CN108544044A - A kind of special composite stepper motor driver of wire cutting machine tool - Google Patents
A kind of special composite stepper motor driver of wire cutting machine tool Download PDFInfo
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- CN108544044A CN108544044A CN201810671593.2A CN201810671593A CN108544044A CN 108544044 A CN108544044 A CN 108544044A CN 201810671593 A CN201810671593 A CN 201810671593A CN 108544044 A CN108544044 A CN 108544044A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/14—Electric circuits specially adapted therefor, e.g. power supply
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/02—Wire-cutting
-
- 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
- H02P8/20—Arrangements for controlling speed or speed and torque characterised by bidirectional operation
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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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- Control Of Stepping Motors (AREA)
Abstract
A kind of special composite stepper motor driver of wire cutting machine tool, it is related to a kind of driver, including signal interpretation module, subdivision angle calculation module, torque PID controller, excitation PID controller, anti-PARK conversion modules, PARK conversion modules, PWM output modules, H-bridge inverter circuit and outage detection module；After power-off, outage detection module automatically saves current subdivision angle, θ, after sending a telegram here next time, subdivision angle, θ is sent to subdivision angle calculation module before powering off last time, and subdivision angle calculation module calculates this subdivision angle, θ on the basis of segmenting the step-by-step counting value that angle, θ is sent with this signal interpretation module according to last time.The present invention controls the enabled and positive and negative rotation of stepper motor by the realization of decoding to the bat of five phases ten or three-phase six-beat signal on the basis of not changing existing WEDM control system; simultaneously by preserving control to the power-off for segmenting angle, motor shaft is without departing from angle when shutting down when realization is powered again.
Description
Technical field
The present invention relates to a kind of driver, especially a kind of stepper motor driver.
Background technology
At this stage with the raising to electric spark linear cutting machine required precision, originally using the lower reaction equation step of precision
The XYUV four axes motions control of stepper motor can no longer meet requirement, and present producer is successively proposed the height based on Multi-level microstep
The four axes motion of precision composite stepper motor controls, and composite stepper motor must have the respective actuator mating with it,
But when existing general hybrid drive is using on cutting on line lathe, it is primarily present two problems：First, signaling interface is not
Matching problem.The WEDM control system of existing maturation, such as most widely used single board computer system, HL, AutoCut etc. are based on PC
The board system of machine, XYUV four axes motions control interface are all that five phases ten are clapped or the distribution of the stepper motor annular of three-phase six-beat is believed
Number output；Three-phase six is afraid of, control system exports tri- signals of A, B, C, passes through the one of A-AB-B-BC-C-CA-A signals
Series combines to control stepper motor operating in proper order, adapts to original reaction stepping motor driving circuit；For hybrid
Stepper motor driver is generally required the driver of profession, is used connecing for general-purpose servo driver due to electric machine structure difference
Mouth mold formula, i.e., enabled, 3 signals in direction and pulse；Cause so existing general composite stepper motor driver with it is existing
WEDM control system can not dock, to realize that docking must develop new WEDM control system, that there are development difficulties is big,
Maturity and stability need the problems such as being examined into the long-time for crossing market again.Secondly, each driver be powered when stepper motor
Reorientation problem：Because composite stepper motor uses Multi-level microstep, motor individual pen step resolution is high, can save original anti-
The reduction gearing that the formula stepper motor of answering is using always, tetra- axis of XYUV simplify machine using motor and the direct connecting shaft driving of leading screw
Tool structure, but bring the problem to be, since leading screw is direct-connected to axis, the slight shake of motor or deflection can all bring the displacement of leading screw,
Cause mismachining tolerance.General composite stepper motor driver can reposition stepper motor when each energization is enabled,
Since the rotor of composite stepper motor uses magnet structure, possess rotor field, when driver is repositioned, step can be given
Stepper motor stator coil applies electric current, generates stator field, since the angle in two magnetic fields of stator and rotor may be different, then can
The fine rotation of rotor is caused, is as a result exactly that motor shaft deviates from original angle, leading screw displacement can be caused as described above in this way,
Bring mismachining tolerance.But the linear cutter period is generally long, can inevitably be encountered in workpiece process and need to close
When lathe power supply, when being once again powered up work, the case where driver repositions motor, then such case will result in
Continue to process if lower, can cause workpiece size deviation, it is heavy then work pieces process is caused to scrap.
