CN102263536A - Stepping motor subdivided driving device for current vector constant amplitude control - Google Patents
Stepping motor subdivided driving device for current vector constant amplitude control Download PDFInfo
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Abstract
The invention discloses a stepping motor subdivided driving device for current vector constant amplitude control. The device comprises an RS232 interface circuit, an optical coupling isolation circuit, an LED (light emitting diode) indicating circuit, a voltage current protection circuit, a subdivided driving power circuit, a main control unit, a power drive circuit, a two-phase stepping motor and a current detection conditioning circuit, wherein the RS232 interface circuit, the optical coupling isolation circuit, the LED indicating circuit, the voltage current protection circuit, the subdivided driving power circuit and the current detection conditioning circuit are respectively connected with the main control unit; the main control unit, the power drive circuit and the two-phase stepping motor are connected in sequence; and the power drive circuit and the current detection conditioning circuit are connected in sequence. The stepping motor subdivided driving device controlled by current vector constant amplitude provided by the invention can overcome the defects of poor adjustability, low control precision, low reliability, poor repeatability and the like in the prior art and has the advantages of good adjustability, high control precision, high reliability and good repeatability.
Description
Technical field
The present invention relates to the stepping motor technical field, particularly, relate to the micro-stepping driving of stepping motor device of the permanent width of cloth control of a kind of current phasor.
Background technology
Stepping motor is a kind of specific type of electric machine as control usefulness, it is the electric drive device that digital quantity is converted into angular displacement, its running and control impuls are synchronous, the not long-term accumulation of step pitch error, it is comparatively simple and have an open-loop control system of certain precision to form structure, also can form closed-loop control system when requiring more high accuracy.Stepping motor is owing to high-precision positioning control, position and speed control is easy, the step pitch error does not have advantages such as accumulation, uses very extensive in the Industry Control of low load, low velocity.It is extensively applied to becomes indispensable important electric machine assembly in the fields such as Digit Control Machine Tool, automatic production line, industrial instrumentation instrument, computer equipment.But the operation of stepping motor can not need special-purpose driving arrangement, so the performance of stepping motor depends on the quality of its drive system performance to a great extent by common power of alterating and direct current power supply.
At present, the stepper motor driver on the market is made up of single-chip microcomputer and discrete component mostly, and level of integrated system is low, poor anti jamming capability, step angle resolution is not high, causes the stepping motor positioning accuracy not high, there are step-out and two problems of vibration, restricted the application of stepping motor.To the solution of this problem, except improving load characteristic and additional mechanical damping, can also aspect driving power, be improved, as introducing electromagnetic damping, adopting ways such as segmenting driving to solve.
The micro-stepping driving of stepping motor technology be 20th century the mid-1970s grow up, it is a kind of Drive Control Technique that can significantly improve the comprehensive serviceability of stepping motor.American scholar T .R.Fredriksen in 1975 have proposed the control method of stepping motor stepper angle fraction first in U.S.'s incremental motion control system and device annual meeting.In thereafter more than 20 year, the micro-stepping driving of stepping motor technology has obtained very big development, and has obtained in practice using widely.Facts have proved that the micro-stepping driving of stepping motor technology can reduce the step angle of stepping motor, improve the stationarity of step run, increase the flexibility of control etc.
Stepper motor driver is as a kind of power electronic device, and is very high to its control real-time requirement, and therefore the high speed development of little main control unit is a key factor of pushing stepping motor driver development.Based on the chip microcontroller step motor control is present important a kind of means.Stepping motor itself is exactly a discrete type automation executive component, so it is particularly suitable for adopting single-chip microcomputer and embedded system control.Compare with special use, single-chip microcomputer has greater flexibility, the easier control strategy of realizing complexity.Along with the develop rapidly of little main control unit technology and the cost performance of single-chip microcomputer must improve, utilize the chip microcontroller step motor control own through very general.
Traditional constant current chopper drive circuit obtains the correspondent voltage signal by resistance to current sample on the motor windings, the conducting and the shutoff of exporting high-low level control switch pipe with given voltage ratio, guarantee like this winding current near set-point more among a small circle in repeatedly the concussion, its mean value is stabilized on the set-point.Although winding current is constant under copped wave drives, torque output evenly.But zigzag during owing to current waveform, this type of drive can produce bigger electromagnetic noise, and exports a chopping frequency because compare operation is uncontrollable with door, and too high change frequency can increase the switching loss of switching tube, influences its useful life.
The given sine ladder wave of simulating that is converted into by a constant value of electric current during current hysteresis ring control technology drives constant current chopper by voltage, the motor current signal that it and actual detected are obtained compares, go conducting than the unit or turn-off the respective switch device of inverter through the chain rate that stagnates again, make the variation of actual current tracing preset electric current.This method has reduced step angle, has improved resolution, but the motor speed electromagnetic noise that the switching frequency conversion produces when lifting exists equally.
Fixed switching frequency type Current Control then is the error with the current signal of given sinusoidal current signal and actual measurement, compares with the triangular signal of a fixed frequency after current regulator is handled again and produces the PWM ripple.Its duty ratio is subjected to the control of the error signal after current regulator is handled, and the PWM wave frequency is the frequency of triangular carrier.Wherein current regulator should have the effect of ratio or proportional integral, to adjust the error minimum that current error signal makes current of electric size and phase place.Because the fixed switching frequency type has great advantage at tool aspect electromagnetic noise and the output current harmonics.Therefore become at present with the sinusoidal current segmentation analog control mode of single-chip microcomputer as main control chip.
