CN103366829A - Stepper motor power-outage displacement recovery device and method - Google Patents
Stepper motor power-outage displacement recovery device and method Download PDFInfo
- Publication number
- CN103366829A CN103366829A CN2013103127565A CN201310312756A CN103366829A CN 103366829 A CN103366829 A CN 103366829A CN 2013103127565 A CN2013103127565 A CN 2013103127565A CN 201310312756 A CN201310312756 A CN 201310312756A CN 103366829 A CN103366829 A CN 103366829A
- Authority
- CN
- China
- Prior art keywords
- arm controller
- ferroelectric memory
- stepper motor
- outage
- fram ferroelectric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Control Of Stepping Motors (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
A stepper motor power-outage displacement recovery device comprises a power source, a super capacitor, an ARM controller, a FRAM ferroelectric memorizer and an encoder. When a system works normally, the power source simultaneously supplies power to the ARM controller, the FRAM ferroelectric memorizer and the encoder, and charges the super capacitor. If the power source supplies power normally, the ARM controller does not send any command, stepper motor displacement information is directly passed to the ARM controller by the encoder. In case of a power failure, the super capacitor supplies power in a short time, the ARM controller immediately sends a storage command, the FRAM ferroelectric memorizer instantaneously reads and saves the pre-power-outage stepper motor displacement information from the encoder. When the power source recovers power supply, the ARM controller reads and recovers the pre-power-outage stepper motor displacement information from the FRAM ferroelectric memorizer. The stepper motor power-outage displacement recovery device has the advantages of simple structure, high performance cost ratio, wide application range, wide temperature range, high reliability and long service life, and is particularly suitable for frequent power-down occasions.
Description
Technical field
The present invention relates to a kind of step motor control system, be specifically related to a kind of device and method for the recovery of stepper motor outage rear motor displacement information, belong to the stepper motor technical field.
Background technology
Stepper motor usually and scrambler be used, obtain the actual displacement of stepper motor by scrambler.Scrambler can be divided into incremental encoder and absolute type encoder.The corresponding definite numerical code in each position of absolute type encoder, therefore has the data reliability height, the advantage that positional information is not lost after the power down, but because stepper motor often will move multi-turn, and the common number of turns total amount of multiturn absolute type scrambler is limited and expensive, and it still is not very extensive therefore using at present.For incremental encoder, positional information is to be determined by the number of pulses that begins to calculate from zero mark, therefore, when power supply disconnects, if do not have instantaneous record and preserve the displacement information of motor, then when power supply is connected again, controller will lose the actual displacement of motor.
For the stepper motor that adopts incremental encoder, in order to prevent the disappearance of displacement information after the motor power down, common way is that reference point is set, and zero guarantees the consistent of initial zero-bit by seeking of the rear stepper motor of starting shooting.But this method is only applicable to mechanism and forms little system, has increased simultaneously the risk that is caused the system failure by the fault that makes zero, and the complicacy of system architecture and holistic cost also will larger raisings in addition.
Summary of the invention
The present invention is directed to the existing deficiency that adopts the stepping motor system of incremental encoder, a kind of stepper motor outage displacement recovery device and method are provided, by adopting FRAM ferroelectric memory and super capacitor, being implemented in outage moment reads the displacement information of scrambler, thereby solve the difficult problem of the rear zero-bit disappearance of incremental encoder outage, the present invention is simple in structure, cost performance is high, has applied range, reliability height, long advantage of life-span, is particularly useful for the occasion of frequent power down.
The technical scheme that the present invention solves its technical matters is:
A kind of stepper motor outage displacement recovery device, it includes power supply, super capacitor, the ARM controller, FRAM ferroelectric memory and scrambler, wherein, power supply connects super capacitor, the ARM controller, FRAM ferroelectric memory and scrambler, simultaneously to the ARM controller, FRAM ferroelectric memory and scrambler power supply, and be the super capacitor charging, super capacitor connects the ARM controller, FRAM ferroelectric memory and scrambler, and when power-fail, power to them in short-term, the ARM controller connects and gating FRAM ferroelectric memory by the CS line, and the ARM controller connects the FRAM ferroelectric memory with the stepper motor displacement information before sending memory command and reading outage by the I2C bus, scrambler is connected with the FRAM ferroelectric memory with the ARM controller respectively by bus, and transmits the stepper motor displacement information and store the front stepper motor displacement information of outage to the FRAM ferroelectric memory to the ARM controller.
