CN105099301B - A kind of method of the remote speed governing of stepper motor - Google Patents
A kind of method of the remote speed governing of stepper motor Download PDFInfo
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- CN105099301B CN105099301B CN201510386832.6A CN201510386832A CN105099301B CN 105099301 B CN105099301 B CN 105099301B CN 201510386832 A CN201510386832 A CN 201510386832A CN 105099301 B CN105099301 B CN 105099301B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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Abstract
A kind of method of the remote speed governing of stepper motor, the device being made up of Commutation control unit, speed regulation unit is realized.Commutation control unit input single-phase 220V AC powers, export the controlled rectification voltage after transformer pressure-reducing, and the speed control signal comprising motor operation direction and speed of service grade is sent in controlled rectification voltage；Speed control signal includes the speed data ripple being made up of the direction guide wave and multiple power frequency periods of 3 power frequency periods；Speed regulation unit inputs the controlled rectification voltage containing speed control signal, controls the speed of stepper motor.Methods described is without remote control, without individually laying control line, directly utilizes single phase poaer supply line transmit speed control signal, and the control and regulation of remote stepper motor speed can be achieved.
Description
Technical field
The present invention relates to a kind of electric machine speed regulation technology, the method for especially a kind of remote speed governing of stepper motor.
Background technology
When needing to carry out the speed of stepper motor remote control with regulation, usual way has：
One is to use remote control control.The drive control circuit of stepper motor is equipped with remote control device, can pass through
Remote control carries out step speed regulation either stepless speed regulation to stepper motor, and it has the disadvantage to need to be equipped with remote control, and management trouble is distant
Control device is also easy to lose.
Two be to use digital control technology.For example, being controlled using RS-485 buses come the speed to stepper motor.
Program advanced technology, but cost is high, and system is in addition to needing to lay power line, in addition it is also necessary to lay digital control bus.
Three be to use analog signal control technology.For example, carrying out speed control using long-range potentiometer, cost is relatively low.But
This method needs also exist for increasing control line, and antijamming capability is poor.
The content of the invention
The purpose of the present invention aim to provide it is a kind of do not increase control signal wire and without using remote control in the case of, utilize
The method that single phase poaer supply line realizes the remote speed governing of stepper motor.
To reach above-mentioned purpose, the present invention is adopted the technical scheme that：
A kind of method of the remote speed governing of stepper motor, the device being made up of Commutation control unit and speed regulation unit is real
It is existing.
The Commutation control unit is provided with phase line input terminal, zero line input terminal, the first controlled rectification lead-out terminal, the
Two controlled rectification lead-out terminals；The phase line input terminal, zero line input terminal input single-phase 220V AC powers；Described first
Controlled rectification lead-out terminal, the second controlled rectification lead-out terminal output controlled rectification voltage.
The speed regulation unit is provided with the first controlled rectification input terminal, the second controlled rectification input terminal, described the
The first controlled rectification that one controlled rectification input terminal, the second controlled rectification input terminal are respectively connecting to Commutation control unit is defeated
Go out terminal, the second controlled rectification lead-out terminal.
The Commutation control unit is by transformer, control power module, controllable rectifier module, zero passage detection module, monolithic
Machine control module, trigger control module, speed preset module composition.
Two input terminals of the transformer are respectively phase line input terminal, zero line input terminal, two lead-out terminals
Respectively the first ac terminal, the second ac terminal；First ac terminal, the second ac terminal export the second alternating current
Source.
The control power module is made up of control power supply single-phase rectification bridge and the first filter regulator circuit, and output first is straight
Flow working power；Two ac input ends of the control power supply single-phase rectification bridge are respectively connecting to the first ac terminal, second
Ac terminal；The rectification negative polarity end for controlling power supply single-phase rectification bridge is publicly.
The controllable rectifier module is by rectifier bridge UR1, bidirectional thyristor V1, bidirectional thyristor V2, bidirectional thyristor V3, double
Constituted to IGCT V4；2 ac input ends of the rectifier bridge UR1 are respectively connecting to the first ac terminal and the second exchange end
Son, rectification output plus terminal is connected to bidirectional thyristor V3 second plate, and rectification output negative terminal is connected to bidirectional thyristor V4's
Second plate；It is controllable whole that first is connected to after the bidirectional thyristor V1 first anode is in parallel with the bidirectional thyristor V3 first anode
Flow lead-out terminal；Bidirectional thyristor V1 second plate is connected to the first ac terminal；The bidirectional thyristor V2 first anode with
The second controlled rectification lead-out terminal is connected to after the bidirectional thyristor V4 first anode is in parallel；Bidirectional thyristor V2 second plate
It is connected to the second ac terminal.
The trigger control module is provided with exchange control signal, rectification control signal；The exchange control signal
When the AC controling signal of input is effective, trigger control module controls to trigger when bidirectional thyristor V1 and bidirectional thyristor V2 zero passages
Conducting；When the AC controling signal of the exchange control signal input is invalid, trigger control module control bidirectional thyristor V1
End with after bidirectional thyristor V2 zero passages；When the rectification control signal of the rectification control signal input is effective, triggering control
Module controls bidirectional thyristor V3 and triggering and conducting during bidirectional thyristor V4 zero passages；The rectification of the rectification control signal input
When control signal is invalid, end after trigger control module control bidirectional thyristor V3 and bidirectional thyristor V4 zero passages.
The zero passage detection module is provided with zero passage voltage input, zero-crossing pulse output end；The zero passage voltage input
Two terminals be respectively connecting to the first ac terminal and the second ac terminal；The zero passage arteries and veins of the zero-crossing pulse output end output
Punching is positive pulse；The zero-crossing pulse is corresponding with the second AC power positive half-wave；The width of the zero-crossing pulse is less than second and handed over
Flow power supply positive half-wave width；The second AC power positive half-wave is that the first ac terminal current potential is higher than the second ac terminal current potential
The second AC power half-wave.
The speed preset module is provided with speed preset signal output part and direction Setting signal output end.
The single chip control module includes speed preset signal input part, direction Setting signal input, catches letter
Number input and two-way level signal output end；The speed preset signal input part be connected to the speed of speed preset module to
Determine signal output part；The direction Setting signal input is connected to the direction Setting signal output end of speed preset module；Institute
State the zero-crossing pulse output end that signal acquisition input is connected to zero passage detection module；The two-way level signal output end difference
For exchange control output end, rectification control output end；The exchange control output end, rectification control output end are respectively connecting to touch
Send out exchange control signal, the rectification control signal of control module.
The speed regulation unit is driven by regulation power supply module, waveform sampling module, single-chip microcomputer adjustment module, stepper motor
Dynamic model block is constituted.
The regulation power supply module input controlled rectification voltage, the second DC supply of output, it is single-phase by regulation power supply
Rectifier bridge and the second filter regulator circuit composition；The rectification negative polarity end of the regulation power supply single-phase rectification bridge is reference ground.
The waveform sampling module is provided with sampling Waveform Input end and sampling pulse output end；The sampling Waveform Input end
It is connected to the second controlled rectification input terminal；Second controlled rectification input terminal current potential is higher than first by the waveform sampling module
Simultaneously amplitude limit obtains sampling pulse for the waveform detection of controlled rectification input terminal current potential；The positive pulse of the sampling pulse and second can
Control rectification input terminal current potential corresponding higher than the waveform of the first controlled rectification input terminal current potential.
The single-chip microcomputer adjustment module, which has, catches input and speed-regulating pulse output end, direction controlling output end；Monolithic
The seizure input of machine adjustment module is connected to the sampling pulse output end of waveform sampling module.
The driving stepper motor module is used for Driving Stepping Motor, is inputted provided with speed-regulating pulse input, direction controlling
End；The speed-regulating pulse input is connected to the speed-regulating pulse output end of single-chip microcomputer adjustment module, the connection of direction controlling input
To the direction controlling output end of single-chip microcomputer adjustment module.
