CN104852648B - The method and system that Driving Stepping Motor is rotated - Google Patents

The method and system that Driving Stepping Motor is rotated Download PDF

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Publication number
CN104852648B
CN104852648B CN201410397790.1A CN201410397790A CN104852648B CN 104852648 B CN104852648 B CN 104852648B CN 201410397790 A CN201410397790 A CN 201410397790A CN 104852648 B CN104852648 B CN 104852648B
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China
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stepper motor
pulse signal
drive pulse
motor
time
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CN201410397790.1A
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CN104852648A (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 method and system that the Driving Stepping Motor that the present invention is provided is rotated, sets stepper motor from the total degree N for starting to accelerate needed for startup to constant speed operating, and n-th accelerates required time tn, n be integer and 1≤n≤N, meanwhile, tn< tn‑1;Time t required for accelerating according to the total degree N and each timen, stepper motor is driven;After acceleration times are equal to the total degree N, motor is operated with constant speed.When being worked using this control method Driving Stepping Motor, need to only include accelerating the process with constant speed so that control process is simple, simultaneously as the time t required for the total degree N of required acceleration and n-th acceleratenAdjustable, this is conducive to controlling the stabilization of stepper motor operation to ensure that stepper motor steadily quickly turns to constant speed area.

Description

The method and system that Driving Stepping Motor is rotated

Technical field

The present invention relates to a kind of motor-drive technique field, a kind of method that Driving Stepping Motor is rotated is related in particular to And system.

Background technology

Instrument on current automobile generally uses digital instrumentation, and instrument is by pointer dashboard, alarm lamp, failure The compositions such as diagnosis display screen, touch key, wherein pointer dashboard indicate vehicle operation by stepper motor rotating pointer Parameter, such as:Engine speed, speed, water temperature, oil mass etc., the running parameter of vehicle can be correctly shown for pointer dashboard, Then need to be driven stepper motor.Stepper motor is a kind of electric impulse signal to be changed into mechanical angular displacement or displacement of the lines Executive component, the major function of stepper motor driver is the pulse signal that will be received according to certain order and the method for salary distribution point Each phase winding of dispensing stepper motor, makes its time and order switching electricity as requested, so as to realize the tune to stepper motor Speed, start and stop and rotating control etc..

Motor is rotated since static to, in rotation process, is turned in stopping whole process, and required driving force is Differ, particularly from static when starting, the PWM ripple signals of too fast change output, it will cause the motor cannot to rotate;Cross The pwm signal of slow change output, can cause to rotate slow during motor whole service again, control motor from static to startup Process, be ensure the steady quick rotation of motor key, be also ensure pointer dashboard energy correct response engine speed Deng the key of the realization change of vehicle-state.It is permanent frequently with acceleration on control strategy when motor works in the prior art Speed and the control method slowed down, with motor normal rotation.Accelerate i.e. change PWM output signal time interval from slowly to Hurry up, constant speed is PWM output signal at the same time, slow down and accelerate contrast, that is, change PWM output signal when Between be spaced near slow.This kind of method needs to set acceleration, constant speed and three processes of slowing down so that control process is complicated, unfavorable It is steady in stepper motor and be quickly transitioned into constant speed area.

The content of the invention

Therefore, the technical problems to be solved by the invention be motor since it is static rotated to during, driving side Method is complicated, is unfavorable for that stepper motor is steady and is quickly transitioned into constant speed area.So as to propose what a kind of Driving Stepping Motor was rotated Method and system.

In order to solve the above technical problems, technical scheme is as follows:

A kind of method that Driving Stepping Motor is rotated, comprises the following steps:

S1:Stepper motor from the total degree N for starting to start to the required acceleration of constant speed operating is set, and n-th accelerates institute The time t of needsn, n be integer and 1≤n≤N, meanwhile, tn< tn-1

S2:Time t required for accelerating according to the total degree N and each timen, the stepper motor is driven;

S3:After acceleration times are equal to the total degree N, the stepper motor is driven to be operated to target with constant speed Position.

The method that described Driving Stepping Motor is rotated, in the step S1, sets the acceleration of stepper motor n-th required Time tnDetailed process be:

Setting fiducial time t0

Acceleration array is set, and the acceleration array includes a1, a2…an-1, anCommon N number of array element, wherein, (an- an-1)×t0=tn, an-an-1< an-1-an-2

The method that described Driving Stepping Motor is rotated, in the step S2, the tool being driven to the stepper motor Body step is as follows:

S21:The current location of the stepper motor is obtained in real time, and arteries and veins is often driven according to current location acquisition all the way Rush the dutycycle of signal;

S22:The drive pulse signal for exporting corresponding dutycycle drives the stepper motor to rotate a step-length.