But single-chip microcomputer is limited to by computational speed and precision, and when adopting segmentation control, the segmentation number can not reach very high, and noise is big under the low frequency, and motor is easily shaken, and temperature rise is also big down in normal operation.In addition, for remedying single-chip microcomputer arithmetic speed inferior position, the adjuster that adopts the simulation comparing unit to constitute usually, its parameter is difficult for often adjusting once setting, and is poor to the variation adaptive capacity of the variation of operating mode and object; And senior control strategy and the control method of the also very difficult realization of simulation main control unit, accuracy of detection is not high, and control precision is poor; The control circuit integrated level that also useful analogue device constitutes is not high, and the complicated reliability of hardware designs is low, and is repeatable poor.
In realizing process of the present invention, the inventor finds to exist at least in the prior art that adjustability is poor, control precision is low, reliability is low and defective such as repeatable difference.
Summary of the invention
The objective of the invention is to,, propose the micro-stepping driving of stepping motor device of the permanent width of cloth control of a kind of current phasor, to realize that adjustability is good, control precision is high, reliability is high and the advantage of favorable repeatability at the problems referred to above.
For achieving the above object, the technical solution used in the present invention is: the micro-stepping driving of stepping motor device of the permanent width of cloth control of a kind of current phasor, comprise RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit, main control unit, power driving circuit, two-phase stepping motor and current detecting modulate circuit, wherein: described RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit and current detecting modulate circuit are connected with main control unit respectively; Described main control unit, power driving circuit are connected successively with two-phase stepping motor, and power driving circuit is connected successively with the current detecting modulate circuit.
Further, described main control unit comprises AD sampling hold circuit in serial communication interface SCI, sheet internal reinforcing type PWM module, fixed-point processing module, sheet internal reinforcing type eCAP and the sheet, wherein: AD sampling hold circuit in described serial communication interface SCI, sheet internal reinforcing type PWM module, sheet internal reinforcing type eCAP and the sheet is connected with the fixed-point processing module respectively; Described RS232 interface circuit is connected with serial communication interface SCI, and described current detecting modulate circuit is connected with AD sampling hold circuit in the sheet, and described internal reinforcing type PWM module is connected with power driving circuit; Described optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit and segmentation driving power circuit are connected with the fixed-point processing module respectively.
Further, the model of described main control unit is TMS320F28X.
Further, described current detecting modulate circuit comprises+the 5V DC power supply, and 2.5V DC power supply, model are the integrated single supply instrument amplifier U1 of AD623, and model is the current sensor U2 of ACS712, capacitor C 1, C2 and C4, and adjustable resistance R15; Wherein: described integrated single supply instrument amplifier U1-RG end, through adjustable resistance R15 and integrated single supply instrument amplifier U1+RG holds and is connected;-IN termination 2.5V DC power supply ,+IN end is the Bphase end ,-VS hold ground connection ,+VS termination+5V DC power supply, and after capacitor C 1 ground connection, it is that Uad-IN holds that OUT holds, REF holds ground connection; The IP+ end of described current sensor U2 is the ad0input end, and the IP-end is the AGND end; VCC termination+5V power supply, and after capacitor C 4 ground connection; The VIOUT end is the Bphase end, filter end ground connection after capacitor C 2, and GND holds ground connection.
Further, described electric current and voltage protective circuit comprises comparing unit OP1, OP2, OP3 and OP4, and diode; Wherein: the in-phase input end of described comparing unit OP1 is the VCC end, and the in-phase input end of comparing unit OP3 is the VREF1 end; Comparing unit OP1, comparing unit OP2 are connected with the output of comparing unit OP3, and are connected with the anode of diode; The in-phase input end of comparing unit OP2 is the VREF2 end, and inverting input is the VCC end; The in-phase input end of comparing unit OP4 is a VREF3 end, and inverting input is the over-current signal link, and output is the guard signal link and is connected with the negative electrode of diode.
Further, described segmentation driving power circuit comprises the 20-80V direct-current input power supplying, switching power circuit, power source special chip, half-bridge driven chip, core control circuit and other peripheral circuit and switching tube; Wherein: described 20-80V direct-current input power supplying is connected with switching power circuit and half-bridge driven chip respectively; Described switching power circuit is connected with the half-bridge driven chip with the power source special chip respectively; Described power source special chip is connected with core control circuit and other peripheral circuit.
Further, described power driving circuit comprises the first half-bridge driven chip, the second half-bridge driven chip, first switching tube, second switch pipe, the 3rd switching tube and the 4th switching tube, wherein: the input of the described first half-bridge driven chip is the pwm signal link, the input of the first output termination, first switching tube, the input of the second output termination second switch pipe, first output end of switching tube are connected with the output of second switch pipe and are A+ to be held; The input of the described second half-bridge driven chip is the pwm signal link, the input of the first output termination the 3rd switching tube, the input of the second output termination the 4th switching tube; The 3rd output end of switching tube is connected with the 4th output end of switching tube and is A-holds.
Further, described interior AD sampling hold circuit comprises the saturated PI regulon of anti-integration.
