CN108933550B - Control circuit and control method of integrated hybrid stepping servo motor - Google Patents
Control circuit and control method of integrated hybrid stepping servo motor Download PDFInfo
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- CN108933550B CN108933550B CN201811001592.3A CN201811001592A CN108933550B CN 108933550 B CN108933550 B CN 108933550B CN 201811001592 A CN201811001592 A CN 201811001592A CN 108933550 B CN108933550 B CN 108933550B
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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
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
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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
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Abstract
The invention discloses a control circuit of an integrated hybrid stepping servo motor, which comprises an overvoltage and overcurrent protection circuit, a microprocessor circuit, a power driving circuit, a constant-current chopper circuit, a serial interface circuit, an encoder circuit and a power management circuit, wherein the overvoltage and overcurrent protection circuit, the power driving circuit and the constant-current chopper circuit are respectively and electrically connected with the microprocessor circuit, the power driving circuit and the constant-current chopper circuit are electrically connected with each other, the serial interface circuit is electrically connected with the input end of the power management circuit, the output end of the power management circuit is electrically connected with the encoder circuit, the microprocessor circuit and the power driving circuit, and the microprocessor circuit is electrically connected with the encoder circuit. The invention can solve the technical problems of larger control circuit volume, more components and parts and larger ripple of the finely controlled current in the control circuit of the existing hybrid integrated hybrid stepping servo motor. The invention also provides a control method of the control circuit.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a control circuit and a control method of an integrated hybrid stepping servo motor.
Background
At present, the hybrid integrated hybrid stepping servo motor has been widely applied in the technical fields of printers, numerical control machines, monitoring cameras and the like.
The existing hybrid integrated hybrid stepping servo motor mainly depends on a constant-current chopper circuit to realize subdivision control of the stepping motor, so that the running precision of the stepping motor is improved, and the vibration of the stepping motor in low-speed running is reduced; position feedback is achieved by means of a photoelectric encoder to achieve stall warning and out-of-step compensation.
However, the above control circuit of the existing hybrid integrated hybrid stepping servo motor generally has some neglected disadvantages: firstly, the control circuit is large in size and large in number of components, and high power density is difficult to realize; secondly, there is a large ripple in the current used for the fine control.
Disclosure of Invention
The invention provides a control circuit of an integrated hybrid stepping servo motor and a control method thereof, aiming at solving the technical problems of larger control circuit volume, more components and parts and larger ripple of subdivided and controlled current in the control circuit of the existing hybrid integrated hybrid stepping servo motor.
To achieve the above object, according to one aspect of the present invention, there is provided a control circuit of an integrated hybrid stepping servo motor, comprising an overvoltage and overcurrent protection circuit, a microprocessor circuit, a power driving circuit, a constant current chopper circuit, a serial interface circuit, an encoder circuit, and a power management circuit, wherein the overvoltage and overcurrent protection circuit, the power driving circuit, and the constant current chopper circuit are electrically connected to the microprocessor circuit, respectively, the power driving circuit and the constant current chopper circuit are electrically connected to each other, the serial interface circuit is electrically connected to an input terminal of the power management circuit, an output terminal of the power management circuit is electrically connected to the encoder circuit, the microprocessor circuit, and the power driving circuit, the microprocessor circuit is electrically connected to the encoder circuit, the encoder circuit transmits an angle of a rotor in the integrated hybrid stepping servo motor to the microprocessor circuit, and the microprocessor circuit increases the working current of the integrated hybrid stepping servo motor according to the difference between the angle of the rotor and the preset angle.
Preferably, the overvoltage and overcurrent protection circuit, the microprocessor circuit, the power driving circuit and the constant-current chopper circuit are arranged on one surface of the PCB, and the serial interface circuit, the optical coupling isolation circuit, the encoder circuit, the serial communication circuit and the power management circuit are arranged on the other surface of the PCB.
Preferably, the control circuit further comprises an LED indicating circuit and a dial switch circuit, the LED indicating circuit and the dial switch circuit are arranged on the same surface of the PCB, and the LED indicating circuit and the dial switch circuit are respectively electrically connected with the microprocessor circuit.
Preferably, the control circuit further comprises an optical coupling isolation circuit and a serial port communication circuit, the two and the serial port communication circuit are arranged on the same surface of the PCB, the optical coupling isolation circuit and the serial port communication circuit are respectively electrically connected with the serial port circuit, the optical coupling isolation circuit and the serial port communication circuit are respectively electrically connected with the output end of the power management circuit, and the optical coupling isolation circuit is electrically connected with the microprocessor circuit.
