CN107942818B

CN107942818B - Control method of stepping motor position control circuit

Info

Publication number: CN107942818B
Application number: CN201711368772.0A
Authority: CN
Inventors: 冯阳博; 曹超; 路新科; 张汉辰; 吴晓龙
Original assignee: Zhonghang Electronic Measuring Instruments Co Ltd
Current assignee: Zhonghang Electronic Measuring Instruments Co Ltd
Priority date: 2017-12-18
Filing date: 2017-12-18
Publication date: 2020-10-30
Anticipated expiration: 2037-12-18
Also published as: CN107942818A

Abstract

The invention discloses a control method of a stepping motor position control circuit, which comprises a singlechip, wherein the input end of an IO (input/output) interface of the singlechip is connected with an in-place signal detection circuit and an optical coupling isolation circuit; the IO interface output end of the singlechip is connected with a motor driving signal circuit, a nixie tube display and drive circuit and an LED display circuit; the IO interface of the singlechip is connected with the keyboard control circuit, the EEPROM circuit and the communication circuit in a bidirectional way; the single chip microcomputer is further connected with a power circuit, and the power circuit provides a 5V power supply. By designing the hardware control circuit and the control method, the position control reliability of the stepping motor under the complex working condition is high, the repetition precision is high, the real-time display can be realized, and the universality is high.

Description

Control method of stepping motor position control circuit

Technical Field

The invention belongs to the technical field of stepping motor control; in particular to a control method of a stepping motor position control circuit.

Background

The existing stepping motor position control circuit generally adopts a limit switch and simple software threshold processing, is possibly more suitable under the condition of a few simple stations, but has poor reliability and fault tolerance under the condition of position control of a plurality of complex stations and multi-shaft linkage, and the repetition precision of the position control can not be visually displayed generally, so that the developed product has higher requirement on the installation size of the actual limit switch, or needs related engineering technicians to perform online debugging procedures after the installation is finished, thereby consuming time and labor.

Disclosure of Invention

The invention provides a control method of a position control circuit of a stepping motor, which ensures that the position control of the stepping motor under complex working conditions has high reliability and high repeatability precision, can display in real time and has strong universality by designing a hardware control circuit and a control method.

The technical scheme of the invention is as follows: a stepping motor position control circuit based on a single chip microcomputer comprises the single chip microcomputer, wherein an input end of an IO (input/output) interface of the single chip microcomputer is connected with an in-place signal detection circuit and an optical coupling isolation circuit; the IO interface output end of the singlechip is connected with a motor driving signal circuit, a nixie tube display and drive circuit and an LED display circuit; the IO interface of the singlechip is connected with the keyboard control circuit, the EEPROM circuit and the communication circuit in a bidirectional way; the single chip microcomputer is also connected with a power circuit, and the power circuit provides a 5V power supply; the in-place signal detection circuit sends an in-place signal to the single chip microcomputer; the optical coupling isolation circuit sends a control signal to the single chip microcomputer; the singlechip sends a driver pulse, a direction driving signal and a stepping motor motion in-place signal to the motor driving signal circuit; the single chip microcomputer sends an LED driving display signal to the LED display circuit; the EEPROM circuit is used for storing the motion position information of the stepping motor sent by the singlechip, and the singlechip reads the information stored by the EEPROM circuit; the keyboard control circuit is used for controlling mode selection.

Furthermore, the invention is characterized in that:

the mode controlled by the keyboard control circuit comprises a debugging mode and a normal mode, and the debugging mode comprises an automatic position mode and a manual position mode.

The nixie tube display and drive circuit and the keyboard control circuit adopt CH451 chips and are connected with the single chip microcomputer through a 4-wire serial port.

The EEPROM circuit adopts a 24C02 chip and is connected with the singlechip through an IIC bus interface.

The communication circuit adopts a USB bus switching chip CH341/CH340 or a MAX232 chip adopting RS x232 communication.

