CN108667364A - A kind of the single step driving method and device of stepper motor - Google Patents
A kind of the single step driving method and device of stepper motor Download PDFInfo
- Publication number
- CN108667364A CN108667364A CN201810475493.2A CN201810475493A CN108667364A CN 108667364 A CN108667364 A CN 108667364A CN 201810475493 A CN201810475493 A CN 201810475493A CN 108667364 A CN108667364 A CN 108667364A
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- real time
- rotation angle
- stepping
- practical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- H02P8/12—Control or stabilisation of current
-
- 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
- H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
Abstract
Single step driving method and device the present invention relates to a kind of stepper motor include：The practical rotation angle of acquisition stepper motor in real time；Stepper motor is obtained according to practical rotation angle and often rotates the real time needed for a micro-stepping, and carrying out comparison according to real time and preset given time obtains delay time, adjusts the driving current and speed of stepper motor in real time according to delay time.The present invention had not only been avoided that the energy dissipation of stepper motor, but also can guarantee that stepper motor in the case where loading variation, remains to reach highest working efficiency.
Description
Technical field
The present invention relates to motor-drive technique field, more particularly to the single step driving method and device of a kind of stepper motor.
Background technology
The driving current and speed of driving system of stepping motor are and pre-set in the prior art, and by control device master
Stepper motor, therefore, in order to reserve enough torsion, need to be set to lower speed and larger driving current by dynamic control,
It should be evident that stepper motor is caused to generate heat, serious, energy dissipation is serious, and in the load variation of stepper motor, can not
Reach highest working efficiency.
Invention content
In view of the above-mentioned problems, the object of the present invention is to provide the single step driving method and device of a kind of stepper motor, it can
The energy dissipation of stepper motor is avoided, and can guarantee stepper motor in the case where loading variation, remains to reach highest work effect
Rate.
To achieve the above object, the present invention takes following technical scheme：A kind of single step driving method of stepper motor, packet
It includes：The practical rotation angle of acquisition stepper motor in real time；The stepper motor is obtained according to the practical rotation angle often to rotate
Real time needed for one micro-stepping carries out comparison according to the real time and preset given time and obtains delay time,
Adjust the driving current and speed of stepper motor in real time according to the delay time.
Further include before the practical rotation angle of the real-time acquisition stepper motor：External rotary angle signal through amplification at
The stepper motor rotation is controlled after reason.
The stepper motor, which is obtained, according to the practical rotation angle often rotates real time needed for a micro-stepping, according to
The real time carries out comparison with preset given time and obtains delay time, and stepping is adjusted in real time according to the delay time
The driving current and speed of motor, further include the following contents：According to the practical rotary angle signal calculate whether with it is set micro-
The rotation angle of step is consistent, and only when the practical rotation angle meets the rotation angle of the set micro-stepping, just drives institute
State the rotation of next micro-stepping of stepper motor.
To achieve the above object, the present invention also takes following technical scheme：A kind of single step driving device packet of stepper motor
It includes：Microcomputer control system and angular sensor；The microcomputer control system communicates to connect stepper motor, described
Microcomputer control system drives the stepper motor according to external rotary angle signal, the angular sensor with it is described
Stepper motor is fixedly connected, and the angular sensor detects the practical rotation angle of the stepper motor in real time, and by institute
It states practical rotation angle and is sent to the microcomputer control system in real time, the microcomputer control system is according to the reality
Rotary angle signal adjusts the driving current and speed of the stepper motor.
The microcomputer control system obtains the stepper motor according to the practical rotary angle signal and often rotates one
Real time needed for a micro-stepping carries out comparison according to the real time and preset given time and obtains delay time, root
Adjust the driving current and speed of stepper motor in real time according to the delay time.
It connects between the microcomputer control system and the stepper motor amplifying circuit.
The amplifying circuit is H bridge type current driving circuit.
