CN104852648A - Method and system for driving rotation of stepping motor - Google Patents

Method and system for driving rotation of stepping motor Download PDF

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Publication number
CN104852648A
CN104852648A CN201410397790.1A CN201410397790A CN104852648A CN 104852648 A CN104852648 A CN 104852648A CN 201410397790 A CN201410397790 A CN 201410397790A CN 104852648 A CN104852648 A CN 104852648A
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stepping motor
pulse signal
time
drive pulse
acceleration
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CN201410397790.1A
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CN104852648B (en
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李琰
左从兵
艾名升
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北汽福田汽车股份有限公司
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Abstract

The invention provides a method and a system for driving the rotation of a stepping motor. The method comprises the steps that a total number N of the times of acceleration needed by the stepping motor from starting to constant-speed running is set, and time tn needed for the nth time of acceleration is set, wherein n is an integer, 1<=n <= N, and simultaneously, tn< tn-1; the stepping motor is driven according to the total number N and the time tn needed for each time of acceleration; and when the number of the times of acceleration is equal to the total number N, the motor is driven to run at a constant speed. When the control method is adopted to drive the stepping motor, only acceleration and constant-speed processes are included, so that the control process is simple; in addition, the total number N of the times of acceleration and the time tn needed for each time of acceleration are respectively adjustable, so that the stability of the running of the stepping motor is facilitated, and that is to say, the stepping motor is enabled to stably and rapidly to rotate to a constant-speed period.

Description

The method and system that Driving Stepping Motor rotates

Technical field

The present invention relates to a kind of motor-drive technique field, relate in particular to the method and system that a kind of Driving Stepping Motor rotates.

Background technology

Instrument on current automobile generally adopts digital instrumentation, instrument is by pointer dashboard, alarm lamp, failure diagnosis display screen, the compositions such as touch key, wherein pointer dashboard is by stepping motor rotating pointer instruction vehicle operation parameter, as: engine speed, the speed of a motor vehicle, water temperature, oil mass etc., in order to pointer dashboard correctly can show the running parameter of vehicle, then need to drive stepping motor.Stepping motor is a kind of executive component electric impulse signal being changed into mechanical angle displacement or displacement of the lines, the major function of stepper motor driver is that the pulse signal received is distributed to each phase winding of stepping motor according to a definite sequence and the method for salary distribution, make its time as requested and order switching electricity, thus realize speed governing to stepping motor, start and stop and rotating control etc.

Motor from static to rotate, in rotation process, turn to and stop in whole process, required actuating force is not identical, particularly from static to startup time, the PWM ripple signal that too fast change exports, will cause motor to rotate; Cross the pwm signal that slow change exports, can cause again rotating in motor whole service process slow, motor control well from the static process to starting, being the key ensureing the steady quick rotation of motor, is also the key of the realization change ensureing the vehicle-states such as pointer dashboard energy correct response engine speed.In prior art during drive motors work, control strategy often adopts acceleration, the control method of constant speed and deceleration, with drive motors normal rotation.The time interval of accelerating namely to change PWM output signal, constant speed i.e. PWM output signal at the same time, slow down and accelerate just in time contrary, the time interval namely changing PWM output signal was near slowly from slowly to soon.This kind of method needs to arrange accelerations, constant speed and deceleration three processes, makes control procedure complexity, is unfavorable for that stepping motor steadily and be transitioned into constant speed district fast.

Summary of the invention

For this reason, technical problem to be solved by this invention be motor from static in the process of rotating, driving method is complicated, is unfavorable for that stepping motor is steadily and be transitioned into constant speed district fast.Thus the method and system of a kind of Driving Stepping Motor rotation is proposed.