Preferably, the overvoltage and overcurrent protection circuit comprises a first resistor, a second resistor, a third resistor and a first amplifier, one end of the third resistor is connected with the power management circuit, the other end of the third resistor is connected with the second resistor, the common connection point of the second resistor and the third resistor is connected to the microprocessor circuit, the first resistor and the power management circuit are connected in series, the first resistor is connected with the input end of the first amplifier in parallel, and the output end of the first amplifier is connected to the microprocessor circuit.
Preferably, the constant-current chopper circuit comprises a fourth resistor, a second amplifier and a first comparator, the fourth resistor and the power management circuit are connected in series, the fourth resistor is connected with the input end of the second amplifier in parallel, the output end of the second amplifier is connected with the positive input end of the first comparator, the negative input end of the first comparator is connected to the microprocessor circuit, and the output end of the first comparator is connected to the microprocessor circuit and the power driving circuit.
Preferably, the encoder circuit comprises a magnetoelectric encoder, a differential sub-circuit and a power-down storage sub-circuit, one output end of the magnetoelectric encoder is electrically connected with the differential sub-circuit, the other output end of the magnetoelectric encoder is electrically connected with the power-down storage sub-circuit, the power-down storage sub-circuit is realized through a capacitor and an EEPROM, when the control circuit is powered off, the capacitor supplies power to the microprocessor circuit, and at the moment, the microprocessor circuit writes data to be protected into the EEPROM.
According to another aspect of the present invention, there is provided a control method of the control circuit of the above-mentioned integrated hybrid stepping servo motor, comprising the steps of:
(1) the power supply management circuit is started and supplies power to the overvoltage and overcurrent protection circuit, the microprocessor circuit, the power driving circuit, the constant-current chopper circuit, the serial interface circuit and the encoder circuit;
(2) the serial interface circuit receives a control signal from an external controller and transmits the control signal to the microprocessor circuit;
(3) the microprocessor circuit generates a PWM signal according to the control signal, controls the constant-current chopper circuit to generate a driving signal according to the PWM signal so as to control the power driving circuit to drive the integrated hybrid stepping servo motor to operate, simultaneously acquires a signal at the output end of a first comparator CMP1 in the constant-current chopper circuit, and adjusts the frequency and the duty ratio of the PWM signal according to the signal;
(4) the encoder circuit acquires the angle of a rotor in the integrated hybrid stepping servo motor in real time, judges whether the angle of the rotor is equal to a preset angle or not, and enters the step (5) if the angle of the rotor is not equal to the preset angle or enters the step (6) if the angle of the rotor is equal to the preset angle;
(5) the encoder circuit feeds back the angle of the rotor to the microprocessor circuit, and the microprocessor circuit increases the working current of the integrated hybrid stepping servo motor according to the difference value between the angle of the rotor and a preset angle;
(6) the serial interface circuit receives the next control signal from the PLC, passes the control signal to the microprocessor circuit, and repeats steps (3) through (5) above until no control signal arrives.
Preferably, the frequency f of the adjusted PWM signalP2Is equal to 1/(K)1·TC) In which K is1Is the periodic adjustment coefficient, TCThe period of the obtained signal at the output end of the first comparator CMP1 in the constant-current chopper circuit is shown, and the duty ratio of the regulated PWM signal is equal to K2·TCL·fP2＝K2·TCL/(K1·TC) In which K is2Is the duty cycle adjustment factor, TCLAnd represents the low level time of the signal acquired at the output terminal of the first comparator CMP1 in the constant-current chopper circuit.