The Commutation control unit by controlling controlled rectification voltage come transmission speed control signal, speed control signal by
Direction guide wave and speed data wave component.
The direction guide wave has two kinds；When controlling stepper motor rotating forward, direction guide wave is by 2 power frequency period rectified waves
With the wave component that exchanges of 1 power frequency period, rectified wave is preceding, and waves AC is rear；When controlling stepper motor reversion, direction guide wave
By the wave component that exchanges of 1 power frequency period rectified wave and 2 power frequency periods, rectified wave is preceding, and waves AC is rear.
The speed data ripple is the controlled rectification voltage wave of x power frequency period, and x is the integer more than or equal to 2.
The speed control signal has speed 1-n, common n speed class；The speed class of the speed preset signal
There is speed 1-n；N is the integer more than or equal to 2.
The speed data ripple is the controlled rectification voltage wave of x power frequency period, and x is the integer more than or equal to 2.
In the controlled rectification voltage wave of the x power frequency period, 1 power frequency period correspondence 1 bit rate code；X power frequency week
The controlled rectification voltage wave correspondence x bit rate codes of phase.The speed code is binary code.
Relation between the n and x is：N is less than or equal to 2x。
The method that the single chip control module sends a speed control signal is,
Step 1, step 2 is entered when waiting until the rising edge for receiving zero-crossing pulse；
Step 2, stop exchange output, start rectification output；Enter when waiting until the rising edge for receiving zero-crossing pulse
Step 3；
Step 3, the direction wave of 1 power frequency period is sent；Enter step when waiting until the rising edge for receiving zero-crossing pulse
Rapid 4；
Step 4, stop rectification output, start exchange output；Enter when waiting until the rising edge for receiving zero-crossing pulse
Step 5；
Step 5, the controlled rectification voltage wave of 1 power frequency period is sent；Wait until the rising edge for receiving zero-crossing pulse
When enter step 6；
Step 6, have been sent from going to step 7 during the controlled rectification voltage wave of x power frequency period, otherwise return to step 5；
Step 7, stop rectification output, start exchange output.
The method of the Commutation control unit transmission speed control signal is,
Step A, reads Setting signal；
Step B, sends a speed control signal；
Step C, judges whether speed changes, and speed changes, return to step B；Speed does not change, and returns
Return step C.
The speed regulation unit receives speed control signal and adjusts the method for stepper motor speed,
Step one, motor control is initialized；
Step 2, determines whether speed control signal；There is no speed control signal, return to step two；There is speed control
Signal, goes to step 3；
Step 3, receives speed control signal；
Step 4, adjusts stepper motor speed；Return to step two.
Described to determine whether speed control signal, method is to judge whether there is direction guide wave in controlled rectification voltage.
The method for judging whether to have in controlled rectification voltage direction guide wave is to judge power frequency period in sampling pulse
More than the interval power frequency period number of low level of power frequency period width after square wave；Sampling arteries and veins after power frequency period square wave
There is the low level that power frequency period number is 2 interval in punching, then the direction guiding for thering is control stepper motor to rotate forward in controlled rectification voltage
Ripple；There is the low level that power frequency period number is 1 interval in the sampling pulse after power frequency period square wave, then controlled rectification voltage
In have control stepper motor reversion direction guide wave；There is no power frequency period in the sampling pulse after power frequency period square wave
Number is interval for 1 or 2 low level, then does not have direction guide wave in controlled rectification voltage.
The interval power frequency of low level in the judgement sampling pulse after power frequency period square wave more than power frequency period width
The method of periodicity is that the low level pulse after power frequency period square wave in sampling pulse more than power frequency period width is measured
Width, if the obtained low level pulse width more than power frequency period width of measurement is W, then the power frequency period in low level interval
Number is INT (W/20)；The function of INT functions is that fractions omitted part is rounded.
The method for receiving speed control signal is that the controlled rectification voltage wave for receiving x power frequency period is converted to x
Speed code, speed code is converted to the speed class of speed control signal.
The controlled rectification voltage wave for receiving x power frequency period is converted to x bit rates code, and its method is：
In x power frequency period after the guide wave of direction is interval, when the interval sampling pulse of 1 power frequency period is low electricity
Usually, corresponding bit rate code is 1, when the interval sampling pulse of 1 power frequency period is less than 50% rectangle for 1 dutycycle
During ripple, corresponding bit rate code is 0；
Its method is either：
In x power frequency period after the guide wave of direction is interval, when the interval sampling pulse of 1 power frequency period is low electricity
Usually, corresponding bit rate code is 0, when the interval sampling pulse of 1 power frequency period is less than 50% rectangle for 1 dutycycle
During ripple, corresponding bit rate code is 1.
It is described to stop exchange output, refer to control exchange control output end output invalid signals；The beginning rectification output,
Refer to control rectification control output end output useful signal；It is described to start exchange output, refer to that control exchange control output end is defeated
Go out useful signal；The stopping rectification output, refers to control rectification control output end output invalid signals.
The method for judging whether speed changes is that the speed class of speed preset signal changes, or
Direction Setting signal changes, then speed changes.
The method of the regulation stepper motor speed is, in the speed control signal that single-chip microcomputer adjustment module is received, side
When not changing to guide wave, the speed of stepper motor is controlled according to the corresponding speed class of speed code；Single-chip microcomputer adjustment module
In the speed control signal received, when direction guide wave changes, first control stepper motor to slow down and stall, further according to speed
The corresponding speed class of code controls the speed of stepper motor.
The beneficial effects of the invention are as follows using power line far distance controlled stepper motor speed, without remote control, without control
Line processed；Stepper motor speed can be divided into multiple grades as needed；Using rectified wave transfer rate control signal, its virtual value
Identical with waves AC, power supply is unstable when not resulting in stepper motor speed regulation.
Brief description of the drawings
Fig. 1 is system architecture diagram.
Fig. 2 is Commutation control unit structure chart.
Fig. 3 is controllable rectifier module embodiment circuit diagram.
Fig. 4 is trigger control module embodiment circuit diagram.
Fig. 5 is control section embodiment circuit diagram in Commutation control unit.
Fig. 6 is waveform diagram when sending forward direction speed control signal.
Fig. 7 is waveform diagram when sending inverted speed control signal.
Fig. 8 is speed control signal sending method.
Fig. 9 is speed regulation unit structure chart.
Figure 10 is speed regulation unit regulation section Example circuit diagram.
Figure 11 is driving stepper motor module embodiments circuit diagram.
Figure 12 is that speed is received and adjusting method.
Embodiment
Below by accompanying drawing and the present invention is described in further detail in conjunction with the embodiments, but embodiments of the present invention
Not limited to this.
The system architecture diagram of the inventive method device is realized as shown in figure 1, adjusting single by Commutation control unit and speed
Member composition.Commutation control unit, can by first by phase line input terminal L, zero line input terminal N input single-phase 220V AC powers
Control the sub- AC1 of rectification output end, the second controlled rectification lead-out terminal AC2 output controlled rectification voltage.Speed regulation unit is by first
Controlled rectification input terminal AC1, the second controlled rectification input terminal AC2 input controlled rectification voltage and control stepper motor speed
Degree.
The structure of Commutation control unit by transformer, control power module, controllable rectifier module, zero passage as shown in Fig. 2 examined
Survey module, single chip control module, trigger control module, speed preset module composition.
Two input terminals of transformer are respectively phase line input terminal L, zero line input terminal N, two lead-out terminals point
Wei not the first ac terminal L1, the second ac terminal N1.First ac terminal L1, the second ac terminal N1 export the second alternating current
Source.The voltage effective value of second AC power is effective less than the voltage for the single-phase 220V AC powers that Commutation control unit is inputted
Value.
