby be controlled at the size and Orientation of the torque producing in above-mentioned stepping motor, wherein this actual rotor-position is successively setting above-mentioned excitation point of safes so that rotor is obtained by above-mentioned rotor-position test section while arriving the indicated rotor-position of above-mentioned position command.
In addition, above-mentioned excitation phase control portion comprises the operation control part that calculates above-mentioned excitation and set mutually instruction,
It is characterized in that, above-mentioned operation control part makes rotor, calculate the above-mentioned excitation that above-mentioned excitation point of safes is staggered in the clockwise direction with respect to the position of actual rotor and set mutually instruction during to right handed torque with respect to actual rotor-position in generation; Make rotor, calculate the above-mentioned excitation that above-mentioned excitation point of safes is staggered in the counterclockwise direction with respect to the position of actual rotor and set mutually instruction during to the torque of counterclockwise rotation with respect to actual rotor-position in generation.
In addition, a kind of driving method of stepping motor, the stop position of the rotor determining according to the excitation phase by coil is excitation point of safes, drive control with the phase difference of actual rotor-position, it is characterized in that, rotor-position test section detects the rotor-position in direction of rotation with respect to stator of above-mentioned stepping motor, the position command of the rotor-position of the above-mentioned rotor of instruction based on from controller input, excitation phase control portion generates coil is carried out to the excitation instruction of excitation, above-mentioned excitation phase control portion calculate make above-mentioned excitation point of safes with respect to actual rotor-position in the clockwise direction or the excitation counterclockwise staggering set mutually instruction, export motor driver to by setting mutually excitation instruction corresponding to instruction with above-mentioned excitation, thereby be controlled at the size and Orientation of the torque producing in above-mentioned stepping motor, wherein this actual rotor-position is successively setting above-mentioned excitation point of safes so that rotor is obtained by above-mentioned rotor-position test section while arriving the indicated rotor-position of above-mentioned position command.
The effect of invention
If use above-mentioned driver of step motor and driving method, excitation phase control portion sets instruction mutually by calculating the excitation that excitation point of safes is staggered in the clockwise direction or counterclockwise with respect to actual rotor-position, wherein this actual rotor-position is successively setting this excitation point of safes so that obtained by rotor-position test section when the indicated rotor-position of rotor in-position instruction, export motor driver to by setting mutually excitation instruction corresponding to instruction with this excitation, thereby control the size and Orientation from the generation torque of motor.Accordingly, for the size and Orientation of generation torque that acts on rotor, produce and the necessary torque of the load balance that will drive, realize stable drive actions.In addition, by monitoring excitation point of safes and rotor-position relation, can reduce the possibility of step-out, due to needn't as driving method such, consider load change and utilize the constant current value that estimates at surplus to a certain degree to carry out motor driven in order to prevent step-out, therefore do not consume comparatively speaking useless power.
Brief description of the drawings
Fig. 1 is the structured flowchart of the drive unit of stepping motor.
Fig. 2 is the structured flowchart centered by excitation phase control portion.
Fig. 3 A and Fig. 3 B represent the position relationship of rotor-position and on-position and produce the size of torque and the curve chart of direction.
Fig. 4 A and Fig. 4 B represent the position relationship of rotor-position and on-position and produce the size of torque and the curve chart of direction.
Fig. 5 represents to use stepping motor to push the key diagram of the apparatus structure example while running.
Label declaration
1 stepping motor
1a output shaft
2 encoders
3 controllers
4 excitation phase control portions
5 motor drivers
6 position command counters
7 rotor-position counters
8 operation control part
9 monitoring units
10 pulse generate portions
11 installation components
13 couplings
14 ball-screws
15 moveable arms
16 workpiece
17 limiting walls
Embodiment
With reference to accompanying drawing, driver of step motor involved in the present invention and the execution mode of driving method are described below.
Fig. 1 represents the structured flowchart of the drive unit of stepping motor.