The other technical scheme of the invention is as follows: a control method of the stepping motor position control circuit comprises the following steps:

step S1, initializing the control circuit; reading information of an EEPROM circuit, configuring display parameters of a nixie tube display and drive circuit, and configuring an optical coupling isolation circuit;

step S2, the control circuit resets the stepping motor;

step S3, the control circuit judges the key interruption; if the key is not interrupted, the step S4 is carried out, if yes, the motor interruption process is carried out, and then the step S5 is carried out;

step S4, the control circuit performs a command reception control process; under the condition of a non-debugging mode, the single chip microcomputer receives a station in-place command, then speed parameters of the stepping motor are set according to the pulse number, then the stepping motor is determined to reach the station, after the stepping motor finishes the working procedure of the station, the stepping motor is reset, and then the single chip microcomputer continues to receive the in-place commands of other stations; jumping to step S3 in the debug mode;

in step S5, the control circuit performs a corresponding operation in accordance with the key pattern when the key is interrupted, and returns to step S3 after the operation is completed.

Furthermore, the invention is characterized in that:

the specific process of resetting the stepping motor in step S2 is as follows: and enabling the stepping motor to rotate reversely, detecting a reset signal, closing the enabling of the stepping motor, improving the pulse of the motor, enabling the stepping motor to rotate forwards, detecting the reset signal, closing the enabling of the stepping motor, resetting the pulse of the motor and completing the reset of the stepping motor.

The specific process of step S3 is: firstly, the pulse of the motor is adjusted according to the enabling state and the rotating direction of the stepping motor, and then the stepping motor is adjusted to be at a constant speed according to the acceleration value and the deceleration value of the stepping motor, so that the interruption of the stepping motor is completed.

In step S4, when the stepping motor receives a key signal during a process on the workstation, the stepping motor resets and enters a motor interruption process, and step S5 is performed.

The key modes in step S5 include an automatic debugging mode, a manual forward rotation debugging mode, a manual reverse rotation debugging mode, a cancel key mode, and a confirm key mode.

Compared with the prior art, the invention has the beneficial effects that: through the design of combining software and hardware thereof, the singlechip mainly completes the initialization of a circuit system, the processing of signals and the realization of a motion control algorithm, and the key circuit is used for selecting the mode of the system, wherein the mode is divided into: the debugging mode is divided into an automatic position mode and a manual position mode. The motor driving signal circuit outputs pulses and direction signals required by the stepping motor driver, the nixie tube display and driving circuit drives the nixie tube to display the number of the pulses of the stepping motor from the original point of the system in real time, and the LED display circuit drives the LED lamp to display the position of the limit switch where the current stepping motor is located. The EEPROM circuit stores the position information of the step motor movement, and the position control of the system is input into the control signals of other control systems by the optical coupling isolation circuit. Or may be implemented by a communication circuit. The invention ensures that the position control reliability of the stepping motor under the complex working condition is high, the repetition precision can be displayed in real time, the universality is strong, and common workers can carry out online debugging, thereby being convenient and simple.

Drawings

FIG. 1 is a diagram of a hardware circuit configuration of the present invention;

FIG. 2 is a schematic diagram of the resetting process and station of the present invention;

FIG. 3 is a flow chart illustrating a control method according to the present invention;

FIG. 4 is a schematic flow chart of the reset process of the present invention;

FIG. 5 is a schematic flow chart of a motor interrupt process according to the present invention;

FIG. 6 is a flow chart illustrating a command reception control process according to the present invention;

FIG. 7 is a flowchart illustrating a key debugging process according to the present invention.

In the figure: 1 is an LED display circuit; 2 is an EEPROM circuit; 3 is a communication circuit; 4 is a motor driving signal circuit; 5 is a singlechip; 6 is an optical coupling isolation circuit; 7 is a in-place signal detection circuit; 8 is a keyboard control circuit; 9 is a nixie tube display and drive circuit; and 10 is a power supply circuit.

Detailed Description

The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.

