CN1068155C - Method for driving step-by-step motor - Google Patents
Method for driving step-by-step motor Download PDFInfo
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- CN1068155C CN1068155C CN97112402.7A CN97112402A CN1068155C CN 1068155 C CN1068155 C CN 1068155C CN 97112402 A CN97112402 A CN 97112402A CN 1068155 C CN1068155 C CN 1068155C
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- 238000006243 chemical reaction Methods 0.000 claims description 9
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- 230000008569 process Effects 0.000 abstract description 4
- 230000002964 excitative effect Effects 0.000 description 28
- 238000010586 diagram Methods 0.000 description 8
- 230000010349 pulsation Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 230000036961 partial effect Effects 0.000 description 4
- 206010034703 Perseveration Diseases 0.000 description 2
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- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
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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
- H02P8/18—Shaping of pulses, e.g. to reduce torque ripple
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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
- H02P8/04—Arrangements for starting
- H02P8/10—Shaping pulses for starting; Boosting current during starting
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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
- H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
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Abstract
The present invention relates to a method of driving a stepping motor without complicating a control circuit. The said method is possible to make current ripple small and to control generation of heat of the stepping motor and also to control vibration in a low-frequency acceleration/deceleration area at the time of low-speed rotation and at the time of high-speed rotation. The said micro-steps, during one step of switching respective phases by bipolar driving, includes the process of micro-step driving in a low-frequency acceleration/deceleration area of hand accelerate to the stepping motor and the high-speed rotation, and the process of forming the exciting current, supplied to the phases by micro-step driving, into triangular-wave current.
Description
The present invention is the driving method of relevant stepping motor, especially is applied to print the driving mechanism of letter disk, or is used for the driving method as the stepping motor of paper advance mechanism drive source.
The letter disk that is loaded with print head is moved along the platen limit, the driving that the limit is selected above-mentioned print head, and on paper used for recording the seal next line lettering, after the lettering of following this delegation of seal, send away with delegation above-mentioned paper used for recording, then the record of next line is carried out repeatedly the record of defined, take the serial print machine of this recording mode, be used to the output device of computer or code process program more.
And, in this serial print machine,, all using this stepping motor usually for the driving mechanism or the paper advance mechanism of drive controlling letter disk.Use the reason of this stepping motor as follows:
1. the angle of revolution of motor and input pulse number are proportional, and do not produce accumulated error.
2. the rotary speed of motor and input pulse are proportional, and can be used for accurate run-in synchronism, and control range is wide.
3. starting and stop performance are very good, in the running that can carry out below the self-starting frequency under the certain frequency.
4. the response characteristic height is exported also big.
5. as long as corresponding target location produces input pulse, then can control the position.
6. can carry out digital control.
The structural principle of stepping motor as shown in Figure 9, for example it is the stator by the magnetic pole (mutually) 2,3,4,5 of the 1st (A), the 2nd (B) of 90 ° of angles configuration separately, the 3rd (C) and the 4th (D), with by the N utmost point and the S utmost point separately the permanent magnet that rotates freely at 180 ° of angles rotor and form, this rotor 7 is connected with the unshowned output shaft of figure.And in coiling on the magnetic pole 2 and 4 of the 1st (A) and the 3rd (C) the 1st coil 8, the 2nd coil 9 in coiling on the magnetic pole 3 and 5 of the 2nd (B) and the 4th (D).
To drive stepping motor 1 in order turning round, to make exciting curent flow through each phase coil 8 and 9 of stator 6, produce magnetic field by electric current, thereby between stator 6 and rotor 7, produce the electromagnetic force of inhaling mutually or repelling each other.By the order conversion of this exciting curent, and the driving moment of rotor is changed thereupon and formed to the electromagnetic force between stator 6 and rotor 7.
Shown in Figure 10 is the block diagram that drives the integrated circuit for driving motor (IC) of common stepping motor.From shown in this figure, integrated circuit for driving motor (IC) 10 is made up of control loop 11, driving loop 12 and power supply 13.Above-mentioned control loop 11, except outside the interface equipment, also have allomeric functions such as the variable input voltage of control, speed of gyration, direction, distance and angle, can carry out the control of pulse timing to stepping motor.And said driving circuit 12 to be pulse signals by above-mentioned control loop 11 distribute mutually to each, through in certain sequence each of stepping motor 1 being carried out excitatory loop mutually after amplifying.Above-mentioned power supply 13 is that step motor drive usefulness and integrated circuit (IC) are necessary with two kinds.
