CN108063570A - Stepper motor torque self_adaptive adjusting system - Google Patents
Stepper motor torque self_adaptive adjusting system Download PDFInfo
- Publication number
- CN108063570A CN108063570A CN201810058453.8A CN201810058453A CN108063570A CN 108063570 A CN108063570 A CN 108063570A CN 201810058453 A CN201810058453 A CN 201810058453A CN 108063570 A CN108063570 A CN 108063570A
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- China
- Prior art keywords
- driving chip
- way
- field
- stepping motor
- effect tube
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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 of the kind having motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
- H02P8/38—Protection against faults, e.g. against overheating, step-out; Indicating faults the fault being step-out
-
- 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 of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
Abstract
The invention discloses a kind of stepper motor torque self_adaptive adjusting systems, including microcontroller, microcontroller is communicated to connect by SPI interface and motion control chip, motion control chip passes through SPI and STEP, DIR double nips are communicated to connect with driving chip, driving chip output control terminal is connected with two-way H rectifier circuit input terminals, the two magnet exciting coils connection corresponding with two-phase stepping motor respectively of the output terminal of two-way H rectifier circuits, the sampled signal output terminal of two-way H rectifier circuits is connected respectively with the signal input part of driving chip, for the voltage and current status signal of two-phase stepping motor to be fed back to driving chip.The invention has the advantages that not using additional sensors that can feed back the loading moment of stepper motor for torgue measurement, cost and Machine Design difficulty are reduced.After step out of stepping motor can and alarm, avoid angular displacement deviation that failure is caused further to expand.
Description
Technical field
The present invention relates to step motor control system, more particularly, to stepper motor torque self_adaptive adjusting system.
Background technology
For existing step motor control system generally using constant current controlling, it is defeated that constant current controlling can provide constant torque
Go out.But during the control system small moment load of transmission, electric current is relatively high, causes waste of energy；And in transmission high-torque load
When, it may appear that torque output deficiency causes step out of stepping motor, i.e. angular displacement makes less than toe and requiring.Classical control system is not
Under point of addition sensor situation, motor desynchronizing can not be fed back；Some control systems employ torque sensor and carry out torque prison
It surveys, is detected for motor desynchronizing, but control model is still using constant current controlling.Constant current controlling has the following disadvantages：1、
When being driven small moment load, electric current is relatively high, causes waste of energy；When the 2nd, being driven high-torque load, it may appear that torque exports
Deficiency causes step out of stepping motor；3rd, during common control system type selecting stepper motor, to select output torque higher than loading moment
Many stepper motors, avoid the generation of out-of-step condition, therefore add stepper motor cost；4th, classical control system does not add
In the case of position sensor, motor desynchronizing can not be fed back；If point of addition sensor, show although step out of stepping motor can be fed back
As, but can not feedback load torque realize dynamic regulation electric current, while point of addition sensor equally can also be significantly increased into
This；5th, mechanical mechanism complexity and manufacture cost can then be increased according to torque sensor.
The content of the invention
Present invention aims at provide a kind of stepper motor torque self_adaptive adjusting system.
To achieve the above object, the present invention takes following technical proposals：
Stepper motor torque self_adaptive adjusting system of the present invention, it is logical including being realized by CAN interface and host computer
The microcontroller of letter, the microcontroller are communicated to connect by SPI interface and motion control chip, are used to down send instructions and described in receiving
The feedback information of motion control chip；Motion control chip is communicated to connect by SPI and STEP, DIR double nip and driving chip,
SPI interface sends driving chip configuration information and receives electric current, phase angle difference feedback information, starts under STEP and DIR signals
It instructs to the driving chip；Driving chip output control terminal is connected with two-way H rectifier circuit input terminals, for that will act
STEP the and DIR signals of instruction are converted into pwm signal and drive the two-way H rectifier circuits；The output of two-way H rectifier circuits
End two magnet exciting coils connection corresponding with two-phase stepping motor respectively, for the pwm signal to be converted to voltage driving institute
State two-phase stepping motor rotary motion；The sampled signal output terminal of two-way H rectifier circuits is defeated with the signal of driving chip respectively
Enter end connection, for the voltage and current status signal of two-phase stepping motor to be fed back to driving chip.