For solving the problems of the technologies described above, technical scheme of the present invention is as follows:

The method that Driving Stepping Motor rotates, comprises the steps:

S1: arrange stepping motor from start to the required total degree N accelerated of constant speed running, and the time t required for accelerating for n-th time n, n is integer and 1≤n≤N, meanwhile, and t n< t n-1;

S2: according to described total degree N and accelerate required time t each time n, described stepping motor is driven;

S3: after acceleration times equals described total degree N, drives described stepping motor with operate at constant speed to target location.

The method that described Driving Stepping Motor rotates, in described step S1, arranges the time t required for stepping motor n-th acceleration ndetailed process be:

Setting t fiducial time 0;

Arrange acceleration array, described acceleration array comprises a 1, a 2a n-1, a nn number of array element altogether, wherein, (a n-a n-1) × t 0=t n, a n-a n-1< a n-1-a n-2.

The method that described Driving Stepping Motor rotates, in described step S2, the concrete steps driven described stepping motor are as follows:

S21: the current location of stepping motor described in Real-time Obtaining, and the duty ratio obtaining each road drive pulse signal according to described current location;

S22: the drive pulse signal exporting corresponding duty ratio drives described stepping motor to rotate a step-length.

The driving method of described digital instrument stepping motor, specifically comprises the steps: in described step S21

S211: point step number F obtaining sine wave drive pulse signal and cosine wave drive pulse signal;

S212: obtain substep position Ad corresponding with described stepping motor current location Ma on described drive pulse signal, Ad=Ma%F;

S213: the duty ratio according to described substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal:

Sin_table=Sin(2л×Ad/F);

Cos_table=Cos(2л×Ad/F)。

The system that Driving Stepping Motor rotates, comprising:

Data arrange module, for arrange motor from start to the required total degree N accelerated of constant speed running, and the time t required for accelerating for n-th time n, n is integer and 1≤n≤N, meanwhile, and t n< t n-1;

Accelerate drive singal output module, for according to described total degree N and the time t that accelerates each time n, motor is driven;

Constant-speed drive signal output module, for equal described total degree N when acceleration times after, drive motors with operate at constant speed to target location.

The system that described a kind of Driving Stepping Motor rotates, described data arrange in module and specifically comprise:

Fiducial time arranges submodule, for arranging t fiducial time that described stepping motor accelerates 0;

Accelerate array and arrange submodule, for arranging acceleration array, described acceleration array comprises a 1, a 2a n-1, a nn number of array element altogether, wherein, (a n-a n-1) × t 0=t n, a n-a n-1< a n-1-a n-2.

The system that described Driving Stepping Motor rotates, described acceleration drive singal output module specifically comprises:

Data acquisition process module, the current location of stepping motor described in Real-time Obtaining, and the duty ratio obtaining each road drive pulse signal according to described current location;

Drive singal output module, the drive pulse signal exporting corresponding duty ratio drives described stepping motor to rotate a step-length.

The system that described Driving Stepping Motor rotates, described data acquisition process module comprises:

First data capture unit, obtains point step number F of sine wave drive pulse signal and cosine wave drive pulse signal;

Second data capture unit, obtains substep position Ad corresponding with described stepping motor current location Ma on described drive pulse signal, Ad=Ma%F;

Duty ratio acquiring unit, the duty ratio according to described substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal:

Sin_table=Sin(2л×Ad/F);

Cos_table=Cos(2л×Ad/F)。

Utilize the method that the CPU Driving Stepping Motor in digital instrument rotates, the method that described CPU utilizes above-mentioned arbitrary described Driving Stepping Motor to rotate exports drive pulse signal Driving Stepping Motor.

The described method utilizing the CPU Driving Stepping Motor in digital instrument to rotate, described CPU is MC9S12H256 chip, it has 24 PWM output ports, and wherein 4 PWM output ports are connected with the voltage input end of the stator field coils of a stepping motor to be driven as the output of drive pulse signal.