The invention adopts the above technical scheme, which has the following advantages：1, the present invention by detecting load hair in real time
The temporal delay that caused stepper motor rotation angle occurs when changing, and then utilize delay time adjustment stepping electricity
The driving current and speed of machine, i.e., compensated automatically, and then had not only been avoided that the energy dissipation of stepper motor, but also can guarantee stepping
Motor avoids losing step in the case where loading variation, and can reach highest working efficiency.2, the present invention according to load due to changing
When rotation angle time change, automatically adjust, adapt to various loading conditions, there is no need to pre-set actuating speed,
Acceleration-deceleration, driving current etc. are very convenient.3, the present invention is due to being not necessarily to pre-set driving current and speed, effectively
Redundancy and the waste of energy are avoided, fever is reduced, it is energy saving, improve efficiency.The signal of the present invention passes sequentially through micro- calculating
Machine control system, amplifying circuit, stepper motor, angular sensor return microcomputer control system, form closed loop control
System, signal is reliable, and implementation cost is low, can be widely applied to motor-drive technique field.
Description of the drawings
Fig. 1 is a kind of flow diagram of one of the single step driving method of stepper motor of present invention embodiment；
Fig. 2 is a kind of structural schematic diagram of one of the single step driving device of stepper motor of present invention embodiment.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of single step driving method of stepper motor, including：
The practical rotation angle of step 101, in real time acquisition stepper motor, and practical rotary angle signal is sent in real time
Microcomputer control system；
Step 201, microcomputer control system receive practical rotary angle signal, are obtained according to practical rotary angle signal
Stepper motor often rotates the real time needed for a micro-stepping, according to real time and preset stepper motor often rotate one it is micro-
Step needed for given time carry out comparison obtains delay time, adjusted in real time according to delay time stepper motor driving current and
Speed, to adapt to the current load situation of stepper motor.
A kind of single step driving method for stepper motor that the above embodiment of the present invention provides can detect load hair in real time
The temporal delay that caused stepper motor rotation angle occurs when changing, design concept of the invention are exactly prolonged using this
The driving current and speed of slow time adjustment stepper motor, i.e., compensated, and then be both avoided that the energy of stepper motor automatically
Waste, and can guarantee that stepper motor in the case where loading variation, avoids losing step, and can reach highest working efficiency.
In order to make those skilled in the art be better understood by the present invention, a more detailed embodiment is set forth below,
The embodiment of the present invention provides a kind of single step driving method of stepper motor, including：
The practical rotation angle of step 101, in real time acquisition stepper motor, and practical rotary angle signal is sent in real time
Microcomputer control system is specifically realized in the following way：
Step 1011, microcomputer control system receive external rotary angle signal；
Step 1012, microcomputer control system generate the phase signal of stepper motor according to rotary angle signal, and will
Phase signal is issued Driving Stepping Motor after amplifying circuit is amplified processing and is rotated；
Step 1013, microcomputer control system acquire the practical rotation of stepper motor by angular sensor in real time
The practical rotary angle signal of stepper motor is sent to microcomputer control system by angle, angular sensor in real time.
Step 201, microcomputer control system receive practical rotary angle signal, are obtained according to practical rotary angle signal
Stepper motor often rotates the real time needed for a micro-stepping, according to real time and preset stepper motor often rotate one it is micro-
Step needed for given time carry out comparison obtains delay time, adjusted in real time according to delay time stepper motor driving current and
Speed further includes specifically following steps to adapt to the current load situation of stepper motor：
Step 2011, microcomputer control system receive practical rotary angle signal, according to practical rotary angle signal meter
The no rotation angle with set micro-stepping is consistent at last, when practical rotation angle meets the rotation angle of set micro-stepping, micro- calculating
Machine control system carries out the rotation of next micro-stepping；When practical rotation angle does not meet the rotation angle of set micro-stepping, micro- calculating
Machine control system compensates control according to the difference of practical rotation angle and the rotation angle of set micro-stepping.
