CN104092419B - Method for detecting step omitting of stepping motor - Google Patents

Method for detecting step omitting of stepping motor Download PDF

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Publication number
CN104092419B
CN104092419B CN201410355750.0A CN201410355750A CN104092419B CN 104092419 B CN104092419 B CN 104092419B CN 201410355750 A CN201410355750 A CN 201410355750A CN 104092419 B CN104092419 B CN 104092419B
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China
Prior art keywords
phase
motor
signal
current
stepping motor
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CN201410355750.0A
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Chinese (zh)
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CN104092419A (en
Inventor
刘和平
周宇
涂郁潇颖
赵宗政
曾宇航
程章格
谷若雨
李雨蔓
李志闯
余传祥
邓力
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重庆大学
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Priority to CN201410355750.0A priority Critical patent/CN104092419B/en
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Abstract

The invention provides a method for detecting step omitting of a stepping motor. All phases of currents of the stepping motor are detected. When distortion of all the phases of currents meets the preset condition, it is judged that the stepping motor omits steps. The phase currents of the stepping motor are detected in the following mode: a section of constantan wire with the accurate resistance value is connected into each phase of loop of the stepping motor in series. Current signals at the two ends of each constantan wire are amplified through an amplification unit. High-frequency harmonic components, generated by the switch element effect, in the current signals are filtered out through a filter unit. Analog signals of the collected currents are converted into digital signals through an AD converter. Electrical isolation of a sampling detection circuit is achieved through a photoelectric coupler. Another method includes the steps that the current signals are directly transmitted to a digital signal controller; the preset condition for judging step omitting of the stepping motor is that in the process that the stepping motor rotates by one stepping angle, a practical phase current is out of the preset scope.

Description

Step detection method lost by a kind of motor

Technical field

The present invention relates to the step of losing of machine field, more particularly to motor detects.

Background technology

Motor is the actuator that stepping pulse signal is changed into angular displacement, is often applied to the field of precision positioning Close.In the case of non-overload, the rotating speed of motor, the position stopping are solely dependent upon frequency and the number of stepping pulse signal, and Do not affected by loading to change.When stepper motor driver receives a stepping pulse signal, its just drive stepping motor Rotate the angle (i.e. step angle) of a fixation by the direction setting.But, when motor is to run into load changing, rotor low When frequency vibration such as swings at the special state, it will step number rotor advance is less than the phenomenon of stepping pulse signal number, causes position Put the error of control, this phenomenon be referred to as motor lose step.The step pitch number generally once losing step is equal to the whole of operation umber of beats Several times.Lose step serious when, rotor is stuck on a position or shakes around fixed position, and stall phenomenon occurs, Cause serious consequence.

Therefore, necessary stall during step lost by motor, to avoid the generation of serious consequence.Accurately, economical, rapidly judge Go out motor and lose step, be the problem that those skilled in the art are keen to study.In prior art, particularly in control accuracy requirement Under higher occasion, be using install encoder have velocity sensor by the way of carry out rotor-position detection although can reach To the purpose of closed loop control, but cost and the development difficulty of driving system of stepping motor can be significantly increased.

Scheme is had to be by weighing whether pulse width meets prerequisite, to verify the method whether motor loses step. But as described in the inventor of the program, the program needs so-called preset according to practical experience or experimental data acquisition Condition.The versatility that result in the program is not strong.In addition, somebody propose by rotated according to motor when a, b phase anti- The method that step is lost in electromotive force judgement.But, by analysis it is found that on-off circuit directly controls the terminal voltage of every phase winding, The change of stepping motor rotor position can not be detected by terminal voltage.

Content of the invention

Present invention aim to address accurately judging that on the premise of not installing encoder the problem of step lost by motor.

Employed technical scheme comprise that such for realizing the object of the invention, step detection method lost by a kind of motor, its It is characterised by:

In every phase of motor, one section of resistance value of series connection is the sample resistance constantan wire of definite value.This sample resistance exists Must install in stepper motor driver, to control the current value flowing through the every phase of motor.It is therefore to realize the present invention A kind of motor is lost step detection method and is not needed to increase hardware cost, only need to increase the software program of a control algolithm in step Can achieve in stepper motor drive control device.