Further, the saturated PI regulon of described anti-integration comprises the first comparing unit N1, the second comparing unit N2, the 3rd comparing unit N3, the 4th comparing unit N4, ratio adjustment module Kp, amplitude limit module, controlled device, integral control module Ki, Z-transformation module Z
-1With differential adjustment module Kd, wherein: the in-phase input end of the described first comparing unit N1 is Y
KreEnd, output is through being connected with first in-phase input end of the second comparing unit N2 behind the ratio adjustment module Kp and being connected with first in-phase input end of the 3rd comparing unit behind integral control module Ki; The output of the described second comparing unit N2 is connected with the input of amplitude limit module and the inverting input UK of the 4th comparing unit N4; The output of amplitude limit module is connected with the input of controlled device and the in-phase input end UK ' of the 4th comparing unit N4; The output Y of controlled device
kBe connected with the inverting input of the first comparing unit N1; Described Z-transformation module Z
-1Input X
kBe connected output X with the output of the 3rd comparing unit N3 and second in-phase input end of the second comparing unit N2
K-1Be connected with second in-phase input end of the 3rd comparing unit N3; The output of the 4th comparing unit N4 is connected with the input of differential adjustment module Kd, and the output of differential adjustment module Kd is connected with the 3rd in-phase input end of the 3rd comparing unit N3.
The micro-stepping driving of stepping motor device of the permanent width of cloth control of the current phasor of various embodiments of the present invention, owing to comprise RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit, main control unit, power driving circuit, two-phase stepping motor and current detecting modulate circuit, wherein: RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit and current detecting modulate circuit are connected with main control unit respectively; Main control unit, power driving circuit are connected successively with two-phase stepping motor, and power driving circuit is connected successively with the current detecting modulate circuit; Can adopt digital control unit to abandon the complicated hardware circuit, the obvious reduction of hardware complexity can improve reliability; High-frequency clock provides possibility to realizing complicated High Accuracy Control algorithm, adopt the New type of current control mode, be that virtual frequency doubling technology is identical with the runnability of high segmentation gear motor to realize inner fine minute technology, to make hanging down segmentation gear operating characteristics of motor; Adjustability is poor in the prior art, control precision is low, reliability is low and the defective of repeatable difference thereby can overcome, to realize that adjustability is good, control precision is high, reliability is high and the advantage of favorable repeatability.
Other features and advantages of the present invention will be set forth in the following description, and, partly from specification, become apparent, perhaps understand by implementing the present invention.Purpose of the present invention and other advantages can realize and obtain by specifically noted structure in the specification of being write, claims and accompanying drawing.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Accompanying drawing is used to provide further understanding of the present invention, and constitutes the part of specification, is used from explanation the present invention with embodiments of the invention one, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the operation principle schematic diagram of the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to the present invention;
Fig. 2 a and Fig. 2 b are the electrical principle schematic diagram of current detecting modulate circuit in the micro-stepping driving of stepping motor device that the permanent width of cloth of current phasor is controlled according to the present invention;
Fig. 3 is the electrical principle schematic diagram of electric current and voltage protective circuit in the micro-stepping driving of stepping motor device that the permanent width of cloth of current phasor is controlled according to the present invention;
Fig. 4 is the function pin figure of main control unit in the micro-stepping driving of stepping motor device that the permanent width of cloth of current phasor is controlled according to the present invention;
Fig. 5 is the operation principle schematic diagram of segmentation driving power circuit in the micro-stepping driving of stepping motor device that the permanent width of cloth of current phasor is controlled according to the present invention;
Fig. 6 is the operation principle schematic diagram of power driving circuit in the micro-stepping driving of stepping motor device that the permanent width of cloth of current phasor is controlled according to the present invention;
Fig. 7 is the operation principle schematic diagram of anti-integration saturated (ant windup) the PI regulon of AD sampling hold circuit in the sheet in the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to the present invention;
Fig. 8 a, Fig. 8 b and Fig. 8 c are the workflow schematic diagram of the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to the present invention.
In conjunction with the accompanying drawings, Reference numeral is as follows in the embodiment of the invention:
The 1-RS232 interface circuit; 2-optical coupling isolation circuit 2; 3-LED indicating circuit 3; 4-electric current and voltage protective circuit 4; 5-segments driving power circuit 5; 6-main control unit 6; 61-serial communication interface SCI 61 serial communication interface SCI 6161; 62-sheet internal reinforcing type PWM module 62; 63-fixed-point processing module 63; 64-sheet internal reinforcing type eCAP 64; AD sampling hold circuit 65 in the 65-sheet; 7-power driving circuit 7; 8-two-phase stepping motor 8; 9-current detecting modulate circuit 9.
Embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the present invention, and be not used in qualification the present invention.
According to the embodiment of the invention, shown in Fig. 1-Fig. 8 c, provide the micro-stepping driving of stepping motor device of the permanent width of cloth control of a kind of current phasor.
As shown in Figure 1, present embodiment comprises RS232 interface circuit 1, optical coupling isolation circuit 2, LED indicating circuit 3, electric current and voltage protective circuit 4, segmentation driving power circuit 5, main control unit 6, power driving circuit 7, two-phase stepping motor 8 and current detecting modulate circuit 9, wherein: RS232 interface circuit 1, optical coupling isolation circuit 2, LED indicating circuit 3, electric current and voltage protective circuit 4, segmentation driving power circuit 5 and current detecting modulate circuit 9 are connected with main control unit 6 respectively; Main control unit 6, power driving circuit 7 are connected successively with two-phase stepping motor 8, and power driving circuit 7 is connected successively with current detecting modulate circuit 9.
