CN103607151B - Mixing attenuation control circuit in a kind of motor drive ic - Google Patents
Mixing attenuation control circuit in a kind of motor drive ic Download PDFInfo
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- CN103607151B CN103607151B CN201310645597.0A CN201310645597A CN103607151B CN 103607151 B CN103607151 B CN 103607151B CN 201310645597 A CN201310645597 A CN 201310645597A CN 103607151 B CN103607151 B CN 103607151B
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Abstract
A mixing attenuation control circuit in motor drive ic, comprises oscillator, counter, comparator, delay circuit, the first trigger, the second trigger, logic and pre-driver circuitry, current detection circuit, H bridge output stage and inductive load.Inductive load is connected with the output of H bridge output stage; H bridge output stage is connected with the input of comparator with current detection circuit; The output signal of delay circuit controls the reset of oscillator, counter, the first trigger and the second trigger; The output signal of counter triggers the first trigger and the second trigger, with the time of declining soon controlled under motor coil electric current mixing evanescent mode with decline the time slowly.The output signal control H bridge output stage of logic and pre-driver circuitry, makes inductive load be in charging or decling phase.Mixing attenuation control circuit of the present invention improves the control precision of electric current, adds the stability of a system, reduces design difficulty and the design cost of PCB printed circuit board (PCB).
Description
Technical field
The present invention relates to a kind of mixing attenuation control circuit, particularly relate to the mixing attenuation control circuit of the motor coil electric current in a kind of motor drive ic.
Background technology
Current motor particularly stepping motor, drive to realize chopping wave constant current, need to detect the electric current in coil, when reaching the electric current of setting, control coil electric current is entered the decling phase by drive circuit.At present, the pattern controlling current attenuation has three kinds: slow decay pattern, fast evanescent mode and mixing evanescent mode.Under slow decay pattern, coil both end voltage difference is 0 substantially, and current attenuation is very slow, and the cycle is very long, introduces larger audible noise; Simultaneously when arranging electric current and declining, the actual current in coil is usually greater than settings, causes motor angle segment disabler and can not accurately locate.Under fast evanescent mode, coil both end voltage difference is supply voltage, and namely to the voltage between power supply, current attenuation is very fast, decay and the frequency that recharges very high, switching loss is very large, and average current value is low, and motor torsion is little.At mixing evanescent mode (in the decling phase, portion of time adopts fast decay, the remaining time adopts slow decay) under, by rationally arranging total die-away time and ratio that is fast, the slow decay time, produced problem when being used alone fast evanescent mode or slow decay pattern can be solved.
At present, circuit such as Fig. 1, Vd, the CT of traditional realization mixing adjustable attenuation are chip pin, and Vr1, Vr2, VREF are fixed voltage, can be built-in, also can be external.CT pin external capacitor and resistance.
When motor coil starts to charge, switch Φ 1 conducting, switch Φ 2 turns off, and internal circuit maintains to Vr1 CT capacitor fast charging.Now as shown in Figure 2, the current path 001 of charging stage: power supply VM, power upper left pipe, coil, power bottom right pipe, inspection leakage resistance SENSE and ground.Treat coil current I
lreach the set point by VREF and inspection leakage resistance
after, comparator output switching activity, through delay circuit, generates an extremely short positive pulse, to the first trigger and the second trigger reset, controls output again enter the current attenuation stage through logic and pre-driver circuitry, and be decay soon.Meanwhile, switch Φ 1 turns off, switch Φ 2 conducting, and CT pin electric capacity passes through conductive discharge.The current path 002 of fast decling phase: ground, inspection leakage resistance, diode D4, coil L, diode D2 and power supply VM.If be synchronous rectification, diode substitutes by power tube in parallel with it.When CT voltage drop is to Vd, the first trigger puts 1, through logic and pre-driver circuitry, controls output and enters slow decay.The current path 003 in slow decay stage: diode D4, coil and power tube M3.If be synchronous rectification, diode substitutes by power tube in parallel with it.CT pin electric capacity continues through conductive discharge, and during to Vr2, second trigger is set to 1, through logic and pre-driver circuitry, controls output stage coil slow decay and terminates, enter the charging stage.