Technique scheme of the present invention has the following advantages compared to existing technology:

(1) method and system that rotates of Driving Stepping Motor provided by the invention, arrange stepping motor from start to the required total degree N accelerated of constant speed running, and the time t required for accelerating for n-th time n, n is integer and 1≤n≤N, meanwhile, and t n< t n-1; According to described total degree N and accelerate required time t each time n, stepping motor is driven; After acceleration times equals described total degree N, drive motors is with operate at constant speed.When adopting this control method Driving Stepping Motor to work, only need comprise and accelerating and the process of constant speed, make control procedure simple, meanwhile, due to required acceleration total degree N and n-th acceleration required for time t nall adjustable, this is conducive to the stable of control step motor operation and namely ensure that stepping motor steadily turns to constant speed district fast.

(2) method and system of Driving Stepping Motor rotation provided by the invention, array and fiducial time is accelerated by arranging, make stepping motor according to the accelerator preset, steadily turn to constant speed district fast, be convenient to control the accelerator of stepping motor.

(3) method and system of Driving Stepping Motor rotation provided by the invention, by the current location of stepping motor described in Real-time Obtaining on control flow, and obtains the duty ratio of each road drive pulse signal according to described current location; The drive pulse signal exporting corresponding duty ratio drives described stepping motor to rotate a step-length, the running status of the determination stepping motor that this just can be real-time, the running of control step motor.

(4) method utilizing the CPU Driving Stepping Motor in digital instrument to rotate provided by the invention, utilizes CPU to export drive pulse signal Driving Stepping Motor.General digital stepper motors driver needs the driving of additional special motor drive ic realization to stepping motor, and general a slice motor drive ic can drive two-way stepping motor, one piece of digital instrumentation then needs 2-3 sheet motor drive ic.Say from product cost, 1 motor drive ic is according to 10 yuan of calculating, and 2-3 sheet motor drive ic then needs 20-30 unit, and digital instrumentation is bulk article, and it is then no small cost that one piece of digital instrumentation increases 20-30 unit; Say from hardware space: increase 2-3 sheet motor drive ic at digital instrumentation, increase required hardware space, be unfavorable for the miniaturization of digital instrumentation.Adopt central control unit Direct driver stepping motor, reduce cost, save hardware space, be conducive to the miniaturization of digital instrumentation.

(5) method utilizing the CPU Driving Stepping Motor in digital instrument to rotate provided by the invention, CPU is MC9S12H256 chip, it has 24 PWM output ports, and wherein 4 PWM output ports are connected with the voltage input end of the stator field coils of a stepping motor to be driven as the output of drive pulse signal.This just can drive 6 stepping motors simultaneously, is well positioned to meet the number of the required motor driven on digital instrumentation middle finger pin type panel board.

Accompanying drawing explanation

In order to make content of the present invention be more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein

Fig. 1 is the flow chart of the method that in one embodiment of the invention, Driving Stepping Motor rotates;

Fig. 2 is acceleration and the constant speed sequential chart of the method that in one embodiment of the invention, Driving Stepping Motor rotates;

Fig. 3 is the program flow diagram of the method that in one embodiment of the invention, Driving Stepping Motor rotates;

Fig. 4 is the structured flowchart of the system that in one embodiment of the invention, Driving Stepping Motor rotates;

Fig. 5 is the circuit connection diagram of MC9S12H256 chip and stepping motor in one embodiment of the invention.

Embodiment

Embodiment 1

A kind of method that the present embodiment provides Driving Stepping Motor to rotate, shown in Figure 1, comprise the steps:

S1: arrange stepping motor from start to the required total degree N accelerated of constant speed running, and the time t required for accelerating for n-th time n, n is integer and 1≤n≤N, meanwhile, and t n< t n-1.Wherein the value of N is larger, and the accelerator of stepping motor is milder, but the internal memory of the processor of the time considered needed for the running of required arrival constant speed and Driving Stepping Motor accelerator, and the value of N is generally: 5≤N≤10.T is set n< t n-1ensure that the carrying out along with stepping motor accelerates, when n is more close to N, the time t required for accelerating for n-th time nshorter.