Another technical scheme of the present invention is:
A kind of stepper motor outage displacement information recovering method that adopts above-mentioned stepper motor outage displacement recovery device to implement, it is characterized in that: described power supply is powered to described ARM controller, FRAM ferroelectric memory and scrambler simultaneously, and is described super capacitor charging; Described ARM controller detects whether normal power supply of described power supply, if normal, then this ARM controller does not send any order to described FRAM ferroelectric memory, described scrambler directly passes to the stepper motor displacement information this ARM controller by bus, if power-fail, then described super capacitor is in short-term to described ARM controller, FRAM ferroelectric memory and scrambler power supply, in case and detect described power-fail then described ARM controller immediately by the logical FRAM ferroelectric memory of CS line selection, and send memory command by the I2C bus to this FRAM ferroelectric memory, stepper motor displacement information before the instantaneous outage of reading and preserving in the described scrambler of FRAM ferroelectric memory; After the power supply of described power up, described ARM controller is again by the logical FRAM ferroelectric memory of CS line selection, and reads stepper motor displacement information before the outage in the scrambler of storing in this FRAM ferroelectric memory by the I2C bus.
Beneficial effect of the present invention is:
The present invention has adopted FRAM ferroelectric memory and super capacitor, during the stepper motor outage, the electric energy that stores on the super capacitor can continue power supply, makes the FRAM ferroelectric memory read the displacement information of scrambler in the moment of cutting off the power supply, thereby has avoided the zero-bit disappearance after the incremental encoder outage.Wherein, super capacitor can satisfy in short-term simultaneously to ARM, FRAM and scrambler power supply, has electric capacity large (can reach the farad level), the life-span is long, volume is small and exquisite, circuit connects simple advantage; The FRAM ferroelectric memory is compared with legacy memory (EEPROM, FLASH), has that read or write speed faster (less than 200ns), life-span are longer, high-durability (data are preserved more than 10 years after the outage) and a less advantage of power consumption.
The present invention is simple in structure, cost performance is high, has the advantage of applied range, temperature range wide (40 ℃～+ 70 ℃), reliability height and life-span long (hundreds thousand of secondary data recovery), is particularly useful for the occasion of frequent power down.
Description of drawings
Fig. 1 is structural representation of the present invention.
Among the figure, 1-power supply, 2-super capacitor, 3-ARM controller, 4-FRAM ferroelectric memory, 5-scrambler.
Embodiment
Stepper motor outage displacement recovery device of the present invention is by adopting FRAM ferroelectric memory and super capacitor, when outage, make the super capacitor discharge, keep in short-term the work of ARM controller, FRAM ferroelectric memory and scrambler, moment is read in the FRAM ferroelectric memory with the front stepper motor displacement information of outage in the scrambler, behind power up, by reading the encoder information in the FRAM ferroelectric memory, reach the purpose of recovering the front stepper motor displacement information of outage again.
Below in conjunction with accompanying drawing the present invention is elaborated.
See also Fig. 1, stepper motor outage displacement recovery device of the present invention mainly comprises power supply 1, super capacitor 2, ARM controller 3, FRAM ferroelectric memory 4 and scrambler 5.Wherein, power supply 1 connects super capacitor 2, ARM controller 3, FRAM ferroelectric memory 4 and scrambler 5, and this power supply 1 is powered to ARM controller 3, FRAM ferroelectric memory 4 and scrambler 5 simultaneously, and can be super capacitor 2 chargings; This super capacitor 1 connects ARM controller 3, FRAM ferroelectric memory 4 and scrambler 5, and can be in short-term to this ARM controller 3, FRAM ferroelectric memory 4 and scrambler 5 power supplies, to keep their work when power supply 1 lost efficacy; ARM controller 3 connects and gating FRAM ferroelectric memory 4 by the CS line, and ARM controller 3 is by I2C bus connection FRAM ferroelectric memory 4, with the stepper motor displacement information before sending memory command and reading outage; Scrambler 5 is connected with the FRAM ferroelectric memory with ARM controller 3 respectively by bus and is connected, and transmits stepper motor displacement informations and the stepper motor displacement information before the 4 storage outages of FRAM ferroelectric memory to ARM controller 3.