Since there are above-mentioned two problems, existing scheme is usually to develop new WEDM control system, passes through software
With the change of hardware circuit, the annular distribution signal that original five phase ten is clapped or three-phase six is afraid of is removed, enabled, direction and pulse are generated
3 signals match demand to adapt to driver signal.Repositioning problem when being powered every time for driver, is usually used
The closed-loop scheme of grating scale, WEDM control system detect what machine tool lead screw when being powered reorientation every time generated by grating scale
Displacement, then to control the running of driver drives stepper motor, the leading screw displacement that elimination generates when being powered.On the one hand this scheme needs
New WEDM control system is developed, control system is the core of wire cutting machine tool comprising graphics edition, track following, fortune
The important links such as dynamic interpolation, the stability and practicability of new system need to examine for a long time into market excessively, and marketing exists
Difficulty.On the other hand, solve the problems, such as that stepper motor is repositioned by installing expensive grating scale, it is higher that there are costs
The problem of.
Invention content
The present invention is directed to deficiency in the prior art, provides a kind of special composite stepper motor driving of wire cutting machine tool
Device, the present invention is not on the basis of changing existing WEDM control system by the bat of five phases ten or the decoding of three-phase six-beat signal
It realizes and the enabled and positive and negative rotation of stepper motor is controlled, while by preserving control to the power-off for segmenting angle, realization is powered again
When motor shaft without departing from shut down when angle.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：A kind of wire cutting machine tool is special
With composite stepper motor driver, including signal interpretation module, subdivision angle calculation module, torque PID controller, excitation
PID controller, anti-PARK conversion modules, PARK conversion modules, PWM output modules, H-bridge inverter circuit and outage detection module；
Wherein, the WEDM control system signal received is transformed into step-by-step counting value and is sent to subdivision goniometer by signal interpretation module
Module is calculated, subdivision angle calculation module is worth subdivision angle step Δ θ according to step-by-step counting and calculates subdivision angle, θ, with
Subdivision angle, θ is sent to anti-PARK conversion modules, PARK conversion modules and outage detection module afterwards, PARK conversion modules according to
A, B biphase current IA, IB and subdivision angle of stepper motor are exported to torque PID controller and excitation PID controller respectively
Torque current Iq, exciting current Id, torque PID controller and excitation PID controller respectively obtain at this time torque voltage Uq and
Excitation voltage Ud, torque voltage Uq and excitation voltage Ud to PWM output modules after anti-PARK conversion modules by exporting U α voltages
Signal and U β voltage signals, A, the B of PWM output modules to H-bridge inverter circuit output pulse width modulation (PWM) signal controling stepping motor
Two phase windings；
After power-off, outage detection module automatically saves current subdivision angle, θ, and after sending a telegram here next time, angle will be segmented before powering off last time
Degree θ is sent to subdivision angle calculation module, and subdivision angle calculation module segmented angle, θ and this signal interpretation module according to last time
This subdivision angle, θ is calculated on the basis of the step-by-step counting value of transmission, at this time last time terminate before be input to when starting with this
U α voltage signals and U β voltage signals on PWM output modules is continuous.
In above-mentioned technical proposal, it is preferred that the WEDM control system signal is that five phases ten clap signal or three-phase six
Clap signal.
In above-mentioned technical proposal, it is preferred that subdivision angle calculation module is according to formula：The ÷ high-subdividing numbers of Δ θ=360, calculate
Angle step Δ θ is segmented, then allows previous subdivision angle, θ plus or minus Δ θ that must appear in subdivision angle, θ according to steering.
In above-mentioned technical proposal, it is preferred that there is the torque PID controller torque constant current Iq_s, torque to be given to give
Constant current Iq_s determines the torque of motor, and value is bigger, and Motor torque is bigger, and the torque PID controller is according to the given electricity of torque
It flows Iq_s and torque current Iq adjusts output torque voltage Uq.
In above-mentioned technical proposal, it is preferred that there is the excitation PID controller excitation to give constant current Id_s, work as stepping
The rotor of motor does not need excitation when being permanent magnet, therefore Id_s is 0, and the excitation PID controller is according to the given electricity of excitation
It flows Id_s and exciting current Id and adjusts output excitation voltage Ud.