Conventional hybrid attenuation control circuit shown in Fig. 1, the time that motor coil is in charging is Ton, and the time that motor coil is in decay is Toff, and wherein fast die-away time is Tfd, and the slow decay time is Tsd, as shown in Figure 3.As coil current I
lwhen being in the charging stage, namely in the Ton time, CT pin quickly charges to Vr1 and maintains this level; As coil current I
lreach the peak value of setting
after, coil current enters the decling phase, and CT is in discharge condition.When CT discharges into Vd voltage, coil current is in the fast decling phase, and fast die-away time is Tfd; When CT is from Vd tension discharge to Vr2, coil current is in the slow decay stage, and the slow decay time is Tsd.The major defect of traditional mixing evanescent mode control circuit is exactly outer meeting resistance, electric capacity and voltage source V d, adds design difficulty and the cost of printing board PCB (PrintedCircuitBoard).
Therefore, it is a kind of under the prerequisite of the difficulty and design cost that do not increase printing board PCB design that those skilled in the art is devoted to exploitation, realizes the mixing adjustable attenuation pattern to current of electric by oscillator sum counter.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is to provide a kind of mixing attenuation control circuit of motor drive ic.
For achieving the above object, the invention provides the mixing attenuation control circuit in a kind of motor drive ic, it is characterized in that, comprise logic and pre-driver circuitry, comparator, delay circuit, oscillator, counter, current detection circuit and H bridge output stage, inductive load, the first trigger and the second trigger;
Described H bridge output stage comprises 4 power devices, power supply (VM), 4 described power device serials connect, and it is symmetrical between two, described power supply (VM) is connected between the described power device of 2 top symmetries, and node (A) place between the described power device of 2 bottom symmetrical connects the first input end of described current detection circuit and described comparator respectively; The output (OUTA, OUTB) of described H bridge output stage is connected with described inductive load;
Second input of described comparator is reference voltage (VREF), and the output of described comparator is connected with the input of described delay circuit; The output (CS) of described delay circuit is connected with the reset terminal of described oscillator, described counter, described first trigger and described second trigger respectively; The output of described oscillator is connected with the input of described counter; The output (Tfd) of described counter is connected with the trigger end of described first trigger; The output (Toff) of described counter is connected with the trigger end of described second trigger;
Described logic and pre-driver circuitry have 2 inputs, 4 outputs, the output of described first trigger is connected with 2 inputs of described logic and pre-driver circuitry respectively with the output of described second trigger, and 4 outputs of described logic and pre-driver circuitry are connected with 4 described power devices of described H bridge output stage respectively.
Further, 4 of described H bridge output stage described power devices adopt metal-oxide-semiconductor or field effect transistor.
Further, described inductive load comprises the coil (L) of described motor.
Further, described current detection circuit comprises inspection leakage resistance (SENSE).
Further, described motor coil electric current equals
time, described motor coil starts to enter the decling phase.
Further, rest-set flip-flop selected by described first trigger and described second trigger.
In a preferred embodiment of the present invention, described first trigger, described second trigger, described H bridge output stage, described oscillator, described counter, described logic and pre-driver circuitry, described comparator and described delay circuit are integrated on described motor drive ic.
In a preferred embodiment of the present invention, described first trigger, described second trigger, described oscillator, described counter, described logic and pre-driver circuitry and described comparator are integrated on described motor drive ic, and described H bridge output stage is positioned at outside described motor drive ic.
Further, described current detection circuit is integrated on described motor drive ic, or is positioned at outside described motor drive ic.
In better embodiment of the present invention, the present invention realizes the control of down slope time by oscillator sum counter, to replace resistance in old circuit, electric capacity, voltage source V d and respective comparator, clamp circuit etc.When coil current reach by VREF and inspection leakage resistance settings time, comparator output switching activity, resets oscillator sum counter, restart timing, simultaneously by first, second trigger reset, after logic and pre-driver circuitry, control output stage and enter the fast decling phase.When counter counts counts to n1, export Tfd and uprised by low, first trigger is set to 1, through logic and pre-driver circuitry, controls output stage and enters the slow decay stage.When counter counts counts to n2, export Toff and uprised by low, second trigger is set to 1, through logic and pre-driver circuitry, controls output stage decay and terminates, again charge to coil.Wherein, n1 and n2 specifically determines according to motor and actual needs.