In the type of drive of stepping motor 1, comprise that one pole drives and bipolar driving.
Above-mentioned one pole drives shown in 1 example of Figure 11, and each coil is connected with 24 with 1 transistor 21,22,23 respectively, is in the ON state respectively at each transistor, has only the electric current of a direction to flow through in each coil.And bipolar driving as shown in figure 12, each coil is to be connected with 28 with transistorized 25,26,27, as only illustrating mutually with A, when moving, because the 1st transistor 25 and the 4th transistor 28 are in the ON state, therefore there is the electric current of A direction to flow through, and when the 2nd transistor 26 and the 3rd transistor 27ON, then has reverse B directional current to flow through.One pole drives to be compared with bipolar driving, and the number of transistors of one pole lack 1/2 than bipolar number of transistors, and it is simple to form the loop, but bipolar driving and one pole driving be under the identical situation of input power, and the motor torque of bipolar driving is that this is its advantage greatly.The driving method of the stepping motor 1 that is adopted in the present invention described later is exactly a bipolar driving.
The step mode of exciting curent includes 1 mutually excitatoryly, and 1-2 is mutually excitatory mutually excitatory etc. with 2-2.
Driving method by above-mentioned 1 mutually excitatory stepping motor 1, be excitatory by by the order of per 1 phase each being carried out mutually, it is to carry out the most basic rotating driving method with basic step angle, angle precision height but driving moment is little, and power efficiency is undesirable, just therefore shortcoming and use not many.Therefore at 1 mutually excitatory time, 1 step angle when it is driven is called basic step angle.
Driving method by the mutually excitatory stepping motor 1 of above-mentioned 2-2, normally carry out when identical excitatory to 2 of phase ortho position, take once to change the excitatory method of 1 phase, the utilance height of ordinary circumstance 2 mutually excitatory ratio 1 mutually excitatory its power, same motor power voltage can obtain high output, and to the overbump of rotor vibration also plays inhibitory action, therefore driving methods that adopt this stepping motor 1 more.
By the driving method of stating the mutually excitatory stepping motor 1 of 1-2, be to take 1 mutually excitatory and the mutually excitatory method that replaces repeatedly of 2-2, by the stop position of 1 mutually excitatory rotor with by the mutually excitatory stop position of 2-2, its basic step angle only slides 1/2, because these 2 excitatory states are to hocket repeatedly, therefore can obtain to export by 1/2 step angle of the step angle of the 1 mutually excitatory and mutually excitatory driving of 2-2.This method is compared with other driving method, and it is resolution multiplied and can send tiny stepping, can drive under low noise simultaneously, certainly in order to carry out stable driving when the high speed, and need obtain revolution amount accurately the time, also adopts this method.
But, in the type of drive of this stepping motor 1, also exist promising moment when guaranteeing to run up need increase input power, produce the problem of vibration and noise because of moment is excessive in the low-speed running field.
For solving the problem of these existence, with stepping motor 1 by the step angle that is determined on the structure, segment by electronic loop again and cut, to the rotor of stepping motor 1 revolution take level and smooth drive decide electric current notch mode, promptly adopt to claim that this mode is the type of drive that micro-stepping is advanced.Here the micro-stepping that is formed by the mutually excitatory bipolar driving of 2-2 is advanced to drive and describe.
Shown in Figure 13 when being the full stepper drive of expression and the variable condition of micro-stepping exciting curent when advancing to drive.The moment angle characteristic of stepping motor 1 is sine wave shape in this way, owing to flow through the such sinusoidal wave exciting curent of image pattern 13, therefore can realize the level and smooth revolution that moment variations is very little.This sinusoidal wave exciting curent is divided into most parts by control loop with 1 cycle.Figure 13 is that 1 cycle is divided into 40 parts example and generally is to be divided into 10 parts that resolution is 10 times concerning basic step angle.It is to set arbitrarily that certain its cut apart number.