The embodiment of controllable rectifier module as shown in figure 3, by rectifier bridge UR1, bidirectional thyristor V1, bidirectional thyristor V2,
Bidirectional thyristor V3, bidirectional thyristor V4 are constituted.Rectifier bridge UR1 2 ac input ends are respectively connecting to the first ac terminal
L1 and the second ac terminal N1, rectification output plus terminal is connected to bidirectional thyristor V3 second plate, rectification output negative terminal connection
To bidirectional thyristor V4 second plate；After the bidirectional thyristor V1 first anode is in parallel with the bidirectional thyristor V3 first anode
It is connected to the first controlled rectification lead-out terminal AC1；Bidirectional thyristor V1 second plate is connected to the first ac terminal L1；It is two-way
The second controlled rectification lead-out terminal is connected to after the IGCT V2 first anode is in parallel with the bidirectional thyristor V4 first anode
AC2；Bidirectional thyristor V2 second plate is connected to the second ac terminal N1.
Bidirectional thyristor V1 trigger pulse is inputted from its control pole K11 and first anode K12, and bidirectional thyristor V2's touches
Send out pulse to input from its control pole K21 and first anode K22, bidirectional thyristor V3 trigger pulse is from its control pole K31 and the
One anode K32 is inputted, and bidirectional thyristor V4 trigger pulse is inputted from its control pole K41 and first anode K42.
Rectifier bridge UR1 uses single-phase rectification bridge stack, or is replaced using 4 diode composition single-phase rectification bridges.
Trigger control module is the circuit for meeting following functions：Provided with exchange control signal, rectification control signal；Hand over
When the AC controling signal of flow control input input is effective, trigger control module control bidirectional thyristor V1 and bidirectional thyristor
Triggering and conducting during V2 zero passages；When the AC controling signal of exchange control signal input is invalid, trigger control module control is two-way
End after IGCT V1 and bidirectional thyristor V2 zero passages；When the rectification control signal of rectification control signal input is effective, triggering
Control module controls bidirectional thyristor V3 and triggering and conducting during bidirectional thyristor V4 zero passages；The rectification of rectification control signal input
When control signal is invalid, end after trigger control module control bidirectional thyristor V3 and bidirectional thyristor V4 zero passages.
The embodiment of trigger control module is as shown in figure 4, by zero cross fired optocoupler U1-U4 and input current-limiting resistance R1-
R4, output current limiting resistance R5-R8 are constituted, provided with exchange control signal KJ, rectification control signal KZ.Zero cross fired optocoupler
U1-U4 inside includes input light emitting diode, output optical controlled bidirectional thyrister, and zero-cross triggering circuit.Zero cross fired
Optocoupler U1-U4 model is selected in MOC3041, MOC3042, MOC3043, MOC3061, MOC3062, MOC3063.
Input current-limiting resistance R1 connects with zero cross fired optocoupler U1 input light emitting diode, and series circuit is connected in parallel to the again
One DC supply VDD1 with exchange control signal KJ.Input current-limiting resistance R1 is connected on zero cross fired optocoupler U1 input
Light-emitting diodes tube anode, as shown in Figure 4；Input current-limiting resistance R1 can also be connected on zero cross fired optocoupler U1 input luminous two
The negative electrode of pole pipe.
Input current-limiting resistance R2 connects with zero cross fired optocoupler U2 input light emitting diode, and series circuit is connected in parallel to the again
One DC supply VDD1 with exchange control signal KJ.The input for inputting current-limiting resistance R3 and zero cross fired optocoupler U3 lights
Diode series, series circuit is connected in parallel to the first DC supply VDD1 and rectification control signal KZ again.Input current limliting electricity
Resistance R4 connects with zero cross fired optocoupler U4 input light emitting diode, and series circuit is connected in parallel to the first DC supply VDD1 again
With rectification control signal KZ.Input current-limiting resistance R2-R4 can be connected on the input light-emitting diodes of corresponding zero cross fired optocoupler
Tube anode, as shown in Figure 4；The input light-emitting diodes tube cathode of corresponding zero cross fired optocoupler can also be connected on.
Output current limiting resistance R5 is connected in parallel to double again after being connected with output optical controlled bidirectional thyrister inside zero cross fired optocoupler U1
To IGCT V1 control pole K11 and first anode K12；Output is light-operated inside output current limiting resistance R6 and zero cross fired optocoupler U2
Bidirectional thyristor V2 control pole K21 and first anode K22 are connected in parallel to after bidirectional thyristor series connection again；Output current limiting resistance R7 with
It is connected in parallel to bidirectional thyristor V3 control pole K31 and the inside zero cross fired optocoupler U3 after the series connection of output optical controlled bidirectional thyrister again
One anode K32；Output current limiting resistance R8 is connected in parallel to again after being connected with output optical controlled bidirectional thyrister inside zero cross fired optocoupler U4
Bidirectional thyristor V4 control pole K41 and first anode K42.
Control section includes control power module, zero passage detection module, single chip control module, speed in Commutation control unit
The given module of degree, embodiment circuit is as shown in Figure 5.
It is the second AC power to control power module input, is output as the first DC operation provided to Commutation control unit
Power vd D1.In Fig. 5 embodiments, control power module is by diode D01, diode D02, diode D03, diode D04, electricity
Hold C1, three terminal regulator U5 composition.Diode D01, diode D02, diode D03, diode D04 composition control power supplys are single-phase
Rectifier bridge；Electric capacity C1 is connected in parallel on the DC voltage output end of control power supply single-phase rectification bridge, strobes；Three terminal regulator U5
Input VIN is connected to the rectification positive ends of control power supply single-phase rectification bridge；First DC supply VDD1 is steady from three ends
Depressor U5 output ends VOUT is exported.The rectification negative polarity end of power supply single-phase rectification bridge is controlled for publicly.Three terminal regulator U5 is selected
Select H7133.
Control power module can also use other implementations.Diode D01, diode D02, diode D03, two poles
The control power supply single-phase rectification bridge of pipe D04 compositions can be replaced with single-phase rectification bridge stack, and three terminal regulator U5 can use voltage stabilizing
Pipe mu balanced circuit or DC/DC voltage-stablizers.
Zero passage detection module is the circuit with following functions：Provided with zero passage voltage input, zero-crossing pulse output end；Cross
No-voltage input is connected to the first ac terminal；The zero-crossing pulse of zero-crossing pulse output end output is positive pulse；Zero-crossing pulse
It is corresponding with the second AC power positive half-wave；The width of zero-crossing pulse is less than the second AC power positive half-wave width；Second alternating current
Source positive half-wave is the second AC power half-wave that the first ac terminal current potential is higher than the second ac terminal current potential.
In Fig. 5 embodiments, zero passage detection module is detection shaping circuit, by diode D1, resistance R9, voltage-stabiliser tube DW1 groups
Into.Resistance R9 two ends are respectively connecting to diode D1 negative electrodes and voltage-stabiliser tube DW1 negative electrodes, and diode D1 anodes are connected to the first friendship
Terminal L1 is flowed, voltage-stabiliser tube DW1 anodes are connected to publicly.Voltage-stabiliser tube DW1 negative electrodes export for the zero-crossing pulse of output zero-crossing pulse
End.
Speed preset module is provided with speed preset signal output part and direction Setting signal output end, and speed preset signal is defeated
Go out to hold output speed Setting signal, direction Setting signal output end outbound course Setting signal.The speed control signal has
Speed 1-n, common n speed class；N is the integer more than or equal to 2.
In Fig. 5 embodiments, speed preset module carries out partial pressure using potentiometer RW1 to the first DC supply VDD1,
Obtained speed preset signal is speed preset voltage.The potentiometer RW1 speed preset average voltages exported are divided into n area
Between, the speed class of minimum voltage overall travel speed Setting signal is speed 1, the speed of ceiling voltage overall travel speed Setting signal etc.