The driving method of described digital instrument stepper motor, following steps are specifically included in the step S21:

S211:Obtain the substep number F of sine wave drive pulse signal and cosine wave drive pulse signal;

S212:Obtain substep position corresponding with the stepper motor current location Ma on the drive pulse signal Ad, Ad=Ma%F;

S213:According to the substep position acquisition sine wave drive pulse signal and the duty of cosine wave drive pulse signal Than:

Sin_table=Sin (2 л × Ad/F);

Cos_table=Cos (2 л × Ad/F).

The system that a kind of Driving Stepping Motor is rotated, including:

Data setup module, for setting motor from the total degree N, Yi Ji for starting to start to the required acceleration of constant speed operating Time t required for accelerating for n timesn, n be integer and 1≤n≤N, meanwhile, tn< tn-1

Accelerate drive signal output module, for accelerating according to the total degree N and each time required time tn, it is right Motor is driven;

Constant-speed drive signal output module, after being equal to the total degree N when acceleration times, motor is with constant Speed is operated to target location.

The system that a kind of described Driving Stepping Motor is rotated, specifically includes in the data setup module:

Fiducial time sets submodule, for setting the fiducial time t that the stepper motor accelerates0

Accelerate array that submodule is set, for setting acceleration array, the acceleration array includes a1, a2…an-1, anCommon N Individual array element, wherein, (an-an-1)×t0=tn, an-an-1< an-1-an-2

The system that described Driving Stepping Motor is rotated, the acceleration drive signal output module is specifically included:

Data acquisition process module, obtains the current location of the stepper motor, and obtain according to the current location in real time Obtain the dutycycle per drive pulse signal all the way;

Drive signal output module, the drive pulse signal for exporting corresponding dutycycle drives the stepper motor to rotate one Step-length.

The system that described Driving Stepping Motor is rotated, the data acquisition process module includes:

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

Second data capture unit, obtains corresponding with the stepper motor current location Ma on the drive pulse signal Substep position Ad, Ad=Ma%F;

Dutycycle acquiring unit, according to the substep position acquisition sine wave drive pulse signal and cosine wave driving pulse The dutycycle of signal:

Sin_table=Sin (2 л × Ad/F);

Cos_table=Cos (2 л × Ad/F).

The method that a kind of CPU Driving Stepping Motor in utilization digital instrument is rotated, the center treatment is single The method output driving pulse signal Driving Stepping Motor that unit is rotated using any of the above-described described Driving Stepping Motor.

The method that CPU Driving Stepping Motor in described utilization digital instrument is rotated, the center treatment Unit is MC9S12H256 chips, and it has 24 PWM output ports, wherein 4 PWM output ports are used as drive pulse signal The voltage input end of stator field coils of the output end stepper motor to be driven be connected.

Above-mentioned technical proposal of the invention has advantages below compared to existing technology:

(1) present invention provide Driving Stepping Motor rotate method and system, set stepper motor from start start to The total degree N accelerated needed for constant speed operating, and n-th accelerates required time tn, n be integer and 1≤n≤N, meanwhile, tn < tn-1;Time t required for accelerating according to the total degree N and each timen, stepper motor is driven;Work as acceleration times After the total degree N, motor is operated with constant speed.Worked using this control method Driving Stepping Motor When, need to only include accelerating the process with constant speed so that control process is simple, simultaneously as the total degree N and n-th of required acceleration Time t required for secondary accelerationnAdjustable, this is conducive to controlling the stabilization of stepper motor operation to ensure that stepper motor is steady Quickly turn to constant speed area.

(2) method and system that the Driving Stepping Motor that the present invention is provided is rotated, when accelerating array and benchmark by setting Between so that stepper motor steadily quickly turns to constant speed area according to default accelerator, is easy to the acceleration to stepper motor Process is controlled.

(3) method and system that the Driving Stepping Motor that the present invention is provided is rotated, obtains in real time by control flow The current location of the stepper motor, and the dutycycle per drive pulse signal all the way is obtained according to the current location;Output The drive pulse signal of corresponding dutycycle drives the stepper motor to rotate a step-length, and this just can in real time determine stepping electricity The running status of machine, controls the running of stepper motor.