Decide electric current notch mode during the past micro-stepping advance to drive, will all can obtain to decide electric current with any method of following explanation.Here employedly decide the electric current notch and drive, be current waveform as shown in Figure 14, the supplying electric current value then makes the electric current of defined time be in the OFF state as reaching set point, the supplying electric current value is in the ON state for set point makes it more then, thereby has constituted the structure that electric current is decided in maintenance.
For obtaining the 1st method that this decides electric current, as in driving loop shown in Figure 12, power supply is in the ON state, the 1st transistor 25 and the 4th transistor 28 are got and are made ON, when the supplying electric current value be set point constantly, then make the 4th transistor 28 remain on the ON state, make the 1st transistor 25 be in the OFF state.Like this, exciting curent reduces gradually, but through the defined time, the 1st transistor 25 is in the ON state again, makes electric current reach set point, and the 1st transistor 25 carries out the perseveration of OFF once more.And in driving loop shown in Figure 12, make the 1st transistor 25 and the 4th transistor 28 be in ON, when the supplying electric current value reaches set point, the 1st transistor 25 is in OFF, and the 4th transistor 28 also is in OFF simultaneously, and current value is sharply reduced, treat time through defined, the 1st transistor 25 and the 4th transistor 28 are in ON, and the current value increase reaches set point, and the 1st transistor 25 and the 4th transistor 28 carry out the perseveration of OFF once more.
Above-mentioned explanation, though only A phase exciting curent has been done explanation, to the coil of other each phase, the excitatory time of also can staggering is carried out same control.
According to above-mentioned the 1st method, can reduce the pulsation of electric current as shown in figure 15, but the distortion of also corresponding generation exciting curent exists to make the too high phenomenon of stepping motor temperature.
In the 2nd method, as shown in figure 16, pulsating current is big, and the loss of motor is big, impels moment to reduce.
Especially, under the micro-stepping when high speed rotary advance to drive, need supply high frequency driving pulse down, segmentation is further advanced in 1 stepping (pulse) cut, make it drive loop and control and just be tending towards complicated in order to reach.
For improving some problems of original existence, imagination adopts a kind of driving method of stepping motor, be that motor is when being in high speed rotary, take common excitation mode to drive, when turning round, then take low speed micro-stepping to advance to drive, simultaneously when micro-stepping advances to drive, the stepping motor driving method that cooperates by decay and low speed decling phase at a high speed, thus reducing to supply with under micro-stepping advances to drive decides the electric current notch and moves electric current when being in OFF.
According to this driving method, can avoid control loop complicated, and can reduce pulsating current, and can suppress that the motor feels hot and the vibration during the low speed revolution.
But, in the driving method of this stepping motor, when micro-stepping advances to drive, at the A of motor-driven IC10 mutually and C the 1st coil 8 in the coiling mutually, at B phase and D the 2nd coil 9 in the coiling mutually, its corresponding reference voltage, shown in Figure 17 A and 17B, waveform shown in it is sinusoidal wave, and the exciting curent of each coil 8 and 9 supplied with also is sinusoidal wave on the basis of this reference voltage, shown in Figure 18 A and 18B.From at this moment the 1st coil 8 and the summation of the 2nd coil 9 exciting curents, shown in Figure 18 C, produced electric current and pulsation.As it is enlarged as shown in figure 19, at each overlapping of the exciting curent of the exciting curent of the 1st coil 8 and the 2nd coil 9, as seen all have an electric current and peak value.Such electric current and pulsation will form the torque fluctuation of stepping motor.Also be one of vibrative reason when micro-stepping advances to drive simultaneously.
In order to overcome shortcoming of the prior art, purpose of the present invention, it is simple to provide a control loop, the driving method of the stepping motor of its vibration of may command when micro-stepping advances to drive.
Another object of the present invention is that the low frequency during in low speed revolution or at high speed rotary quickens, under the deceleration field, provides an energy to suppress the stepping motor driving method of its vibration.
Next another object of the present invention, provide one in 1 stepping carrying out phase transformation by bipolar driving, during to the revolution of the low speed of motor and the field of quickening, slowing down of the low frequency when high speed rotary, can advance the stepping motor driving method of driving with the micro-stepping that realizes control, by this method, when low speed turns round and the low frequency when high speed rotary quickens, in the field of slowing down, the revolution of the rotor magnetic core of stepping motor can be rotated smoothly, with vibration suppression to Min..