The mixing attenuation control circuit of a kind of motor drive ic of the present invention, decrease peripheral resistance, electric capacity and voltage source, by using oscillator sum counter, improve the precision of Current Control, add the stability of system, reduce the loss of audio noise and switch, decrease the design difficulty of printing board PCB simultaneously, reduce design cost.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is a kind of mixing attenuation control circuit structural representation of conventional motors driving chip;
Fig. 2 is charging and the decay schematic diagram of the coil current of the mixing attenuation control circuit of conventional motors driving chip;
Fig. 3 is the CT Charge-discharge wave shape of the mixing attenuation control circuit of conventional motors driving chip and the corresponding relation figure of coil current;
Fig. 4 is the mixing attenuation control circuit structural representation of a kind of motor drive ic of the present invention;
Fig. 5 is the main node sequential chart of the mixing attenuation control circuit of a kind of motor drive ic of the present invention;
Fig. 6 is the coil current decays design sketch of the mixing attenuation control circuit of a kind of motor drive ic of the present invention.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under with technical solution of the present invention prerequisite, give detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
The mixing attenuation control circuit of a kind of motor drive ic of the present invention, comprises oscillator, counter, comparator, the first trigger, the second trigger, logic and pre-driver circuitry, current detection circuit and H bridge output stage and inductive load.Inductive load is connected with output OUTA and OUTB of H bridge output stage; Node A place between two symmetric power devices of H bridge output stage connects the first input end of current detection circuit and comparator respectively; Second input of comparator is reference voltage V REF, and the output of comparator is connected with the input of delay circuit; The output of delay circuit is connected with the reset terminal of oscillator, counter, the first trigger, the reset terminal of the second trigger.The output of oscillator is connected with the input of counter, and the output Tfd of counter is connected with the trigger end of the first trigger, and the output Tsd of counter is connected with the trigger end of the second trigger; First trigger is connected with the input of logic and pre-driver circuitry with the output of the second trigger, and the output of logic and pre-driver circuitry is connected with the input of H bridge output stage.
Inductive load generally comprises motor coil, but is not limited only to motor coil.
H bridge output stage is built by metal-oxide-semiconductor and diode, and metal-oxide-semiconductor both can adopt NMOS tube, also can adopt PMOS or other power devices.And H bridge output stage both can be integrated in motor drive ic inside, also independently can exist as the component of outside.
First trigger, the second trigger, oscillator, counter, logic and pre-driver circuitry, comparator and delay circuit are integrated in motor drive ic inside.
Current detection circuit can be inspection leakage resistance, also can comprise other structures.Current detection circuit both can be integrated in motor drive ic inside, also can be positioned at motor drive ic outside.
When the reset terminal of the first trigger and the second trigger and trigger end can be high level effectively, effective when also can be low level.
Fig. 4 is a preferred embodiment of the present invention, and wherein, the first trigger and the second trigger adopt rest-set flip-flop, and it is effective during high level, inductive load adopts motor coil L, and current detection circuit adopts inspection leakage resistance SENSE, and inspection leakage resistance SENSE is positioned at motor drive ic outside.The first input end of comparator is normal phase input end, and the second input of comparator is inverting input.
H bridge output stage comprises power supply VM, metal-oxide-semiconductor M1, M2, M3 and M4, diode D1, D2, D3 and D4.Metal-oxide-semiconductor M1 is in parallel with diode D1, and metal-oxide-semiconductor M2 is in parallel with diode D2, and metal-oxide-semiconductor M3 is in parallel with diode D3, and metal-oxide-semiconductor M4 is in parallel with diode D4, and power supply VM is connected between metal-oxide-semiconductor M1 and M2.Inductive load, namely one end of coil L is connected with metal-oxide-semiconductor M1 with M2, diode D1 with D2, and the other end is connected with metal-oxide-semiconductor M3 with M4, diode D3 with D4.Current detection circuit, namely the node A examined between leakage resistance SENSE and metal-oxide-semiconductor M3 and M4 of H bridge output stage is connected, and is connected with the normal phase input end of comparator at this tie point A place.Further, the output of delay circuit outputs signal the reset terminal R of CS to oscillator, counter, the first trigger and the second trigger.The output Tfd of counter is connected with the trigger end S of the first trigger, the output Toff of counter is connected with the trigger end S of the second trigger, first trigger is connected with logic and pre-driver circuitry input with the output of the second trigger, and the output of logic and pre-driver circuitry is connected with the input of H bridge output stage.In the present embodiment, logic and pre-driver circuitry export 4 signals: UP1, UP2, DN1 and DN2.Output signals UP 1 is input on metal-oxide-semiconductor M1, and output signals UP 2 is input on metal-oxide-semiconductor M2, and output signal DN1 is input on metal-oxide-semiconductor M3, and output signal DN2 is input on metal-oxide-semiconductor M4.