S2: according to described total degree N and accelerate required time t each time n, described stepping motor is driven.

S3: after acceleration times equals described total degree N, drives described stepping motor with operate at constant speed to target location.

The method that a kind of Driving Stepping Motor that the present embodiment provides rotates, control flow is only arranged and accelerates and the control procedure of constant speed, make control procedure simple, meanwhile, due to required acceleration total degree N and n-th acceleration required for time t nall adjustable, namely this stability that just ensure that stepping motor runs ensure that stepping motor steadily turns to constant speed district fast.

On the basis of such scheme, in described step S1, the time t required for stepping motor n-th acceleration is set ndetailed process be: setting fiducial time t 0; Arrange acceleration array, described acceleration array comprises a 1, a 2a n-1, a nn number of array element altogether, wherein, (a n-a n-1) × t 0=t n, a n-a n-1< a n-1-a n-2.The value of n-1, n-2 all falls into and is less than or equal to N, is more than or equal in the scope of 1.Accelerating array and fiducial time by arranging, making stepping motor according to the accelerator preset, steadily turning to constant speed district fast, be convenient to control the accelerator of stepping motor.

Fiducial time t 0affect the speed of service of stepping motor in accelerating region and constant speed district simultaneously, fiducial time t 0numerical value strengthen, stepping motor all slows down in the speed in accelerating region and constant speed district, fiducial time t 0the 2-16 that can be the PWM interrupt cycle of the chip of Driving Stepping Motor running doubly, according to the model of the chip of the Driving Stepping Motor running selected, can learn required PWM interrupt cycle.Generally PWM interrupt cycle is a scope, when practical application, can select the maximum within the scope of interrupt cycle.

N number of array element a in described acceleration array 1, a 2a n-1, a nchoose, need meet when n equals N, a n-a n-1=1, namely ensure that stepping motor drives the time moved a step and equals t fiducial time in constant speed district 0, drive at accelerating region the time moved a step and equal t fiducial time 0be multiplied by the difference accelerating two adjacent elements in array.But when not being N for n, a n-a n-1value can be 1, also can for other values selected by the actual conditions of motor rotation.

Such as, represent described acceleration array with acc_array [n], Fig. 2 gives a kind of specific implementation stepping motor and accelerates and constant-speed operation sequential chart, as N=6, then accelerate to have 6 elements in array, acc_array [1]=6, acc_array [2]=11, acc_array [3]=15 is set herein, acc_array [4]=18, acc_array [5]=20, acc_array [6]=21, then represent that the time required for accelerating for the first time is: t 1=(a 1-a 0) × t 0=(6-0) × t 0=6t 0, wherein a 0be set to zero, that is: the 1st step is driven the fiducial time at 6 times, interval, drive the 2nd step the fiducial time that interval is 5 times, drive the 3rd step the fiducial time that interval is 4 times, the like, after driving 5 steps, stepping motor enters constant speed district from accelerating region, stepping motor is the cycle of operation all the time with fiducial time after entering constant speed district, and Driving Stepping Motor rotates the step number of specifying to target location.As other implementations, the element value accelerating array can be various combination, need meet (a n-a n-1) × t 0=t n; a n-a n-1=1, and a 2-a 1, a 3-a 2a n-1-a n-2it can be the decreasing values of other combinations.Fig. 3 gives a kind of flow chart of specific implementation the present embodiment such scheme, wherein acc_cycle is defined as stepping motor state value residing at present, arrange acc_cycle initial value to equal zero, when fiducial time each time then, compare with the size accelerating last element value and acc_array [6]=21 in array after acc_cycle being added 1, if be more than or equal to 21, then represent that stepping motor has accelerated, enter the running of constant speed district to target location; If be less than 21, then represent that stepping motor is still in accelerating region, now compare acc_cycle whether to equal to accelerate arbitrary element value in array, namely 6,11,15,18 and 20 whether are equaled, if equal, then illustrate and need to accelerate stepping motor, if be not equal to, is described the time being now less than and accelerating stepping motor next time.