Secondly another object of the present invention again, providing one advance to drive each phase exciting curent of supplying with by micro-stepping and makes it become triangular current, with this prevent to produce electric current and pulsation, avoid control loop complicated, and when micro-stepping advances to drive, can suppress the driving method of the stepping motor of its vibration.
Last another object of the present invention provides a formed exciting curent of triangular current that flows through additional biasing on each phase coil of stepping motor, makes the driving method of the littler stepping motor of the level of vibration of its motor.
To achieve these goals, the invention provides a kind of driving method of stepping motor, around rotor, load onto the stator of phase with the multi-thread circle of coiling, by the exciting curent that is flow through in the above-mentioned coil, make the electromagnetic force that generation is inhaled mutually and repelled each other between said stator and the rotor, meanwhile, supply with the exciting curent of above-mentioned each phase, owing to be to carry out the order conversion, and make above-mentioned electromagnetic force also correspondingly carry out the order conversion, therefore can rotor be turned round; Motor is when low speed turns round and the low frequency when high speed rotary quickens, in the deceleration field, advance to drive with micro-stepping above-mentioned exciting curent is controlled.
In high frequency acceleration, deceleration field and the constant speed field when high speed rotary, be to adopt common excitation mode to drive.
A kind of driving method of stepping motor, around rotor, load onto the stator of phase with the multi-thread circle of coiling, by the exciting curent that is flowed out in the above-mentioned coil, make the electromagnetic force that generation is inhaled mutually and repelled each other between said stator and the rotor, meanwhile, supply with the exciting curent of above-mentioned each phase, owing to be the conversion of carrying out order, and make above-mentioned electromagnetic force also correspondingly carry out the conversion of order, therefore can rotor be turned round; When motor low speed turns round, advance driving by micro-stepping above-mentioned exciting curent is controlled, meanwhile, above-mentioned exciting curent is formed triangular current.
The above-mentioned exciting curent of being supplied with is an additional bias current.
The invention has the beneficial effects as follows: by controlling repeatedly when cutting apart separately, exciting curent forms level and smooth waveform, therefore can suppress the heating of stepping motor and reduce power loss, avoids the minimizing of moment, makes rotor not produce vibration in revolution.1st, the exciting curent that 2 coils flow through and for certain, can not produce electric current and pulsation, can not produce moment and reduce, can suppress the vibration of stepping motor effectively.When on exciting curent, adding, can obtain stable revolution and drive with biasing.
Below in conjunction with accompanying drawing specific embodiments of the invention are elaborated.
Be to represent the present invention when low speed turns round, the velocity variations of stepping motor shown in Figure 1A;
Be to be illustrated in low speed when revolution shown in Figure 1B, to each alive variation of institute mutually of motor (shown in zigzag partly be the activation point that driving is advanced in micro-stepping);
Be to represent the present invention when high speed rotary, the velocity variations of stepping motor shown in Fig. 2 A;
Be when being illustrated in high speed rotary shown in Fig. 2 B, to motor each mutually alive variation (shown in sawtooth waveforms partly be the activation point of stepping motor);
Shown in Figure 3 is the coil current waveform of representing among the stepping motor driving method embodiment of the present invention;
Shown in Fig. 4 A the example of expression stepping motor driving method according to the present invention, the reference voltage oscillogram of the 1st coil of pairing motor-driven IC;
It shown in Fig. 4 B the reference voltage oscillogram of corresponding motor-driven IC the 2nd coil of expression;
Be to represent according to the present invention stepping motor driving method example, the oscillogram of the 1st coil excitation electric current shown in Fig. 5 A;
It shown in Fig. 5 B the oscillogram of expression the 2nd coil excitation electric current;
Shown in Fig. 5 C the electric current and the key diagram of expression the 1st coil and the 2nd coil excitation electric current;
Shown in Figure 6 is the enlarged drawing of Fig. 5 C;
Shown in Fig. 7 A be expression according to the present invention another example of stepping motor driving method, the oscillogram of the 1st reference voltage that coil is biased of corresponding motor-driven IC;