The invention provides a stepping motor position control circuit based on a single chip microcomputer, which comprises the single chip microcomputer 5, wherein the input end of an IO (input/output) interface of the single chip microcomputer 5 is connected with an in-place signal detection circuit 7 and an optical coupling isolation circuit 6; the IO interface output end of the singlechip 5 is connected with the motor driving signal circuit 4, the nixie tube display and drive circuit 9 and the LED display circuit 1; the IO interface of the singlechip 5 is connected with the keyboard control circuit 8, the EEPROM circuit 2 and the communication circuit 3 in two directions.

Preferably, the power circuit 10 and the motor driving signal circuit 4 are powered by an external 12V direct current power supply, the 12V direct current power supply outputs a 5V power supply after voltage stabilization and filtering, and the power supply is used for the singlechip 5, and the in-place signal detection circuit 7, the optical coupling isolation circuit 6, the motor driving signal circuit 4, the LED display circuit 1, the nixie tube display and driving circuit 9, the keyboard control circuit 8, the EEPROM circuit 2 and the communication circuit 3 which are connected with the singlechip to get electricity.

Preferably, the single chip 5 mainly completes initialization of the control circuit, processing of various signals and control of the stepping motor. The input end of the IO interface of the singlechip 5 receives an in-place signal of the in-place signal detection circuit 7 and a control signal of the optical coupling isolation circuit 6; the output end of the IO interface of the singlechip 5 outputs a driving pulse and a driving signal of the direction and a stepping motor motion in-place signal to the motor driving signal circuit 4, and outputs an LED driving signal to the LED display circuit 1.

The preferred nixie tube display and drive circuit 9 and the keyboard control circuit 8 adopt CH451 chips which are connected with the IO interface of the singlechip 5 in two directions through a 4-wire serial interface; the EEPROM circuit 2 adopts a 24C02 chip which is bidirectionally connected with an IO interface of the singlechip 5 through an IIC bus interface.

The nixie tube display and drive circuit 9 makes the nixie tube display the pulse number of the stepping motor from the origin of the system in real time, the key circuit is used to select the mode of the system, and the mode includes: the device comprises a debugging mode and a normal working mode, wherein the debugging mode comprises an automatic position mode and a manual position mode. The LED lamp displays the position of the limit switch where the current stepping motor is located. The EEPROM circuit 2 stores the position information of the movement of the stepping motor, and the position control of the system can be realized by inputting control signals of other control systems through the optical coupling isolation circuit 6 or through the communication circuit 3.

Preferably, the communication circuit 3 adopts USB bus switching chips CH341 and CH340 or MAX232 chips adopting RS-232 communication.

The invention also provides a method for controlling the stepping motor by the control circuit, as shown in fig. 2, in a certain working scene, the system origin on the linear guide rail where the stepping motor is located is O, O' is the deceleration displacement of the stepping motor returning to the origin, the station 1 is P1, the station 2 is P2. The control method comprises the following steps:

as shown in fig. 3, the method includes initializing the control circuit, resetting the stepping motor, after the control circuit completes the initialization of step S1 and the resetting of step S2, the single chip 5 determines whether a key is pressed, and reads a key code if the key is pressed, and the key marks position 1; if no key is pressed, judging whether the debugging mode flag is 1, if so, continuously inquiring key signals, and if not, entering the step S4 to perform a command receiving control process; then judging whether the key mark is 1, if so, clearing the key mark bit to be 0, matching the key and performing corresponding action, and performing step S5; then, the user jumps to the step of judging whether the key interruption exists or not again and the process is circulated all the time.

The advantage of the program design is that after the singlechip 5 is powered on, if no key is pressed, the command control mode is always carried out; if the first key is pressed, the matched key enters a debugging mode to perform related actions. The key inquiry is always carried out in the debugging mode. Until the relevant key is pressed and relevant action is carried out. No longer enters command control mode. The program structure can enable the equipment to be debugged at any time during operation, is more convenient and faster, and has higher response speed of the single chip microcomputer program, thereby improving the efficiency of the program.

Step S1: after the singlechip 5 is powered on, initializing a control circuit, and specifically configuring an interrupt register and configuring display parameters of a nixie tube display and drive circuit; and judging whether the EEPROM has assignment, if not, clearing 0, and if so, acquiring all bytes of the EEPROM by the singlechip 5.