Compared to traditional mixing attenuation control circuit, resistance in the mixing attenuation control circuit oscillator sum counter replacement traditional circuit of motor drive ic of the present invention, electric capacity, voltage source and corresponding comparator, clamp circuit etc., realize the control to mixing decay, and employ oscillator sum counter, make the control of die-away time more accurate.
Under electric machine operation state, the coil of motor is in two stages: charging stage and decling phase.The evanescent mode of coil current has fast evanescent mode, slow decay pattern and mixing evanescent mode.In the present invention, the decling phase adopts mixing evanescent mode, and Fig. 6 is the design sketch under motor coil electric current is in different evanescent modes, and wherein 61 represent slow decay pattern, and 62 represent mixing evanescent mode, and 63 represent fast evanescent mode.
When motor coil L is in the charging stage, the metal-oxide-semiconductor M1 of H bridge output stage and M3 conducting, the charge path of electric current is power supply VM, metal-oxide-semiconductor M1, coil L, metal-oxide-semiconductor M3 and inspection leakage resistance SENSE, finally arrives ground.Coil L charges until its electric current I
lbe increased to
now comparator upset, after very short delay circuit, as shown in Figure 5, the output CS of delay circuit is an extremely short pulse signal, and oscillator sum counter is reset, and also makes the first trigger and the second trigger reset simultaneously, then through logic and pre-driver circuitry, output signal control H bridge output stage, makes the coil L complete charge stage, enters the fast decling phase.Wherein, the charging interval of coil L is Ton.
When motor coil L enters the fast decling phase, fast decay path is: from ground, examine leakage resistance SENSE, diode D4, coil L and diode D2, finally arrive power supply VM.If employing synchronous rectification, diode D4 is substituted by metal-oxide-semiconductor M4, and diode D2 is substituted by metal-oxide-semiconductor M2.As shown in Figure 5, when CS pulse signal ends, oscillator gets started reworks, and counter starts counting, when counting n1, the output Tfd of counter is uprised by low, the trigger end S of the first trigger is put 1, through logic and pre-driver circuitry, control H bridge output stage, make coil L terminate the fast decling phase, enter the slow decay stage.Wherein, coil L is in the time of fast decling phase is Tfd.
When motor coil L is in the slow decay stage, slow decay path is: from diode D4, through coil L, finally flows into metal-oxide-semiconductor M3.If employing synchronous rectification, diode D4 is replaced by the metal-oxide-semiconductor M4 in parallel with it.When counter counts counts to n2, counter output signal Toff is uprised by low, and the trigger end S of the second trigger puts 1, and through logic and pre-driver circuitry, control H bridge output stage, motor coil L terminates slow decay pattern, and coil reenters the charging stage.Wherein, coil L is in the time in slow decay stage be Tsd, Toff is the time that coil L is in evanescent mode: Toff=Tfd+Tsd.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that the ordinary skill of this area just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection range of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (8)
1. the mixing attenuation control circuit in a motor drive ic, it is characterized in that, comprise logic and pre-driver circuitry, comparator, delay circuit, oscillator, counter, current detection circuit and H bridge output stage, inductive load, the first trigger and the second trigger;
Described H bridge output stage comprises 4 power devices, power supply (VM), 4 described power device serials connect, and it is symmetrical between two, described power supply (VM) is connected between the described power device of 2 top symmetries, and node (A) place between the described power device of 2 bottom symmetrical connects the first input end of described current detection circuit and described comparator respectively; The output (OUTA, OUTB) of described H bridge output stage is connected with described inductive load;
Second input of described comparator is reference voltage V REF, and the output of described comparator is connected with the input of described delay circuit; The output (CS) of described delay circuit is connected with the reset terminal of described oscillator, described counter, described first trigger and described second trigger respectively; The output of described oscillator is connected with the input of described counter; The output Tfd of described counter is connected with the trigger end of described first trigger; The output Toff of described counter is connected with the trigger end of described second trigger;
Described logic and pre-driver circuitry have 2 inputs, 4 outputs, the output of described first trigger is connected with 2 inputs of described logic and pre-driver circuitry respectively with the output of described second trigger, and 4 outputs of described logic and pre-driver circuitry are connected with 4 described power devices of described H bridge output stage respectively;
Rest-set flip-flop selected by described first trigger and described second trigger.