It shown in Fig. 7 B the oscillogram of the 2nd reference voltage that coil is biased of the corresponding same motor drive IC of expression;
Shown in Fig. 8 A be expression according to the present invention another example of stepping motor driving method, the exciting curent oscillogram that the 1st coil is biased;
It shown in Fig. 8 B the exciting curent oscillogram that expression is biased the 2nd coil;
Shown in Fig. 8 C the electric current and the key diagram of the exciting curent that is biased of the 1st coil and the 2nd coil;
Shown in Figure 9 is the stepping motor structure principle chart;
Shown in Figure 10 is the stepper motor driven block diagram of expression;
Shown in Figure 11 is the key diagram in expression one pole mode step motor drive loop;
Shown in Figure 12 is the key diagram in expression bipolar fashion step motor drive loop;
Shown in Figure 13 is when being illustrated in full stepper drive and micro-stepping when advancing to drive, the key diagram that exciting curent changes;
Shown in Figure 14 is that expression is by deciding the exciting curent oscillogram that electric current notch mode forms;
Shown in Figure 15 is expression driving method in the past, the oscillogram of exciting curent during the low speed decay;
Shown in Figure 16 is expression driving method in the past, the oscillogram of exciting curent when decaying at a high speed;
Shown in Figure 17 A the stepping motor driving method of representing by the past, and the oscillogram of the 1st Coilreference voltage of corresponding motor-driven IC;
It shown in Figure 17 B the oscillogram of the 2nd Coilreference voltage of the corresponding same motor drive IC of expression;
Be the stepping motor driving method of representing by the past shown in Figure 18 A, and form the oscillogram of the 1st coil excitation electric current;
It shown in Figure 18 B the oscillogram of expression the 2nd coil excitation electric current;
Shown in Figure 18 C the electric current and the key diagram of expression the 1st coil and the 2nd coil excitation electric current;
Shown in Figure 19 is the enlarged drawing of Figure 18 C.
The driving method of stepping motor of the present invention is that to drive with above-mentioned bipolar driving loop and notch be prerequisite.In the 1st example of the present invention, when drive motors during at high speed rotary, normally mutually excitatory or 2-2 is mutually excitatory drives by 1-2, and when the field that the low frequency of stepping motor 1 during when low speed turns round or at high speed rotary quickens, slows down, then carry out micro-stepping and advance to drive.
The 2nd example of the present invention, normally mutually excitatory or 2-2 is mutually excitatory drives when high speed rotary by 1-2, advance to drive and when low speed turns round, carry out micro-stepping, the exciting curent that will supply with each phase simultaneously makes its formation triangular current.
The 3rd example of the present invention is on the 2nd example, and the exciting curent by the feeding additional biasing drives stepping motor.
During the revolution of said low speed, be meant the driving pulse width of per 1 stepping here, when being approximately the driving from 650 microseconds to 10 millisecond.
Fig. 1 and Fig. 2 are under the present invention's the 1st example, in the driving method of stepping motor, and its motor speed and be added in the explanation of each phase voltage at that time.
Figure 1A is the speed of stepping motor 1 when being illustrated in the low speed revolution, and Figure 1B is a voltage of representing to be added at that time each phase.Fig. 2 A is the speed of stepping motor 1 when being illustrated in high speed rotary, and Fig. 2 B is a voltage of representing to be added at that time each phase.And among Figure 1B and Fig. 2 B, shown in the part of jagged line, be the field of advancing to drive by micro-stepping.
Shown in Figure 1, when stepping motor 1 is in low speed when revolution, from the acceleration field (t0～t1 time) to the constant speed field the full field of (t1～t2 time) and deceleration field (t2～t3 time), all be to drive and control by micro-stepping motors).
But, as shown in Figure 2, when stepping motor 1 is in high speed rotary, by the time the acceleration field and process of desired constant speed degree from desired constant speed degree to the deceleration field that stops, the driving pulse width of its each stepping, 3 times (about 650 microseconds) approximately being stepping motor 1 self-starting frequency are to 10 milliseconds fields, that is to say, only in t0～t1 time and t4～t5 time, be only and advance by micro-stepping that type of drive drives, and other high frequency quickens, deceleration field and low speed field are still and adopt common excitatory method to drive and control.