Level is speed n；The interval speed 1-n respectively with speed class of n of speed preset voltage is corresponding.Speed preset module also may be used
To be realized using other devices such as rotary encoder, toggle switch, pulse potential devices.In Fig. 5 embodiments, speed preset module is adopted
With direction switch SWD outbound course Setting signals, the certain of direction switch SWD connects publicly, and other end is the given letter in direction
Number output end.
Single chip control module includes 1 road speed preset signal input part, 1 tunnel direction Setting signal input, and 1 tunnel is caught
Catch signal input part, 2 tunnel level signal output ends.1 road speed preset signal input part is connected to the speed of speed preset module
Setting signal output end；1 tunnel direction Setting signal input is connected to the direction Setting signal output end of speed preset module；1
Road signal acquisition input is connected to the zero-crossing pulse output end of zero passage detection module, inputs zero-crossing pulse；2 tunnel level signals are defeated
It is exchange control output end KJ, rectification control output end KZ to go out end, is respectively connecting to the exchange control input of trigger control module
Hold KJ, rectification control signal KZ.
In Fig. 5 embodiments, single chip control module is made up of single-chip microprocessor MCU 1, crystal oscillator XT1, single-chip microprocessor MCU 1
Model is MSP430G2553.The analog voltage input A0 (P1.0) of single-chip microprocessor MCU 1 is speed preset signal input part, current potential
Device RW1 output voltage is connected to the analog voltage input A0 (P1.0) of single-chip microprocessor MCU 1.If sent using other devices
The speed preset signal of switching value, digital quantity form, can be inputted from the I/O mouths of single-chip microprocessor MCU 1.Single-chip microprocessor MCU 1 is by right
The speed preset voltage of analog voltage input A0 inputs carries out A/D conversions, or reads I/O mouthfuls of input signal, obtains
The speed class of speed preset signal.The P2.0 of single-chip microprocessor MCU 1 is signal acquisition input, is connected to zero passage detection module
Zero-crossing pulse output end.The P1.3 of single-chip microprocessor MCU 1 is direction Setting signal input, is connected to the direction of speed preset module
Setting signal output end.P1.1, P1.2 of single-chip microprocessor MCU 1 are level signal output ends, and wherein P1.1 is exchange control output end
KJ, P1.2 are rectification control output end KZ；Exchange control output end KJ, rectification control output end KZ are respectively connecting to trigger control
Exchange control signal KJ, the rectification control signal KZ of module.
The first controlled rectification lead-out terminal AC1, the second controlled rectification lead-out terminal AC2 output of Commutation control unit are controllable
Commutating voltage, Commutation control unit is by controlling controlled rectification voltage come transmission speed control signal, and speed control signal is by side
To guide wave and speed data wave component.The virtual value of controlled rectification voltage is identical with the voltage effective value of the second AC power.
The direction guide wave has two kinds；When controlling stepper motor rotating forward, direction guide wave is by 2 power frequency period rectified waves
With the wave component that exchanges of 1 power frequency period, rectified wave is preceding, and waves AC is rear；When controlling stepper motor reversion, direction guide wave
By the wave component that exchanges of 1 power frequency period rectified wave and 2 power frequency periods, rectified wave is preceding, and waves AC is rear.
The speed data ripple is the controlled rectification voltage wave of x power frequency period, and x is the integer more than or equal to 2.The speed
Spend control signal and have speed 1-n, common n speed class；The speed 1-n and speed preset of speed control signal speed class
Corresponded between the speed 1-n of signal speed grade.The corresponding stepper motor state of speed 1 of speed class is braking shape
State.Relation between n and x is：N is less than or equal to 2x。
In the controlled rectification voltage wave of x power frequency period, 1 power frequency period correspondence 1 bit rate code, x power frequency period
Controlled rectification voltage wave correspondence x bit rate codes；In each power frequency period, when its controlled rectification voltage wave is waves AC, corresponding 1
Bit rate code is 0；In each power frequency period, when its controlled rectification voltage wave is rectified wave, corresponding 1 bit rate code is 1.Or
Be x power frequency period controlled rectification voltage wave in, 1 power frequency period correspondence 1 bit rate code；In each power frequency period, it can
When controlling commutating voltage ripple for waves AC, corresponding 1 bit rate code is 1；In each power frequency period, its controlled rectification voltage wave is whole
When flowing ripple, corresponding 1 bit rate code is 0.The speed code is binary code.
As shown in Figure 6, Figure 7, x is equal to 6 to waveform embodiment in embodiment during Commutation control unit transmission speed control signal,
Speed control signal has speed 1-64, totally 64 speed class.The controlled rectification voltage wave of 6 power frequency periods of embodiment
In, 1 power frequency period correspondence 1 bit rate code；It is corresponding when its controlled rectification voltage wave is waves AC in each power frequency period
Speed code is 0；In each power frequency period, when its controlled rectification voltage wave is rectified wave, corresponding speed code is 1.6 bit rates code
Scope be 00000-11111, the speed class scope of representative is speed 1-64.
Send shown in Fig. 6 be control stepper motor to rotate forward, speed class for speed 23 speed control signal.Fig. 6 (a)
For the waveform of controlled rectification voltage, T1 intervals therein are direction guide wave, by the rectified wave and 1 power frequency of 2 power frequency periods
The exchange wave component in cycle.T2 intervals are the controlled rectification voltage wave of the power frequency period of speed data ripple, i.e., 6,6 power frequency periods
Waves AC, rectified wave, waves AC, rectified wave, rectified wave, waves AC are followed successively by, corresponding 6 bit rate code is 010110, speed
The speed class of control signal is speed 23.
Send shown in Fig. 7 be control stepper motor reversion, speed class for speed 29 speed control signal.Fig. 7 (a)
For the waveform of controlled rectification voltage, T11 intervals therein are direction guide wave, by the rectified wave and 2 power frequencies of 1 power frequency period
The exchange wave component in cycle.T12 intervals are the controlled rectification voltage wave of the power frequency period of speed data ripple, i.e., 6,6 power frequency weeks
Phase is followed successively by waves AC, rectified wave, rectified wave, rectified wave, waves AC, waves AC, and corresponding 6 bit rate code is 011100, speed
The speed class for spending control signal is speed 29.
The step of single chip control module sends a speed control signal is as follows：
Step 1, step 2 is entered when waiting until the rising edge for receiving zero-crossing pulse；
Step 2, stop exchange output, start rectification output；Enter when waiting until the rising edge for receiving zero-crossing pulse
Step 3；
Step 3, the direction wave of 1 power frequency period is sent；Enter step when waiting until the rising edge for receiving zero-crossing pulse
Rapid 4；
Step 4, stop rectification output, start exchange output；Enter when waiting until the rising edge for receiving zero-crossing pulse
Step 5；
Step 5, the controlled rectification voltage wave of 1 power frequency period is sent；Wait until the rising edge for receiving zero-crossing pulse
When enter step 6；
Step 6, have been sent from going to step 7 during the controlled rectification voltage wave of x power frequency period, otherwise return to step 5；
Step 7, stop rectification output, start exchange output.
Commutation control unit is not when normal maintenance sends speed control signal state, and single chip control module control is handed over
Flow control output end KJ exports useful signal, and rectification control output end KZ exports invalid signals, zero cross fired optocoupler U1's and U2
Input LEDs ON, zero cross fired optocoupler U3 and U4 input light emitting diode cut-off, bidirectional thyristor V1, two-way crystalline substance
Brake tube V2 is turned on, bidirectional thyristor V3, bidirectional thyristor V4 cut-off, the first controlled rectification lead-out terminal AC1, the second controlled rectification
The controlled rectification voltage of lead-out terminal AC2 outputs is alternating voltage.In the embodiment shown in fig. 4, single chip control module is defeated
Exchange control output end KJ, the rectification control output end KZ signal gone out is that low level is effective.