The stepper motor outage rear motor displacement information restoration methods that adopts above-mentioned stepper motor outage displacement recovery device to implement is as follows:
When system worked, power supply 1 was given ARM controller 3, FRAM ferroelectric memory 4 and scrambler 5 power supplies simultaneously, and was super capacitor 2 chargings.ARM controller 3 detects whether normal power supply of power supply 1 by IO, if normal, does not then send any order to FRAM ferroelectric memory 4, and scrambler 5 directly passes to ARM controller 3 with the stepper motor displacement information by bus.If power supply 1 lost efficacy, then super capacitor 2 will be in short-term to ARM controller 3, FRAM ferroelectric memory 4 and scrambler 5 power supplies.In this process, in case detecting power supply 1, ARM controller 3 lost efficacy, then immediately by the logical FRAM ferroelectric memory 4 of CS line selection, and send memory command by the I2C bus to FRAM ferroelectric memory 4, stepper motor displacement information before the 4 instantaneous outages of reading and preserving in the scrambler 5 of FRAM ferroelectric memory, after power supply 1 restores electricity, ARM controller 3 is again by the logical FRAM ferroelectric memory 4 of CS line selection, and read the encoder information of 4 li storages of FRAM ferroelectric memory by the I2C bus, thereby obtain stepper motor displacement information before the outage.
The present invention has overcome the difficult problem of zero-bit disappearance after the outage of existing incremental encoder, have simple in structure, cost performance is high, applied range, temperature range is wide, reliability is high, the life-span is long advantage, is particularly useful for the occasion of frequent power down.
Claims (2)
1. stepper motor outage displacement recovery device, it is characterized in that: include power supply, super capacitor, the ARM controller, FRAM ferroelectric memory and scrambler, wherein, power supply connects super capacitor, the ARM controller, FRAM ferroelectric memory and scrambler, simultaneously to the ARM controller, FRAM ferroelectric memory and scrambler power supply, and be the super capacitor charging, super capacitor connects the ARM controller, FRAM ferroelectric memory and scrambler, and when power-fail, power to them in short-term, the ARM controller connects and gating FRAM ferroelectric memory by the CS line, and the ARM controller connects the FRAM ferroelectric memory with the stepper motor displacement information before sending memory command and reading outage by the I2C bus, scrambler is connected with the FRAM ferroelectric memory with the ARM controller respectively by bus, and transmits the stepper motor displacement information and store the front stepper motor displacement information of outage to the FRAM ferroelectric memory to the ARM controller.
2. stepper motor outage displacement information recovering method that adopts stepper motor outage displacement recovery device claimed in claim 1 to implement, it is characterized in that: described power supply is powered to described ARM controller, FRAM ferroelectric memory and scrambler simultaneously, and is described super capacitor charging; Described ARM controller detects whether normal power supply of described power supply, if normal, then this ARM controller does not send any order to described FRAM ferroelectric memory, described scrambler directly passes to the stepper motor displacement information this ARM controller by bus, if power-fail, then described super capacitor is in short-term to described ARM controller, FRAM ferroelectric memory and scrambler power supply, in case and detect described power-fail then described ARM controller immediately by the logical FRAM ferroelectric memory of CS line selection, and send memory command by the I2C bus to this FRAM ferroelectric memory, stepper motor displacement information before the instantaneous outage of reading and preserving in the described scrambler of FRAM ferroelectric memory; After the power supply of described power up, described ARM controller is again by the logical FRAM ferroelectric memory of CS line selection, and reads stepper motor displacement information before the outage in the scrambler of storing in this FRAM ferroelectric memory by the I2C bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310312756.5A CN103366829B (en) | 2013-07-24 | 2013-07-24 | Stepper motor power-outage displacement recovery device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310312756.5A CN103366829B (en) | 2013-07-24 | 2013-07-24 | Stepper motor power-outage displacement recovery device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103366829A true CN103366829A (en) | 2013-10-23 |