At this moment, the electric current of being supplied with is made electric current notch mode by oneself, cut off dividing separately, as shown in figure 12, when when the current value that drives the loop reaches set point, the 1st transistor 25 is to be in OFF, in this state, the 4th transistor 28 is to be in the ON state and is to be in the OFF state can select.At first, when the supplying electric current value reached set point, the 1st transistor 25 the 4th transistor 28 of accompanying also was in the OFF state.Like this, exciting curent sharply reduces (decay at a high speed).In a single day and be reduced to institute's definite value (institute fixes time), then the 4th transistor 28 is in ON.Like this, exciting curent carries out lentamente (low speed decay) and reduces.And reach the 2nd set point current value and reduce (fixing time through institute) again, then the 1st transistor 25 is in ON once more, and current value is increased.Increase again to the set point current value, then the 1st transistor 25 and the 4th transistor 28 are carried out above-mentioned control.This control will repeatedly be carried out repeatedly, and the notch action when actual this control is cut apart per 1 with regard to conduct is controlled.
Like this by controlling the back current waveform that is obtained as shown in Figure 3.By repeatedly it being controlled when cutting apart separately, exciting curent has formed its distortion and the controlled level and smooth waveform of pulsation, therefore can suppress the heating of stepping motor 1, can reduce the power loss of stepping motor 1 simultaneously.Thereby can avoid reducing of moment, and can make the rotor 7 of stepping motor 1 in revolution, not produce vibration.This transistorized ON and OFF are controlled by the CPU (central processing unit) (CPU) of control loop 14.
Below, the present invention's the 2nd example is described.Not existing together of the 2nd example and above-mentioned the 1st example is that the micro-stepping when low speed turns round is advanced under the driving, and the exciting curent of supplying with each phase is a triangular current.
Carrying out under such control, supplying with the reference voltage of motor-driven IC10 and the exciting curent waveform of each coil 8 and 9, as shown in Figure 4 and Figure 5.Fig. 4 A is the corresponding reference voltage that is wound on A phase and C the 1st coil 8 mutually that motor-driven IC10 is supplied with in expression.Fig. 4 B is the corresponding reference voltage that expression is wound on B phase and D the 2nd coil 9 mutually.Fig. 5 A is illustrated on the basis of Fig. 4 A reference voltage, flows through the exciting curent of above-mentioned the 1st coil 8, and Fig. 5 B is illustrated on the basis of Fig. 4 B reference voltage, flows through the exciting curent of above-mentioned the 2nd coil 9.As shown in these figures, supply with the reference voltage waveform of motor-driven IC10,, therefore supply with the exciting curent of the 1st coil 8 and the 2nd coil 9, the triangular wave shape that its waveform also can be in line and increase or reduce owing to be the triangular wave shape that is in line and increases or reduce.And the summation of each exciting curent of the 1st coil 8 at this moment and the 1st coil, shown in Fig. 5 C, its expanded view is as shown in Figure 6.From all figure as seen, the electric current of the exciting curent that in the 1st coil 8 and the 2nd coil 9, is flow through and for certain.Therefore can not produce electric current and pulsation.Do not reduce phenomenon thereby can not produce moment, and can further suppress the vibration of stepping motor 1 effectively.
Following Fig. 7 and shown in Figure 8 be the present invention's the 3rd example.
This example is under above-mentioned the 2nd example micro-stepping advances to drive, and when controlled above-mentioned exciting curent is supplied with above-mentioned the 1st coil 8 and the 2nd coil 9, needs additional biasing link.This so-called biasing is meant in order to obtain the operating point of defined, adds direct voltage on unsteady flow voltage, and will be partial to positive side the zero point of voltage and be partial to minus side; Perhaps be meant additional direct current on the unsteady flow electric current, and current zero is partial to positive side and is partial to minus side.
For bias current being attached on the above-mentioned exciting curent, at Fig. 7 its waveform is shown like this, actual is to be attached on the reference voltage of motor-driven IC10 as biasing.