The zero-crossing pulse of the output of zero passage detection module shown in Fig. 5 is corresponding with the positive half-wave of the second AC power, and zero passage arteries and veins
The width of punching is less than the second AC power positive half-wave width.The second AC power positive half-wave is that the first ac terminal current potential is high
In the second AC power half-wave of the second ac terminal current potential.
Single chip control module is detected to be risen with the corresponding zero-crossing pulse of half-wave in half-wave 1, or Fig. 7 in Fig. 62
After, into step 2.It is described to stop exchange output, refer to control exchange control output end KJ output invalid signals, handed over from second
Next zero crossing of stream power supply starts, bidirectional thyristor V1, bidirectional thyristor V2 cut-off；The beginning rectification output, refers to
Control rectification control output end KZ output useful signals, since next zero crossing of the second AC power, bidirectional thyristor
V3, bidirectional thyristor V4 are turned on, and it is controllable that the first controlled rectification lead-out terminal AC1, the second controlled rectification lead-out terminal AC2 are exported
Commutating voltage is commutating voltage.
The stopping rectification output, refers to control rectification control output end KZ output invalid signals, from the second AC power
Next zero crossing start, bidirectional thyristor V3, bidirectional thyristor V4 cut-off；It is described to start exchange output, refer to that control is handed over
Flow control output end KJ exports useful signal, since next zero crossing of the second AC power, bidirectional thyristor V1, two-way
IGCT V2 is turned on, the controlled rectification electricity of the first controlled rectification lead-out terminal AC1, the second controlled rectification lead-out terminal AC2 output
Press as alternating voltage.
The direction wave for sending 1 power frequency period, its method is, when control stepper motor is rotated forward, and stops exchange output,
Start rectification output；When controlling stepper motor reversion, stop rectification output, start exchange output.
The controlled rectification voltage wave for sending 1 power frequency period, its method is the power frequency period for judging to need to send
Controlled rectification voltage wave be waves AC or rectified wave, if waves AC, then stop rectification output, start exchange output；
If rectified wave, then stop exchange output, start rectification output.
Each single power frequency period of the controlled rectification voltage wave either in direction wave is waves AC, or rectification
Ripple；The waves AC of single power frequency period is by 1 single phase alternating current power supply positive half-wave and minus half wave component of 1 single phase alternating current power supply, just half
Ripple bears half-wave rear preceding；The rectified wave of single power frequency period is made up of 2 rectified half-waves, and first rectified half-waves is handed over second
Power supply positive half-wave correspondence is flowed, it is corresponding that second rectified half-waves bears half-wave with the second AC power.The time of the power frequency period is
20ms.Single power frequency period is 1 power frequency period.
The method of Commutation control unit transmission speed control signal as shown in figure 8, including：
Step A, reads Setting signal；
Step B, sends a speed control signal；
Step C, judges whether speed changes, and speed changes, return to step B；Speed does not change, and returns
Return step C.
It is that the speed class of speed preset signal changes, or direction to judge the method whether speed changes
Setting signal changes, then speed changes.
The structure of speed regulation unit by regulation power supply module, waveform sampling module, single-chip microcomputer as shown in figure 9, adjust mould
Block, driving stepper motor module composition.
The adjustment portion of speed regulation unit point includes regulation power supply module, waveform sampling module, single-chip microcomputer adjustment module, its
Embodiment is as shown in Figure 10.
Regulation power supply module provides the second DC supply VDD2 for speed regulation unit.In embodiment illustrated in fig. 10,
Regulation power supply module is by diode D05, diode D06, diode D07, diode D08, electric capacity C2, three terminal regulator U6 groups
Into.Diode D05, diode D06, diode D07, diode D08 composition regulation power supply single-phase rectification bridges；Electric capacity C2 is connected in parallel on
The DC voltage output end of regulation power supply single-phase rectification bridge, strobes；Three terminal regulator U6 inputs VIN is connected to regulation
The rectification positive ends of power supply single-phase rectification bridge；Second DC supply VDD2 is defeated from three terminal regulator U6 output ends VOUT
Go out.The rectification negative polarity end of regulation power supply single-phase rectification bridge is reference ground.Three terminal regulator U6 selects H7133.
Regulation power supply module can also use other implementations.Diode D05, diode D06, diode D07, two poles
The regulation power supply single-phase rectification bridge of pipe D08 compositions can be replaced with single-phase rectification bridge stack, and three terminal regulator U6 can use voltage stabilizing
Pipe mu balanced circuit or DC/DC voltage-stablizers.
With voltage-stabiliser tube mu balanced circuit or DC/DC voltage-stablizers.
Waveform sampling module is the circuit with following functions：Provided with sampling Waveform Input end and sampling pulse output end；
Sampling Waveform Input end is connected to the second controlled rectification input terminal；Waveform sampling module is electric by the second controlled rectification input terminal
Position is detected higher than the waveform of the first controlled rectification input terminal current potential and amplitude limit obtains sampling pulse；The positive pulse of sampling pulse with
Second controlled rectification input terminal current potential is corresponding higher than the waveform of the first controlled rectification input terminal current potential.
In Figure 10 embodiments, waveform sampling module is detection shaping circuit, by diode D2, resistance R12, voltage-stabiliser tube DW2
Composition.Resistance R12 two ends are respectively connecting to diode D2 negative electrodes and voltage-stabiliser tube DW2 negative electrodes；Diode D2 anodes are sampling ripple
Shape input, is connected to the second controlled rectification input terminal AC2；Voltage-stabiliser tube DW2 anodes are connected to reference ground；Voltage-stabiliser tube DW2 is cloudy
Extremely sampling pulse output end.
Single-chip microcomputer adjustment module, which has, catches input and speed-regulating pulse output end CP, direction controlling output end DIR, catches
Input is connected to the sampling pulse output end of waveform sampling module.Direction controlling output end DIR output type is switching value；
Speed-regulating pulse output end CP output type is pulse signal, and the frequency of pulse signal is proportional to the speed of stepper motor to close
System.
In Figure 10 embodiments, single-chip microcomputer adjustment module is made up of single-chip microprocessor MCU 2, crystal oscillator XT2, single-chip microprocessor MCU 2
Model be MSP430G2553, the seizure input of single-chip microprocessor MCU 2 is P2.0, and speed-regulating pulse output end CP is P1.2；Direction
Control output end DIR is P1.4, P1.4 output level control signals.
Driving stepper motor module be used for Driving Stepping Motor, the stepper motor driver provided with speed-regulating pulse input,
Stepper motor driver chip may be suitable for the present invention.Figure 11 show the embodiment circuit using stepper motor driver.
In embodiment illustrated in fig. 11, driving stepper motor module is by stepper motor driver U31 and diode D31-
D34, electric capacity C31 are constituted, and stepper motor driver U31 is using two-phase hybrid stepping motor driving chip TB6600 as core
Universal driver.
In Figure 11 embodiments, diode D31-D34 constitutes single phase bridge type rectifier circu to the first controlled rectification input terminal
The controlled rectification voltage of AC1, the second controlled rectification input terminal AC2 input carries out rectification, then obtains electricity after electric capacity C61 filtering
Machine driving power supply V+, powers to stepper motor driver U31.The negative polarity end of single phase bridge type rectifier circu is connected to reference ground.
In Figure 11 embodiments, stepper motor M31 two-phase phase terminal A+, A-, B+, B- are connected to driving stepper motor
Device U31 respective drive output terminals A+, A-, B+, B-；Direction controlling output end DIR, the speed-regulating pulse of single-chip microcomputer adjustment module
Output end CP is respectively connecting to stepper motor driver U31 direction controlling input negative terminal DIR-, speed-regulating pulse input negative terminal
PUL-；Stepper motor driver U31 direction controlling input positive terminal DIR+, speed-regulating pulse input positive terminal PUL+ is connected to second
DC supply VDD2.
