CN102735285A - Method for calibrating stepping motor for instrument - Google Patents
Method for calibrating stepping motor for instrument Download PDFInfo
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- CN102735285A CN102735285A CN201210217864XA CN201210217864A CN102735285A CN 102735285 A CN102735285 A CN 102735285A CN 201210217864X A CN201210217864X A CN 201210217864XA CN 201210217864 A CN201210217864 A CN 201210217864A CN 102735285 A CN102735285 A CN 102735285A
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Abstract
The invention relates to a method for calibrating a stepping motor for an instrument. The method comprises the following steps of: driving the stepping motor to move in place towards a mechanical null position before the instrument is not provided with a pointer, and after the pointer is installed, allowing the pointer to point to a scale below an initial scale; controlling the instrument to be under a diagnosis mode, driving the stepping motor to move towards the mechanical null position at low speed, and when the pointer jumps reversely, controlling the instrument to record a step frequency serial number A under the current driving; calculating a step frequency serial number C according to the step frequency serial number A; recording the step frequency serial number C in a storage chip; and allowing the step frequency serial number C to correspond to the magnetic field direction in which a stator should be stopped after the motor reaches the mechanical null position. According to the method for calibrating the stepping motor for the instrument, the magnetic field direction of a rotor of the stepping motor is calibrated by utilizing the characteristic of generating counter motion caused by the reversion of the magnetic field direction of the stepping motor for the instruction in the process that the stepping motor is driven continuously at low speed in a microstep mode after reaching the mechanical null position, and a calibration result is recorded, so that the instrument is used subsequently, and the indication accuracy of the stepping motor for the instrument is improved.
Description
Technical field
The present invention relates to stepper motor and demarcate, relate in particular to the scaling method of a kind of instrument with stepper motor.
Background technology
At present, automobile instrument generally uses the technical scheme of MCU driving stepper motor, and pointer is installed on the step motor shaft, and motor turns over certain angle, is reflected in the variation that is corresponding scale reading on the pointer.The speed that stepper motor rotates and angle-controlled in the type of drive of single-chip microcomputer.
As shown in Figure 1; Two groups of coils of stepper motor stator 10 general uses that automobile instrument is used, rotor 20 is a permanent magnet, Single-chip Controlling outputs to the change in current of stator coil; Thereby change stator 10 formed magnetic directions; Rotor 20 self-field directions and its interaction produce acting force and promote rotor rotation, the formed magnetic direction deflection of electrorheologicalization certain angle on stator coil, and rotor can rotate follows this deflection.
The micro-stepping drive stepping motor is a kind of driving method that generally adopts during automobile instrument is used; This method turns over 360 ° with the stator field direction and is divided into some steps; The level direction and the dutycycle of each step output signal of Single-chip Controlling; On stator coil, simulate the sinusoidal variations of electric current, and the phase differential of the electric current of two coils of stator variation maintenance requirement, this phase differential depends on the design of stepper motor.
The used stepper motor of automobile instrument need pass through gear 30 and slow down from the rotor to the output shaft; Its output shaft generally all can not 360 ° of rotations; Be because positive stop 40 arranged on the gear of output shaft, when output shaft gear block 40 when fixed stop 50 on the motor housing contacts, output shaft gear can not be rotated further again; Stepper motor arrives mechanical zero, and this moment, rotor can not be rotated further.
During automobile instrument is used; The operation that pointer is made zero generally be drive motor to mechanical zero direction motion certain angle, when the initial position of motor not simultaneously, the actual angle that requires to turn over also can be different; If but do not use the zero-bit measuring ability of motor; Stepper motor just has no signal feedback after arriving mechanical zero so, can only continue drive motor and cover remaining angle to the mechanical zero direction, and finally stop.As far as same motor, the magnetic direction that stator is kept when finally stopping to drive is different, can cause different influences to rotor and pointer, is example with the two poles of the earth rotor:
Suppose that rotor is in position as shown in Figure 1 when motor just arrives mechanical zero; And if when finally stopping to drive; The magnetic direction of stator keeps state as shown in Figure 2, and the block on output shaft gear this moment can have the effect of a power to the fixed stop on the motor housing so.If with this position is initial, drive motor makes pointer to moving clockwise, and promptly drives stator field to counterclockwise rotating, and in incipient certain angle, rotor can not rotate so, and pointer can not rotate yet.The theoretical maximum error of this angle is 180 ° on the rotor; If the reduction gear ratio from the rotor to the output shaft is 180:1; The theoretical maximum error that is reflected in so on the pointer is partially counterclockwise 1 °, and the deviation of reference position can be reflected on each position of back.