In above-mentioned technical proposal, it is preferred that IA, IB biphase current phase differ 90 degree, by the PARK conversion modules
Exciting current Id and torque current Iq based on synchronous rotating frame are exported after transformation, the synchronous rotary angle of transformation is subdivision angle
θ is spent, formula is：Id=IA * COS θ+IB * SIN θ and Iq=- IA * SIN θ+IB * COS θ.
In above-mentioned technical proposal, it is preferred that anti-PARK conversion modules are by torque voltage Uq and excitation voltage Ud by being based on
The U α voltage signals and U β voltage signals of two-phase stationary coordinate system, U α voltage signals and U β electricity are exported after the transformation of subdivision angle, θ
It presses signal voltage phase to differ 90 degree, and controls A the and B two-phase stator winding of stepper motor respectively, anti-PARK transformation for mula is
U α=Ud * COS θ-Uq * SIN θ and U β=Ud * SIN θ+Uq * COS θ.
In above-mentioned technical proposal, it is preferred that U α voltage signals and U β voltage signals pass through different PWM output modules respectively
Pwm signal is converted to, wherein including the pulse-width modulation PWM subsignal of two-way 180 degree complementation, PWM subsignals again per road pwm signal
PWM3 signals and PWM4 signals including complementary PWM1 signals and PWM2 signals and complementation, H-bridge inverter circuit include two groups
The H bridge sub-circuits of two phase windings of control stepper motor A, B respectively, PWM1 signals and PWM2 signals driving one of which H bridge electricity
Road, PWM3 signals and PWM4 signals drive another set H bridge sub-circuits.
In above-mentioned technical proposal, it is preferred that H-bridge inverter circuit controls stepper motor using bipolar modulation mode, as U α
When with U β being 0, the duty ratio of pulse-width modulation PWM signal is 50%；When U α and U β are more than 0, duty ratio is more than 50%, machine winding
Voltage is just；When U α and U β be less than 0 when, duty ratio be less than 50%, machine winding voltage be it is negative, stepper motor A, B two-phase around
The sinusoidal current that phase differs 90 degree is formed in group.
The special composite stepper motor driver of wire cutting machine tool described in this patent, be by signal interpretation module, thin
Subangle computing module, torque PID controller, excitation PID controller, anti-PARK conversion modules, PARK conversion modules, PWM are defeated
Go out module, H-bridge inverter circuit and outage detection module composition.Signal interpretation module is received by WEDM control system（Such as it is single
Trigger）Five phases ten sent out are clapped（A\B\C\D\E）Or three-phase six-beat (A B C) signal is calculated separately to signal into row decoding
To required step-by-step counting value and generate enable signal.By taking three-phase six-beat as an example, 3 road signal A, B, C, when System of HS-WEDM into
When to opening（Start to process）, when motor rotates forward 3 road signal of A, B, C will according to 100,110,010,011,001,101,
100 sequence is sequentially output 6 states again（1 for effectively, 0 be invalid）, when motor reversal, 3 road signals are by according to rotating forward
Backward exports 6 states.Signal interpretation module determines electricity that System of HS-WEDM is sent out by detecting the variation sequence of 6 states
Machine direction of rotation, at the same by the number of state change come generate stepper motor should stepping step number, direction is timing, state
Often change a step-by-step counting value and add 1, direction is inverse time, and state often changes a step-by-step counting value and subtracts 1, therefore step-by-step counting value
It is the signed magnitude that can just bearing.Simultaneously when System of HS-WEDM, which is fed, closes（Stop processing）, 3 road signal of A, B, C will
It does not export, void in whole becomes 000.When 3 road signals contain useful signal epoch table- driven device should task driven stepping electricity
Machine, when 3 road signals are all invalid, driver should be stopped, you can with by whether containing effectively letter to 3 road signals
Number determine generation enable signal.Similarly five phases ten are clapped it is also possible that decoding.Angle calculation module is segmented, is received by signal
The step-by-step counting value that decoding module generates, when judging that step-by-step counting value is not equal to 0, the subdivision angle, θ of output is according to stepping meter
The positive and negative plus or minus Δ θ of numerical value（Segment angle step）.Δθ（Segment angle step）By the subdivision needed for stepper motor
Number decision, the ÷ high-subdividing numbers of Δ θ=360.Torque PID controller, excitation PID controller, anti-PARK conversion modules, PARK become mold changing
Block and PWM output modules row are at the current phasor subdivision drive control algorithm of stepper motor, the stepping electricity based on vector controlled
Machine Multi-level microstep has the features such as motor torque is steady, and current of electric sine degree is high, motor operation low noise.Outage detection mould
Block detects the power supply power supply of driver in real time, when detecting power-off, automatically saves the current subdivision angle, θ of motor to driver
Internal memory chip reads the last time that storage chip preserves and segments angle, θ data, give subdivision goniometer when sending a telegram here next time
Module is calculated, subdivision angle, θ will calculate on the basis of last time, ensure that voltage U α and the U β being output on motor are coherent in this way
, the saltus step of voltage-phase is not present, is just avoided that motor is repositioned.