The two-way H rectifier circuit structures are identical, by four field-effect tube BG1, BG2, BG3, BG4 and current sample
Resistance R is formed；The grid of described field-effect tube BG1, BG2, BG3, BG4 are connected respectively with the driving chip output control terminal；
It is connected after the source electrode connection of field-effect tube BG1, BG2 with DC power supply；It is divided into two after the source electrode connection of field-effect tube BG3, BG4
Road connects and composes current feedback circuit with the driving chip current sampling signal input terminal all the way, and another way is adopted by electric current
Sample resistance R is grounded；A magnet exciting coil corresponding with the two-phase stepping motor is defeated after the drain electrode connection of field-effect tube BG1, BG3
Enter end connection, be connected after the drain electrode connection of field-effect tube BG2, BG4 with the magnet exciting coil output terminal；Field-effect tube BG1's and BG3
The drain junction of drain junction, field-effect tube BG2 and BG4 is connected respectively with driving chip voltage sampling signal input terminal
Form voltage sampling circuit.
It is surveyed the invention has the advantages that not using additional sensors that can feed back the loading moment of stepper motor for torque
Amount, reduces cost and Machine Design difficulty.In nonlinear load, according to feedback information dynamic regulation size of current；When negative
When carrying higher in the torque short time, stepper motor current can be dynamically improved more than rated current, reduces step out of stepping motor
Risk, therefore torque surplus may be selected and retain relatively small stepper motor, reduce cost.It can be timely after step out of stepping motor
Alarm, avoids angular displacement deviation that failure is caused further to expand.
Description of the drawings
Fig. 1 is the controling circuit structure block diagram of the present invention.
Fig. 2 is the circuit diagram of driving chip of the present invention, two-way H rectifier bridges and two-phase stepping motor.
Fig. 3 is the driving voltage of two-phase stepping motor of the present invention and the oscillogram of counter electromotive force.
Specific embodiment
Elaborate below in conjunction with the accompanying drawings to the embodiment of the present invention, the present embodiment using technical solution of the present invention before
It puts and is implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to down
State embodiment.
As shown in Figs. 1-3, stepper motor torque self_adaptive adjusting system of the present invention, including being connect by CAN
The microcontroller that mouth communicates with host computer realization, microcontroller are communicated to connect by SPI interface and motion control chip, are used to down bristle with anger
Order and the feedback information for receiving motion control chip；Motion control chip passes through SPI interface and driving chip 1（Model：
TMC262）Movement instruction is handed down to driving chip 1 by communication connection, STEP and DIR signals；1 output control terminal of driving chip with
Two-way H rectifier circuits 2.1, the connection of 2.2 input terminals, drive for STEP the and DIR signals of action command to be converted into pwm signal
Dynamic two-way H rectifier circuits 2.1,2.2；The output terminal of two-way H rectifier circuits 2.1,2.2 is right with two-phase stepping motor 3 respectively
Magnet exciting coil L1, a L1 connection answered, for pwm signal to be converted to voltage driving 3 rotary motion of two-phase stepping motor；Two
Signal input part of the sampled signal output terminal of road H rectifier circuits 2.1,2.2 respectively with driving chip 1 is connected, for by two
The voltage and current status signal of phase step motor 3 feeds back to driving chip.
Two-way H rectifier circuits 2.1,2.2 structures are identical, are now described by taking H rectifier circuits 2.1 as an example：
It is made of four field-effect tube BG1, BG2, BG3, BG4 and current sampling resistor R；Field-effect tube BG1, BG2, BG3,
The grid of BG4 is connected respectively with 1 output control terminal of driving chip；Field-effect tube BG1, BG2 source electrode connection after with DC power supply
Vcc connections；Field-effect tube BG3, BG4 source electrode connection after be divided into two-way, all the way with 1 current sampling signal input terminal of driving chip
Current feedback circuit is connected and composed, another way is grounded GND by current sampling resistor R；The drain electrode connection of field-effect tube BG1, BG3
Connected afterwards with 3 corresponding magnet exciting coil L1 input terminals of two-phase stepping motor, after the drain electrode connection of field-effect tube BG2, BG4 with
Magnet exciting coil L1 output terminals connect；The drain electrode of the drain junction, field-effect tube BG2 and BG4 of field-effect tube BG1 and BG3 connects
Contact connects and composes voltage sampling circuit with 1 voltage sampling signal input terminal of driving chip respectively.