(4) method that the CPU Driving Stepping Motor in the utilization digital instrument that the present invention is provided is rotated, profit With CPU output driving pulse signal Driving Stepping Motor.General digital stepper motors driver needs additional special Motor drive ic realize driving to stepper motor, general a piece of motor drive ic can drive two-way stepper motor, 2-3 piece motor drive ics are then needed on one piece of digital instrumentation.From froming the perspective of in product cost, 1 motor drive ic is according to 10 Unit calculates, and 2-3 pieces motor drive ic then needs 20-30 units, and digital instrumentation is bulk article, and one piece of digital instrumentation increases 20-30 units are then no small costs;From froming the perspective of in hardware space:Increase 2-3 piece motor drive ics, increase on digital instrumentation Required hardware space, is unfavorable for the miniaturization of digital instrumentation.Stepper motor, drop are directly driven using central control unit Low cost, saves hardware space, is conducive to the miniaturization of digital instrumentation.

(5) method that the CPU Driving Stepping Motor in the utilization digital instrument that the present invention is provided is rotated, in Central Processing Unit is MC9S12H256 chips, and it has 24 PWM output ports, wherein 4 PWM output ports are used as driving arteries and veins The voltage input end for rushing the stator field coils of the output end stepper motor to be driven with of signal is connected.This just can be same When drive 6 stepper motors, be well positioned to meet the number of the motor of required driving on pointer dashboard in digital instrumentation.

Brief description of the drawings

In order that present disclosure is more likely to be clearly understood, below according to specific embodiment of the invention and combine Accompanying drawing, the present invention is further detailed explanation, wherein

Fig. 1 is the flow chart of the method for Driving Stepping Motor rotation in one embodiment of the invention;

Fig. 2 is acceleration and the constant speed timing diagram of the method for Driving Stepping Motor rotation in one embodiment of the invention;

Fig. 3 is the program flow diagram of the method for Driving Stepping Motor rotation in one embodiment of the invention;

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

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

Specific embodiment

Embodiment 1

The present embodiment provides a kind of method that Driving Stepping Motor is rotated, shown in Figure 1, comprises the following steps:

S1:Stepper motor from the total degree N for starting to start to the required acceleration of constant speed operating is set, and n-th accelerates institute The time t of needsn, n be integer and 1≤n≤N, meanwhile, tn< tn-1.The wherein value of N is bigger, the accelerator of stepper motor It is gentler, but the place of the time and Driving Stepping Motor accelerator needed for considering required arrival constant speed operating The internal memory of device is managed, the value of N is generally:5≤N≤10.T is setn< tn-1The carrying out accelerated with stepper motor is ensure that, n gets over During close to N, n-th accelerates required time tnIt is shorter.

S2:Time t required for accelerating according to the total degree N and each timen, the stepper motor is driven.

S3:After acceleration times are equal to the total degree N, the stepper motor is driven to be operated to target with constant speed Position.

The method that a kind of Driving Stepping Motor that the present embodiment is provided is rotated, only sets on control flow and accelerates and constant speed Control process so that control process is simple, simultaneously as the time required for the total degree N of required acceleration and n-th accelerate tnAdjustable, this just ensure that the stability of stepper motor operation ensure that stepper motor steadily quickly turns to constant speed Area.

On the basis of such scheme, in the step S1, the time t required for stepper motor n-th accelerates is setn's Detailed process is:Setting fiducial time t0;Acceleration array is set, and the acceleration array includes a1, a2…an-1, anCommon N number of number Constituent element element, wherein, (an-an-1)×t0=tn, an-an-1< an-1-an-2.The value of n-1, n-2 is each fallen within less than or equal to N, is more than In the range of 1.Accelerate array and fiducial time by setting so that stepper motor according to default accelerator, steadily Constant speed area quickly is turned to, is easy to be controlled the accelerator of stepper motor.

Fiducial time t0Stepper motor is influenceed simultaneously in the speed of service in accelerating region and constant speed area, fiducial time t0Numerical value Increase, speed of the stepper motor in accelerating region and constant speed area all slows down, fiducial time t0It can be the core of Driving Stepping Motor operating 2-16 times of the PWM interrupt cycles of piece, the model of the chip that the Driving Stepping Motor according to selection is operated can learn required PWM interrupt cycles.Generally PWM interrupt cycles are a scopes, in practical application, model interrupt cycle can be selected Enclose interior maximum.