Driver of step motor is unfavorable to be controlled by motor current value, and by making the excitation point of safes of stepping motor 1 with respect to actual rotor-position in the clockwise direction or counterclockwise stagger, carries out torque control.
Encoder 2 (rotor-position test section) is located on the output shaft 1a of stepping motor 1, and utilization is exported accordingly pulse with the rotation amount of stepping motor 1 and come detection rotor position.
Controller 3 outputs become the position command of the driving instruction of stepping motor 1.Position command is the rotation command signal being made up of CW direction (clockwise direction) pulse/CCW (counterclockwise) pulse, DIR (direction of rotation signal)/CLK (clock signal) etc., is the instruction that makes rotor scheduled volume and finally stop at which rotor-position.
The position command of excitation phase control portion 4 based on carrying out self-controller 3 exports excitation instruction to motor driver 5, and calculates excitation described later and set mutually instruction.
Motor driver 5 carrys out drive motor by producing in motor with the corresponding excited state of excitation instruction that comes self-excitation phase control portion 4.Motor driver 5 has the micro-stepping function (representing for example in present embodiment to be divided into 16 parts) that can carry out to step angle division driving, because Segmentation Number increases, thereby can form more excited state, therefore can set a lot of excitation point of safes.
In addition, the rotor position information of excitation phase control portion 4 when making the indicated rotor-position of rotor in-position instruction, export for motor driver 5 the excitation instruction that excitation point of safes is moved forward and backward with respect to the position of actual rotor, thereby control the size and Orientation of the torque that rotor is produced.This control action is described below.
Fig. 2 is the structured flowchart that represents the handling process of excitation phase control portion 4.
In excitation phase control portion 4, have monitor the relation of actual rotor-position and excitation point of safes, in order to prevent that the size and Orientation of step-out controlling torque from changing the position of excitation point of safes with respect to the function of rotor-position.
Position command counter 6 is counted the position command information (pulse train) of carrying out self-controller 3.If pulse input mode, to CW (CLK) terminal input pulse; If dipulse input mode, except CW terminal, also to CCW (DIR) terminal input pulse.
In addition, the positional information of the rotor of rotor-position counter 7 to stepping motor 1 (the detection pulse of encoder 2) is counted.
Next, operation control part 8 calculates the excitation of correction position deviation and sets mutually instruction, and this position deviation is counting poor of position command information and actual rotor position information.It is by operation excited state, command information that excitation point of safes is staggered in the clockwise direction or counterclockwise with respect to actual rotor-position that this excitation is set instruction mutually, is the order that is controlled at the size and Orientation of the torque producing in motor.Accordingly, can realize the anglec of rotation control of motor rapidly.
In addition, monitoring unit 9 is set mutually instruction to the excitation of exporting from operation control part 8 and is monitored, makes the motor can step-out.Monitoring unit 9 monitors the rotor position information such as position of rotation, direction of rotation of the rotor of exporting from rotor-position counter 7, be altered at excitation point of safes the excitation of inputting from operation control part 8 and set mutually the indicated position motor of instruction will step-out time, excitation is set to instruction mutually and be limited in out-of-step free scope.For example, when the position of setting mutually the indicated excitation point of safes of instruction in the excitation of exporting from operation control part 8 exceedes step-out determinating reference value (higher limit and lower limit) with respect to rotor-position, restriction excitation is set instruction makes the position of excitation point of safes be positioned at the scope of step-out determinating reference value.Accordingly, due to not can as driving method such, consider load change and utilize the constant current value that estimates at surplus to a certain degree to carry out motor driven in order to prevent step-out, therefore do not consume comparatively speaking useless power.
Next, set mutually instruction as benchmark taking the excitation from monitoring unit 9, pulse generate portion 10 generates the position in order to change excitation point of safes and the excitation instruction of exporting to motor driver 5.
If motor driver 5 is pulse input modes, excitation instruction is made up of driving pulse and direction of rotation switching signal; If dipulse input mode, drives signal to form by CW direction driving pulse and CCW direction.