Preferably, the preset angle is equal to m · θ/N, where m is the number of pulses of the control sub-signal for driving the integrated hybrid stepping servo motor in the control signal in step (2) to rotate by an angle θ/N, θ represents the step angle of the integrated hybrid stepping servo motor, and N represents the subdivision angleA number equal to 2nWherein the value range of n is a natural number between 0 and 8, and the increased working current is equal to Im+KCΔ θ, wherein ImIndicating the current operating current, K, of an integrated hybrid stepping servo motorCRepresents a current compensation coefficient having a value ranging from 0 to
Wherein ImaxRepresents the maximum current that the whole control circuit can bear, and delta theta is the difference value between the angle of the rotor and the preset angle.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. because the invention adopts the design of the double-sided printed circuit board, the compactness and miniaturization of the control circuit structure are realized; in addition, the overvoltage and overcurrent protection circuit, the microprocessor circuit, the power driving circuit and the constant-current chopper circuit which are highly integrated and have few components are further used, so that the size of a circuit board where a control circuit is located is further reduced, and the technical problems that the control circuit of the existing hybrid integrated hybrid stepping servo motor is large in size and has many components are solved;
2. the microprocessor circuit adopts a control strategy of matching an internal amplifier and a comparator, and is matched with the position feedback realized by an encoder circuit, so that the ripple wave of the subdivided control current can be improved, and the control efficiency of the integrated hybrid stepping servo motor is improved;
3. the control circuit has the advantages of small number of components, complete functions, high reliability and high cost performance;
4. according to the control method, the frequency and the duty ratio of the PWM signal are finely adjusted, so that ripples in the working current of the integrated hybrid stepping servo motor can be reduced, the vibration noise of the integrated hybrid stepping servo motor is further reduced, and the control efficiency is improved;
5. according to the invention, under the condition that the angle of the rotor does not reach the preset angle, the step-out compensation of the integrated hybrid stepping servo motor is realized by increasing the working current of the integrated hybrid stepping servo motor, so that the operation precision of the integrated hybrid stepping servo motor is improved, and the operation error of the integrated hybrid stepping servo motor is reduced.
Drawings
FIG. 1 is a block diagram of the control circuit of the integrated hybrid stepper servo motor of the present invention;
FIG. 2 is a specific circuit diagram of an overvoltage and overcurrent protection circuit and a constant-current chopper circuit in the control circuit of the invention;
fig. 3 is a flow chart of a control method of the control circuit of the integrated hybrid stepping servo motor according to the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-an overvoltage and overcurrent protection circuit; 2-LED indication circuit; 3-a dial switch circuit; 4-a microprocessor circuit; 5-a power driving circuit; 6-constant current chopper circuit; 7-a serial interface circuit; 8-optical coupling isolation circuit; 9-an encoder circuit; 10-a serial communication circuit; 11-power management circuit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, according to a first embodiment of the present invention, a control circuit of an integrated hybrid stepping servo motor is provided, which includes an overvoltage and overcurrent protection circuit 1, an LED indication circuit 2, a dial switch circuit 3, a microprocessor circuit 4, a power driving circuit 5, a constant current chopper circuit 6, a serial interface circuit 7, an optical coupling isolation circuit 8, an encoder circuit 9, a serial communication circuit 10, and a power management circuit 11.
It should be noted that the control circuit of the present invention is disposed on a double-sided Printed circuit board (PCB for short), wherein the overvoltage and overcurrent protection circuit 1, the LED indication circuit 2, the dial switch circuit 3, the microprocessor circuit 4, the power driving circuit 5, and the constant current chopper circuit 6 are disposed on one side of the PCB, and the serial interface circuit 7, the optical coupling isolation circuit 8, the encoder circuit 9, the serial communication circuit 10, and the power management circuit 11 are disposed on the other side of the PCB.
The overvoltage and overcurrent protection circuit 1, the LED indicating circuit 2, the dial switch circuit 3, the power driving circuit 5 and the constant current chopper circuit 6 are respectively electrically connected with the microprocessor circuit 4, and the power driving circuit 5 and the constant current chopper circuit 6 are electrically connected with each other.
The serial interface circuit 7 is respectively electrically connected with the input ends of the optical coupling isolation circuit 8, the serial communication circuit 10 and the power management circuit 11, and the output end of the power management circuit 11 is electrically connected with the optical coupling isolation circuit 8, the encoder circuit 9, the serial communication circuit 10, the microprocessor circuit 4 and the power driving circuit 5.
The microprocessor circuit 4 is electrically connected with the optical coupling isolation circuit 8 and the encoder circuit 9.
As shown in fig. 2, the over-voltage and over-current protection circuit 1 comprises a first resistor R2, a second resistor R3, a third resistor R4 and a first amplifier AMP1, wherein one end of the third resistor R4 is connected with the power management circuit 11, the other end is connected with the second resistor R3, and the common connection point of the second resistor R3 and the third resistor R4 is connected to the microprocessor circuit 4; the first resistor R2 and the power management circuit 11 are connected in series with each other, the first resistor R2 is connected in parallel with an input terminal of the first amplifier AMP1, and an output terminal of the first amplifier AMP1 is connected to the microprocessor circuit 4.
The LED indicating circuit 2 includes a plurality of LED indicating lamps, which are respectively different colors.
The dial switch circuit 3 is specifically a 5-to-8-pin dial switch.
The microprocessor circuit 4 is embodied in the series F0/F1/F3 of an STM32 microcontroller.