N number of array element a in the acceleration array1, a2…an-1, anSelection, need to meet when n be equal to N when, aN-aN-1= 1, that is, ensure that stepper motor drives the time for moving a step equal to fiducial time t in constant speed area0, the time for moving a step is driven in accelerating region Equal to fiducial time t0It is multiplied by two differences of adjacent element in acceleration array.But in the case of being not N for n, an-an-1's Value can be 1, it is also possible to be the selected other values of actual conditions according to motor rotation.

For example, representing the acceleration array with acc_array [n], Fig. 2 gives one kind and implements stepper motor acceleration With constant-speed operation timing diagram, as N=6, then accelerate to have 6 elements in array, acc_array [1]=6 be set herein, Acc_array [2]=11, acc_array [3]=15, acc_array [4]=18, acc_array [5]=20, acc_array [6]=21, then it represents that for the first time accelerate required for time be:t1=(a1-a0)×t0=(6-0) × t0=6t0, wherein a0If Zero is set to, i.e.,:The fiducial time at 6 times of interval drives the fiducial time at the 1st step, 5 times of interval to drive the 2nd step, the benchmark at 4 times of interval Time drives the 3rd step, the like, after driving 5 steps, stepper motor enters constant speed area from accelerating region, and stepper motor enters constant speed All the time with fiducial time as the cycle of operation behind area, the step number that Driving Stepping Motor rotation is specified to target location.As other realities Existing mode, the element value for accelerating array can be various combination, need to meet (an-an-1)×t0=tn;aN-aN-1=1, and a2- a1, a3-a2…aN-1-aN-2Can be the decreasing values of other combinations.Fig. 3 gives one kind and implements on the present embodiment The flow chart of scheme is stated, wherein acc_cycle is defined as the current state in which value of stepper motor, sets acc_cycle initial Value is equal to zero, and when each time, fiducial time then, is with last element value in acceleration array after plus 1 by acc_cycle The size of acc_array [6]=21 is compared, if being more than or equal to 21, then it represents that stepper motor accelerated completion, into perseverance Fast area is operated to target location;If being less than 21, then it represents that during stepper motor is still in accelerating region, now comparing acc_cycle is Whether either element value in the no array equal to acceleration, i.e., be equal to 6,11,15,18 and 20, if being equal to, illustrates to need to stepping electricity Machine is accelerated, if being not equal to, illustrates now to be less than the time for accelerating stepper motor next time.

Selected in the present embodiment as a example by the stepper motor that digital instrumentation is used, it is a kind of many magnetic poles, 90 degree of phase differences Accurate miniature stepper motor, its by data signal directly as simulation angle display output.This stepper motor needs two Road logic pulse signal drives, and is operable with the driving pulse of 5V-10V, and the step angle of output shaft is minimum up to 1/12 degree, most Big angular speed is 600 degrees seconds.It is typically chosen sine wave drive pulse signal and cosine wave drive pulse signal enters to stepper motor Row drives.Illustrated by taking step pattern driving as an example in the present embodiment.

In the step S2, to comprising the following steps that the stepper motor is driven:

S21:The current location of the stepper motor is obtained in real time, and arteries and veins is often driven according to current location acquisition all the way Rush the dutycycle of signal.

S22:The drive pulse signal for exporting corresponding dutycycle drives the stepper motor to rotate a step-length.

The method that the Driving Stepping Motor that the present embodiment is provided is rotated can in real time determine the running status of stepper motor, The running of stepper motor is controlled, is applied to when on pointer dashboard, the working condition of vehicle can be accurately reacted in real time.

On the basis of such scheme, following steps are specifically included in the step S21:

S211:Obtain the substep number F of sine wave drive pulse signal and cosine wave drive pulse signal.

S212:Obtain substep position corresponding with the stepper motor current location Ma on the drive pulse signal Ad, Ad=Ma%F, (% is the operator for taking the remainder).

S213:According to the substep position acquisition sine wave drive pulse signal and the duty of cosine wave drive pulse signal Than:

Sin_table=Sin (2 л × Ad/F);

Cos_table=Cos (2 л × Ad/F).