Operation principle of the present invention is summarized as follows：
1st, microcontroller（MCU）It communicates by CAN interface with host computer, and passes through SPI signal and carried out with motion control chip
Communication, the command content issued are：Setting instruction, athletic performance instruction and the setting of driving chip 1 of motion control chip refer to
Order；The status information of the feedback information of motion control chip, motion control chip status information and driving chip 1 is received simultaneously.
2nd, the instruction that motion control chip issues driving chip is：Athletic performance instruction is converted into STEP and DIR signals,
The setting that driving chip 1 is issued by another way SPI instructs；Driving chip 1 feeds back the state of it and two-phase stepping motor 3 simultaneously
Information.
3rd, driving chip 1 by STEP the and DIR signals of movement instruction be converted into pwm signal driving two-way H rectifier bridges 2.1,
Pwm signal is converted to driving voltage by 2.2, two-way H rectifier bridge 2.1,2.2, and driving voltage is generated as by two-phase stepping motor 3
Electric current driving motor rotary motion；Two-way H rectifier bridges 2.1,2.2 feed back the voltage and current state of two-phase stepping motor 3 to drive
Dynamic chip 1, driving chip 1 carry out control and regulation output current according to current status.
4th, according to different acquisition time sections, motor driven voltage Vi and back-emf E can be collected, the two is all close to just
String wave profile, the cycle is essentially identical, but phase angle Φ has Zhi Hou ⊿ Φ values;Driving chip 1 can believe phase angle Cha Zhi ⊿ Φ
Real-time Transmission is ceased to motion control chip, and microcontroller is transferred to by motion control chip.
5th, microcontroller is judged according to phase angle Cha Zhi ⊿ Φ information, output torque and loading moment difference and phase angle
Cha Zhi ⊿ Φ have reversed proportionate relationship；Phase angle Cha Zhi ⊿ Φ are smaller, and moment difference is larger, and microcontroller, which reduces, sets electric current, drop
Low power consumption；Phase angle Cha Zhi ⊿ Φ higher, moment difference is smaller, and microcontroller heightens setting electric current, increases output torque, drop
Low step-out risk；When lagging phase angle Φ is more than critical value, 3 step-out of stepper motor, output alarm signal are judged.
Claims (2)
1. a kind of stepper motor torque self_adaptive adjusting system, it is characterised in that：Including real by CAN interface and host computer
The microcontroller now to communicate, the microcontroller are communicated to connect by SPI interface and motion control chip, are used to down send instructions and receive
The feedback information of the motion control chip；Motion control chip is communicated by SPI and STEP, DIR double nip with driving chip
Connection, SPI interface send driving chip configuration information and receive electric current, phase angle difference feedback information, STEP and DIR signals
Action command is issued to the driving chip；Driving chip output control terminal is connected with two-way H rectifier circuit input terminals, is used for
STEP the and DIR signals of action command are converted into pwm signal and drive the two-way H rectifier circuits；Two-way H rectifier circuits
Output terminal corresponding with two-phase stepping motor two magnet exciting coils connection respectively, for the pwm signal to be converted to voltage
Drive the two-phase stepping motor rotary motion；The sampled signal output terminal of two-way H rectifier circuits respectively with driving chip
Signal input part connects, for the voltage and current status signal of two-phase stepping motor to be fed back to driving chip.