Wherein, above-mentioned main control unit 6 comprises serial communication interface SCI 61 serial communication interface SCI 6161, sheet internal reinforcing type PWM module 62, fixed-point processing module 63, sheet internal reinforcing type eCAP 64 and the interior AD sampling hold circuit 65 of sheet, wherein: serial communication interface SCI 61 serial communication interface SCI 6161, sheet internal reinforcing type PWM module 62, sheet internal reinforcing type eCAP 64 and the interior AD sampling hold circuit 65 of sheet are connected with fixed-point processing module 63 respectively; RS232 interface circuit 1 is connected with serial communication interface SCI 61 serial communication interface SCI 6161, and current detecting modulate circuit 9 is connected with AD sampling hold circuit 65 in the sheet, and sheet internal reinforcing type PWM module 62 is connected with power driving circuit 7; Optical coupling isolation circuit 2, LED indicating circuit 3, electric current and voltage protective circuit 4 and segmentation driving power circuit 5 are connected with fixed-point processing module 63 respectively.
Here, the model of main control unit 6 is TMS320F28X, and the concrete function pin as shown in Figure 4.As the TMS320F2806 chip, adopt high performance CMOS technology, clock can reach 100MHZ, 1.8 with the 3.3V low voltage power supply, support that JTAG debugs at line sweep, high performance 32 bit CPUs can be realized 32 multiply accumulating computing, support the efficient programming of c, c++ and compilation; Simultaneously, provide the SARAM of 32K * 16 flash and 10k * 16, sheet internal reinforcing type PWM props up the unit AD sampling hold circuit 65 in 16 road PWM output and 12 bit slices, and enhancement mode LAN main control unit 6eCAN.
In the above-described embodiments, main control unit 6 links to each other with optical coupling isolation circuit 2 and receives external command pulse signal, direction signal and enable signal; Link to each other with current detecting modulate circuit 9, to the motor windings current sampling; Link to each other with led circuit, be used to refer to the running status of stepping motor; Link to each other the corner information that is used to receive the control signal of host computer and uploads stepping motor with the RS232 communicating circuit; Link to each other with power circuit, receive the operating voltage of peripheral hardware and kernel; Link to each other with electric current and voltage protective circuit 4, the assurance system is operate as normal in specified voltage and current range, prevents that key element from damaging; Power driving circuit 7 links to each other with stepping motor, and with the pwm signal power amplification of main control unit 6 outputs, the driving power pipe makes machine operation; Current detecting modulate circuit 9 links to each other with power driving circuit 7, acquisition process motor windings current signal; With CPU(is fixed-point processing module 63) the AD mouth import as sampling unit; Link to each other with the current/voltage protective circuit, switching tube, main control unit 6 and electric motor protecting are provided.
In the above-described embodiments, fixed-point processing module 63, support the digital signal processing algorithm of fixed-point computation, be with abundant peripheral hardware resource in the sheet simultaneously, catch interface eCAP, on-chip SRAM, in-chip FLASH as AD interface, SCI serial communication interface, enhancement mode PWM generation unit ePWM, enhancement mode, the low-voltage double-power supply power supply; The AD interface unit is realized the real-time sampling to the electric current winding current in the sheet, input signal as the current PI module, CPU makes the fixed point multiplication according to the current data table and the current regulating module PI output of external command pulse signal inquiry in-chip FLASH, result of calculation is sent ePWM the unit, the PWM waveform that output duty cycle changes according to certain rules.
In the above-described embodiments, power driving circuit 7 comprises two parts, drive circuit and power main circuit; The pwm signal that drive circuit produces CPU is converted into the signal that is enough to the action of driving switch pipe; The power main circuit is an inverter circuit, and the direct current that external power source is supplied with is transformed to the alternating current that drives composite stepper motor.Current detecting modulate circuit 9 is done voltage by current transformer to power main circuit dc bus current and is transformed, and by the instrument differential operational amplifier, magnitude of voltage is amplified AD allowed band in the sheet of adjusting to CPU, adopt low-pass filter circuit simultaneously being input to the signal filtering of AD.Electric current and voltage protective circuit 4, the voltage of employing comparator unit and setting and current value ratio according to different situations output protection signal, are guaranteed switching tube, motor and other drive plate electronic component safety.
Particularly, shown in Fig. 2 a and Fig. 2 b, above-mentioned current detecting modulate circuit 9 comprises+the 5V DC power supply, 2.5V DC power supply, model are the integrated single supply instrument amplifier U1 of AD623, model is the current sensor U2 of ACS712, capacitor C 1, C2 and C4, and adjustable resistance R15; Wherein: integrated single supply instrument amplifier U1-RG end, through adjustable resistance R15 and integrated single supply instrument amplifier U1+RG holds and is connected;-IN termination 2.5V DC power supply ,+IN end is the Bphase end ,-VS hold ground connection ,+VS termination+5V DC power supply, and after capacitor C 1 ground connection, it is that Uad-IN holds that OUT holds, REF holds ground connection; The IP+ end of current sensor U2 is the ad0input end, and the IP-end is the AGND end; VCC termination+5V power supply, and after capacitor C 4 ground connection; The VIOUT end is the Bphase end, filter end ground connection after capacitor C 2, and GND holds ground connection.
Here, in current detecting modulate circuit 9, current sensor U2 can select isolated form current Hall sensor winding current for use, and output bandwidth is adjusted by the filtered external pin, and output accuracy is 185mV/A; Integrated single supply instrument amplifier U1 can select a kind of novel instrument amplifier for use, and sensor output signal is amplified within the conditioning scope that the AD interface allows in the CPU sheet.