For example, when F=8 is using 8 substep drive patterns, then the result of Ad=Ma%F can be 0,1,2 ... ... 7, phase The dutycycle answered 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 stepper motor is worked as Front position Ma is second step, then substep position corresponding with the stepper motor current location Ma on the drive pulse signal Ad=2%8=2;Then accounting for according to the substep position acquisition sine wave drive pulse signal and cosine wave drive pulse signal Sky ratio: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 is provided is rotated, it is shown in Figure 4, including:

Data setup module, for setting motor from the total degree N, Yi Ji for starting to start to the required acceleration of constant speed operating Time t required for accelerating for n timesn, n be integer and 1≤n≤N, meanwhile, tn< tn-1

Accelerate drive signal output module, for accelerating according to the total degree N and each time required time tn, it is right Motor is driven;

Constant-speed drive signal output module, after being equal to the total degree N when acceleration times, motor is with constant Speed is operated to target location.

As a kind of preferred scheme on the basis of such scheme, specifically included in the data setup module:Benchmark Set of time submodule and acceleration array set submodule, wherein, fiducial time sets submodule, for setting the stepping electricity The fiducial time t that machine accelerates0;Accelerate array that submodule is set, for setting acceleration array, the acceleration array includes a1, a2…an-1, anCommon N number of array element, wherein, (an-an-1)×t0=tn, an-an-1< an-1-an-2.The value of n-1, n-2 falls Enter less than or equal to N, in the range of 1.

Used as a kind of preferred scheme, on the basis of such scheme, the acceleration drive signal output module is specifically wrapped Include:Data acquisition process module and drive signal output module, wherein, data acquisition process module obtains the stepping in real time The current location of motor, and the dutycycle per drive pulse signal all the way is obtained according to the current location;Drive signal is exported Module, the drive pulse signal for exporting corresponding dutycycle drives the stepper motor to rotate a step-length.

On the basis of such scheme, in the present embodiment, the data acquisition process module includes:First data acquisition Unit, obtains the substep number F of sine wave drive pulse signal and cosine wave drive pulse signal;Second data capture unit, obtains Obtain substep position Ad, Ad=Ma%F corresponding with the stepper motor current location Ma on the drive pulse signal;Duty Than acquiring unit, according to the substep position acquisition sine wave drive pulse signal and the duty of cosine wave drive pulse signal Than:

Sin_table=Sin (2 л × Ad/F);

Cos_table=Cos (2 л × Ad/F).

Embodiment 3

The present embodiment provides the method that the CPU Driving Stepping Motor in a kind of utilization digital instrument is rotated, institute State CPU and drive stepping using the method output driving pulse signal that the Driving Stepping Motor described in embodiment 1 is rotated Motor.Wherein described CPU is MC9S12H256 chips, and it has 24 PWM output ports, wherein 4 PWM are defeated Exit port is used as the output end of drive pulse signal and the control source of the stator field coils of stepper motor to be driven End connection, this just can simultaneously drive 6 stepper motors, be well positioned to meet required on pointer dashboard in digital instrumentation The number of the motor of driving.

The circuit connection diagram of MC9S12H256 chips and stepper motor is given such as Fig. 5.

M0C0M/PU0 shown in Fig. 5, M0C0P/PU1, M0C1M/PU2, M0C1P/PU3 are first group, itself and the first stepping The voltage input end connection of motor stator field coil.Similarly M1C0M/PU4, M1C0P/PU5, M1C1M/PU6, M1C1P/PU7 Being second group ... ..., M5C0M/PW4, M5C0P/PW5, M5C1M/PW6, M5C1P/PW7 are the 6th group.Specific annexation root Set according to actual conditions, when there are six stepper motors, according to the annexation shown in Fig. 5 by 24 of MC9S12H256 chips Port is connected with six stepper motors respectively.When there was only four stepper motors, then wherein four groups ports can be selected Respectively at four stepper motor connections.The annexation of other pins of chip MC9S12H256, with inventive point of the invention without Close, do not elaborate herein, keep its original annexation.

General digital stepper motors driver needs additional special motor drive ic to realize the driving to stepper motor, General a piece of motor drive ic can drive two-way stepper motor, then need 2-3 pieces motor to drive on one piece of digital instrumentation Chip.From froming the perspective of in product cost, 1 motor drive ic then needs 20-30 according to 10 yuan of calculating, 2-3 piece motor drive ics Unit, digital instrumentation is bulk article, and it is then no small cost that one piece of digital instrumentation increases 20-30 units;From hardware space Say:Increase 2-3 piece motor drive ics on digital instrumentation, increase required hardware space, be unfavorable for digital instrumentation Miniaturization.The present embodiment directly drives stepper motor using central control unit, reduces cost and is conducive to digitlization The miniaturization of instrument.The present embodiment directly drives stepper motor using central control unit output pulse drive signal, without outer If special motor drive ic, reduces cost, hardware space is saved, be conducive to the miniaturization of digital instrumentation.