The stepping motor selecting digital instrumentation to use in the present embodiment is example, and it is the accurate miniature stepping motor of a kind of many magnetic poles, 90 degree of phase differences, and it is using direct for the digital signal angle display translation as simulation.This stepping motor needs two-way logic pulse signal to drive, and under can working in the driving pulse of 5V-10V, the most I of step angle of output shaft reaches 1/12 degree, and maximum angular rate is 600 degree/second.General selection sine wave drive pulse signal and cosine wave drive pulse signal drive stepping motor.Be described for step pattern driving in the present embodiment.

In described step S2, the concrete steps driven described stepping motor are as follows:

S21: the current location of stepping motor described in Real-time Obtaining, and the duty ratio obtaining each road drive pulse signal according to described current location.

S22: the drive pulse signal exporting corresponding duty ratio drives described stepping motor to rotate a step-length.

The method that Driving Stepping Motor that the present embodiment provides rotates can be real-time the running status of determination stepping motor, the running of control step motor, when applying on pointer dashboard, can react the operating state of vehicle in real time accurately.

On the basis of such scheme, specifically comprise the steps: in described step S21

S211: point step number F obtaining sine wave drive pulse signal and cosine wave drive pulse signal.

S212: obtain substep position Ad corresponding with described stepping motor current location Ma on described drive pulse signal, Ad=Ma%F, (% is the operator of remainder number).

S213: the duty ratio according to described substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal:

Sin_table=Sin(2л×Ad/F);

Cos_table=Cos(2л×Ad/F)。

Such as, when namely F=8 adopts 8 substep drive patterns, then the result of Ad=Ma%F can be 0,1,2 ... 7, corresponding duty ratio is: Sin_table={Sin0, Sin (л/4), Sin (л/2), Sin (3 л/4), Sin л, Sin (5 л/4), Sin (3 л/2), Sin (7 л/4) }, i.e. Sin_table={0,0.707,1,0.707,0,0.707,1,0.707}.If stepping motor current location Ma is second step, then corresponding with described stepping motor current location Ma on described drive pulse signal substep position Ad=2%8=2; Then according to the duty ratio of described substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal: Sin_table=Sin (2 л × 2/8)=1; Cos_table=Cos (2 л × 2/8)=0.

Embodiment 2

The system that a kind of Driving Stepping Motor that the present embodiment provides rotates, shown in Figure 4, comprising:

Data arrange module, for arrange motor from start to the required total degree N accelerated of constant speed running, and the time t required for accelerating for n-th time n, n is integer and 1≤n≤N, meanwhile, and t n< t n-1;

Accelerate drive singal output module, for according to described total degree N and the time t that accelerates each time n, motor is driven;

Constant-speed drive signal output module, for equal described total degree N when acceleration times after, drive motors with operate at constant speed to target location.

As a kind of preferred scheme on the basis of such scheme, described data arrange in module and specifically comprise: arrange submodule fiducial time and arrange submodule with acceleration array, wherein, fiducial time arranges submodule, for arranging t fiducial time that described stepping motor accelerates 0; Accelerate array and arrange submodule, for arranging acceleration array, described acceleration array comprises a 1, a 2a n-1, a nn number of array element altogether, wherein, (a n-a n-1) × t 0=t n, a n-a n-1< a n-1-a n-2.The value of n-1, n-2 all falls into and is less than or equal to N, is more than or equal in the scope of 1.

As the preferred scheme of one, on the basis of such scheme, described acceleration drive singal output module specifically comprises: data acquisition process module and drive singal output module, wherein, data acquisition process module, the current location of stepping motor described in Real-time Obtaining, and the duty ratio obtaining each road drive pulse signal according to described current location; Drive singal output module, the drive pulse signal exporting corresponding duty ratio drives described stepping motor to rotate a step-length.