1) send one in digital signal controller (dsc) (this patent also comprises microprocessor or single-chip microcomputer) to motor Before individual stepping pulse signal, the preset value of setting phase current;When motor receives this stepping pulse signal, one will be rotated Individual step angle, that is, take a step forward;During rotating, the electric current of the constantan wire in collection every phase loop in motor Signal.

2) before described digital signal controller sends next stepping pulse signal to motor, obtaining step 1) in The multiple repairing weld value of the every phase loop current signals collecting;Obtain the characteristic information of the waveshape signal step of electric current;

3) if the current signal in any one phase loop step characteristic information that repeatedly (at least three times) sampled value obtains exceeds The scope of normal preset value, then can determine that step lost by motor.What deserves to be explained is, the step that digital signal controller sends The every phase current signal entering pulse signal with motor corresponds, and therefore, it can confirm to lose the step number of step, such that it is able to reality Existing position closed loop, without increasing position sensor, constitutes the velocity location closed-loop control system of Speedless sensor.

Further, step 1) in, after collecting current signal, first it is amplified, then it is filtered process, with Filter the high-frequency harmonic composition of switch element generation.

Further, the described current signal with processing and amplifying after filtering is passed to described digital signal controller.Logical Cross described digital signal controller and carry out step 2) and step 3) process and judgement.

The solution have the advantages that mathematical.The present invention does not need to detect stepping electricity using position sensor The method that step lost by machine, only increases software on existing open loop drive circuit and just can detect whether motor is lost Step.The present invention can be determined to losing step phenomenon immediately with the work of monitor in real time motor, and need not installation cost height High position sensor, has saved cost.

Brief description

Fig. 1 motor open loop drive circuit.

The closed-loop driving circuit of step lost by Fig. 2 detection disclosed by the invention motor.

Fig. 3 phase current process circuit block diagram.

Fig. 4 phase current process circuit figure.

Fig. 5 preset value setting procedure.

It is normal ab phase current waveform, figure lower section above Fig. 6 figure for losing step ab phase waveform.

Specific embodiment

The invention will be further described with reference to the accompanying drawings and examples, but should not be construed the above-mentioned theme of the present invention Scope is only limitted to following embodiments.Without departing from the idea case in the present invention described above, known according to ordinary skill Know and customary means, make various replacements and change, all should include within the scope of the present invention.

The present embodiment discloses a kind of two-phase stepping motor and loses step detection method,

Referring to Fig. 2 and Fig. 4, the present invention is on the basis of motor open loop drive circuit as shown in Figure 1 it is proposed that one Plant and can detect that the close-loop driven control method of step lost by motor.

This drive circuit includes biphase (a phase and b phase) motor.Described motor passes through digital signal control Device processed and power driving circuit drive.The sample resistance of each one section of constantan wire of connecting in a phase and b phase of motor.

This drive circuit includes: voltage check device, amplifying circuit, filter circuit, ad transducer and photoelectrical coupler.Health After current signal in copper wire sequentially passes through amplifying circuit, filter circuit and ad transducer, enter back into the input of photoelectrical coupler End.And the outfan of photoelectrical coupler is connected with digital signal controller (Phototube Coupling), it is consequently formed a close-loop driven Circuit.

1) digital signal controller sends before a stepping pulse signal to motor, the preset value of setting phase current. What deserves to be explained is, during motor normal work, during by a certain another phase that rotates, previous phase current can be by Load current value vanishing, then a phase current then can be changed into rated value from zero.For a certain phase, default numerical range can Determined by the state of the rotated step of this motor, its correlation determines that flow process is as shown in Figure 5.Motor is made to turn to when controller sends During the stepping pulse signal of next step, produce control action and interrupt, in interruption, current status setting a, b phase according to next step is electric The preset value of stream, is then log out interrupting completing the setting to each step preset value.

When motor receives the stepping pulse signal that digital signal controller sends, rotate a step angle. During rotating, the curtage signal of sample resistance constantan wire in every phase loop for the collection.Due to constantan wire Resistance it is known that the current signal i of the constantan wire in a phase and b phase therefore, now can be obtainedaAnd ib.

By current signal iaAnd ibIt is amplified, then it is filtered process, to filter the harmonic high frequency of switch element generation Wave component.In embodiment, signal amplification circuit is using the differential amplification being made up of two npn audions as shown in Figure 4 electricity Road, effectively filters out common mode disturbances, plays the amplification to sampled signal.Active filter circuit is butterworth type low pass Wave filter, for filtering the higher hamonic wave that on-off circuit effect produces.