As shown in Figure 3, above-mentioned electric current and voltage protective circuit 4 comprises comparing unit OP1, OP2, OP3 and OP4, and diode; Wherein: the in-phase input end of comparing unit OP1 is the VCC end, and the in-phase input end of comparing unit OP3 is the VREF1 end; Comparing unit OP1, comparing unit OP2 are connected with the output of comparing unit OP3, and are connected with the anode of diode; The in-phase input end of comparing unit OP2 is the VREF2 end, and inverting input is the VCC end; The in-phase input end of comparing unit OP4 is a VREF3 end, and inverting input is the over-current signal link, and output is the guard signal link and is connected with the negative electrode of diode.
Here, comparing unit OP1, OP2, OP3 and OP4 can adopt low price comparing unit LM339 external input voltage to do overvoltage and under-voltage protection; As shown in Figure 3, in the input of comparing unit OP3 homophase, critical VREF1 compares external input voltage with low pressure behind electric resistance partial pressure; The anti-phase input of unit OP2 as a comparison simultaneously, critical VREF2 compares with high pressure; The winding current of current detecting modulate circuit 9 transforms the back voltage signal and inserts the anti-phase input of comparing unit OP4, compares with reference signal VREF3; High-low pressure guard signal and overcurrent protection signal by diode-isolated finished, under voltage protection and overcurrent protection.
As shown in Figure 5, above-mentioned segmentation driving power circuit 5 comprises the 20-80V direct-current input power supplying, switching power circuit, power source special chip, half-bridge driven chip, core control circuit and other peripheral circuit and switching tube; Wherein: the 20-80V direct-current input power supplying is connected with switching power circuit and half-bridge driven chip respectively; Switching power circuit is connected with the half-bridge driven chip with the power source special chip respectively; The power source special chip is connected with core control circuit and other peripheral circuit.
As shown in Figure 6, above-mentioned power driving circuit 7 comprises the first half-bridge driven chip, the second half-bridge driven chip, first switching tube, second switch pipe, the 3rd switching tube and the 4th switching tube, wherein: the input of the first half-bridge driven chip is the pwm signal link, the input of the first output termination, first switching tube, the input of the second output termination second switch pipe, first output end of switching tube are connected with the output of second switch pipe and are A+ to be held; The input of the second half-bridge driven chip is the pwm signal link, the input of the first output termination the 3rd switching tube, the input of the second output termination the 4th switching tube; The 3rd output end of switching tube is connected with the 4th output end of switching tube and is A-holds.
In the above-described embodiments, AD sampling hold circuit 65 comprises the saturated PI regulon of anti-integration in the sheet.As shown in Figure 7, the saturated PI regulon of anti-integration comprises the first comparing unit N1, the second comparing unit N2, the 3rd comparing unit N3, the 4th comparing unit N4, ratio adjustment module Kp, amplitude limit module, controlled device, integral control module Ki, Z-transformation module Z
-1With differential adjustment module Kd, wherein: the in-phase input end of the first comparing unit N1 is Y
KreEnd, output is through being connected with first in-phase input end of the second comparing unit N2 behind the ratio adjustment module Kp and being connected with first in-phase input end of the 3rd comparing unit behind integral control module Ki; The output of the second comparing unit N2 is connected with the input of amplitude limit module and the inverting input UK of the 4th comparing unit N4; The output of amplitude limit module is connected with the input of controlled device and the in-phase input end UK ' of the 4th comparing unit N4; The output Y of controlled device
kBe connected with the inverting input of the first comparing unit N1; Z-transformation module Z
-1Input X
kBe connected output X with the output of the 3rd comparing unit N3 and second in-phase input end of the second comparing unit N2
K-1Be connected with second in-phase input end of the 3rd comparing unit N3; The output of the 4th comparing unit N4 is connected with the input of differential adjustment module Kd, and the output of differential adjustment module Kd is connected with the 3rd in-phase input end of the 3rd comparing unit N3.
The micro-stepping driving of stepping motor device of the permanent width of cloth control of the current phasor of the foregoing description, according to the permanent width of cloth rotation of current phasor principle, electric current in the control motor windings, make motor internal set up uniform circular magnetic field, the resultant magnetic field vector of each phase winding electric current resultant vector of each phase winding (the only poor parameter of it and the former) in other words should rotatablely move in the space constant amplitude, thus the permanent torque of motor and uniform subdivision control on the realization theory meaning.Specifically can realize according to following steps:
Step 1: set up a kind of function Mathematical Modeling of the micro-stepping driving of stepping motor based on the permanent width of cloth control of current phasor, if the electric current of control two-phase:
；
In the last formula:
It is respectively the electric current of A phase, B phase winding;
Be the amplitude of current phasor,
For rotor departs from the angle of reference point, then resultant current vector:
This be with
Be amplitude, with
Be the vector of argument, when
When changing, the resultant current vector turns over the angle of response, and the amplitude size remains unchanged, and biphase current is changed according to sinusoidal rule, then the permanent width of cloth Rotating with Uniform of current phasor;
Step 2: the voltage that current detecting modulate circuit 9 is outputed to becomes digital value after through the A/D conversion, and inner and given sine-wave subdivision digital quantity is done closed loop integration ratio PI control at main control unit 6, exports the power controlling switching tube by special cell again.Current closed-loop is regulated and is adopted the saturated PI control method of anti-integration, and current detecting and conditioning are isolated sampling by current transformer and finished with the difference amplification.