| CN103366829B CN103366829B (en) | 2016-01-13 |
Family
ID=49367990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310312756.5A Active CN103366829B (en) | 2013-07-24 | 2013-07-24 | Stepper motor power-outage displacement recovery device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103366829B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104617713A (en) * | 2015-02-09 | 2015-05-13 | 上海交通大学 | Stepping motor outage displacement recovery system working in closed environment |
| CN106595723A (en) * | 2016-12-03 | 2017-04-26 | 沈阳华创风能有限公司 | Vacon variable-frequency drive-based pulse encoder data storage method |
| CN111697895A (en) * | 2020-06-04 | 2020-09-22 | 北京控制工程研究所 | Zero-seeking control system and method under failure mode of absolute photoelectric encoder |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1140927A (en) * | 1995-07-06 | 1997-01-22 | 株式会社优尼希雅杰克斯 | Stepping motor driving method |
| US6462502B1 (en) * | 1999-01-27 | 2002-10-08 | Fujitsu Limited | Stepper motor controlling apparatus |
| CN102721394A (en) * | 2012-06-29 | 2012-10-10 | 北京经纬恒润科技有限公司 | Detecting system for incremental encoder |
-
2013
- 2013-07-24 CN CN201310312756.5A patent/CN103366829B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1140927A (en) * | 1995-07-06 | 1997-01-22 | 株式会社优尼希雅杰克斯 | Stepping motor driving method |
| US6462502B1 (en) * | 1999-01-27 | 2002-10-08 | Fujitsu Limited | Stepper motor controlling apparatus |
| CN102721394A (en) * | 2012-06-29 | 2012-10-10 | 北京经纬恒润科技有限公司 | Detecting system for incremental encoder |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104617713A (en) * | 2015-02-09 | 2015-05-13 | 上海交通大学 | Stepping motor outage displacement recovery system working in closed environment |
| CN106595723A (en) * | 2016-12-03 | 2017-04-26 | 沈阳华创风能有限公司 | Vacon variable-frequency drive-based pulse encoder data storage method |
| CN111697895A (en) * | 2020-06-04 | 2020-09-22 | 北京控制工程研究所 | Zero-seeking control system and method under failure mode of absolute photoelectric encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103366829B (en) | 2016-01-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203658520U (en) | Intelligent cable fault indicator | |
| CN104881375A (en) | Power-down data protection method and device of storage system | |
| CN103366829A (en) | Stepper motor power-outage displacement recovery device and method | |
| CN201788502U (en) | Magnetic-disc caching data backup and recovery device for accidental power outage | |
| CN103631677B (en) | A kind of method that PLC device power-down data keeps | |
| CN102402704B (en) | Compound multifunctional IC card reader-writer | |
| CN103106160B (en) | Airborne environment serial advanced technology attachment (STAT) bus storage control system and control method thereof | |
| CN201765272U (en) | Three-fee-controlled wireless intelligent electric energy meter | |
| CN103093157A (en) | Method of permanent protection of cache data of serial attached scsi (SAS) redundant array of independent disks (RAID) card | |
| CN211178514U (en) | Absolute value encoder and servo system | |
| CN104598844A (en) | Power failure protection method and device for preventing corruption of system files of solid-state disk | |
| CN205787003U (en) | A kind of PCB intelligent detection device | |
| CN107608824B (en) | Nonvolatile computing device and working method thereof | |
| CN100538874C (en) | Composite storage circuit and have the semiconductor devices of this circuit | |
| CN203883717U (en) | Power-off resetting device of incremental encoder servo motor | |
| CN202584103U (en) | Full-system outage recovering device on basis of nonvolatile internal memory | |
| CN202563287U (en) | Electric tool having memory function | |
| CN115542160A (en) | Battery virtual electricity detection device and method | |
| CN106710180A (en) | Meter reading method of water meter, water meter and system | |
| CN203930802U (en) | The electronic equipment of a kind of memory storage and built-in this memory storage | |
| CN203643554U (en) | Intelligent circuit fault indicator | |
| CN204537701U (en) | EEPROM on-line/off-line burning instrument | |
| CN204836398U (en) | Power line monitoring system | |
| CN204633413U (en) | A kind of Time-delay power supply unit of battery supply set | |
| CN203850001U (en) | Power down protection circuit of static memory |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |