CN104617836A - Method and device for starting stepping motor and driver - Google Patents
Method and device for starting stepping motor and driver Download PDFInfo
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- CN104617836A CN104617836A CN201510090605.9A CN201510090605A CN104617836A CN 104617836 A CN104617836 A CN 104617836A CN 201510090605 A CN201510090605 A CN 201510090605A CN 104617836 A CN104617836 A CN 104617836A
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Abstract
The embodiment of the invention provides method and device for starting a stepping motor and a driver. The method comprises the steps of determining the current mechanical angle corresponding to the stepping motor stopping position; determining the target mechanical angle corresponding to an electrical zero position corresponding to the current mechanical angle according to the pre-recorded correspondence relationship between the electrical zero position and the mechanical angle when the stepping motor rotates in a cycle, wherein one electrical zero position corresponds to one mechanical angle; determining the angle difference between the current mechanical angle and the target mechanical angle; determining stator winding current when the stepping motor is at the stopping position according to the angle difference; driving the stepping motor to start through the determined stator winding current. With the adoption of the method, the angle error in the motor starting process can be effectively removed, thus the starting precision and dynamic precision can be improved, and the motor operation efficiency can be increased.
Description
Technical field
The present invention relates to technical field of motors, be specifically related to a kind of stepping motor starting method, device and driver.
Background technology
Stepping motor is the device that electric impulse signal can be changed into angular displacement or displacement of the lines, the pulse signal that stepping motor can send according to driver, and rotate a fixing angle by the direction of setting, this angle is called step angle.In order to improve the control precision of stepping motor, the driving stepper motor control technology of main flow adopts mini-step controlling control method, mini-step controlling control method is a kind of phase winding closed-loop current control method of tracing preset current waveform, by each phase current in control step motor excitation winding, make electric current can have multiple stable intermediateness between zero current and maximum current, thus produce resultant magnetic field vector, achieve the segmentation to magnetic field, reach the segmentation object to step angle.
With stator 2 to pole, the stepping motor of rotor 50 tooth is example, and the synchronizing number that rotor often turns over a week is 200 steps, and step angle is 1.8 °, and angular pitch is 7.2 °; After adopting mini-step controlling control technology, when rotor rotates a circle, then drive current can present 50 sine wave periods, 4 segmentation mini-step controlling are adopted for stepping motor, the step motor stator winding current waveform of a sine wave period as shown in Figure 1, Figure 1 shows that in a sine wave period of drive current, the relation of micro-stepping number and step motor stator winding current, t is micro-stepping number, and I is stator winding current.
At present, when stepping motor is done to point to location, stepping motor rotor likely rests on corresponding arbitrarily angled of the number of micro-stepping shown in Fig. 1; Doing in the stepping motor startup after pointing to location, prior art generally adopts the mode of pursuing and attacking to realize the startup of motor in startup instantaneously; Namely no matter what position rotor stops at, the original position of the sine wave period that driver all presents according to drive current, start to send pulse current (namely starting to send pulse current according to the stator winding current of 0 position shown in Fig. 1), thus control adjustment by closed-loop vector, reach the state that stator winding drive current, space magnetic field direction and motor angle on target match.
The present inventor finds in research process, the existing employing mode of pursuing and attacking starts the method for stepping motor, do not consider the stop position that stepping motor is current, but directly start to send pulse current according to the stator winding current that 0 position shown in Fig. 1 is given, this may cause the unmatched situation of stepping motor rotor angle and stator excitation magnetic field, causes the situation of motor stalling or reversion to occur.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of stepping motor starting method, device and driver, to solve the method for existing startup stepping motor, do not consider the stop position that stepping motor is current, that brought may cause the unmatched situation of stepping motor rotor angle and stator excitation magnetic field, causes the problem that the situation of motor stalling or reversion occurs.
For achieving the above object, the embodiment of the present invention provides following technical scheme:
A kind of stepping motor starting method, be applied to driver, described method comprises:
Determine the Current mechanical angle that stepping motor stop position is corresponding;
According to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determines the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, the corresponding mechanical angle of one of them electrical null position;
Determine the differential seat angle of described Current mechanical angle and described target mechanical angle;
According to the stator winding current of described differential seat angle determination stepping motor when described stop position;
With determined stator winding current, Driving Stepping Motor starts.
Wherein, described when stepping motor rotates a circle, the prerecord process of the corresponding relation of described electrical null position and mechanical angle comprises:
Driving Stepping Motor rotates a circle, and electrical null position corresponding in each sine wave period of record drive current, to there being an electrical null position in a sine wave period of drive current;
The mechanical angle corresponding to electrical null position corresponding in each sine wave period of record drive current, sets up electrical null position corresponding in each sine wave period of drive current and the corresponding relation of corresponding mechanical angle.
Wherein, describedly determine that the target mechanical angle corresponding to electrical null position corresponding to described Current mechanical angle comprises:
Determine the mechanical angle of former and later two electrical null positions nearest with described Current mechanical angular distance, by the mechanical angle of the electrical null position of fractional value in the mechanical angle of former and later two electrical null positions described, be defined as described target mechanical angle.
Wherein, describedly determine that the target mechanical angle corresponding to electrical null position corresponding to described Current mechanical angle comprises:
Determine the sine wave period of the drive current corresponding to described Current mechanical angle;
By in the sine wave period of the drive current corresponding to described Current mechanical angle, the mechanical angle corresponding to the electrical null position recorded is defined as described target mechanical angle.
Wherein, describedly to comprise according to the stator winding current of described differential seat angle determination stepping motor when described stop position:
By step angle divided by described micro-stepping segmentation number, obtain the often step angle after segmenting;
By described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor;
In the sine wave period of the drive current corresponding to described Current mechanical angle, determine the stator winding current that described micro-stepping number is corresponding.
Wherein, described by described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor and comprise:
If by described differential seat angle divided by after the often step angle after described segmentation, the numerical result obtained is decimal, then described decimal is carried out the process that rounds up, and obtains described micro-stepping number;
If by described differential seat angle divided by after the often step angle after described segmentation, the numerical result obtained is integer, then described integer is defined as described micro-stepping number.
The embodiment of the present invention also provides a kind of stepping motor starting drive, is applied to driver, and described stepping motor starting drive comprises:
Current angular determination module, for determining the Current mechanical angle that stepping motor stop position is corresponding;
Angle on target determination module, for according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determines the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, the corresponding mechanical angle of one of them electrical null position;
Differential seat angle determination module, for determining the differential seat angle of described Current mechanical angle and described target mechanical angle;
Starting current determination module, for according to the stator winding current of described differential seat angle determination stepping motor when described stop position;
Start driver module, for determined stator winding current, Driving Stepping Motor starts.
Wherein, described stepping motor starting drive also comprises:
Prerecord module, rotates a circle for Driving Stepping Motor, and electrical null position corresponding in each sine wave period of record drive current, to there being an electrical null position in a sine wave period of drive current; The mechanical angle corresponding to electrical null position corresponding in each sine wave period of record drive current, sets up electrical null position corresponding in each sine wave period of drive current and the corresponding relation of corresponding mechanical angle;
Described angle on target determination module comprises:
First determines performance element, for determining the mechanical angle of former and later two electrical null positions nearest with described Current mechanical angular distance, by the mechanical angle of the electrical null position of fractional value in the mechanical angle of former and later two electrical null positions described, be defined as described target mechanical angle;
Or second determines performance element, for determining the sine wave period of the drive current corresponding to described Current mechanical angle; By in the sine wave period of the drive current corresponding to described Current mechanical angle, the mechanical angle corresponding to the electrical null position recorded is defined as described target mechanical angle.
Wherein, described starting current determination module comprises:
Often walk angle determination unit, for step angle is segmented number divided by described micro-stepping, obtain the often step angle after segmenting; +
Micro-stepping number determining unit, for by described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor;
Results of weak current determining unit, in the sine wave period of the drive current corresponding to described Current mechanical angle, determines the stator winding current that described micro-stepping number is corresponding.
The embodiment of the present invention also provides a kind of driver, comprises stepping motor starting drive described above.
Based on technique scheme, the stepping motor starting method that the embodiment of the present invention provides, can when stepping motor rotates a circle, prerecord is carried out to the corresponding relation of electrical null position and mechanical angle, thus when stepping motor is starting state from the State Transferring that quits work, determine the Current mechanical angle that stepping motor stop position is corresponding, according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determine the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, and then calculate the differential seat angle of described Current mechanical angle and described target mechanical angle, according to the stator winding current of described differential seat angle determination stepping motor when described stop position, with determined stator winding current, Driving Stepping Motor starts.Can find out, embodiment of the present invention Driving Stepping Motor starts the stator winding current adopted, determine according to the differential seat angle of Current mechanical angle corresponding to stepping motor stop position and described target mechanical angle, thus the angular error of motor start-up procedure can effectively be eliminated, improve and start precision and dynamic accuracy, and improving motor operational efficiency, the unmatched situation of stepping motor rotor angle and stator excitation magnetic field that can reduce occurs, and the situation reducing motor stalling or reversion occurs.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
Fig. 1 is in a sine wave period of drive current, the relation schematic diagram of micro-stepping number and stator winding current;
The flow chart of the stepping motor starting method that Fig. 2 provides for the embodiment of the present invention;
The corresponding relation prerecord method flow diagram of the electrical null position that Fig. 3 provides for the embodiment of the present invention and mechanical angle;
Another flow chart of the stepping motor starting method that Fig. 4 provides for the embodiment of the present invention;
A flow chart again of the stepping motor starting method that Fig. 5 provides for the embodiment of the present invention;
The method flow diagram of the stator winding current of the determination stepping motor that Fig. 6 provides for the embodiment of the present invention when stop position;
The another flow chart of the stepping motor starting method that Fig. 7 provides for the embodiment of the present invention;
The structured flowchart of the stepping motor starting drive that Fig. 8 provides for the embodiment of the present invention;
Another structured flowchart of the stepping motor starting drive that Fig. 9 provides for the embodiment of the present invention;
The structured flowchart of the angle on target determination module that Figure 10 provides for the embodiment of the present invention;
Another structured flowchart of the angle on target determination module that Figure 11 provides for the embodiment of the present invention;
The structured flowchart of the starting current determination module that Figure 12 provides for the embodiment of the present invention;
The structured flowchart of the micro-stepping number determining unit that Figure 13 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The flow chart of the stepping motor starting method that Fig. 2 provides for the embodiment of the present invention, the method can be applicable in driver, and this driver can be used for Driving Stepping Motor work, and with reference to Fig. 2, the method can comprise:
Step S100, determine the Current mechanical angle that stepping motor stop position is corresponding;
Optionally, when stepping motor is done to point to location, stepping motor will stop at position corresponding to a certain mechanical angle, the embodiment of the present invention can when stepping motor quits work, adopt absolute position encoder or resolver to gather mechanical angle corresponding to stepping motor stop position, the mechanical angle gathered is the Current mechanical angle of stepping motor; Further, the Current mechanical angle that the stepping motor stop position gathered is corresponding, can import in driver, so that the Current mechanical angle that driver determination stepping motor stop position is corresponding;
Optionally, the embodiment of the present invention can arrange mechanical zero, and stepping motor stop position and the angle of mechanical zero are Current mechanical angle corresponding to stepping motor stop position; Mechanical zero can think the machine reference zero point adopting the utensil of scale and so on to mark on stepping motor, can mark the initial position of stepping motor stopped status, miscellaneous equipment is installed, run all with this point for reference position.
Step S110, according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determine the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, the corresponding mechanical angle of one of them electrical null position;
Electrical null position can be the stepping motor zero position utilizing electrical measurement element to measure, with reference to Fig. 1, can be using A phase winding electric current (B phase in like manner) in position corresponding to 0 position rising time as electrical null position, it should be noted that, the concept of electrical null position and mechanical zero is known to those skilled in the art, and the embodiment of the present invention does not remake deep description.
When stepping motor rotates a circle, what the electrical null position recorded and the corresponding relation of mechanical angle represented is, when stepping motor rotates a circle, in each sine wave period of drive current, the corresponding relation of electrical null position and mechanical angle, a sine wave period of drive current is to having a pair electrical null position and mechanical angle;
In the process that stepping motor rotates a circle, the quantity of electrical null position is identical with the sine wave period number of drive current, the sine wave period of a drive current is to there being an electrical null position, as motor rotates a circle the sine wave period of existence 50 drive currents, then the rotate a circle quantity of recorded electrical null position of motor is 50; For each recorded electrical null position, the embodiment of the present invention can adopt absolute position encoder or resolver (also can be adopt incremental encoder etc.) to record mechanical angle corresponding to each electrical null position, thus realize when stepping motor rotates a circle, the record of the corresponding relation of electrical null position and mechanical angle, a corresponding mechanical angle of electrical null position;
Recorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle can import in driver, so that driver is when determining target mechanical angle, realize prerecorded when stepping motor rotates a circle, transferring of the corresponding relation of electrical null position and mechanical angle;
Optionally, the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding can be the mechanical angle apart from the nearest electrical null position of described Current mechanical angle.
Step S120, determine the differential seat angle of described Current mechanical angle and described target mechanical angle;
Step S130, according to the stator winding current of described differential seat angle determination stepping motor when described stop position;
Optionally, according to the micro-stepping segmentation number adopted when described differential seat angle and drived control, the embodiment of the present invention can determine the micro-stepping number of described Current mechanical angle in the sine wave period (i.e. the sine wave period of the drive current that stepping motor stop position is corresponding) of the drive current of correspondence, thus in the sine wave period of drive current corresponding to described Current mechanical angle, by the relation of described micro-stepping number and step motor stator winding current, determine the stator winding current that described micro-stepping number is corresponding;
Optionally, the determination mode of the sine wave period corresponding to described Current mechanical angle can be: due to motor rotate a circle time, the quantity of sine wave period is determined, therefore the rotation angle range that each sine wave period is corresponding is also confirmable, the embodiment of the present invention can be corresponding according to each sine wave period rotation angle range, determine the sine wave period corresponding to described Current mechanical angle; As motor rotate a circle time, the quantity of sine wave period is 50, the anglec of rotation that then sine wave period is corresponding is 6 °, namely the rotation angle range that first sine wave period is corresponding is 0 ~ 6 °, the rotation angle range that second sine wave period is corresponding is 6 ° ~ 12 °, the like, if described Current mechanical angle is 50 °, then can determine that the sine wave period corresponding to described Current mechanical angle is the 9th sine wave period (corresponding rotation angle range is 48 ° ~ 54 °);
Concrete, the embodiment of the present invention can identify each sine wave period (as being numbered each sine wave period, first sine wave period be numbered 1, second sine wave period be numbered 2, by that analogy), and determine the rotation angle range that the sine wave period of each mark is corresponding, determine rotation angle range at described Current mechanical angle, and then determine the sine wave period mark that rotation angle range at described Current mechanical angle is corresponding.
Step S140, with determined stator winding current, Driving Stepping Motor start.
The stepping motor starting method that the embodiment of the present invention provides, can when stepping motor rotates a circle, prerecord is carried out to the corresponding relation of electrical null position and mechanical angle, thus when stepping motor is starting state from the State Transferring that quits work, determine the Current mechanical angle that stepping motor stop position is corresponding, according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determine the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, and then calculate the differential seat angle of described Current mechanical angle and described target mechanical angle, according to the stator winding current of described differential seat angle determination stepping motor when described stop position, with determined stator winding current, Driving Stepping Motor starts.Can find out, embodiment of the present invention Driving Stepping Motor starts the stator winding current adopted, determine according to the differential seat angle of Current mechanical angle corresponding to stepping motor stop position and described target mechanical angle, thus the angular error of motor start-up procedure can effectively be eliminated, improve and start precision and dynamic accuracy, and improving motor operational efficiency, the unmatched situation of stepping motor rotor angle and stator excitation magnetic field that can reduce occurs, and the situation reducing motor stalling or reversion occurs.
Optionally, when stepping motor rotates a circle, the prerecord process of the corresponding relation of electrical null position and mechanical angle can as shown in Figure 3, the corresponding relation prerecord method flow diagram of the electrical null position that Fig. 3 provides for the embodiment of the present invention and mechanical angle, with reference to Fig. 3, the method can comprise:
Step S200, Driving Stepping Motor rotate a circle, and electrical null position corresponding in each sine wave period of record drive current, to there being an electrical null position in a sine wave period of drive current;
In the process that driver drives stepping motor rotates a circle, drive current can present multiple sine wave period, with stator 2 to pole, the stepping motor of rotor 50 tooth is example, drive current can present 50 sine wave periods, in the process that obvious stepping motor rotates a circle, the quantity of the sine wave period that drive current presents is determined by actual stepper motor arrangement situation;
Can there is an electrical null position in each sine wave period, A phase winding electric current (B phase in like manner) is in position corresponding to 0 position rising time as shown in Figure 1.
The mechanical angle corresponding to electrical null position corresponding in each sine wave period of step S210, record drive current, sets up electrical null position corresponding in each sine wave period of drive current and the corresponding relation of corresponding mechanical angle.
While the electrical null position determining each sine wave period, the embodiment of the present invention can adopt absolute position encoder or mechanical angle corresponding to each electrical null position of resolver record, thus realize in each sine wave period of drive current, the record of the mechanical angle of electrical null position and correspondence; By setting up electrical null position corresponding in each sine wave period, with the corresponding relation of corresponding mechanical angle, then can realize when stepping motor rotates a circle, the prerecord of the corresponding relation of electrical null position and mechanical angle;
Optionally, prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, can store in the nonvolatile memory, so that subsequent driver is when starting stepping motor, calls this corresponding relation from this nonvolatile memory;
It should be noted that when stepping motor rotates a circle, the corresponding relation of prerecord electrical null position and mechanical angle, can perform repeatedly step shown in Fig. 2.
Optionally, the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding can be the mechanical angle apart from the nearest electrical null position of described Current mechanical angle; The embodiment of the present invention can adopt dichotomy to determine described target mechanical angle.Fig. 4 shows another flow chart of the stepping motor starting method that the embodiment of the present invention provides, and with reference to Fig. 4, the method can comprise:
Step S300, determine the Current mechanical angle that stepping motor stop position is corresponding;
Step S310, according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determine the mechanical angle of former and later two electrical null positions nearest with described Current mechanical angular distance, by the mechanical angle of the electrical null position of fractional value in the mechanical angle of former and later two electrical null positions described, be defined as described target mechanical angle, the corresponding mechanical angle of one of them electrical null position;
According to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, can determine the numerical value of described Current mechanical angle between the mechanical angle of former and later two electrical null positions, namely described Current mechanical angle is between the mechanical angle of these former and later two electrical null positions; It is 50 right to have with the corresponding relation of prerecorded electrical null position and mechanical angle, wherein the mechanical angle of electrical null position of a pair is 49 °, the mechanical angle of its electrical null position of lower a pair is 59 °, described Current mechanical angle is 50 ° is example, then can determine that described Current mechanical angle is between the mechanical angle of these two pairs of electrical null positions, the embodiment of the present invention by the mechanical angle of the electrical null position of fractional value in the mechanical angle of these former and later two electrical null positions, can be defined as target mechanical angle.
Step S320, determine the differential seat angle of described Current mechanical angle and described target mechanical angle;
Step S330, according to the stator winding current of described differential seat angle determination stepping motor when described stop position;
Step S340, with determined stator winding current, Driving Stepping Motor start.
The embodiment of the present invention adopts dichotomy to determine the another way of described target mechanical angle, can as shown in Figure 5, a flow chart again of the stepping motor starting method that Fig. 5 provides for the embodiment of the present invention, and with reference to Fig. 5, the method can comprise:
Step S400, determine the Current mechanical angle that stepping motor stop position is corresponding;
Step S410, determine the sine wave period of the drive current corresponding to described Current mechanical angle;
The sine wave period of the drive current corresponding to described Current mechanical angle, is the sine wave period of the drive current corresponding to stepping motor stop position; Due to motor rotate a circle time, the quantity of sine wave period is determined, therefore the rotation angle range that each sine wave period is corresponding is also confirmable, the embodiment of the present invention can be corresponding according to each sine wave period rotation angle range, determine the sine wave period corresponding to described Current mechanical angle;
Step S420, according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle in each sine wave period of drive current, by in the sine wave period of the drive current corresponding to described Current mechanical angle, mechanical angle corresponding to the electrical null position recorded is defined as described target mechanical angle, the corresponding mechanical angle of one of them electrical null position;
When rotating a circle with stepping motor, the sine wave period number of drive current is 50, the corresponding relation of prerecorded electrical null position and mechanical angle is 50 to being example, then the corresponding relation of often pair of electrical null position and mechanical angle, may correspond to the sine wave period of a drive current; The sine wave period that the embodiment of the present invention can be each drive current is numbered, and set up the corresponding relation of each pair of electrical null position and mechanical angle, the corresponding relation of numbering with corresponding sine wave period, after determining the sine wave period numbering of the drive current corresponding to described Current mechanical angle, the embodiment of the present invention can determine electrical null position that the sine wave period of this numbering is corresponding and corresponding mechanical angle, thus mechanical angle corresponding for the electrical null position in the sine wave period of this numbering is defined as described target mechanical angle.
Step S430, determine the differential seat angle of described Current mechanical angle and described target mechanical angle;
Step S440, according to the stator winding current of described differential seat angle determination stepping motor when described stop position;
Step S450, with determined stator winding current, Driving Stepping Motor start.
Optionally, the embodiment of the present invention can according to described differential seat angle, and the micro-stepping segmentation number that drived control adopts, and determines the stator winding current of stepping motor when described stop position; Fig. 6 shows the method flow diagram of the stator winding current of determination stepping motor when stop position that the embodiment of the present invention provides, and with reference to Fig. 6, the method can comprise:
Step S500, by step angle divided by described micro-stepping segmentation number, obtain the often step angle after segmenting, by described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor;
Be 4.05 ° with differential seat angle, step angle is 1.8 °, and micro-stepping segmentation number is 4 is example, then the often step angle after segmentation is 1.8 °/4=0.45 °, then the micro-stepping number starting stepping motor corresponding is 4.05 °/0.45 °=9;
What the micro-stepping number that this startup stepping motor is corresponding represented is, stepping motor is (in the sine wave period of the drive current namely corresponding to described Current mechanical angle) in the sine wave period of the drive current corresponding to stop position, micro-stepping number corresponding when stepping motor stops.
Step S510, in the sine wave period of the drive current corresponding to described Current mechanical angle, determine the stator winding current that described micro-stepping number is corresponding.
According to the relation of micro-stepping number and step motor stator winding current in each sine wave period of drive current, the embodiment of the present invention can determine the sine wave period of the drive current corresponding to described Current mechanical angle, and the relation of micro-stepping number corresponding to this sine wave period and step motor stator winding current, determine the stator winding current corresponding to micro-stepping number that obtained startup stepping motor is corresponding.
To start micro-stepping number corresponding to stepping motor for 9, the sine wave period of the drive current corresponding to the phase winding of A shown in Fig. 1 electric current, the sine wave period of the drive current corresponding to described Current mechanical angle is example, with reference to shown in Fig. 1, start can drawing the position that current stepping motor can be 9 (namely the 9th) from microwave number, adopt the 9th corresponding stator winding current to start stepping motor;
Can find out, the embodiment of the present invention is according to the differential seat angle of Current mechanical angle corresponding to stepping motor stop position and described target mechanical angle, determined stepping motor starts the stator winding current adopted, be the stator winding current in the sine wave period of the drive current corresponding to stepping motor stop position, the startup of stepping motor is carried out by this stator winding current, effectively can eliminate the angular error of motor start-up procedure, improve and start precision and dynamic accuracy, and improve motor operational efficiency.
Optionally, the micro-stepping number that the startup stepping motor that the embodiment of the present invention obtains is corresponding is likely decimal, and differential seat angle is divided by after the often step angle after described segmentation as will be described, and the result obtained is 8.4 etc.; Then now, the embodiment of the present invention can by described differential seat angle divided by after the often step angle after described segmentation, and the fraction result obtained carries out the process that rounds up, and obtains starting micro-stepping number corresponding to stepping motor; Obviously, if described differential seat angle is divided by after the often step angle after described segmentation, the numerical result obtained is integer, then this integer is and starts micro-stepping number corresponding to stepping motor.
Optionally, Fig. 7 shows the another flow chart of the stepping motor starting method that the embodiment of the present invention provides, and with reference to Fig. 7, the method can comprise:
Step S600, when judging whether that recording stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, if not, performs step S610, if so, performs step S630;
Step S610, Driving Stepping Motor rotate a circle, and electrical null position corresponding in each sine wave period of record drive current, to there being an electrical null position in a sine wave period of drive current;
The mechanical angle corresponding to electrical null position corresponding in each sine wave period of step S620, record drive current, sets up electrical null position corresponding in each sine wave period of drive current and the corresponding relation of corresponding mechanical angle;
Step S630, determine the Current mechanical angle that stepping motor stop position is corresponding;
Step S640, according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determines the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding;
Optionally, described target mechanical angle is determined by method shown in Fig. 4 or Fig. 5.
Step S650, determine the differential seat angle of described Current mechanical angle and described target mechanical angle;
Step S660, by step angle divided by described micro-stepping segmentation number, obtain the often step angle after segmenting, by described differential seat angle divided by the often step angle after described segmentation, obtain result of calculation;
Step S670, judge whether described result of calculation is decimal, if so, perform step S680, if not, determine that described result of calculation is start micro-stepping number corresponding to stepping motor, perform step S690;
Step S680, described decimal is carried out the process that rounds up, obtain starting micro-stepping number corresponding to stepping motor, perform step S690;
Step S690, in the sine wave period of the drive current corresponding to described Current mechanical angle, determine the stator winding current that described micro-stepping number is corresponding, and with determined stator winding current, Driving Stepping Motor starts.
Embodiment of the present invention Driving Stepping Motor starts the stator winding current adopted, the Current mechanical angle corresponding according to stepping motor stop position, and the differential seat angle of described target mechanical angle is determined, effectively can eliminate the angular error of motor start-up procedure, improve and start precision and dynamic accuracy, and improve motor operational efficiency, the unmatched situation of stepping motor rotor angle and stator excitation magnetic field that reduces occurs, and the situation reducing motor stalling or reversion occurs.
Be introduced the stepping motor starting drive that the embodiment of the present invention provides below, stepping motor starting drive described below can corresponding reference mutual to above-described stepping motor starting method.
The structured flowchart of the stepping motor starting drive that Fig. 8 provides for the embodiment of the present invention, this stepping motor starting drive can be applicable in driver, and with reference to Fig. 8, this stepping motor starting drive can comprise:
Current angular determination module 100, for determining the Current mechanical angle that stepping motor stop position is corresponding;
Angle on target determination module 200, for according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determines the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, the corresponding mechanical angle of one of them electrical null position;
Differential seat angle determination module 300, for determining the differential seat angle of described Current mechanical angle and described target mechanical angle;
Starting current determination module 400, for according to the stator winding current of described differential seat angle determination stepping motor when described stop position;
Start driver module 500, for determined stator winding current, Driving Stepping Motor starts.
Optionally, Fig. 9 shows another structured flowchart of the stepping motor starting drive that the embodiment of the present invention provides, and shown in composition graphs 8 and Fig. 9, this stepping motor starting drive can also comprise:
Prerecord module 600, rotates a circle for Driving Stepping Motor, and electrical null position corresponding in each sine wave period of record drive current, to there being an electrical null position in a sine wave period of drive current; The mechanical angle corresponding to electrical null position corresponding in each sine wave period of record drive current, sets up electrical null position corresponding in each sine wave period of drive current and the corresponding relation of corresponding mechanical angle.
Optionally, Figure 10 shows a kind of alternate configurations of the angle on target determination module 200 that the embodiment of the present invention provides, and with reference to Figure 10, angle on target determination module 200 can comprise:
First determines performance element 210, for determining the mechanical angle of former and later two electrical null positions nearest with described Current mechanical angular distance, by the mechanical angle of the electrical null position of fractional value in the mechanical angle of former and later two electrical null positions described, be defined as described target mechanical angle.
Optionally, Figure 11 shows the another kind of alternate configurations of the angle on target determination module 200 that the embodiment of the present invention provides, and with reference to Figure 11, angle on target determination module 200 can comprise:
Second determines performance element 220, for determining the sine wave period of the drive current corresponding to described Current mechanical angle; By in the sine wave period of the drive current corresponding to described Current mechanical angle, the mechanical angle corresponding to the electrical null position recorded is defined as described target mechanical angle.
Optionally, Figure 12 shows a kind of alternate configurations of the starting current determination module 400 that the embodiment of the present invention provides, and with reference to Figure 12, starting current determination module 400 can comprise:
Often walk angle determination unit 410, for step angle is segmented number divided by described micro-stepping, obtain the often step angle after segmenting;
Micro-stepping number determining unit 420, for by described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor;
Results of weak current determining unit 430, in the sine wave period of the drive current corresponding to described Current mechanical angle, determines the stator winding current that described micro-stepping number is corresponding.
Optionally, Figure 13 shows a kind of alternate configurations of the micro-stepping number determining unit 420 that the embodiment of the present invention provides, and with reference to Figure 13, micro-stepping number determining unit 420 can comprise:
Decimal process subelement 421, if for by described differential seat angle divided by after the often step angle after described segmentation, the numerical result obtained is decimal, then described decimal is carried out the process that rounds up, and obtains described micro-stepping number;
Integer process subelement 422, if for by described differential seat angle divided by after the often step angle after described segmentation, the numerical result obtained is integer, then described integer is defined as described micro-stepping number.
The embodiment of the present invention also provides a kind of driver, comprises stepping motor starting drive described above.
The driver that the embodiment of the present invention provides, Driving Stepping Motor starts the stator winding current adopted, determine according to the differential seat angle of Current mechanical angle corresponding to stepping motor stop position and described target mechanical angle, thus the angular error of motor start-up procedure can effectively be eliminated, improve and start precision and dynamic accuracy, and improve motor operational efficiency, the unmatched situation of stepping motor rotor angle and stator excitation magnetic field that can reduce occurs, and the situation reducing motor stalling or reversion occurs.
In this specification, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random asccess memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a stepping motor starting method, is characterized in that, is applied to driver, and described method comprises:
Determine the Current mechanical angle that stepping motor stop position is corresponding;
According to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determines the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, the corresponding mechanical angle of one of them electrical null position;
Determine the differential seat angle of described Current mechanical angle and described target mechanical angle;
According to the stator winding current of described differential seat angle determination stepping motor when described stop position;
With determined stator winding current, Driving Stepping Motor starts.
2. stepping motor starting method according to claim 1, is characterized in that, described when stepping motor rotates a circle, and the prerecord process of the corresponding relation of described electrical null position and mechanical angle comprises:
Driving Stepping Motor rotates a circle, and electrical null position corresponding in each sine wave period of record drive current, to there being an electrical null position in a sine wave period of drive current;
The mechanical angle corresponding to electrical null position corresponding in each sine wave period of record drive current, sets up electrical null position corresponding in each sine wave period of drive current and the corresponding relation of corresponding mechanical angle.
3. stepping motor starting method according to claim 2, is characterized in that, describedly determines that the target mechanical angle corresponding to electrical null position corresponding to described Current mechanical angle comprises:
Determine the mechanical angle of former and later two electrical null positions nearest with described Current mechanical angular distance, by the mechanical angle of the electrical null position of fractional value in the mechanical angle of former and later two electrical null positions described, be defined as described target mechanical angle.
4. stepping motor starting method according to claim 2, is characterized in that, describedly determines that the target mechanical angle corresponding to electrical null position corresponding to described Current mechanical angle comprises:
Determine the sine wave period of the drive current corresponding to described Current mechanical angle;
By in the sine wave period of the drive current corresponding to described Current mechanical angle, the mechanical angle corresponding to the electrical null position recorded is defined as described target mechanical angle.
5. the stepping motor starting method according to any one of claim 1-4, is characterized in that, describedly comprises according to the stator winding current of described differential seat angle determination stepping motor when described stop position:
By step angle divided by described micro-stepping segmentation number, obtain the often step angle after segmenting;
By described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor;
In the sine wave period of the drive current corresponding to described Current mechanical angle, determine the stator winding current that described micro-stepping number is corresponding.
6. stepping motor starting method according to claim 5, is characterized in that, described by described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor and comprise:
If by described differential seat angle divided by after the often step angle after described segmentation, the numerical result obtained is decimal, then described decimal is carried out the process that rounds up, and obtains described micro-stepping number;
If by described differential seat angle divided by after the often step angle after described segmentation, the numerical result obtained is integer, then described integer is defined as described micro-stepping number.
7. a stepping motor starting drive, is characterized in that, is applied to driver, and described stepping motor starting drive comprises:
Current angular determination module, for determining the Current mechanical angle that stepping motor stop position is corresponding;
Angle on target determination module, for according to prerecorded when stepping motor rotates a circle, the corresponding relation of electrical null position and mechanical angle, determines the target mechanical angle corresponding to electrical null position that described Current mechanical angle is corresponding, the corresponding mechanical angle of one of them electrical null position;
Differential seat angle determination module, for determining the differential seat angle of described Current mechanical angle and described target mechanical angle;
Starting current determination module, for according to the stator winding current of described differential seat angle determination stepping motor when described stop position;
Start driver module, for determined stator winding current, Driving Stepping Motor starts.
8. stepping motor starting drive according to claim 7, is characterized in that, described stepping motor starting drive also comprises:
Prerecord module, rotates a circle for Driving Stepping Motor, and electrical null position corresponding in each sine wave period of record drive current, to there being an electrical null position in a sine wave period of drive current; The mechanical angle corresponding to electrical null position corresponding in each sine wave period of record drive current, sets up electrical null position corresponding in each sine wave period of drive current and the corresponding relation of corresponding mechanical angle;
Described angle on target determination module comprises:
First determines performance element, for determining the mechanical angle of former and later two electrical null positions nearest with described Current mechanical angular distance, by the mechanical angle of the electrical null position of fractional value in the mechanical angle of former and later two electrical null positions described, be defined as described target mechanical angle;
Or second determines performance element, for determining the sine wave period of the drive current corresponding to described Current mechanical angle; By in the sine wave period of the drive current corresponding to described Current mechanical angle, the mechanical angle corresponding to the electrical null position recorded is defined as described target mechanical angle.
9. the stepping motor starting drive according to claim 7 or 8, is characterized in that, described starting current determination module comprises:
Often walk angle determination unit, for step angle is segmented number divided by described micro-stepping, obtain the often step angle after segmenting;
Micro-stepping number determining unit, for by described differential seat angle divided by the often step angle after described segmentation, obtain starting micro-stepping number corresponding to stepping motor;
Results of weak current determining unit, in the sine wave period of the drive current corresponding to described Current mechanical angle, determines the stator winding current that described micro-stepping number is corresponding.
10. a driver, is characterized in that, comprises the stepping motor starting drive described in any one of claim 7-9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106559019A (en) * | 2017-01-18 | 2017-04-05 | 北京润科通用技术有限公司 | A kind of instantaneous stall self-recovery method of motor and device |
| CN108120454A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of angle detecting method of incremental encoder |
| CN109140392A (en) * | 2018-09-19 | 2019-01-04 | 广州市雅江光电设备有限公司 | One kind is surd control method for eliminating rotating pattern disk gear ratio |
| CN111030526A (en) * | 2019-12-13 | 2020-04-17 | 苏州智感电子科技有限公司 | Motor driving method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108120454A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of angle detecting method of incremental encoder |
| CN106559019A (en) * | 2017-01-18 | 2017-04-05 | 北京润科通用技术有限公司 | A kind of instantaneous stall self-recovery method of motor and device |
| CN109140392A (en) * | 2018-09-19 | 2019-01-04 | 广州市雅江光电设备有限公司 | One kind is surd control method for eliminating rotating pattern disk gear ratio |
| CN109140392B (en) * | 2018-09-19 | 2020-08-18 | 广州市雅江光电设备有限公司 | Control method for eliminating irrational gear ratio of rotating pattern disc |
| CN111030526A (en) * | 2019-12-13 | 2020-04-17 | 苏州智感电子科技有限公司 | Motor driving method and system |
| CN111030526B (en) * | 2019-12-13 | 2021-06-25 | 苏州智感电子科技有限公司 | Motor driving method and system |
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| CN104617836B (en) | 2017-10-24 |
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