Referring to concrete example, the control method of the size and Orientation of the torque of excitation phase control portion 4 is described.
With reference to Fig. 3 and Fig. 4, an example of the excitation instruction that excitation phase control portion 4 generates is described.The torque characteristics that in Fig. 3 A, be illustrated in stepping motor 1, the position relationship of rotor-position and excitation point of safes determines is roughly sinusoidal wave characteristic.
Be positioned at phase place at rotor in the time that CCW side staggers the rotor-position PE of pi/2 with respect to excitation point of safes Ex, produce breakdown torque in CW direction (clockwise direction); In the time that rotor is located at CW direction and staggers the rotor-position of pi/2, produce breakdown torque in CCW direction (counterclockwise).
That is, stagger with respect to rotor-position by the position that makes excitation point of safes Ex, can control direction, the size of the torque of generation.
In addition, as mentioned above, in the time that advancing or retreat pi/2 with respect to excitation point of safes Ex, phase place can become breakdown torque in theory, but in fact under the situation of rotor, not necessarily just can obtain breakdown torque by being set in pi/2, the situation that can produce breakdown torque while setting the phase difference of excitation point of safes Ex and rotor-position in the scope in experience below the above π of pi/2 is more.
For example, need to be in the time that CW direction be accelerated at rotor, excitation phase control portion 4 is by exporting driving pulse to motor driver 5, make energetically excitation point of safes move, thereby be created in the appropriate torque that CW direction is accelerated, make to produce the position relationship of rotor-position PE and on-position Ex as the big or small torque (state of Fig. 3 B) of target.
In Fig. 4 A, in the time that rotor is slowed down for CW direction, excitation phase control portion 4 is by exporting driving pulse to motor driver 5, make excitation point of safes Ex with respect to rotor-position to CCW side shifting, produce with the appropriate torque of CW opposite direction direction and also slow down, make the position relationship of rotor-position PE and on-position Ex become the position relationship that produces appropriate torque.
As shown in Figure 4 B, export the various driving pulses for excitation point of safes is moved by excitation phase control portion 4 for motor driver 5, excitation point of safes Ex is moved, thereby the torque characteristics producing in motor is changed, control the size, the direction that produce torque.
The difference of excitation point of safes and rotor-position is defined as phase difference, and the relation of the torque of this phase difference and generation is as shown in following table 1 herein.In addition, under the state that the symbol of phase difference staggers in CW direction with respect to rotor-position at excitation point of safes, be just made as, under the state staggering in CCW direction, be made as negative.
[table 1]
The relation of the torque of table 1 phase difference and generation
Consider the situation of the torque control of CW direction
Consider the situation of the torque control of CCW direction
The common exciting method of stepping motor and the difference of exciting method of the present invention are described herein.
The elemental motion of common exciting method is to make all the time the location of instruction of position command and the position consistency of excitation point of safes, so that rotor arrives the rotor-position of being specified by position command.
On the other hand, the present invention finally by the indicated rotor-position of position command also with the position consistency of excitation point of safes, but in order to produce the torque for realizing the required size and Orientation of the action of user view in motor, the position of setting transiently excitation point of safes is different from the rotor-position indicated by position command sometimes.
In addition, in the above-described embodiment, the torque settings of the action for realizing user view is described, but also can have carried out torque control for realizing the rotary speed of user view.In this case, in the time that rotary speed is slower than the rotary speed of user's setting, calculate excitation setting instruction so that the torque of direction of rotation increases; Otherwise, when the rotary speed set faster than user in rotary speed, set instruction to produce the identical but big or small less torque of the torque reverse with direction of rotation or direction of rotation even if calculate excitation.
In addition, except above-mentioned position deviation, can, by the velocity deviation of the bias of the differential value (speed) of the differential value (speed) of while use location command information and rotor position information, further appropriately calculate excitation and set mutually instruction.
In addition, as the example of torque control, the apparatus structure example of the pushing working order of the carrying out band restriction that uses stepping motor is described.