As shown in Fig. 2, the embodiment of the present invention also provides a kind of single step driving device of stepper motor includes：Microcomputer control
System 1 processed and angular sensor 2；
Microcomputer control system 1 communicates to connect stepper motor 3, and microcomputer control system 1 is according to external rotation angle
Signal Driving Stepping Motor 3；
The input shaft of angular sensor 2 is fixedly connected with the output shaft 31 of stepper motor 3, and then ensures rotation angle
Sensor 2 can detect the practical rotation of stepper motor 3 in real time with 3 fully synchronized rotation of stepper motor, angular sensor 2
Angle, and practical rotation angle is sent to microcomputer control system 1 in real time；
Microcomputer control system 1 adjusts the driving current and speed of stepper motor 3 according to practical rotary angle signal.
In a preferred embodiment, in order to further ensure that can Driving Stepping Motor 3 work normally, microcomputer
Series connection amplifying circuit 4 between control system 1 and stepper motor 3, it is preferred that current amplification circuit or H may be used in amplifying circuit 4
Bridge-type current driving circuit.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Specific embodiment is applied in the present invention, and principle and implementation of the present invention are described, above example
Explanation be merely used to help understand the present invention method and its core concept；Meanwhile for those of ordinary skill in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (7)
1. a kind of single step driving method of stepper motor, which is characterized in that including：
The practical rotation angle of acquisition stepper motor in real time；
The stepper motor is obtained according to the practical rotation angle and often rotates real time needed for a micro-stepping, according to described
Real time carries out comparison with preset given time and obtains delay time, and stepper motor is adjusted in real time according to the delay time
Driving current and speed.
2. a kind of single step driving method of stepper motor as described in claim 1, which is characterized in that the real-time acquisition stepping electricity
It include the following contents before the practical rotation angle of machine：
External rotary angle signal controls the stepper motor rotation after enhanced processing.
3. a kind of single step driving method of stepper motor as claimed in claim 1 or 2, which is characterized in that described according to the reality
Border rotation angle obtains the stepper motor and often rotates real time needed for a micro-stepping, according to the real time with it is default
Given time carry out comparison obtain delay time, adjust the driving current and speed of stepper motor in real time according to the delay time
Degree, further includes the following contents：
It is calculated and whether is consistent with the rotation angle of set micro-stepping according to the practical rotary angle signal, only when the practical rotation
When gyration meets the rotation angle of the set micro-stepping, the rotation of next micro-stepping of the stepper motor is just driven.
4. a kind of single step driving device of stepper motor, which is characterized in that including：Microcomputer control system and rotation angle pass
Sensor；The microcomputer control system communicates to connect stepper motor, and the microcomputer control system is according to external rotation angle
It spends signal and drives the stepper motor；The angular sensor is fixedly connected with the stepper motor, the rotation angle
Sensor detects the practical rotation angle of the stepper motor in real time, and the practical rotary angle signal is sent to institute in real time
State microcomputer control system；The microcomputer control system adjusts the stepping electricity according to the practical rotary angle signal
The driving current and speed of machine.
5. a kind of single step driving device of stepper motor as claimed in claim 4, which is characterized in that microcomputer control system
System obtains the stepper motor according to the practical rotary angle signal and often rotates real time needed for a micro-stepping, according to institute
It states the real time and preset given time carries out comparison and obtains delay time, stepping electricity is adjusted according to the delay time in real time
The driving current and speed of machine.
6. a kind of single step driving device of stepper motor as claimed in claim 5, which is characterized in that microcomputer control system
It connects amplifying circuit between system and the stepper motor.