Obviously, above-described embodiment is only intended to clearly illustrate example, and not to the restriction of implementation method.It is right For those of ordinary skill in the art, can also make on the basis of the above description other multi-forms change or Change.There is no need and unable to be exhaustive to all of implementation method.And the obvious change thus extended out or Among changing still in the protection domain of the invention.

Claims (6)

1. a kind of method that Driving Stepping Motor is rotated, it is characterised in that comprise the following steps:
S1:Required for setting stepper motor from the total degree N for starting to start to the required acceleration of constant speed operating, and n-th acceleration Time tn, n be integer and 1≤n≤N, meanwhile, tn< tn-1
S2:Time t required for accelerating according to the total degree N and each timen, the stepper motor is driven, to described What stepper motor was driven comprises the following steps that:
Obtain the substep number F of sine wave drive pulse signal and cosine wave drive pulse signal;
Obtain substep position Ad, Ad=Ma% corresponding with the stepper motor current location Ma on the drive pulse signal F;
According to the substep position acquisition sine wave drive pulse signal and the dutycycle of cosine wave drive pulse signal:
Sin_table=Sin (2 л × Ad/F);
Cos_table=Cos (2 л × Ad/F);
The drive pulse signal for exporting corresponding dutycycle drives the stepper motor to rotate a step-length;
S3:After acceleration times are equal to the total degree N, the stepper motor is driven to be operated to target position with constant speed Put.
2. the method that Driving Stepping Motor according to claim 1 is rotated, it is characterised in that in the step S1, is set Stepper motor n-th accelerates required time tnDetailed process be:
Setting fiducial time t0
Acceleration array is set, and the acceleration array includes a1, a2…an-1, anCommon N number of array element, wherein, (an-an-1)×t0 =tn, an-an-1< an-1-an-2
3. the system that a kind of Driving Stepping Motor is rotated, it is characterised in that including:
Data setup module, for setting motor from the total degree N for starting to start to the required acceleration of constant speed operating, and n-th Time t required for acceleratingn, n be integer and 1≤n≤N, meanwhile, tn< tn-1
Accelerate drive signal output module, for accelerating according to the total degree N and each time required time tn, to motor It is driven, to comprising the following steps that the stepper motor is driven:
Obtain the substep number F of sine wave drive pulse signal and cosine wave drive pulse signal;
Obtain substep position Ad, Ad=Ma% corresponding with the stepper motor current location Ma on the drive pulse signal F;
According to the substep position acquisition sine wave drive pulse signal and the dutycycle of cosine wave drive pulse signal:
Sin_table=Sin (2 л × Ad/F);
Cos_table=Cos (2 л × Ad/F);
The drive pulse signal for exporting corresponding dutycycle drives the stepper motor to rotate a step-length;
Constant-speed drive signal output module, after being equal to the total degree N when acceleration times, motor is with constant speed Operate to target location.
4. the system that a kind of Driving Stepping Motor according to claim 3 is rotated, it is characterised in that the data set mould Specifically included in block:
Fiducial time sets submodule, for setting the fiducial time t that the stepper motor accelerates0
Accelerate array that submodule is set, for setting acceleration array, the acceleration array includes a1, a2…an-1, anCommon N number of number Constituent element element, wherein, (an-an-1)×t0=tn, an-an-1< an-1-an-2
5. the method that the CPU Driving Stepping Motor in a kind of utilization digital instrument is rotated, it is characterised in that:
The method output driving pulse that the CPU is rotated using the Driving Stepping Motor described in claim 1 or 2 Signal Driving Stepping Motor.
6. the method that the CPU Driving Stepping Motor in utilization digital instrument according to claim 5 is rotated, It is characterized in that:
The CPU is MC9S12H256 chips, and it has 24 PWM output ports, wherein 4 PWM output ports It is connected as the voltage input end of the stator field coils of the output end of the drive pulse signal stepper motor to be driven with.
CN201410397790.1A 2014-08-13 2014-08-13 The method and system that Driving Stepping Motor is rotated CN104852648B (en)

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