Shown in Fig. 7 A and Fig. 7 B, be the reference voltage waveform of representing the motor-driven IC10 of corresponding the 1st coil 8 and the 2nd coil 9 respectively, be illustrated on the reference voltage of above-mentioned Fig. 2 additional with bias voltage.Therefore shown in Fig. 8 A and Fig. 8 B, supply with that the exciting curent of the 1st coil 8 and the 2nd coil 9 is also additional to get up these exciting curent summations with biasing, just shown in Fig. 8 C, actual its electric current and be to become necessarily, can not produce electric current and pulsation.
Therefore, when adding on the exciting curent of supplying with, make the level of vibration of above-mentioned stepping motor 1 littler, and can obtain stable revolution driving with biasing.
Certainly, the present invention is not limited only to above-mentioned example, can do various changes as required.
For example micro-stepping advance to drive and can control when low speed turn round, and when high speed rotary in its acceleration field, as deciding electric current notch mode and take micro-stepping to advance driving by above-mentioned, it prevents that effect such as vibration is better reality.
Also be not limited to the mutually excitatory driving of 2-2 in addition, under the situation such as 1-2 is mutually excitatory, also can obtain identical effect.
By above explanation as can be known, control loop of the present invention is uncomplicated, can obtain the good result that suppresses to vibrate when micro-stepping advances to drive.
Claims (4)
1. the driving method of a stepping motor, it is characterized in that around rotor, loading onto the stator of phase with the multi-thread circle of coiling, by the exciting curent that is flow through in the above-mentioned coil, make the electromagnetic force that generation is inhaled mutually and repelled each other between said stator and the rotor, meanwhile, supply with the exciting curent of above-mentioned each phase, owing to be to carry out the order conversion, and make above-mentioned electromagnetic force also correspondingly carry out the order conversion, therefore can rotor be turned round;
Motor is when low speed turns round and the low frequency when high speed rotary quickens, in the deceleration field, advance to drive with micro-stepping above-mentioned exciting curent is controlled.
2. method according to claim 1 is characterized in that being to adopt common excitation mode to drive in high frequency acceleration, deceleration field and the constant speed field when high speed rotary.
3. the driving method of a stepping motor, it is characterized in that around rotor, loading onto the stator of phase with the multi-thread circle of coiling, by the exciting curent that is flowed out in the above-mentioned coil, make the electromagnetic force that generation is inhaled mutually and repelled each other between said stator and the rotor, meanwhile, supply with the exciting curent of above-mentioned each phase, owing to be the conversion of carrying out order, and make above-mentioned electromagnetic force also correspondingly carry out the conversion of order, therefore can rotor be turned round;
When motor low speed turns round, advance driving by micro-stepping above-mentioned exciting curent is controlled, meanwhile, above-mentioned exciting curent is formed triangular current.
4. method according to claim 3 is characterized in that the above-mentioned exciting curent of being supplied with is an additional bias current.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP127054/1996 | 1996-05-22 | ||
| JP8127055A JPH09313000A (en) | 1996-05-22 | 1996-05-22 | Method of driving stepping motor |
| JP12705496 | 1996-05-22 | ||
| JP127054/96 | 1996-05-22 | ||
| JP127055/96 | 1996-05-22 | ||
| JP127055/1996 | 1996-05-22 | ||
| JP178271/96 | 1996-07-08 | ||
| JP8178271A JPH1042598A (en) | 1996-05-22 | 1996-07-08 | Drive method for stepping motor |