This programme may be implemented to dock with existing the complete of general System of HS-WEDM, only need to be original using reacting when use
Formula stepper motor and and its driving circuit remove, replace with the driver and composite stepper motor described in this patent
Work, WEDM control system remain unchanged, and human-machine operation custom is constant, are conducive to marketing.This patent is driven by detecting
Device power supply automatically saves the current subdivision angle, θ of motor to internal drive storage chip, works as next time when detecting power-off
When incoming call, read storage chip preserve last time segment angle, θ data, driver be enabled again operation when, will be thin from last time
Subangle θ starts to rotate, and the stator for ensureing stepper motor is identical with the angle of rotor, is thus avoided that motor is repositioned.
Compared with prior art, the present invention on the basis of not changing existing WEDM control system by five phases ten clap
Or the realization of decoding of three-phase six-beat signal controls the enabled and positive and negative rotation of stepper motor, while passing through the power-off to segmenting angle
Control is preserved, realizes angle when motor shaft is without departing from shutdown when being powered again.
Description of the drawings
Fig. 1 is signal transmission schematic diagram of the present invention.
Fig. 2 is the H bridge sub-circuit inside top schematic diagrames of the A windings of present invention control stepper motor.
Fig. 3 is the H bridge sub-circuit inside top schematic diagrames of the B windings of present invention control stepper motor.
Fig. 4 is present invention subdivision angle calculation module control flow schematic diagram.
Specific implementation mode
Present invention is further described in detail With reference to embodiment.
Embodiment 1：As shown in Figures 1 to 4, the special composite stepper motor driver of a kind of wire cutting machine tool, including letter
Number decoding module 1, subdivision angle calculation module 2, torque PID controller 3, excitation PID controller 4, anti-PARK conversion modules 5,
PARK conversion modules 6, the first PWM output modules 7, the 2nd PWM output modules 8, H-bridge inverter circuit 9 and outage detection module 10.
Wherein, the WEDM control system signal received is transformed into step-by-step counting value and is sent to by signal interpretation module 1
Angle calculation module 2 is segmented, signal interpretation module 1 is specifically scaled and receives by WEDM control system（Such as single board computer）Hair
Five phases ten gone out are clapped（A\B\C\D\E）Or three-phase six-beat (A B C) signal calculates separately to obtain required to signal into row decoding
Step-by-step counting value and generate enable signal.By taking three-phase six-beat as an example, 3 road signal A, B, C are opened when System of HS-WEDM is fed
When（Start to process）, when motor rotates forward, 3 road signal of A, B, C will be according to 100,110,010,011,001,101, again 100
Sequence is sequentially output 6 states（1 for effectively, 0 be invalid）, when motor reversal, 3 road signals will be defeated according to backward when rotating forward
Go out 6 states.Signal interpretation module 1 determines that the motor that System of HS-WEDM is sent out revolves by detecting the variation sequence of 6 states
Turn direction, at the same by the number of state change come generate stepper motor should stepping step number, direction is timing, and state often becomes
Change a step-by-step counting value add 1, direction is inverse time, and state often changes a step-by-step counting value and subtracts 1, thus step-by-step counting value be can
The signed magnitude that can just bearing.Simultaneously when System of HS-WEDM, which is fed, closes（Stop processing）, 3 road signal of A, B, C will not be defeated
Go out, void in whole becomes 000.When 3 road signals contain useful signal epoch table- driven device should task driven stepper motor, when 3
Driver should be stopped when road signal is all invalid, you can with by 3 road signals whether containing useful signal come really
Surely enable signal is generated.Similarly five phases ten are clapped it is also possible that decoding.
Subdivision angle calculation module 2 is worth subdivision angle step Δ θ according to step-by-step counting and calculates subdivision angle, θ,
Angle calculation module is segmented according to formula：The ÷ high-subdividing numbers of Δ θ=360 calculate subdivision angle step Δ θ, are then allowed according to steering
Previously subdivision angle, θ plus or minus Δ θ must appear in subdivision angle, θ.Then subdivision angle calculation module 2 will segment angle, θ
It is sent to anti-PARK conversion modules 5, PARK conversion modules 6 and outage detection module 10, PARK conversion modules 6 are according to stepper motor
A, B biphase current IA, IB and subdivision angle respectively to torque PID controller 3 and excitation PID controller 4 output torque electricity
Iq, 90 degree of exciting current Id, IA, IB biphase current phase difference are flowed, exports and is based on after the PARK conversion modules 6 transformation
The synchronous rotary angle of the exciting current Id and torque current Iq of synchronous rotating frame, transformation are subdivision angle, θ, and formula is：
Id=IA * COS θ+IB * SIN θ and Iq=- IA * SIN θ+IB * COS θ.The torque PID controller 3 has
Moment gives constant current Iq_s, torque to determine the torque of motor to constant current Iq_s, and value is bigger, and Motor torque is bigger, the power
Square PID controller 3 adjusts output torque voltage Uq according to torque to constant current Iq_s and torque current Iq.The excitation PID
There is controller 4 excitation to give constant current Id_s, excitation not needed when the rotor of stepper motor is permanent magnet, therefore Id_s is 0,
The excitation PID controller 4 adjusts output excitation voltage Ud according to excitation to constant current Id_s and exciting current Id.
Anti- PARK conversion modules 5 export torque voltage Uq and excitation voltage Ud after the transformation based on subdivision angle, θ
The U α voltage signals and U β voltage signals of two-phase stationary coordinate system, U α voltage signals and U β voltage signal voltage-phases difference 90
Degree, and A the and B two-phase stator winding of stepper motor is controlled respectively, anti-PARK transformation for mula is U α=Ud * COS θ-Uq *
SIN θ and U β=Ud * SIN θ+Uq * COS θ.U α voltage signals and U β voltage signals pass through the first PWM and export mould respectively
Block 7 and the 2nd PWM output modules 8 are converted to pwm signal, wherein including the pulsewidth tune of two-way 180 degree complementation again per road pwm signal
PWM subsignals processed, PWM subsignals include PWM3 signals and the PWM4 letter of complementary PWM1 signals and PWM2 signals and complementation
Number, PWM1 signals and PWM2 signals are exported by the first PWM output modules 7, and PWM3 signals and PWM4 signals export mould by the 2nd PWM
Block 8 exports.H-bridge inverter circuit 9 include two groups of H bridge sub-circuits for controlling two phase winding of stepper motor A, B respectively, PWM1 signals and
PWM2 signals drive one of which H bridge sub-circuits, PWM3 signals and PWM4 signals to drive another set H bridge sub-circuits.H bridge inversions
Circuit 9 controls stepper motor using bipolar modulation mode, and when U α and U β are 0, the duty ratio of pulse-width modulation PWM signal is
50%；When U α and U β are more than 0, duty ratio is more than 50%, and machine winding voltage is just；When U α and U β are less than 0, duty ratio is less than
50%, machine winding voltage is negative, and the sinusoidal current that phase differs 90 degree is formed in two phase winding of A, B of stepper motor.
After power-off, outage detection module 10 automatically saves current subdivision angle, θ, after sending a telegram here next time, before powering off last time
Subdivision angle, θ is sent to subdivision angle calculation module 2, and subdivision angle calculation module 2 segmented angle, θ and this signal according to last time
Decoding module 1 send step-by-step counting value on the basis of calculate this subdivision angle, θ, at this time last time terminate before start with this
When be input to U α voltage signals on PWM output modules and U β voltage signals are continuous.