In Figure 11 embodiments, stepper motor driver U31 power positive end VCC is connected to motor drive power supply V+, power supply
Negative terminal GND is connected to reference ground.
Speed regulation unit receives speed control signal and adjusts the speed of stepper motor, and its method as shown in figure 12, is wrapped
Include：
Step one, motor control is initialized；
Step 2, determines whether speed control signal；There is no speed control signal, return to step two；There is speed control
Signal, goes to step 3；
Step 3, receives speed control signal；
Step 4, adjusts stepper motor speed；Return to step two.
The method for adjusting stepper motor speed is that in the speed control signal that single-chip microcomputer adjustment module is received, direction does not have
When having change, the speed of stepper motor is controlled according to the corresponding speed class of speed code；The speed that single-chip microcomputer adjustment module is received
Spend in control signal, when direction changes, first control stepper motor to slow down and stall, further according to the corresponding speed class of speed code
Control the speed of stepper motor.
When adjusting the speed of stepper motor, corresponding speed of speed control signal received when single-chip microcomputer adjustment module etc.
When level is grade 1, step motor stop is controlled.
Determine whether speed control signal, method is judges from the first controlled rectification input terminal AC1, second controllable whole
Whether the controlled rectification voltage of stream input terminal AC2 inputs has direction guide wave.
Speed control signal is received, method is the controlled rectification voltage wave for receiving x power frequency period, by x power frequency period
Controlled rectification voltage wave be converted to x bit rates code.
The function of waveform sampling module is to carry out detection shaping to controlled rectification voltage.In Figure 10 embodiments, waveform sampling
Waveform detection and amplitude limit of the module by the first controlled rectification input terminal AC1 current potentials less than the second controlled rectification input terminal AC2
Sampling pulse is obtained, is exported to the seizure input of single-chip microcomputer adjustment module；The positive pulse of sampling pulse and the first controlled rectification
Input terminal current potential is corresponding less than the half-wave of the second controlled rectification input terminal current potential, and sampling pulse positive pulse width is less than should
Half band-width.Control stepper motor rotating forward, speed class shown in sampling pulse example such as Fig. 6 (b) of speed 23, control stepping
Motor reversal, speed class are shown in sampling pulse example such as Fig. 7 (b) of speed 29.When controlled rectification voltage is alternating voltage
When, sampling pulse is that dutycycle is less than the 50%, square wave with the second AC power same frequency；When controlled rectification voltage is rectification
During voltage, sampling pulse is low level.
In embodiment illustrated in fig. 6, direction guide wave is by the rectified wave of 2 power frequency periods and the waves AC of 1 power frequency period
Sampling pulse before composition, direction guide wave is the square wave that the cycle is power frequency period.The rectified wave of 2 power frequency periods should
Make occur low level of the width for 40ms, i.e. 2 power frequency period interval in sampling pulse, but actually direction guide wave makes sampling
Occur in pulse width for close to 50ms, the low level in i.e. 2.5 power frequency periods interval, low level interval T3 as shown in Figure 6；
The interval low level of 0.5 power frequency period having more is that the positive half-wave of 1 power frequency period waves AC after immediately is produced；
It is 0.5 power frequency period interval that the negative half-wave of the waves AC of 1 power frequency period of direction guide wave, which makes to occur in sampling pulse width,
High level, high level interval T4 as shown in Figure 6.
In embodiment illustrated in fig. 7, direction guide wave is by the rectified wave of 1 power frequency period and the waves AC of 2 power frequency periods
Sampling pulse before composition, direction guide wave is the square wave that the cycle is power frequency period.The rectified wave of 1 power frequency period should
Make occur low level of the width for 20ms, i.e. 1 power frequency period interval in sampling pulse, but actually direction guide wave makes sampling
Occur in pulse width for close to 20ms, the low level that i.e. 1.5 power frequency periods are interval, low level interval as shown in Figure 7
T13；The interval low level of 0.5 power frequency period having more is the positive half-wave production of 1 power frequency period waves AC after immediately
Raw；It is 1.5 power frequency periods that the negative half-wave of the waves AC of 2 power frequency periods of direction guide wave, which makes to occur in sampling pulse width,
Interval, the alternate pulse of high level, low level, high level, interval T14 as shown in Figure 7.
Judge whether controlled rectification voltage has direction guide wave, method is to judge power frequency period square wave in sampling pulse
Afterwards more than the interval power frequency period number of low level of power frequency period width；If having in the sampling pulse after power frequency period square wave
Power frequency period number is interval for 2 low level, then has the direction guide wave that control stepper motor is rotated forward in controlled rectification voltage；If work
There is the low level that power frequency period number is 1 interval in sampling pulse after frequency cycle rectangular wave, then have control in controlled rectification voltage
The direction guide wave of stepper motor reversion processed；If there is no the low level that power frequency period number is 1 or 2 interval in sampling pulse,
There is no direction guide wave in controlled rectification voltage.
Judge the interval power frequency period of low level after power frequency period square wave more than power frequency period width in sampling pulse
Several methods are to measure wide to the low level pulse after power frequency period square wave in sampling pulse more than power frequency period width
Degree, if the obtained low level pulse width more than power frequency period width of measurement is W, then the power frequency period number in low level interval
For INT (W/20)；The function of INT functions is that fractions omitted part is rounded.
In the controlled rectification voltage wave of x power frequency period of speed data ripple, 1 power frequency period correspondence 1 bit rate code, often
The voltage wave of individual power frequency period can be waves AC or rectified wave.When the voltage wave of 1 power frequency period is rectified wave
When, corresponding sampling pulse is the interval low level of 1 power frequency period；When the voltage wave of 1 power frequency period is waves AC
When, corresponding sampling pulse is less than 50% square wave for 1 dutycycle.In embodiment illustrated in fig. 6, speed data ripple is
The controlled rectification voltage wave of continuous 6 power frequency periods, is followed successively by waves AC, rectified wave, waves AC, rectified wave, rectified wave, exchange
Ripple, corresponding sampling pulse interval T5, interval T6, interval T7, interval T8, interval T9, interval T10 are followed successively by square wave, low electricity
Flat, square wave, low level, low level, square wave, 6 bit rates code are 010110, and speed class is speed 23.Implement shown in Fig. 7
In example, continuous 6 power frequency periods of speed data ripple are followed successively by waves AC, rectified wave, rectified wave, rectified wave, waves AC, exchange
Ripple, corresponding sampling pulse interval T15, interval T16, interval T17, interval T18, interval T19, interval T20 be followed successively by square wave,
Low level, low level, low level, square wave, square wave, 6 bit rates code are 011100, and speed class is speed 29.
The method that the controlled rectification voltage wave of x power frequency period is converted into x bit rates code is, after the guide wave of direction
X power frequency period it is interval in, when the interval sampling pulse of 1 power frequency period is low level, corresponding bit rate code is
1, when the interval sampling pulse of 1 power frequency period is less than 50% square wave for 1 dutycycle, corresponding bit rate code is
0.Either, in x power frequency period after the guide wave of direction is interval, when the interval sampling pulse of 1 power frequency period is low
During level, corresponding bit rate code is 0, when the interval sampling pulse of 1 power frequency period is less than 50% square for 1 dutycycle
During shape ripple, corresponding bit rate code is 1.
Speed code, which is converted to speed class, the method such as can use calculating, table look-up.In embodiment, the scope of 6 bit rates code
It is 000000-111111, the speed class scope of representative is speed 1-64；When speed code is 000000, speed class is speed
Degree 1；When speed code is 000001, speed class is speed 2；When speed code is 000010, speed class is speed 3；With such
Push away, when speed code is 111111, speed class is speed 64.