| JP178271/1996 | 1996-07-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1172377A CN1172377A (en) | 1998-02-04 |
| CN1068155C true CN1068155C (en) | 2001-07-04 |
Family
ID=27315457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97112402.7A Expired - Fee Related CN1068155C (en) | 1996-05-22 | 1997-05-22 | Method for driving step-by-step motor |
Country Status (6)
| Country | Link |
|---|---|
| KR (1) | KR100217789B1 (en) |
| CN (1) | CN1068155C (en) |
| DE (1) | DE19721282A1 (en) |
| FR (1) | FR2749111B1 (en) |
| GB (1) | GB2313499B (en) |
| IT (1) | IT1291382B1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19928356C1 (en) * | 1999-06-21 | 2000-12-07 | Sig Positec Bergerlahr Gmbh & | Electric stepping motor positioning method has required current signal corrected by offset value upon reaching or exceding control threshold of regulation circuit for stepping motor |
| DE19934668A1 (en) * | 1999-07-23 | 2001-01-25 | Bosch Gmbh Robert | Electronically commutated motor |
| JP4036745B2 (en) * | 2002-12-25 | 2008-01-23 | ミネベア株式会社 | Hoisting device |
| JP2005081059A (en) * | 2003-09-11 | 2005-03-31 | Aruze Corp | Motor drive controller |
| KR100555556B1 (en) * | 2004-02-10 | 2006-03-03 | 삼성전자주식회사 | Method for control stepping motor |
| CN101944873A (en) * | 2010-09-17 | 2011-01-12 | 中国科学院上海技术物理研究所 | Acceleration and speed reduction control method for stepper motor |
| DE102011054129A1 (en) * | 2011-09-30 | 2013-04-04 | Trinamic Motion Control Gmbh & Co. Kg | Method and circuit arrangement for driving electric motors |
| TWI701901B (en) * | 2016-02-17 | 2020-08-11 | 丁景信 | Method for driving an ac motor by two-phase electric power and power generation method |
| JP6669107B2 (en) | 2017-03-15 | 2020-03-18 | カシオ計算機株式会社 | PRINTING APPARATUS, PRINTING APPARATUS CONTROL METHOD, AND PROGRAM |
| DE102017116182A1 (en) * | 2017-07-18 | 2019-01-24 | Minebea Mitsumi Inc. | Method for operating a stepper motor |
| CN113809962B (en) * | 2021-11-18 | 2022-06-17 | 杭州瑞盟科技股份有限公司 | Stepping motor driving system and motor system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4631657A (en) * | 1982-09-29 | 1986-12-23 | Microbot, Inc. | Control and force-sensing method and apparatus for motors |
| US4518907A (en) * | 1983-11-07 | 1985-05-21 | The Superior Electric Company | Digital motor control method and means |
| FR2579387B1 (en) * | 1985-03-25 | 1987-05-29 | Centre Techn Ind Mecanique | METHOD AND DEVICE FOR CONTROLLING THE ACCELERATION OF A STEPPING ELECTRIC MOTOR |
| JP3201522B2 (en) * | 1990-11-09 | 2001-08-20 | ソニー株式会社 | Camera lens barrel |
| GB2264405B (en) * | 1992-02-12 | 1996-06-12 | Mars Inc | Stepper motor drive circuit |
| JPH07194193A (en) * | 1993-12-27 | 1995-07-28 | Canon Inc | Method to control motor |
| JPH07322693A (en) * | 1994-05-24 | 1995-12-08 | Canon Inc | Stepping-motor driving apparatus and recorder using stepping-motor driving means |
| US6016044A (en) * | 1995-09-11 | 2000-01-18 | Alaris Medical Systems, Inc. | Open-loop step motor control system |
-
1997
- 1997-05-21 GB GB9710327A patent/GB2313499B/en not_active Expired - Fee Related
- 1997-05-21 DE DE19721282A patent/DE19721282A1/en not_active Ceased
- 1997-05-21 KR KR1019970019647A patent/KR100217789B1/en not_active IP Right Cessation
- 1997-05-22 IT IT97MI001196A patent/IT1291382B1/en active IP Right Grant
- 1997-05-22 CN CN97112402.7A patent/CN1068155C/en not_active Expired - Fee Related
- 1997-05-22 FR FR9706236A patent/FR2749111B1/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| GB2313499B (en) | 2000-11-08 |
| FR2749111B1 (en) | 1999-07-16 |
| IT1291382B1 (en) | 1999-01-08 |
| CN1172377A (en) | 1998-02-04 |
| KR980012831A (en) | 1998-04-30 |
| GB2313499A (en) | 1997-11-26 |
| ITMI971196A0 (en) | 1997-05-22 |
| DE19721282A1 (en) | 1997-11-27 |
| GB9710327D0 (en) | 1997-07-16 |
| FR2749111A1 (en) | 1997-11-28 |
| KR100217789B1 (en) | 1999-09-01 |
| ITMI971196A1 (en) | 1998-11-23 |
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