Claims (9)
1. a kind of special composite stepper motor driver of wire cutting machine tool, it is characterized in that, including signal interpretation module, subdivision angle
Computing module, torque PID controller, excitation PID controller, anti-PARK conversion modules are spent, PARK conversion modules, PWM export mould
Block, H-bridge inverter circuit and outage detection module；
Wherein, signal interpretation module by the WEDM control system signal received be transformed into step-by-step counting value be sent to subdivision angle
Computing module is spent, subdivision angle calculation module is worth subdivision angle step Δ θ according to step-by-step counting and calculates subdivision angle
Subdivision angle, θ is then sent to anti-PARK conversion modules, PARK conversion modules and outage detection module, PARK conversion modules by θ
According to A, B biphase current IA, IB of stepper motor and subdivision angle respectively to torque PID controller and excitation PID controller
Output torque electric current Iq, exciting current Id, the torque voltage that torque PID controller and excitation PID controller respectively obtain at this time
Uq and excitation voltage Ud, torque voltage Uq and excitation voltage Ud to PWM output modules after anti-PARK conversion modules by exporting U α
Voltage signal and U β voltage signals, PWM output modules are to H-bridge inverter circuit output pulse width modulation (PWM) signal controling stepping motor
Two phase winding of A, B；
After power-off, outage detection module automatically saves current subdivision angle, θ, and after sending a telegram here next time, angle will be segmented before powering off last time
Degree θ is sent to subdivision angle calculation module, and subdivision angle calculation module segmented angle, θ and this signal interpretation module according to last time
This subdivision angle, θ is calculated on the basis of the step-by-step counting value of transmission, at this time last time terminate before be input to when starting with this
U α voltage signals and U β voltage signals on PWM output modules is continuous.
2. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, it is described
WEDM control system signal be that five phases ten clap signal or three-phase six-beat signal.
3. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, subdivision
Angle calculation module is according to formula：The ÷ high-subdividing numbers of Δ θ=360 calculate subdivision angle step Δ θ, are then allowed previously according to steering
Subdivision angle, θ plus or minus Δ θ must appear in subdivision angle, θ.
4. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, it is described
Torque PID controller there is torque to give constant current Iq_s, torque determines the torque of motor, the bigger electricity of value to constant current Iq_s
Machine torque is bigger, and the torque PID controller adjusts output torque voltage according to torque to constant current Iq_s and torque current Iq
Uq。
5. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, it is described
Excitation PID controller have excitation give constant current Id_s, when the rotor of stepper motor be permanent magnet when do not need excitation, therefore
Id_s is 0, and the excitation PID controller adjusts output excitation voltage according to excitation to constant current Id_s and exciting current Id
Ud。
6. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, IA,
IB biphase current phases differ 90 degree, and the excitation based on synchronous rotating frame is exported after PARK conversion modules transformation
The synchronous rotary angle of electric current Id and torque current Iq, transformation are subdivision angle, θ, and formula is：Id = IA * COSθ+ IB *
SIN θ and Iq=- IA * SIN θ+IB * COS θ.
7. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, instead
Torque voltage Uq and excitation voltage Ud is exported two-phase static coordinate by PARK conversion modules after the transformation based on subdivision angle, θ
The U α voltage signals and U β voltage signals of system, U α voltage signals and U β voltage signal voltage-phases differ 90 degree, and control respectively
A the and B two-phase stator winding of stepper motor, anti-PARK transformation for mula be U α=Ud * COS θ-Uq * SIN θ and U β=
Ud * SINθ+ Uq * COSθ。
8. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, U α electricity
Pressure signal and U β voltage signals are converted to pwm signal by different PWM output modules respectively, wherein wrapped per road pwm signal again
Include the pulse-width modulation PWM subsignal of two-way 180 degree complementation, PWM subsignals include complementary PWM1 signals and PWM2 signals and
Complementary PWM3 signals and PWM4 signals, H-bridge inverter circuit includes two groups of H bridges for controlling two phase winding of stepper motor A, B respectively
Sub-circuit, PWM1 signals and PWM2 signals drive one of which H bridge sub-circuits, PWM3 signals and PWM4 signals to drive another set
H bridge sub-circuits.
9. the special composite stepper motor driver of a kind of wire cutting machine tool according to claim 1, it is characterized in that, H bridges
Inverter circuit controls stepper motor using bipolar modulation mode, when U α and U β are 0, the duty ratio of pulse-width modulation PWM signal
It is 50%；When U α and U β are more than 0, duty ratio is more than 50%, and machine winding voltage is just；When U α and U β are less than 0, duty ratio is small
In 50%, machine winding voltage is negative, and the sinusoidal current that phase differs 90 degree is formed in two phase winding of A, B of stepper motor.
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Application publication date: 20180918 |