When stepper motor does not need control direction, speed preset module is without direction Setting signal output end, single-chip microcomputer control
Molding block is without direction Setting signal input, and single-chip microcomputer adjustment module is without direction controlling output end, driving stepper motor mould
The direction controlling input of block fixes access high level or low level.Now, single-chip microcomputer adjustment module will be received by 1
Power frequency period rectified wave exchanges the direction guide wave of wave component with 2 power frequency periods according to receiving by 2 power frequency period rectifications
Ripple and the direction guide wave processing of 1 power frequency period exchange wave component.
Regulation power supply module from controlled rectification voltage to speed regulation unit, driving stepper motor module and waveform sampling mould
Block is directly powered, and regulation power supply module therein, driving stepper motor module carry out rectification to controlled rectification voltage first, then pass through
After capacitor filtering, power supply is provided to interlock circuit；When controlled rectification voltage is zero, regulation power supply module, driving stepper motor mould
The source current of block is also zero；Waveform sampling module loads for non-linear resistive, when controlled rectification voltage is zero, waveform sampling
The source current of module is zero.Therefore, when controlled rectification voltage is zero, its source current provided to speed regulation unit is
Zero.So, Commutation control unit carries out stopping exchange output, beginning rectification output in the zero crossing of the second AC power, or
When being off rectification output, starting the switching of exchange output, bidirectional thyristor V1, bidirectional thyristor V2 and bidirectional thyristor V3,
Can succeed the change of current between bidirectional thyristor V4, will not cause power supply short circuit.
The present invention has following features：
1. power line far distance controlled stepper motor speed is used, without remote control, without control line；
2. stepper motor speed can be divided into multiple grades as needed；
3. rectified wave transfer rate control signal is used, its virtual value is identical with waves AC, does not result in stepper motor speed
Power supply is unstable during degree regulation.
Claims (10)
1. a kind of method of the remote speed governing of stepper motor, it is characterised in that：
The device being made up of Commutation control unit and speed regulation unit is realized；
The Commutation control unit provided with phase line input terminal, zero line input terminal, the first controlled rectification lead-out terminal, second can
Control rectification output end；The phase line input terminal, zero line input terminal input single-phase 220V AC powers；Described first is controllable
Rectification output end, the second controlled rectification lead-out terminal output controlled rectification voltage；
The speed regulation unit is provided with the first controlled rectification input terminal, the second controlled rectification input terminal, and described first can
Control rectification input terminal, the second controlled rectification input terminal are respectively connecting to the first controlled rectification output end of Commutation control unit
Son, the second controlled rectification lead-out terminal；
The Commutation control unit is by transformer, control power module, controllable rectifier module, zero passage detection module, single-chip microcomputer control
Molding block, trigger control module, speed preset module composition；
Two input terminals of the transformer are respectively phase line input terminal, zero line input terminal, two lead-out terminal difference
For the first ac terminal, the second ac terminal；First ac terminal, the second ac terminal export the second AC power；
The control power module is made up of control power supply single-phase rectification bridge and the first filter regulator circuit, exports the first direct current work
Make power supply；Two ac input ends of the control power supply single-phase rectification bridge are respectively connecting to the first ac terminal, the second exchange
Terminal；The rectification negative polarity end for controlling power supply single-phase rectification bridge is publicly；
The controllable rectifier module is by rectifier bridge UR1, bidirectional thyristor V1, bidirectional thyristor V2, bidirectional thyristor V3, two-way crystalline substance
Brake tube V4 is constituted；2 ac input ends of the rectifier bridge UR1 are respectively connecting to the first ac terminal and the second ac terminal,
Rectification output plus terminal is connected to bidirectional thyristor V3 second plate, and rectification output negative terminal is connected to the second of bidirectional thyristor V4
Anode；It is defeated that the first controlled rectification is connected to after the bidirectional thyristor V1 first anode is in parallel with the bidirectional thyristor V3 first anode
Go out terminal；Bidirectional thyristor V1 second plate is connected to the first ac terminal；The bidirectional thyristor V2 first anode with it is two-way
The second controlled rectification lead-out terminal is connected to after the IGCT V4 first anode is in parallel；Bidirectional thyristor V2 second plate connection
To the second ac terminal；
The trigger control module is provided with exchange control signal, rectification control signal；The exchange control signal input
AC controling signal it is effective when, trigger control module control bidirectional thyristor V1 and during bidirectional thyristor V2 zero passages triggering lead
It is logical；It is described exchange control signal input AC controling signal it is invalid when, trigger control module control bidirectional thyristor V1 and
End after bidirectional thyristor V2 zero passages；When the rectification control signal of the rectification control signal input is effective, triggering control mould
Block controls bidirectional thyristor V3 and triggering and conducting during bidirectional thyristor V4 zero passages；The rectification control of the rectification control signal input
During invalidating signal processed, end after trigger control module control bidirectional thyristor V3 and bidirectional thyristor V4 zero passages；
The zero passage detection module is provided with zero passage voltage input, zero-crossing pulse output end；The two of the zero passage voltage input
Individual terminal is respectively connecting to the first ac terminal and the second ac terminal；The zero-crossing pulse of zero-crossing pulse output end output is
Positive pulse；
The zero-crossing pulse is corresponding with the second AC power positive half-wave；The width of the zero-crossing pulse is being less than the second AC power just
Half band-width；The second AC power positive half-wave is that the first ac terminal current potential is handed over higher than the second of the second ac terminal current potential
Flow mains half-wave；
The speed preset module is provided with speed preset signal output part and direction Setting signal output end；
It is defeated that the single chip control module includes speed preset signal input part, direction Setting signal input, signal acquisition
Enter end and two-way level signal output end；The speed preset signal input part is connected to the speed preset letter of speed preset module
Number output end；The direction Setting signal input is connected to the direction Setting signal output end of speed preset module；It is described to catch
Catch the zero-crossing pulse output end that signal input part is connected to zero passage detection module；The two-way level signal output end is respectively to hand over
Flow control output end, rectification control output end；The exchange control output end, rectification control output end are respectively connecting to triggering control
Exchange control signal, the rectification control signal of molding block；
The speed regulation unit is by regulation power supply module, waveform sampling module, single-chip microcomputer adjustment module, driving stepper motor mould
Block is constituted；
The regulation power supply module input controlled rectification voltage, the second DC supply of output, by regulation power supply single-phase rectifier
Bridge and the second filter regulator circuit composition；The rectification negative polarity end of the regulation power supply single-phase rectification bridge is reference ground；
The waveform sampling module is provided with sampling Waveform Input end and sampling pulse output end；Sampling Waveform Input end connection
To the second controlled rectification input terminal；The waveform sampling module is controllable higher than first by the second controlled rectification input terminal current potential
Simultaneously amplitude limit obtains sampling pulse for the waveform detection of rectification input terminal current potential；The positive pulse of the sampling pulse is controllable whole with second
Flow input terminal current potential corresponding higher than the waveform of the first controlled rectification input terminal current potential；
The single-chip microcomputer adjustment module, which has, catches input and speed-regulating pulse output end, direction controlling output end；Single-chip microcomputer is adjusted
The seizure input of section module is connected to the sampling pulse output end of waveform sampling module；
The driving stepper motor module is used for Driving Stepping Motor, provided with speed-regulating pulse input, direction controlling input；Institute
The speed-regulating pulse output end that speed-regulating pulse input is connected to single-chip microcomputer adjustment module is stated, direction controlling input is connected to monolithic