In Fig. 5, the output shaft 1a that is fixed on the stepping motor 1 of installation component 11 is connected with ball-screw 14 via coupling 13.Ball-screw 14 comprises and utilizes its screw thread at axially movable moveable arm 15.By ball-screw 14 is carried out to forward and reverse rotary actuation, can make moveable arm 15 mobile along ball-screw 14 advance and retreat, workpiece 16 is moved.Workpiece 16 is limited wall 17 moving-limitings such as limiting member such as grade, under predetermined distance, cannot be moved further.In addition, even if workpiece 16 moves the mobile restriction that arrives limiting wall 17 grades, also must continue to press (pushing) with torque to a certain degree.
In such formation, conventionally manyly implement by the drive unit with air pressure, but the equipment of air compressor need to be set, in the time that pushing running place is less, on cost and on energy, all can occur wasting.On the other hand, carry out controlling torque generation although can carry out Current Control with servomotor, the cost of equipment is higher.
But, in the present embodiment, even if workpiece 16 arrives the mobile limit, the rotation of stepping motor 1 stops, but the phase difference of the position of rotor-position and excitation point of safes still remains necessarily, thereby can remain on the predefined torque of user, for example reach the not torque of damaged condition of workpiece.In addition, owing to only changing the control of on-position, so that the phase difference of the position of rotor-position and excitation point of safes keeps is certain, though therefore for example exist make workpiece 16 suddenly to the situation of the disturbance (not representing for example) that rightabout moves before, also can easily tackle.
In addition, as the example of other torque controls, be rotated speed control, while making rotary speed at the predefined rotary speed of user and current motor variant, the size and Orientation of self-regulating rotary square, makes the rotary speed of motor and the rotary speed of setting consistent.
According to above-mentioned driver of step motor and driving method, by in the time there is no strict time restriction, Current Control function is not set and carrys out the generation torque of control step motor, can avoid step-out and realize the control of rotary speed and the anglec of rotation of motor, and can will be suppressed to minimum to the surplus of motor current setting, cut down power consumption.
Claims (3)
1. a drive unit for stepping motor, the stop position of the rotor determining according to the excitation phase by coil is excitation point of safes, drives control with the phase difference of actual rotor-position, it is characterized in that, comprising:
Controller, this controller is exported the position command that the rotor-position of the described rotor to described stepping motor is indicated;
Rotor-position test section, this rotor-position test section is for detection of the rotor-position in direction of rotation of the stator with respect to described stepping motor;
Excitation phase control portion, the described position command of this excitation phase control portion based on from described controller input, the excitation that generation is carried out excitation to coil is set instruction mutually; And
Motor driver, this motor driver is by making in motor to produce and setting mutually the corresponding excited state of instruction from the excitation of described excitation phase control portion, drive motor thus,
Described excitation phase control portion possesses the operation control part that calculates described excitation and set mutually instruction,
Described operation control part is using the actual rotor-position of described rotor and the difference of excitation point of safes as phase difference, for this phase difference is carried out following among the torque control of any transition: according to the torque producing in described rotor, generate breakdown torque, or make torque increase or reduce, or produce reverse torque, described operation control part calculates excitation and sets mutually instruction, this excitation is set instruction mutually for by described excitation point of safes is staggered in the clockwise direction with respect to actual rotor-position, produce and make described rotor rotate in the clockwise direction required torque thus, or, this excitation is set instruction mutually for by described excitation point of safes is staggered in the counterclockwise direction with respect to actual rotor-position, produce and make described rotor rotate in the counterclockwise direction required torque thus,
Described excitation phase control portion is by exporting described motor driver to by setting mutually excitation instruction corresponding to instruction with described excitation, described excitation is set mutually instruction and is calculated by described operation control part, for excitation point of safes is staggered in the clockwise direction or counterclockwise with respect to actual rotor-position, wherein this actual rotor-position is successively setting described excitation point of safes so that described rotor is obtained by described rotor-position test section while arriving the indicated rotor-position of described position command, thereby be controlled at the size and Orientation of the torque producing in described stepping motor, finally to make described rotor reach the indicated rotor-position of position command of described controller.