By the described current signal i with processing and amplifying after filteringaAnd ibAfter being converted to digital signal, pass to light thermocouple The input of clutch.The signal i that the outfan of described photoelectrical coupler is produceda*And ib*Pass to described Digital Signals Device, to carry out next step judgement.

2) obtain signal ia*And ib*Bound.I.e. can be by being calculated step 1) in, because of digital signal controller Send stepping pulse signal, the bound of the actual phase current producing in the constantan wire of a, b phase.In the present embodiment, digital signal Controller is mainly used two common io mouths as input pin.The above-mentioned calculating process of programming realization can be passed through.

3) if the bound of the actual phase current producing exceeds the scope of described preset value in the constantan wire of a, b phase, can Judge that step lost by motor.Judge that step lost by motor.

Claims (1)

1. a kind of motor lose step detection method it is characterised in that:
Connect the constantan wire that one section of resistance value is definite value as sample resistance in every phase of motor, for detecting stepping electricity Every phase winding current value of machine;
1) before digital signal controller sends a stepping pulse signal to motor, the preset value of setting phase current;When When motor receives this stepping pulse signal, a step angle will be rotated, that is, take a step forward;During rotating, adopt Voltage on the corresponding sample resistance constantan wire in every phase loop for the collection obtains repeatedly adopting of the current signal of the every phase of motor Sample value;
When motor receives the stepping pulse signal that digital signal controller sends, rotate a step angle;Turning In dynamic process, the curtage signal of sample resistance constantan wire in every phase loop for the collection;Obtain in a phase and b phase Constantan wire current signal ia and ib;
Current signal ia and ib is amplified, then it is filtered process, to filter the high-frequency harmonic of switch element generation Composition;Signal amplification circuit effectively filters out common mode disturbances, plays the amplification to sampled signal;Active filter circuit is used for filtering The higher hamonic wave producing except on-off circuit effect;
Described current signal ia and ib with processing and amplifying after filtering is converted to after digital signal, passes to photoelectrical coupler Input;Signal ia* and ib* that the outfan of described photoelectrical coupler is produced passes to described digital signal controller, To carry out next step judgement;
2) obtain the bound of signal ia* and ib*;I.e. by being calculated step 1) in, because digital signal controller sends step Enter pulse signal, the bound of the actual phase current producing in the constantan wire of a, b phase;Digital signal controller is mainly using two Common io mouth is as input pin;
3) if the bound of the actual phase current producing exceeds the scope of described preset value in the constantan wire of a, b phase, can determine that Step lost by motor;Judge that step lost by motor.
CN201410355750.0A 2014-07-24 2014-07-24 Method for detecting step omitting of stepping motor CN104092419B (en)

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CN106404345B (en) * 2015-07-27 2018-10-02 鸿合科技股份有限公司 For the method for correcting error in infrared tube physical centre and angle measurement

Citations (4)

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CN101719755A (en) * 2009-12-18 2010-06-02 北京北方微电子基地设备工艺研究中心有限责任公司 Method and device for checking lost steps of stepping motor and impedance matching device
CN102891644A (en) * 2012-10-08 2013-01-23 宁波大学 Two-phase stepping motor driving circuit and motor fault detection method
CN202906821U (en) * 2012-10-08 2013-04-24 宁波大学 Two-phase stepper motor drive circuit
CN103701372A (en) * 2012-09-27 2014-04-02 比亚迪股份有限公司 Asynchrony detection method for synchronous motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8058894B2 (en) * 2009-03-31 2011-11-15 Semiconductor Components Industries, Llc Method for detecting a fault condition

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101719755A (en) * 2009-12-18 2010-06-02 北京北方微电子基地设备工艺研究中心有限责任公司 Method and device for checking lost steps of stepping motor and impedance matching device
CN103701372A (en) * 2012-09-27 2014-04-02 比亚迪股份有限公司 Asynchrony detection method for synchronous motor
CN102891644A (en) * 2012-10-08 2013-01-23 宁波大学 Two-phase stepping motor driving circuit and motor fault detection method
CN202906821U (en) * 2012-10-08 2013-04-24 宁波大学 Two-phase stepper motor drive circuit

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