Step S2: resetting the stepping motor by the control circuit, wherein the specific process is as shown in fig. 4, firstly, the stepping motor rotates reversely, the rotating speed is increased, a first timer is set, the first timer provides pulse energy, the stepping motor drives the load to rapidly move to an original point O, after the single chip microcomputer detects that a reset signal exists, the time is delayed for 1-10ms, after 5-30 pulse signals are provided, the stepping motor drives the load to continuously operate for a distance to an O' point, and the distance does not exceed 2/3 of the length of the limiting sheet; then the stepping motor rotates forwards, the load is driven to move to the original point at a low speed through pulse enable provided by the first timer, when the single chip microcomputer 5 does not detect a reset signal, the second limiting piece moves to a point O, the stepping motor enable is closed, meanwhile, the pulse number of the stepping motor is clear 0, and the digital tube displays the pulse number, so that the stepping motor reset is completed.

Step S3, the motor interruption process is that, the specific process is as shown in fig. 5, first, it is determined whether the stepping motor is enabled, if yes, it is determined whether the motor is rotating forward or rotating backward, and if the motor is rotating forward: firstly, judging whether the motor pulse exceeds the set maximum pulse number, if not, the pulse number is +1, and the pulse level is reversed; in the case of reverse rotation of the motor: firstly, judging whether the motor pulse is 0, if not, judging the pulse number is-1, and the pulse level is in the same mode of reverse rotation and positive rotation of the motor; after the pulse level is reversed, whether the pulse number is equal to the pulse number stored in the station N or not is judged, if yes, the motor position mark is set to be 1, and then the first timer carries out acceleration and deceleration process on the stepping motor.

When the motor rotates forwards, if the pulse of the motor exceeds the maximum pulse number and the pulse of the motor is 0 when the motor rotates backwards, the motor directly enters a first timer to accelerate and decelerate the stepping motor.

The specific process of the first timer for accelerating and decelerating the stepping motor is as follows: first, in the case where the acceleration value is not 0, the first timer sets a value in which TL1 ═ value (velocity value-acceleration value) &0xff and TH1 ═ ((velocity value-acceleration value) > >8) &0xff, and then accelerates to-1; secondly, under the condition that the constant speed value is not 0, loading values into a first timer, wherein TL1 is equal to the speed value &0xff, TH1 is equal to (speed value > >8) &0xff, and then, the constant speed value is-1; finally, when the deceleration value is not 255, the first timer is loaded with TL1 ═ value (speed value-deceleration value) &0xff, TH1 ═ ((speed value-deceleration value) > >8) &0xff, and then deceleration value-1. If the acceleration value is 0, the constant velocity value is 0, or the deceleration value is 255, the first timer is set to TL1 ═ velocity value &0xff, and TH1 ═ 0xff (velocity value > > 8). The motor interruption process is now complete.

Step S4, instructing to receive a control process, as shown in fig. 6, first determining whether there is a station in-place signal, wherein the single chip can receive 1 or more station in-place signals at the same time; and if not, judging whether the actual pulse number is greater than the stored pulse number of the station, wherein if the actual pulse number is greater than the stored pulse number of the station, the motor rotates reversely, and if the actual pulse number is less than the stored pulse number of the station, the motor rotates forwardly. Then setting a speed parameter and a motor enable, starting a first timer, then judging whether the motor is in place in real time, and judging whether an in-place signal detection circuit 7 sends an in-place signal, if the single chip microcomputer 5 receives the in-place signal, closing the first timer, enabling the motor to be clear 0, displaying the current pulse number and sending the single chip microcomputer, and if the single chip microcomputer restores the pulse number of the station in an EEPROM; the method is the same for the other stations. When all the station in-place signals are completed, the control circuit resets.