2. stepper motor torque self_adaptive adjusting system according to claim 1, it is characterised in that：The two-way H
Rectifier circuit structure is identical, is made of four field-effect tube BG1, BG2, BG3, BG4 and current sampling resistor R；The field
The grid of effect pipe BG1, BG2, BG3, BG4 are connected respectively with the driving chip output control terminal；Field-effect tube BG1, BG2
It is connected after source electrode connection with DC power supply；Field-effect tube BG3, BG4 source electrode connection after be divided into two-way, all the way with the driving core
Piece current sampling signal input terminal connects and composes current feedback circuit, and another way is grounded by current sampling resistor R；Field-effect tube
Magnet exciting coil input terminal connection corresponding with the two-phase stepping motor, field-effect tube after the drain electrode connection of BG1, BG3
It is connected after the drain electrode connection of BG2, BG4 with the magnet exciting coil output terminal；The drain junction of field-effect tube BG1 and BG3, field-effect
The drain junction of pipe BG2 and BG4 connect and compose voltage sampling circuit with driving chip voltage sampling signal input terminal respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058453.8A CN108063570A (en) | 2018-01-22 | 2018-01-22 | Stepper motor torque self_adaptive adjusting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810058453.8A CN108063570A (en) | 2018-01-22 | 2018-01-22 | Stepper motor torque self_adaptive adjusting system |
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| CN108063570A true CN108063570A (en) | 2018-05-22 |
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| CN201810058453.8A Pending CN108063570A (en) | 2018-01-22 | 2018-01-22 | Stepper motor torque self_adaptive adjusting system |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6388416B1 (en) * | 1999-08-05 | 2002-05-14 | Sharp Kabushiki Kaisha | Motor control device and motor control method |
| CN101950967A (en) * | 2010-08-25 | 2011-01-19 | 王明合 | Special voltage stabilizer for three-phase permanent magnet synchronous motor (PMSM) for producing well in oil field |
| CN102263536A (en) * | 2011-07-25 | 2011-11-30 | 李军科 | Stepping motor subdivided driving device for current vector constant amplitude control |
| CN202586854U (en) * | 2012-02-24 | 2012-12-05 | 深圳市英纳仕电气有限公司 | Digital stepper motor driver |
| CN106208886A (en) * | 2016-07-26 | 2016-12-07 | 广东好太太科技集团股份有限公司 | A kind of motor noise-reducing control circuit applied on intelligence clothes airing machine and method thereof |
| CN106712609A (en) * | 2017-02-17 | 2017-05-24 | 安图实验仪器(郑州)有限公司 | Driving control system of stepping motor |
| CN107124125A (en) * | 2017-06-08 | 2017-09-01 | 西南交通大学 | A kind of multiaxis controllor for step-by-step motor system based on fpga chip |
| CN207782690U (en) * | 2018-01-22 | 2018-08-28 | 安图实验仪器(郑州)有限公司 | Stepper motor torque self_adaptive adjusting system |
-
2018
- 2018-01-22 CN CN201810058453.8A patent/CN108063570A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6388416B1 (en) * | 1999-08-05 | 2002-05-14 | Sharp Kabushiki Kaisha | Motor control device and motor control method |
| CN101950967A (en) * | 2010-08-25 | 2011-01-19 | 王明合 | Special voltage stabilizer for three-phase permanent magnet synchronous motor (PMSM) for producing well in oil field |
| CN102263536A (en) * | 2011-07-25 | 2011-11-30 | 李军科 | Stepping motor subdivided driving device for current vector constant amplitude control |
| CN202586854U (en) * | 2012-02-24 | 2012-12-05 | 深圳市英纳仕电气有限公司 | Digital stepper motor driver |
| CN106208886A (en) * | 2016-07-26 | 2016-12-07 | 广东好太太科技集团股份有限公司 | A kind of motor noise-reducing control circuit applied on intelligence clothes airing machine and method thereof |
| CN106712609A (en) * | 2017-02-17 | 2017-05-24 | 安图实验仪器(郑州)有限公司 | Driving control system of stepping motor |
| CN107124125A (en) * | 2017-06-08 | 2017-09-01 | 西南交通大学 | A kind of multiaxis controllor for step-by-step motor system based on fpga chip |
| CN207782690U (en) * | 2018-01-22 | 2018-08-28 | 安图实验仪器(郑州)有限公司 | Stepper motor torque self_adaptive adjusting system |
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