7. a kind of single step driving device of stepper motor as claimed in claim 6, which is characterized in that the amplifying circuit is H bridges
Formula current driving circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810475493.2A CN108667364A (en) | 2018-05-17 | 2018-05-17 | A kind of the single step driving method and device of stepper motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810475493.2A CN108667364A (en) | 2018-05-17 | 2018-05-17 | A kind of the single step driving method and device of stepper motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108667364A true CN108667364A (en) | 2018-10-16 |
Family
ID=63776527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810475493.2A Pending CN108667364A (en) | 2018-05-17 | 2018-05-17 | A kind of the single step driving method and device of stepper motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108667364A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109510531A (en) * | 2018-11-27 | 2019-03-22 | 歌尔股份有限公司 | The driving method and its driver and computer readable storage medium of stepper motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199466A (en) * | 2014-06-26 | 2014-12-10 | 拓卡奔马机电科技有限公司 | Control method and system for closed-loop stepping motor of sewing machine |
| CN106060380A (en) * | 2016-05-11 | 2016-10-26 | 北京格灵深瞳信息技术有限公司 | Linkage camera control system and method |
| CN106941332A (en) * | 2016-12-20 | 2017-07-11 | 广西风华服饰有限责任公司 | A kind of sewing machine method for controlling stepping motor and control system |
-
2018
- 2018-05-17 CN CN201810475493.2A patent/CN108667364A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199466A (en) * | 2014-06-26 | 2014-12-10 | 拓卡奔马机电科技有限公司 | Control method and system for closed-loop stepping motor of sewing machine |
| CN106060380A (en) * | 2016-05-11 | 2016-10-26 | 北京格灵深瞳信息技术有限公司 | Linkage camera control system and method |
| CN106941332A (en) * | 2016-12-20 | 2017-07-11 | 广西风华服饰有限责任公司 | A kind of sewing machine method for controlling stepping motor and control system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109510531A (en) * | 2018-11-27 | 2019-03-22 | 歌尔股份有限公司 | The driving method and its driver and computer readable storage medium of stepper motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108696219A (en) | A kind of method and apparatus of calibration permanent magnet synchronous motor electric current | |
| CN104335476B (en) | The control device of motor and the control method of motor | |
| CN102349231B (en) | 3-phase motor control device, 3-phase motor system, and 3-phase motor control method and program | |
| JP2008511274A5 (en) | ||
| Abdelrahem et al. | Implementation and experimental investigation of a sensorless field-oriented control scheme for permanent-magnet synchronous generators | |
| CN106357102B (en) | Busbar voltage control method for brshless DC motor driving frequency converter | |
| CN103607149B (en) | A kind of ultrasonic motor rudder servo system and control method thereof | |
| CN1354556A (en) | Method for preventing bus voltage from excessing | |
| CN110474588A (en) | A kind of control method and device of motor | |
| CN109194239B (en) | Speed regulation method and system of speed regulation system of switched reluctance motor | |
| CN101834556A (en) | Quick shutdown system and method of industrial sewing machine | |
| JP2017055647A (en) | Method for restarting induction machine | |
| CN111342733A (en) | Method and device for starting control of variable frequency compressor and computer storage medium | |
| CN113374001B (en) | Excavator rotating speed control method and device | |
| CN108667364A (en) | A kind of the single step driving method and device of stepper motor | |
| CN112072633B (en) | JD self-adaption-based virtual direct current generator control method and system | |
| KR20200145112A (en) | Apparatus and method for controlling switching of high speed wiring mode of a motor | |
| CN104696250B (en) | A kind of steady control method of axial flow blower rotating speed | |
| CN111162712B (en) | Control method of direct-drive permanent magnet synchronous motor, traction controller and storage medium | |
| TWI383574B (en) | Method and apparatus of field weakening for ac motor drives | |
| CN202444458U (en) | Motor start control device | |
| CN108777495A (en) | Control method for coordinating, frequency converter, energizing apparatus and starting of static frequency conversion system | |
| CN110311598B (en) | Phase changing method and device for single-phase brushless direct current motor | |
| CN102868330A (en) | Method for frequency converter to achieve flying start and frequency converter capable of achieving method | |
| JP2006020454A (en) | Controller for permanent magnet synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181016 |
|
| WD01 | Invention patent application deemed withdrawn after publication |