Step S5, the key press debugging process is shown in fig. 7, and the specific process is as follows: the key control mode comprises an automatic debugging mode, a manual forward rotation debugging module, a manual reverse rotation debugging module, a cancel key and a confirm key. The automatic debugging mode is as follows: the key is pressed once, the key automatically runs to the next station, and when the key runs to the last station, the stepping motor returns to the original point; the manual positive rotation debugging mode comprises the following steps: after the key is pressed, the stepping motor acts, the key pressing mode is divided into a inching key and a long-acting key, in the inching condition, the stepping motor performs 1 pulse stepping amount after the key is pressed once, in the long-acting condition, a first timer is opened while the key is pressed, the motor enables the stepping motor to act, and in the key releasing condition, the first timer is closed to eliminate the motor enable; the principle of the manual reverse rotation debugging mode is the same as that of the manual forward rotation debugging mode, and the rotation direction of a motor is opposite; the cancel key is clear 0, namely pulse bytes saved in the EEPROM at the current station are cleared; and determining the key to be the pulse byte stored in the current station and storing the pulse byte in the EEPROM, and returning the debugging mode flag to clear 0 again if the determining key is pressed for a long time.

Claims

1. A control method of a stepping motor position control circuit is characterized in that the control circuit comprises a single chip microcomputer (5), wherein an input end of an IO interface of the single chip microcomputer (5) is connected with an in-place signal detection circuit (7) and an optical coupling isolation circuit (6); the IO interface output end of the singlechip (5) is connected with the motor driving signal circuit (4), the nixie tube display and drive circuit (9) and the LED display circuit (1); the IO interface of the singlechip (5) is connected with the keyboard control circuit (8), the EEPROM circuit (2) and the communication circuit (3) in a bidirectional way;

the single chip microcomputer (5) is also connected with a power circuit (10), and the power circuit (10) provides a 5V power supply; the in-place signal detection circuit (7) sends an in-place signal to the singlechip (5); the optical coupling isolation circuit (6) sends a control signal to the singlechip (5); the singlechip (5) sends a driver pulse, a direction driving signal and a stepping motor motion in-place signal to the motor driving signal circuit (4); the single chip microcomputer (5) sends an LED driving display signal to the LED display circuit (1); the EEPROM circuit (2) is used for storing the stepping motor motion position information sent by the singlechip (5), and the singlechip (5) reads the information stored by the EEPROM circuit (2); the keyboard control circuit (8) is used for controlling mode selection;

the modes controlled by the keyboard control circuit (8) comprise a debugging mode and a normal mode, and the debugging mode comprises an automatic position mode and a manual position mode;

the nixie tube display and drive circuit (9) and the keyboard control circuit (8) adopt CH451 chips and are connected with the singlechip (5) through 4-wire serial ports:

the control method comprises the following steps:

step S2, the control circuit resets the stepping motor; the specific process of resetting the stepping motor is as follows: enabling the stepping motor to rotate reversely, detecting a reset signal, closing the enabling of the stepping motor, improving the pulse of the motor, enabling the stepping motor to rotate forwards, detecting the reset signal, closing the enabling of the stepping motor, resetting the pulse of the motor and completing the reset of the stepping motor;

step S3, the control circuit judges the key interruption; if the key is not interrupted, the step S4 is carried out, if yes, the motor interruption process is carried out, and then the step S5 is carried out; the specific process is as follows: firstly, adjusting motor pulse through the enabling state and the rotating direction of the stepping motor, and then adjusting the stepping motor to be constant speed according to the acceleration value and the deceleration value of the stepping motor to complete the interruption of the stepping motor;

2. The control method of the stepping motor position control circuit according to claim 1, wherein the EEPROM circuit (2) adopts a 24C02 chip and is connected with the singlechip (5) through an IIC bus interface.

3. The control method of the stepping motor position control circuit according to claim 1, wherein the communication circuit (3) adopts a USB bus switching chip CH341/CH340 or a MAX232 chip adopting RS x232 communication.

4. The method as claimed in claim 1, wherein in step S4, when the stepping motor receives a key signal while performing a process on the workstation, the stepping motor is reset and enters a motor interrupt process, and step S5 is performed.

5. The method for controlling a stepping motor position control circuit according to claim 1, wherein the key modes in step S5 include an automatic debugging mode, a manual forward rotation debugging mode, a manual reverse rotation debugging mode, a cancel key mode, and a confirm key mode.