Otherwise; If when finally stopping to drive, stator field keeps state as shown in Figure 3, so because and the rotor field between interaction; The effect of meeting generation power promotes rotor rotation; Finally reach the direction opposite with stator field, promptly rotor has turned over certain angle to counter clockwise direction, and is as shown in Figure 3.This moment, the block on the output shaft gear can leave the fixed stop certain clearance, and there is departing from of certain angle the position of pointer can be than mechanical zero the time to CW.If with this position is initial, drive motor makes pointer to moving clockwise, and promptly drives stator field to counterclockwise rotating, and before driving, has produced the deviation of CW certain angle so.The theoretical maximum error of rotor is 180 °, if the reduction gear ratio from the rotor to the output shaft is 180:1, the theoretical maximum error that is reflected in so on the pointer is 1 ° of an inclined to one side CW, and the deviation of reference position can be reflected on each position of back.
For above-mentioned error; If be left intact, will influence the pointing accuracy of pointer so, solution can be used motor zero-bit measuring ability; But not all single-chip microcomputer can both be supported this function, neither all motor properties can both satisfy the requirement of this function.
Summary of the invention
Based on this, be necessary to provide a kind of simple to operate, instrument stepper motor scaling method of need not extras.
A kind of instrument stepper motor scaling method, it comprises step:
Drive stepping motor does not put in place to the motion of mechanical zero direction when instrument is installed pointer, makes pointer set up the back and points to below the start index;
Control instrument is under the diagnostic mode, and to the motion of mechanical zero direction, when oppositely beating appearred in pointer, the control instrument record was as the step number sequence number A of front wheel driving with low speed for drive stepping motor;
Calculate step number sequence number C according to said step number sequence number A; Wherein, if drive stepping motor motor stator magnetic field when the mechanical zero direction is moved clockwise rotates, then step number sequence number C is that the corresponding stator field of step number sequence number A turns over 270 ° or turn over 90 ° of pairing step number sequence numbers counterclockwise clockwise; If stator field rotated counterclockwise when drive stepping motor was moved to the mechanical zero direction, then step number sequence number C is that the corresponding motor stator magnetic field of step number sequence number A turns over 270 ° or turn over 90 ° of pairing step number sequence numbers clockwise counterclockwise; And
Said step number sequence number C is recorded in the said storage chip; It is corresponding that said step number sequence number C and motor arrive the magnetic direction that stator should stop behind the mechanical zero.
In a preferred embodiment, described instrument stepper motor scaling method further comprises step: return mechanical zero according to said step number sequence number C drive stepping motor; And drive stepping motor makes pointer move to a plurality of calibration points respectively, when the pointer index error satisfies preset range control instrument respectively record pointer move to the corresponding number of motor steps of said a plurality of calibration point.
In a preferred embodiment; Described instrument stepper motor scaling method further comprises step: in the normal use of instrument; Set the start operation and at first carry out the stepper motor flyback action, the end of making zero drives stator field and remains on the corresponding stator field direction of step number sequence number C.
Instrument stepper motor scaling method of the present invention utilized the instrument stepper motor arrive the mechanical zero continued at a slow speed micro-stepping driving meeting produce heterodromous characteristic because magnetic direction reverses; Carry out the demarcation of stepping motor rotor magnetic direction according to this special performance of counter motion; Write down calibration result simultaneously; Make instrument be used for use afterwards, thereby improved the pointing accuracy of instrument stepper motor.Scaling method of the present invention allows certain error to exist, and error then can eliminate through the calibration of pointer and the method for application of motor.The inventive method is as long as adopt a computing machine to realize, this computing machine links to each other with instrument through bus, does not need the additional apparatus input, the easy easy realization of scaling method.