On the basis of such scheme, in the present embodiment, described data acquisition process module comprises: the first data capture unit, obtains point step number F of sine wave drive pulse signal and cosine wave drive pulse signal; Second data capture unit, obtains substep position Ad corresponding with described stepping motor current location Ma on described drive pulse signal, Ad=Ma%F; Duty ratio acquiring unit, the duty ratio according to described substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal:

Sin_table=Sin(2л×Ad/F);

Cos_table=Cos(2л×Ad/F)。

Embodiment 3

The present embodiment provides a kind of method utilizing the CPU Driving Stepping Motor in digital instrument to rotate, and the method that described CPU utilizes the Driving Stepping Motor described in embodiment 1 to rotate exports drive pulse signal Driving Stepping Motor.Wherein said CPU is MC9S12H256 chip, it has 24 PWM output ports, wherein 4 PWM output ports are connected with the voltage input end of the stator field coils of a stepping motor to be driven as the output of drive pulse signal, this just can drive 6 stepping motors simultaneously, is well positioned to meet the number of the required motor driven on digital instrumentation middle finger pin type panel board.

As Fig. 5 gives the circuit connection diagram of MC9S12H256 chip and stepping motor.

M0C0M/PU0 shown in Fig. 5, M0C0P/PU1, M0C1M/PU2, M0C1P/PU3 are first group, and it is connected with the voltage input end of the first step motor stator field coil.In like manner M1C0M/PU4, M1C0P/PU5, M1C1M/PU6, M1C1P/PU7 are second group ... M5C0M/PW4, M5C0P/PW5, M5C1M/PW6, M5C1P/PW7 are the 6th group.Concrete annexation sets according to actual conditions, when there being six stepping motors, is connected respectively by 24 of MC9S12H256 chip ports according to the annexation shown in Fig. 5 with six stepping motors.For the situation only having four stepping motors, then wherein four groups of ports can be selected to connect respectively at four stepping motors.The annexation of other pins of chip MC9S12H256, has nothing to do with inventive point of the present invention, does not elaborate, keep its original annexation at this.

General digital stepper motors driver needs the driving of additional special motor drive ic realization to stepping motor, and general a slice motor drive ic can drive two-way stepping motor, one piece of digital instrumentation then needs 2-3 sheet motor drive ic.Say from product cost, 1 motor drive ic is according to 10 yuan of calculating, and 2-3 sheet motor drive ic then needs 20-30 unit, and digital instrumentation is bulk article, and it is then no small cost that one piece of digital instrumentation increases 20-30 unit; Say from hardware space: increase 2-3 sheet motor drive ic at digital instrumentation, increase required hardware space, be unfavorable for the miniaturization of digital instrumentation.The present embodiment adopts central control unit Direct driver stepping motor, reduces cost and is conducive to the miniaturization of digital instrumentation.The present embodiment adopts central control unit to export pulse drive signal Direct driver stepping motor, without the need to the motor drive ic that peripheral hardware is special, reduces cost, saves hardware space, be conducive to the miniaturization of digital instrumentation.

Obviously, above-described embodiment is only for clearly example being described, and the restriction not to execution mode.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all execution modes.And thus the apparent change of extending out or variation be still among the protection range of the invention.

Claims (10)