Particularly, the micro-stepping driving of stepping motor device of the permanent width of cloth control of the current phasor of the foregoing description has following characteristics:
⑴ main control unit 6 is TMS320F2806, and rotating DIR signal and instruction pulse signal CP inserts 61,70 pin of main control unit 6 respectively after the light lotus root isolates; Motor windings biphase current sampled signal and system's main circuit current are connected by AD input pin in the sheet 22,23,27,47,48,51,56 pin of TMS320F2806 are sent into four tunnel output signal SPWM ripples 2 pin of half-bridge driven chip I R2104S respectively after 4R7 resistance current limliting, four road signal phases differ 90 or 180; 5 pin of IR2104 and 7 pin signals connect the high-pressure side metal-oxide-semiconductor and the low pressure of half-bridge respectively and survey metal-oxide-semiconductor IRF540N;
⑵ light lotus root buffer circuit adopts 6N137 and TL521, and external command pulse signal PULL+, PULL-and outside direction signal DIR+, DIR-are connected with input 2,3 pin of 6N137 respectively, and current-limiting resistance is got 271 ohm, exports 6 pin and connects on the 3k resistance and move 3.3V to; Enable signal EN+, EN-insert by 1,2 pin of TL521 light lotus root respectively, 271 ohm of the output of 4 pin, current-limiting resistances; Output connects on the 4.7k resistance to be moved to+3.3V;
⑶ tables of data that distributes by the sine and cosine rule of establishment realizes sinusoidal current segmentation function, the segmentation gear is 400,800,1600,3200,6400,12800,25600 pulse/commentaries on classics, complete cycle, the sinusoidal current data form was 512 centrifugal pumps, adopted Q (15) fixed-point number to represent; Consider the symmetry of cosine and sine signal, can be only with 1/4th complete cycle data, promptly 128 word cell spaces are stored in the FLASH space;
⑷ electric current and voltage protective circuit 4 adopts the LM339 chips to finish, when the VCC input voltage greater than 90V, low pressure is during less than 20V, comparing unit output high-low pressure guard signal; Adopt precision resistance that dc bus current is sampled, gained voltage is done input low pressure, high pressure threshold and overcurrent thresholding by voltage comparison unit and is compared; Electric current is excessive or input voltage is excessive too small, and comparing unit output low level overcurrent signal is closed IR2104S output, protection switch pipe and motor;
⑸ segmentation driving power circuit 5 has 4 electric pressures, and system's input voltage (20-90V) is switching power circuit and switching tube power supply; Switching Power Supply two-way output+5V be DSP power source special chip ,+14V is half-bridge driven chip output stage power supply; Power source special chip output+3.3V is system digits circuit, the power supply of main control unit 6 peripheral hardwares, and+1.8V is the power supplies of main control unit 6 kernels;
⑹ the inverter power switching tube adopts IRF540N in the power driving circuit 7, and rated voltage and rated current reach 500V and 20A respectively, adopts special-purpose half-bridge driven chip I R2104 to drive.Fly-wheel diode adopts 1N4148; EPWM unit 44,45,47,48 pin of Tms320F2806 produce four road spwm waveforms and deliver to 2104 input 2 pin by given phase relation, control IRF540N break-make; Current-limiting resistance is 100 ohm between the ePWM unit output SPWM signal of IR2104S input IN and TMS320F2806; Connecing 4R7 resistance between the input of output 5,7 pin of IR2104S and the grid of IRF540N is connected; Boost electric capacity adopts the 1uf polarity free capacitor;
⑺ adopt the saturated conventional PID of anti-integration to regulate when motor is in constant-speed operation, eliminates steady-state error, as shown in Figure 7, and the numeric type position formula of pid control algorithm:
Here:
Be referred to as ratio, integration, the differential coefficient of PID main control unit 6 respectively; Consider working control amount output valve
Often be subjected to the restriction (as the aperture of valve) of actuator and be limited within the specific limits, be that system exists saturation effect, regulating system is introduced Antiwindup PI algorithm after to output violent change, integral is compensated, when UK is between maximum limit definite value and irreducible minimum definite value, UK equals UK ', compensates inoperative; When UK greater than the maximum limit definite value, UK ' gets positive limit value, UK ' deducts UK and obtains negative value, weakens excessive positive integral; When UK less than the irreducible minimum definite value, UK ' gets negative limit value, UK ' deduct UK obtain on the occasion of, compensate excessive negative integral;
⑻ the workflow of the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor is shown in Fig. 8 a, Fig. 8 b and Fig. 8 c, and whole workflow is divided into main three parts according to function:
Segmentation drives main program module, eCAP capture interrupt program and ePWM interrupt service routine and forms; The main program part has mainly been finished the initialization setting of system control register, clock, ePWM module, ADC module, eCAP module and interrupt vector; Fixed-point processing module 63 read-write IO pin segmentation number and direction selector switch signal and electric current loop pid parameters, the interruption of opening ePWM, eCAP, ADC module simultaneously; Main control unit 6 is provided with the pulse of calculating virtual frequency K (8-5) .CPU wait external command to triggering the eCAP capture interrupt according to the segmentation of IO simultaneously;
In each capture interrupt inside, rising edge clock main control unit 6 reads the timer counting of the two-stage degree of depth FIFO of eCAP unit, evenly the reading in the time of a calculating K electric current; Main control unit 6 reads continuously and calculates two-way phase voltage controlled quentity controlled variable k logarithm value renewal ePWM unit comparing unit, and drive motors is finished K micro-stepping elongation, waits band next instruction pulse capture to interrupt taking place;
The ePWM interrupt routine is finished the Current Control of fixed switching frequency, and the size of switching frequency is by the period register decision of EPWM module, desirable 20 KHZ ~ 25KHZ scope fixed frequency in the enforcement usually; In each EPWM unit register 0 interrupted, the two-way current signal that main control unit 6 is finished 9 outputs of current detecting modulate circuit read and amplitude calculating, and called current PI adjustment module output controlled quentity controlled variable voltage
The triggering of ADC current sample incident is by counting 0 synchronous triggering of ePWM.