2. driver of step motor as claimed in claim 1, is characterized in that,
Have monitoring unit, this monitoring unit is set mutually instruction to the excitation of being exported by described operation control part and is monitored, so that can there is not step-out in motor,
Described monitoring unit monitors the rotor position information including position of rotation, direction of rotation by the detected described rotor of described rotor-position test section, if excitation point of safes is altered to by setting mutually the indicated position of instruction from the excitation of described operation control part input, will there is step-out in motor, in the case, excitation being set to instruction is mutually limited in the scope that step-out can not occur.
3. a driving method for stepping motor, the stop position of the rotor determining according to the excitation phase by coil is excitation point of safes, drives control with the phase difference of actual rotor-position, it is characterized in that,
Based on position command rotor-position and that carry out self-controller of the described rotor of instruction, the excitation that the generation of excitation phase control portion is carried out excitation to coil is set instruction mutually,
Described excitation phase control portion successively sets described excitation point of safes so that described rotor arrives the indicated rotor-position of described position command, now, detects the rotor-position in direction of rotation with respect to the stator of described stepping motor by rotor-position test section,
With respect to the actual rotor-position being obtained by described rotor-position test section, the operation control part that described excitation phase control portion has is using the actual rotor-position of described rotor and the difference of excitation point of safes as phase difference, for this phase difference is carried out following among the torque control of any transition: according to the torque producing in described rotor, generate breakdown torque, or make torque increase or reduce, or produce reverse torque, described operation control part calculates excitation and sets mutually instruction, this excitation is set instruction mutually for by described excitation point of safes is staggered in the clockwise direction with respect to actual rotor-position, produce and make described rotor rotate along clockwise direction required torque thus, or, this excitation is set instruction mutually for by described excitation point of safes is staggered in the counterclockwise direction with respect to actual rotor-position, produce and make described rotor rotate in the counterclockwise direction required torque thus,
Set mutually the corresponding excitation instruction of instruction to motor driver output with described excitation, described excitation is set mutually instruction and is calculated by described operation control part, for making described excitation point of safes in the clockwise direction or counterclockwise staggering,
Described motor driver is controlled the size and Orientation of the torque producing in described stepping motor, thereby make to produce in motor and set mutually the corresponding excited state of instruction from the excitation of described excitation phase control portion, and finally making rotor reach the indicated rotor-position of position command of described controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009-284386 | 2009-12-15 | ||
| JP2009284386A JP4959779B2 (en) | 2009-12-15 | 2009-12-15 | Stepping motor driving apparatus and driving method |
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| Publication Number | Publication Date |
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| CN102097991A CN102097991A (en) | 2011-06-15 |
| CN102097991B true CN102097991B (en) | 2014-11-05 |
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| CN (1) | CN102097991B (en) |
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| CN102340274B (en) * | 2011-06-21 | 2013-04-17 | 苏州佳世达电通有限公司 | Method and circuit for controlling stepper motor |
| JP2013145128A (en) * | 2012-01-13 | 2013-07-25 | Shimadzu Corp | Rotary drive mechanism and spectral device including the rotary drive mechanism |
| JP2015047010A (en) * | 2013-08-28 | 2015-03-12 | 日本精機株式会社 | Display apparatus |
| CN108631665B (en) * | 2017-03-15 | 2021-08-24 | 杭州三花研究院有限公司 | Motor control method and motor control device |
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| JP4133080B2 (en) * | 2002-07-30 | 2008-08-13 | 株式会社メレック | Closed loop pulse train control method and apparatus for stepping motor |
| JP5258209B2 (en) * | 2007-05-31 | 2013-08-07 | キヤノン株式会社 | Stepping motor driving apparatus and image forming apparatus |
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| JP2011130533A (en) | 2011-06-30 |
| CN102097991A (en) | 2011-06-15 |
| JP4959779B2 (en) | 2012-06-27 |
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