1. a method for Driving Stepping Motor rotation, is characterized in that, comprise the steps:
S1: arrange stepping motor from start to the required total degree N accelerated of constant speed running, and the time t required for accelerating for n-th time n, n is integer and 1≤n≤N, meanwhile, and t n< t n-1;
S2: according to described total degree N and accelerate required time t each time n, described stepping motor is driven;
S3: after acceleration times equals described total degree N, drives described stepping motor with operate at constant speed to target location.
2. the method for Driving Stepping Motor rotation according to claim 1, is characterized in that, in described step S1, arranges the time t required for stepping motor n-th acceleration ndetailed process be:
Setting t fiducial time 0;
Arrange acceleration array, described acceleration array comprises a 1, a 2a n-1, a nn number of array element altogether, wherein, (a n-a n-1) × t 0=t n, a n-a n-1< a n-1-a n-2.
3. the method for Driving Stepping Motor rotation according to claim 1 and 2, it is characterized in that, in described step S2, the concrete steps driven described stepping motor are as follows:
S21: the current location of stepping motor described in Real-time Obtaining, and the duty ratio obtaining each road drive pulse signal according to described current location;
S22: the drive pulse signal exporting corresponding duty ratio drives described stepping motor to rotate a step-length.
4. the driving method of digital instrument stepping motor according to claim 3, is characterized in that, specifically comprises the steps: in described step S21
S211: point step number F obtaining sine wave drive pulse signal and cosine wave drive pulse signal;
S212: obtain substep position Ad corresponding with described stepping motor current location Ma on described drive pulse signal, Ad=Ma%F;
S213: the duty ratio according to described substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal:
Sin_table=Sin(2л×Ad/F);
Cos_table=Cos(2л×Ad/F)。
5. a system for Driving Stepping Motor rotation, is characterized in that, comprising:
Data arrange module, for arrange motor from start to the required total degree N accelerated of constant speed running, and the time t required for accelerating for n-th time n, n is integer and 1≤n≤N, meanwhile, and t n< t n-1;
Accelerate drive singal output module, for according to described total degree N and the time t that accelerates each time n, motor is driven;
Constant-speed drive signal output module, for equal described total degree N when acceleration times after, drive motors with operate at constant speed to target location.
6. the system of a kind of Driving Stepping Motor rotation according to claim 5, it is characterized in that, described data arrange in module and specifically comprise:
Fiducial time arranges submodule, for arranging t fiducial time that described stepping motor accelerates 0;
Accelerate array and arrange submodule, for arranging acceleration array, described acceleration array comprises a 1, a 2a n-1, a nn number of array element altogether, wherein, (a n-a n-1) × t 0=t n, a n-a n-1< a n-1-a n-2.
7. the system that the Driving Stepping Motor according to claim 5 or 6 rotates, it is characterized in that, described acceleration drive singal output module specifically comprises:
Data acquisition process module, the current location of stepping motor described in Real-time Obtaining, and the duty ratio obtaining each road drive pulse signal according to described current location;
Drive singal output module, the drive pulse signal exporting corresponding duty ratio drives described stepping motor to rotate a step-length.
8. the system of Driving Stepping Motor rotation according to claim 7, it is characterized in that, described data acquisition process module comprises:
First data capture unit, obtains point step number F of sine wave drive pulse signal and cosine wave drive pulse signal;
Second data capture unit, obtains substep position Ad corresponding with described stepping motor current location Ma on described drive pulse signal, Ad=Ma%F;
Duty ratio acquiring unit, the duty ratio according to described substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal:
Sin_table=Sin(2л×Ad/F);
Cos_table=Cos(2л×Ad/F)。
9. the method utilizing the CPU Driving Stepping Motor in digital instrument to rotate, is characterized in that:
The method that described CPU utilizes the arbitrary described Driving Stepping Motor of claim 1-4 to rotate exports drive pulse signal Driving Stepping Motor.
10. the method utilizing the CPU Driving Stepping Motor in digital instrument to rotate according to claim 9, is characterized in that:
Described CPU is MC9S12H256 chip, and it has 24 PWM output ports, and wherein 4 PWM output ports are connected with the voltage input end of the stator field coils of a stepping motor to be driven as the output of drive pulse signal.
CN201410397790.1A 2014-08-13 2014-08-13 The method and system that Driving Stepping Motor is rotated CN104852648B (en)

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CN107544573A (en) * 2017-08-29 2018-01-05 深圳怡化电脑股份有限公司 Stepper motor driven control method and system

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