The direction controlling output end of machine adjustment module；
The Commutation control unit is by controlling controlled rectification voltage come transmission speed control signal, and speed control signal is by direction
Guide wave and speed data wave component；
The direction guide wave has two kinds；When controlling stepper motor rotating forward, direction guide wave is by 2 power frequency period rectified waves and 1
The exchange wave component of individual power frequency period, rectified wave is preceding, and waves AC is rear；When controlling stepper motor reversion, direction guide wave is by 1
The wave component that exchanges of individual power frequency period rectified wave and 2 power frequency periods, rectified wave is preceding, and waves AC is rear；
The speed data ripple is the controlled rectification voltage wave of x power frequency period, and x is the integer more than or equal to 2；
The speed control signal has speed 1-n, common n speed class；The speed class of the speed preset signal has speed
Spend 1-n；N is the integer more than or equal to 2；
The speed data ripple is the controlled rectification voltage wave of x power frequency period, and x is the integer more than or equal to 2；
In the controlled rectification voltage wave of the x power frequency period, 1 power frequency period correspondence 1 bit rate code；X power frequency period
Controlled rectification voltage wave correspondence x bit rate codes；The speed code is binary code；
Relation between the n and x is：N is less than or equal to 2x；
The method that the single chip control module sends a speed control signal is,
Step 1, step 2 is entered when waiting until the rising edge for receiving zero-crossing pulse；
Step 2, stop exchange output, start rectification output；Enter step when waiting until the rising edge for receiving zero-crossing pulse
3；
Step 3, the direction wave of 1 power frequency period is sent；Enter step 4 when waiting until the rising edge for receiving zero-crossing pulse；
Step 4, stop rectification output, start exchange output；Enter step when waiting until the rising edge for receiving zero-crossing pulse
5；
Step 5, the controlled rectification voltage wave of 1 power frequency period is sent；Enter when waiting until the rising edge for receiving zero-crossing pulse
Enter step 6；
Step 6, have been sent from going to step 7 during the controlled rectification voltage wave of x power frequency period, otherwise return to step 5；
Step 7, stop rectification output, start exchange output；
The method of the Commutation control unit transmission speed control signal is,
Step A, reads Setting signal；
Step B, sends a speed control signal；
Step C, judges whether speed changes, and speed changes, return to step B；Speed does not change, and returns to step
Rapid C；
The speed regulation unit receives speed control signal and adjusts the method for stepper motor speed,
Step one, motor control is initialized；
Step 2, determines whether speed control signal；There is no speed control signal, return to step two；There is speed control signal,
Go to step 3；
Step 3, receives speed control signal；
Step 4, adjusts stepper motor speed；Return to step two.
2. the method for the remote speed governing of stepper motor according to claim 1, it is characterised in that：It is described to determine whether speed
Control signal is spent, method is to judge whether there is direction guide wave in controlled rectification voltage.
3. the method for the remote speed governing of stepper motor according to claim 2, it is characterised in that：The judgement controlled rectification
The method for whether having direction guide wave in voltage is to judge wide more than power frequency period after power frequency period square wave in sampling pulse
The interval power frequency period number of the low level of degree；Have in the sampling pulse after power frequency period square wave power frequency period number for 2 it is low
Level is interval, then has the direction guide wave that control stepper motor is rotated forward in controlled rectification voltage；After power frequency period square wave
Sampling pulse in there is power frequency period number to be 1 low level it is interval, then have control stepper motor reversion in controlled rectification voltage
Direction guide wave；There is no the low level area that power frequency period number is 1 or 2 in the sampling pulse after power frequency period square wave
Between, then there is no direction guide wave in controlled rectification voltage.
4. the method for the remote speed governing of stepper motor according to claim 3, it is characterised in that：The judgement sampling pulse
The method of the interval power frequency period number of low level after middle power frequency period square wave more than power frequency period width is, to sampling pulse
After middle power frequency period square wave more than power frequency period width low level pulse measurement width, if measurement obtain exceed power frequency
The low level pulse width of periodic width is W, then the interval power frequency period number of the low level is INT (W/20)；The work(of INT functions
Can be that fractions omitted part is rounded.
5. the method for the remote speed governing of stepper motor according to claim 1, it is characterised in that：The reception speed control
The method of signal is that the controlled rectification voltage wave for receiving x power frequency period is converted to x bit rates code, and speed code is converted into speed
Spend the speed class of control signal.
6. the method for the remote speed governing of stepper motor according to claim 5, it is characterised in that：X power frequency of the reception
The controlled rectification voltage wave in cycle is converted to x bit rates code, and its method is：
In x power frequency period after the guide wave of direction is interval, when the interval sampling pulse of 1 power frequency period is low level
When, corresponding bit rate code is 1, when the interval sampling pulse of 1 power frequency period is less than 50% square wave for 1 dutycycle
When, corresponding bit rate code is 0；
Its method is either：
In x power frequency period after the guide wave of direction is interval, when the interval sampling pulse of 1 power frequency period is low level
When, corresponding bit rate code is 0, when the interval sampling pulse of 1 power frequency period is less than 50% square wave for 1 dutycycle
When, corresponding bit rate code is 1.
7. the method for the remote speed governing of stepper motor according to claim 1, it is characterised in that：It is described to stop exchanging defeated
Go out, refer to control exchange control output end output invalid signals；The beginning rectification output, refers to control rectification control output end
Export useful signal；It is described to start exchange output, refer to control exchange control output end output useful signal；The stopping rectification
Output, refers to control rectification control output end output invalid signals.
8. the method for the remote speed governing of stepper motor according to claim 1, it is characterised in that：It is described whether to judge speed
The method changed is that the speed class of speed preset signal changes, or direction Setting signal changes, then fast
Degree changes.
9. the method for the remote speed governing of stepper motor according to claim 1, it is characterised in that：The regulation stepper motor
The method of speed is, in the speed control signal that single-chip microcomputer adjustment module is received, when direction guide wave does not change, according to speed
Spend the speed that the corresponding speed class of code controls stepper motor；In the speed control signal that single-chip microcomputer adjustment module is received, side
When being changed to guide wave, first control stepper motor to slow down and stall, stepping is controlled further according to the corresponding speed class of speed code
The speed of motor.
10. the method for the remote speed governing of stepper motor according to claim 1, it is characterised in that：The power frequency period is
20ms。
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710790927.3A CN107508513B (en) | 2015-07-06 | 2015-07-06 | Method for sending speed regulation signal of stepping motor by single-phase power line |
| CN201510386832.6A CN105099301B (en) | 2015-07-06 | 2015-07-06 | A kind of method of the remote speed governing of stepper motor |
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| CN201510386832.6A CN105099301B (en) | 2015-07-06 | 2015-07-06 | A kind of method of the remote speed governing of stepper motor |
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| CN201510386832.6A Active CN105099301B (en) | 2015-07-06 | 2015-07-06 | A kind of method of the remote speed governing of stepper motor |
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| CN108964564B (en) * | 2018-05-21 | 2023-09-29 | 佳木斯电机股份有限公司 | AC converter for three-phase asynchronous motor |
| CN114527704A (en) * | 2022-03-28 | 2022-05-24 | 浙江科泰电气有限公司 | Motor remote control system, method and device and storage medium |
| CN117674644B (en) * | 2024-02-02 | 2024-04-19 | 深圳斯诺凡科技有限公司 | Two-wire speed-regulating DC brushless motor and control circuit and control method thereof |
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| CN107508513B (en) | 2020-03-06 |
| CN107508513A (en) | 2017-12-22 |
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Effective date of registration: 20200415 Address after: 100176 Room 301, block a, building 19, yard 8, Liangshuihe 2nd Street, Beijing Economic Development Zone, Daxing District, Beijing Patentee after: BEIJING MEILIAN TAIKE BIOTECHNOLOGY Co.,Ltd. Address before: 412007 School of industry, research and production, Hunan University of Technology, 88 West Taishan Road, Zhuzhou, Hunan Patentee before: HUNAN UNIVERSITY OF TECHNOLOGY |