The micro-stepping driving of stepping motor device of the permanent width of cloth control of the current phasor of the foregoing description, in conjunction with the basic principle that segmentation drives and constant current chopper drives the permanent width of cloth controlling schemes of current phasor is proposed, with the motion control chip TMS320F28X of company of Texas Instruments (TI) as main control unit 6, with current sensor senses to voltage become digital value through after the A/D conversion, through software integration ratio PI control, export the power controlling switching tube by special cell at main control unit 6 inner and given sine-wave subdivision digital quantities again; The micro-stepping driving of stepping motor device inside of the permanent width of cloth control of this current phasor can realize that full digital current closed-loop PI regulates, and adopts digital control unit to abandon the complicated hardware circuit, and the obvious reduction of hardware complexity can reliability improve; High-frequency clock provides possibility to realizing complicated High Accuracy Control algorithm, adopt the New type of current control mode, be that virtual frequency doubling technology has been realized inner fine minute technology, make that low segmentation gear operating characteristics of motor is identical with the runnability of high segmentation gear motor.
The micro-stepping driving of stepping motor device of the permanent width of cloth control of the current phasor of the foregoing description, set up a kind of Mathematical Modeling that can realize the permanent width of cloth control of current phasor, the amplitude of current phasor adopts the anti-saturation PID of conventional numeral to regulate under the constant rotational speed condition, current sensor senses to voltage become digital value through after the A/D conversion, through software integration ratio PI control, the fixed-point computation mode is adopted in the realization of current PI D-algorithm at main control unit 6 inner and given sine-wave subdivision digital quantities; Adopted virtual frequency doubling technology, electric machine operating characteristic has identical performance with high segmentation under the feasible low segmentation concrete conditions in the establishment of a specific crime, and the realization of technology has utilized the enhancement mode eCAP capturing function of main control unit 6; Current phasor amplitude calculating in the software programming, low-pass filtering and current PI control, parameter self-tuning scheduling algorithm can be in this technical more complicated algorithm controlled function of finishing all with special-purpose fixed-point arithmetic function library IQmath Library realization; Promptly, in two phase windings, pass to amplitude by sinusoidal rule change, the staircase waveform electric current of phase phasic difference 90 degree, the resultant magnetic field that just can make stepping motor inside is uniform circular rotating field, the amplitude of resultant magnetic field vector has determined the size of motor rotating torques, the step angle size is then accurately controlled by the angle of adjacent two magnetic vectors, can bring following beneficial effect:
⑴ noise that lower and temperature rise: traditional segmentation control mode, each external command pulse, corresponding staircase waveform current data input, motor takes a step forward; And novel input control mode, each pulse, evenly import K staircase waveform current data, the numerical value of K is provided with decision by the segmentation of the maximum of system's setting segmentation number and active user's interface, and this input mode is equivalent to segment multiple and changes into original K and change into original k times with the frequency of input pulse is virtual doubly the time; This virtual frequency doubling technology can significantly improve the noiseproof feature of motor under low speed or low subdividing running state, reduces the caloric value of motor simultaneously;
⑵ reduce hardware cost, and the enhancement algorithms controlled function improves system reuse: owing to adopted digital winding current PI control, reduced the designing requirement of system to hardware circuit.Parameter K p, Ki, Kd can manually adjust according to field condition by upper computer software and finish in the PI regulon; Consider the complexity that pid parameter is adjusted, regulate becoming simple relatively based on the digital PID parameter tuning of upper computer software with respect to the PI of traditional analog driver.
In sum, the micro-stepping driving of stepping motor device of the permanent width of cloth control of the current phasor of various embodiments of the present invention, owing to comprise RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit, main control unit, power driving circuit, two-phase stepping motor and current detecting modulate circuit, wherein: RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit and current detecting modulate circuit are connected with main control unit respectively; Main control unit, power driving circuit are connected successively with two-phase stepping motor, and power driving circuit is connected successively with the current detecting modulate circuit; Can adopt digital control unit to abandon the complicated hardware circuit, the obvious reduction of hardware complexity can improve reliability; High-frequency clock provides possibility to realizing complicated High Accuracy Control algorithm, adopt the New type of current control mode, be that virtual frequency doubling technology is identical with the runnability of high segmentation gear motor to realize inner fine minute technology, to make hanging down segmentation gear operating characteristics of motor; Adjustability is poor in the prior art, control precision is low, reliability is low and the defective of repeatable difference thereby can overcome, to realize that adjustability is good, control precision is high, reliability is high and the advantage of favorable repeatability.
It should be noted that at last: the above only is the preferred embodiments of the present invention, be not limited to the present invention, although the present invention is had been described in detail with reference to previous embodiment, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the micro-stepping driving of stepping motor device of the permanent width of cloth control of a current phasor; it is characterized in that; comprise RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit, main control unit, power driving circuit, two-phase stepping motor and current detecting modulate circuit, wherein:
Described RS232 interface circuit, optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit, segmentation driving power circuit and current detecting modulate circuit are connected with main control unit respectively; Described main control unit, power driving circuit are connected successively with two-phase stepping motor, and described power driving circuit is connected successively with the current detecting modulate circuit.
2. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 1, it is characterized in that, described main control unit comprises AD sampling hold circuit in serial communication interface SCI, sheet internal reinforcing type PWM module, fixed-point processing module, sheet internal reinforcing type eCAP and the sheet, wherein:
AD sampling hold circuit in described serial communication interface SCI, sheet internal reinforcing type PWM module, sheet internal reinforcing type eCAP and the sheet is connected with the fixed-point processing module respectively;
Described RS232 interface circuit is connected with serial communication interface SCI, and described current detecting modulate circuit is connected with AD sampling hold circuit in the sheet, and described internal reinforcing type PWM module is connected with power driving circuit; Described optical coupling isolation circuit, LED indicating circuit, electric current and voltage protective circuit and segmentation driving power circuit are connected with the fixed-point processing module respectively.
3. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 1 and 2 is characterized in that the model of described main control unit is TMS320F28X.
4. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 1, it is characterized in that, described current detecting modulate circuit comprises+the 5V DC power supply, 2.5V DC power supply, model is the integrated single supply instrument amplifier U1 of AD623, model is the current sensor U2 of ACS712, capacitor C 1, C2 and C4, and adjustable resistance R15; Wherein:
Described integrated single supply instrument amplifier U1-RG end, through adjustable resistance R15 and integrated single supply instrument amplifier U1+RG holds and is connected;-IN termination 2.5V DC power supply ,+IN end is the Bphase end ,-VS hold ground connection ,+VS termination+5V DC power supply, and after capacitor C 1 ground connection, it is that Uad-IN holds that OUT holds, REF holds ground connection;
The IP+ end of described current sensor U2 is the ad0input end, and the IP-end is the AGND end; VCC termination+5V power supply, and after capacitor C 4 ground connection; The VIOUT end is the Bphase end, filter end ground connection after capacitor C 2, and GND holds ground connection.
5. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 4 is characterized in that described electric current and voltage protective circuit comprises comparing unit OP1, OP2, OP3 and OP4, and diode; Wherein:
The in-phase input end of described comparing unit OP1 is the VCC end, and the in-phase input end of comparing unit OP3 is the VREF1 end; Comparing unit OP1, comparing unit OP2 are connected with the output of comparing unit OP3, and are connected with the anode of diode; The in-phase input end of comparing unit OP2 is the VREF2 end, and inverting input is the VCC end; The in-phase input end of comparing unit OP4 is a VREF3 end, and inverting input is the over-current signal link, and output is the guard signal link and is connected with the negative electrode of diode.
6. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 1, it is characterized in that, described segmentation driving power circuit comprises the 20-80V direct-current input power supplying, switching power circuit, the power source special chip, the half-bridge driven chip, core control circuit and other peripheral circuit and switching tube; Wherein:
Described 20-80V direct-current input power supplying is connected with switching power circuit and half-bridge driven chip respectively; Described switching power circuit is connected with the half-bridge driven chip with the power source special chip respectively; Described power source special chip is connected with core control circuit and other peripheral circuit.
7. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 5, it is characterized in that, described power driving circuit comprises the first half-bridge driven chip, the second half-bridge driven chip, first switching tube, second switch pipe, the 3rd switching tube and the 4th switching tube, wherein:
The input of the described first half-bridge driven chip is the pwm signal link, the input of the first output termination, first switching tube, the input of the second output termination second switch pipe, first output end of switching tube are connected with the output of second switch pipe and are A+ to be held;
The input of the described second half-bridge driven chip is the pwm signal link, the input of the first output termination the 3rd switching tube, the input of the second output termination the 4th switching tube; The 3rd output end of switching tube is connected with the 4th output end of switching tube and is A-holds.
8. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 1 is characterized in that described interior AD sampling hold circuit comprises the saturated PI regulon of anti-integration.
9. the micro-stepping driving of stepping motor device of the permanent width of cloth control of current phasor according to claim 8, it is characterized in that the saturated PI regulon of described anti-integration comprises the first comparing unit N1, the second comparing unit N2, the 3rd comparing unit N3, the 4th comparing unit N4, ratio adjustment module Kp, amplitude limit module, controlled device, integral control module Ki, Z-transformation module Z
-1With differential adjustment module Kd, wherein:
The in-phase input end of the described first comparing unit N1 is Y
KreEnd, output is through being connected with first in-phase input end of the second comparing unit N2 behind the ratio adjustment module Kp and being connected with first in-phase input end of the 3rd comparing unit behind integral control module Ki; The output of the described second comparing unit N2 is connected with the input of amplitude limit module and the inverting input UK of the 4th comparing unit N4; The output of amplitude limit module is connected with the input of controlled device and the in-phase input end UK ' of the 4th comparing unit N4; The output Y of controlled device
kBe connected with the inverting input of the first comparing unit N1;
Described Z-transformation module Z
-1Input X
kBe connected output X with the output of the 3rd comparing unit N3 and second in-phase input end of the second comparing unit N2
K-1Be connected with second in-phase input end of the 3rd comparing unit N3; The output of the 4th comparing unit N4 is connected with the input of differential adjustment module Kd, and the output of differential adjustment module Kd is connected with the 3rd in-phase input end of the 3rd comparing unit N3.
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| CN102664576A (en) * | 2012-04-26 | 2012-09-12 | 华为技术有限公司 | Micro-step control method, device and stepping motor controller |
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| CN113364369A (en) * | 2021-06-28 | 2021-09-07 | 成都动芯微电子有限公司 | Stepping motor subdivision control circuit and control method thereof |
| CN114431839A (en) * | 2022-04-08 | 2022-05-06 | 北京大学深圳研究生院 | Piezoelectric pulse sensor |
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