2. the mixing attenuation control circuit in a kind of motor drive ic as claimed in claim 1, wherein, 4 described power devices of described H bridge output stage adopt metal-oxide-semiconductor or field effect transistor.
3. the mixing attenuation control circuit in a kind of motor drive ic as claimed in claim 1, wherein, described inductive load comprises the coil (L) of described motor.
4. the mixing attenuation control circuit in a kind of motor drive ic as claimed in claim 3, wherein, described current detection circuit comprises inspection leakage resistance SENSE, and the resistance of described inspection leakage resistance is Rsense.
5. the mixing attenuation control circuit in a kind of motor drive ic as claimed in claim 4, wherein, described motor coil electric current equals
time, described motor coil starts to enter the decling phase.
6. the mixing attenuation control circuit in a kind of motor drive ic as claimed in claim 1, wherein, described first trigger, described second trigger, described H bridge output stage, described oscillator, described counter, described logic and pre-driver circuitry, described comparator and described delay circuit are integrated on described motor drive ic.
7. the mixing attenuation control circuit in a kind of motor drive ic as claimed in claim 1, wherein, described first trigger, described second trigger, described oscillator, described counter, described logic and pre-driver circuitry, described comparator and described delay circuit are integrated on described motor drive ic, and described H bridge output stage is positioned at outside described motor drive ic.
8. the mixing attenuation control circuit in a kind of motor drive ic as claimed in claim 7, wherein, described current detection circuit is integrated on described motor drive ic, or is positioned at outside described motor drive ic.
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| JP2014239591A (en) * | 2013-06-06 | 2014-12-18 | サンケン電気株式会社 | Motor drive device and power module |
| JP6204386B2 (en) * | 2015-01-28 | 2017-09-27 | ミネベアミツミ株式会社 | Motor current control device and motor current control method |
| US10103659B2 (en) * | 2015-12-07 | 2018-10-16 | Microchip Technology Incorporated | Stepper trajectory driver with numerical controlled oscillators operated at frequency provided by a synchronized clock signal |
| CN105897089B (en) * | 2016-06-13 | 2018-10-23 | 王良坤 | A kind of low noise low jitter control circuit in motor drive ic |
| CN105954570B (en) * | 2016-06-13 | 2018-09-11 | 王良坤 | A kind of high side power pipe over-current detection circuit of simplification |
| CN105897088B (en) * | 2016-06-13 | 2018-07-13 | 王良坤 | A kind of automatic attenuation control circuit of PWM chopping wave constant currents control |
| CN106291049A (en) * | 2016-07-29 | 2017-01-04 | 南京航空航天大学 | Current detection circuit based on two-way saturation current sensor and driving method thereof |
| CN106330025A (en) * | 2016-10-24 | 2017-01-11 | 北京灵铱科技有限公司 | Low-noise stepping driver |
| CN107834946B (en) * | 2017-10-09 | 2021-10-15 | 深圳率能半导体有限公司 | PWM current driving method and device adopting dynamic mixed attenuation mode |
| CN110212821B (en) * | 2019-06-12 | 2020-10-02 | 上海艾为电子技术股份有限公司 | Control method and driving circuit for controlling current ripple based on positive and negative feedback voltages |
| CN113809962B (en) * | 2021-11-18 | 2022-06-17 | 杭州瑞盟科技股份有限公司 | Stepping motor driving system and motor system |
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