Description of drawings
Fig. 1 is instrument stepper motor state one synoptic diagram.
Fig. 2 is instrument stepper motor state two synoptic diagram.
Fig. 3 is instrument stepper motor state three synoptic diagram.
Fig. 4 is the instrument stepper motor calibration system Organization Chart of one embodiment of the invention.
Fig. 5 is the synoptic diagram of an embodiment China National Instruments Import & Export Corporation meter step motor state four.
Fig. 6 is the synoptic diagram of an embodiment China National Instruments Import & Export Corporation meter step motor state five.
Fig. 7 is the synoptic diagram of an embodiment China National Instruments Import & Export Corporation meter step motor state six.
Embodiment
To combine specific embodiment and accompanying drawing that instrument stepper motor scaling method of the present invention is described in further detail below.
Instrument particularly automobile instrument will be passed through a large amount of automatic tests and calibration operation in process of production, and its implementation is that instrument and computing machine are passed through bus, couples together like CAN bus, K-Line bus, UART bus etc., and is as shown in Figure 4.
Instrument is in order to cooperate the Testing And Regulating of robotization; Support diagnostic mode on the software function; Under this pattern, allow coupled computing machine that instrument is carried out special operational, as drive motor make zero, drive motor turns over data in corresponding step number, the read-write memory etc.
Instrument stepper motor scaling method of the present invention is based on above-mentioned automated production and calibration process; Make full use of stepper motor and arrive the performance characteristic of mechanical zero continued when the mechanical zero direction drives at a slow speed; Do not need the additional apparatus input; Do not need the production operation personnel to possess very high technical ability, method easy to use realizes demarcating
Stepper motor with the two poles of the earth rotor is that example is elaborated to instrument stepper motor scaling method of the present invention below.Stepper motor calibrating procedure based on the inventive method is written in the computing machine, is automatically performed by the computer control instrument.
Step 1; At first, when instrument is installed pointer, send order through computing machine to instrument, the instrument controller back that receives orders drives the instrument stepper motor automatically and puts in place and finally stop to the motion of mechanical zero direction; Make pointer set up the back and point to below the start index, as shown in Figure 5.By last pointer, continue to demarcate then.
Step 2, control instrument are under the diagnostic mode, continue drive stepping motor and move to the mechanical zero direction with low speed.For ease of proving operation, low speed generally need make stator field direction velocity of rotation less than 180 °/second, and for example stator field turned over 360 ° in 8 seconds, promptly 45 °/second.The stator field direction continues to clockwise rotate under driven at low speed.When stator field direction and rotor field direction reach unanimity; Reach the critical conditions (see figure 6); If this moment, the stator field direction continued to turn over trickle angle clockwise, can make the motion of rotor generation and stator field direction of rotation, promptly rotor turns over maximum 180 ° counterclockwise; And pointer can rotate to CW, and promptly the driven at low speed pointer can occur in the process of mechanical zero motion counterclockwise that pointer is clockwise beats suddenly.If the reduction gear ratio from the rotor to the output shaft is 180:1, pointer has about 1 ° in the motion along the pointer direction so, and is as shown in Figure 7.
When oppositely beating appearred in pointer, the control instrument record was as the step number sequence number A of front wheel driving.Promptly under micro-step drive mode; The stator field direction turns over 360 ° and is divided into some steps completion; Corresponding stator field direction of each step; For example be divided into 24 micro-steppings, the step number sequence number of from 0 to 23 micro-stepping is so just arranged, the corresponding step number sequence number of stator field when instrument controller needs record pointer to take place oppositely to beat.Wherein detecting the method that oppositely to beat appear in pointer can be through video monitor pictures taken; Automatically judge acquisition by computing machine according to the hand motion state; Also can artificially monitor, send order through computing machine again and give instrument, instrument controller is noted current step number sequence number A.
Step 3; Instrument controller continues on this basis clockwise according to step number sequence number A reckoning motor stator magnetic field or turns over 180 ° step number sequence number B counterclockwise, and the stator field that step number sequence number B is corresponding is the stator field direction when approximately just making pointer arrive mechanical zero.
Step 4, instrument controller calculates that according to step number sequence number B the instrument stator field turns over 90 ° step number sequence number C clockwise, C is recorded in the storage chip with the step number sequence number.Stator field direction when instrument will utilize the corresponding stator field direction of step number sequence number C to finish to stop drive motor as flyback action; The magnetic direction of rotor interacts behind stator field direction that step number sequence number C is corresponding and the motor arrival mechanical zero; Can make the output shaft gear block that fixed stop is had the effect of a power, help improving the anti-seismic performance of pointer on mechanical zero.If calculate step number sequence number C, then turn over 270 ° or turn over the step number sequence number of 90 ° of correspondences counterclockwise clockwise for the corresponding stator field of step number sequence number A based on step number sequence number A.
So promptly accomplished demarcation, and drive motor is arrived the stator field direction that should stop behind the mechanical zero be recorded in the storer of instrument the stepping motor rotor magnetic direction.When a plurality of motor is arranged in the instrument, as long as can accomplish demarcation according to the method described above one by one.
If do not have timely complete operation, can continue to wait for that next the stator field direction continues to clockwise rotate that rotor can be followed this rotation makes motor get back to mechanical zero once more at the moment of pointer bounce or jump computing machine.Being rotated further of magnetic direction can repeat to occur the phenomenon that pointer noted earlier is beated clockwise, still can carry out staking-out work.
What need to specify is, the train of reduction gears odevity of stepper motor from rotor to the output shaft process is different, make zero need to drive the direction that stator field rotates can be different, calculate that from step number sequence number A the direction of step number sequence number C is also different so accordingly.Rotate counterclockwise and make under the situation that pointer makes zero driving stator field, continue to rotate counterclockwise 270 ° or clockwise rotate 90 ° and obtain step number sequence number C from step number A.Clockwise rotate and make under the situation that pointer makes zero driving stator field, continue to clockwise rotate 270 ° or rotate counterclockwise 90 ° and obtain step number sequence number C from step number A.
Stepper motor scaling method of the present invention allows certain error to exist, and error then eliminates through the calibration of pointer and the method for application of stepper motor.Wherein, the calibration steps of pointer is:
At first, return mechanical zero according to the step number sequence number C drive stepping motor that writes down in the storage chip.
Then, drive stepping motor makes pointer move to a plurality of calibration points respectively, when the pointer index error satisfies preset range control instrument respectively record pointer move to the corresponding number of motor steps of these a plurality of calibration points.Accomplish when promptly having eliminated pointer behind all calibration points and installing this error below start index one by one, and the result who has used motor to demarcate in the calibration process, the error introducing that magnetic direction causes before will demarcating.
Before stepper motor gets into normal the use, all need make zero, to guarantee instrument machinery and the consistance of electrical specification in each initial state of using.Flyback action makes motor get back to mechanical zero, and promptly the initial state on the mechanical property can both be consistent.After flyback action finished, the direction that stator field stops was the direction of demarcating through motor, the error of having avoided magnetic direction to cause, and the initial state on the electrical specification is consistent.
Get into normal function based on the initial state after above the making zero and use, instrument is used in normal function is through the number of motor steps of calibration, has promptly eliminated pointer the inaccurate error that produces is installed.
Stepper motor scaling method of the present invention also is applicable to the situation of demarcating, calibrating and using at the fixed stop opposite side.The reckoning of the magnetic direction step number sequence number when being that with the difference of aforementioned scaling method pointer has a rebound phenomenon; Promptly for the motor of mentioning in the scaling method noted earlier; If demarcate and calibrate on the right side of fixed stop; Rezero operation should drive the stator field direction and moves counterclockwise so, when occurring noting step number sequence number A when pointer is oppositely beated, extrapolates continuation based on this sequence number then and turns over 270 ° or turn over 90 ° step number sequence number C along pointer counterclockwise.
Stepper motor scaling method of the present invention also is applicable to the situation of multipolar dynamo, other ways of deceleration and ratio of gear.
Stepper motor scaling method of the present invention also can use the mode of rotating according to order substep to realize, does not promptly re-use continuous driven at low speed, certain step number but each order is passed by, and up to the pointer appearance of beating, corresponding step number sequence number writes down and converts.For example, stator field is turned over 360 ° be divided into for 24 steps, send a subcommand through computing machine; Instrument controller was passed by for 4 steps with regard to the drive motor stator field; The subcommand of redispatching was just gone further for 4 steps, oppositely beated up to pointer occurring, and this computer-chronograph sends order and gives instrument; Instrument controller can be with current step number sequence number as step number sequence number A; And then extrapolate step number sequence number C, can there be the error in maximum 3 steps in the step number sequence number when step number sequence number A here and pointer take place oppositely to beat, but can not exert an influence after this error process subsequent calibrations and the motor method of application.
Stepper motor scaling method of the present invention does not increase extra input on the basis of existing equipment; Need higher technical requirement not arranged to operating personnel; Make full use of the stepper motor self characteristics, the operating process that matches through software design and with design realizes demarcation, the calibration to motor, and is applied to during function uses; Effectively eliminate, improved the stepper motor pointing accuracy in the automobile instrument by the error that magnetic direction produced.
The above embodiment has only expressed several kinds of embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.
Claims (3)
1. an instrument stepper motor scaling method is characterized in that, comprises step:
Drive stepping motor does not put in place to the motion of mechanical zero direction when instrument is installed pointer, makes pointer set up the back and points to below the start index;
Control instrument is under the diagnostic mode, and to the motion of mechanical zero direction, when oppositely beating appearred in pointer, the control instrument record was as the step number sequence number A of front wheel driving with low speed for drive stepping motor;
Calculate step number sequence number C according to said step number sequence number A; Wherein, if drive stepping motor motor stator magnetic field when the mechanical zero direction is moved clockwise rotates, then step number sequence number C is that the corresponding stator field of step number sequence number A turns over 270 ° or turn over 90 ° of pairing step number sequence numbers counterclockwise clockwise; If stator field rotated counterclockwise when drive stepping motor was moved to the mechanical zero direction, then step number sequence number C is that the corresponding motor stator magnetic field of step number sequence number A turns over 270 ° or turn over 90 ° of pairing step number sequence numbers clockwise counterclockwise; And
Said step number sequence number C is recorded in the said storage chip; It is corresponding that said step number sequence number C and motor arrive the magnetic direction that stator should stop behind the mechanical zero.
2. instrument stepper motor scaling method according to claim 1 is characterized in that, further comprises step:
Return mechanical zero according to said step number sequence number C drive stepping motor;
Drive stepping motor makes pointer move to a plurality of calibration points respectively, when the pointer index error satisfies preset range control instrument respectively record pointer move to the corresponding number of motor steps of said a plurality of calibration point.
3. instrument stepper motor scaling method according to claim 1 is characterized in that, further comprises step:
In the normal use of instrument, the stepper motor flyback action is at first carried out in setting start operation, makes zero and finishes the stator field direction that the driving stator field remains on step number sequence number C correspondence.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112762978A (en) * | 2020-12-25 | 2021-05-07 | 惠州市德赛西威汽车电子股份有限公司 | Calibration method for vehicle-mounted instrument pointer |
| CN113676387A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
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Cited By (2)
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| CN112762978A (en) * | 2020-12-25 | 2021-05-07 | 惠州市德赛西威汽车电子股份有限公司 | Calibration method for vehicle-mounted instrument pointer |
| CN113676387A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
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Address after: 516006 Guangdong province Huizhou Zhongkai hi tech Industrial Development Zone Pearl River Road No. 1 Patentee after: HUIZHOU DESAY SV AUTOMOTIVE CO., LTD. Address before: 516006 Guangdong province Huizhou Zhongkai hi tech Industrial Development Zone Pearl River Road No. 1 Patentee before: Huizhou Desay SV Auto. Electronics Co., Ltd. |