The power driver circuit 5 is specifically a two-phase H-bridge circuit, which may be integrated with a single power chip (e.g., a4950 or a4955) using a driver chip, or may be separately configured with a separate driver chip (e.g., IR2104S or FAN73832) and a separate power chip (e.g., AO 4826).
In this embodiment, the power chip is specifically a Metal-Oxide-Semiconductor Field-Effect-Transistor (MOSFET) chip.
As shown in fig. 2, the constant-current chopper circuit 6 includes a fourth resistor R1, a second amplifier AMP2, and a first comparator CMP1, the fourth resistor R1 and the power management circuit 11 are connected in series with each other, the fourth resistor R1 is connected in parallel to an input terminal of the second amplifier AMP2, an output terminal of the second amplifier AMP2 is connected to a forward input terminal of the first comparator CMP1, an inverting input terminal of the first comparator CMP1 is connected to the microprocessor circuit 4, and an output terminal of the first comparator CMP1 is connected to the microprocessor circuit 4 and the power drive circuit 5.
The serial interface circuit 7 employs a universal serial interface, such as a DB15 model serial interface.
The optical coupler isolation circuit 8 includes a high-speed optical coupler circuit and a low-speed optical coupler circuit, which are a high-speed optical coupler and a low-speed optical coupler, respectively.
The encoder circuit 9 includes a magnetoelectric encoder 91, a differential sub-circuit 92, and a power-down storage sub-circuit 93, one output terminal of the magnetoelectric encoder 91 is electrically connected to the differential sub-circuit 92, and the other output terminal is electrically connected to the power-down storage sub-circuit 93.
The magnetoelectric encoder 91 is realized by a TLE 5012E 1000 chip, the differential sub-circuit 92 is realized by a differential chip, the power-down storage sub-circuit 93 is realized by a capacitor and a charged Erasable Programmable read only memory (EEPROM), when the control circuit is powered off, the capacitor supplies power to the microprocessor circuit 4, and at the moment, the microprocessor circuit 4 writes data to be protected into the EEPROM.
The serial communication circuit 10 is specifically an RS-232 interface or an RS-485 interface.
The power management circuit 11 includes a DC-DC voltage reduction circuit and a linear voltage stabilizing circuit, which are implemented by a general DC-DC voltage reduction chip and a linear voltage stabilizing chip, respectively.
The working principle of the invention is as follows:
firstly, an external power supply and a control signal are connected into a serial interface circuit 7, an optical coupling isolation circuit 8 transmits the control signal to a microprocessor circuit 4, and meanwhile, a power supply management circuit 11 obtains voltages of various voltage grades according to the external power supply and supplies power to various modules in the control circuit; the microprocessor circuit 4 correspondingly controls the LED indicating circuit 2, the dial switch circuit 3, the power driving circuit 5 and the constant-current chopper circuit 6 according to an external control signal, the encoder circuit 9 transmits the rotating position information of the integrated hybrid stepping servo motor to the microprocessor circuit 4, and the microprocessor circuit 4 makes a corresponding control strategy according to the position information; the serial interface circuit 7 can be communicated with the microprocessor circuit 4 through the serial communication circuit 10, set parameters for a controller of the integrated hybrid stepping servo motor and send control instructions to the integrated hybrid stepping servo motor according to the parameters; in the working process of the whole control circuit, the overvoltage and overcurrent protection circuit 1 monitors the power management circuit 11 and the power driving circuit 5, once overvoltage or overcurrent is detected, an alarm signal is transmitted to the microprocessor circuit 4, and then the microprocessor circuit 4 makes corresponding protection measures.
As shown in fig. 3, according to a second embodiment of the present invention, there is provided a control method of the control circuit of the integrated hybrid stepping servo motor, including the steps of:
(1) the power supply management circuit is started and supplies power to the overvoltage and overcurrent protection circuit, the microprocessor circuit, the power driving circuit, the constant-current chopper circuit, the serial interface circuit and the encoder circuit;
(2) the serial interface circuit receives a control signal from an external controller and transmits the control signal to the microprocessor circuit;
specifically, the external controller may be a Programmable Logic Controller (PLC), a single chip, various common logic circuits (including a manual button, a logic gate, a large scale integrated circuit, etc.), and the like, which are not described herein again.
(3) The microprocessor circuit generates a Pulse Width Modulation (PWM) signal according to the control signal, controls the constant-current chopper circuit to generate a driving signal according to the PWM signal so as to control the power driving circuit to drive the integrated hybrid stepping servo motor to operate, obtains a signal at the output end of a first comparator CMP1 in the constant-current chopper circuit, and adjusts the frequency and the duty ratio of the PWM signal according to the signal;
specifically, the frequency f of the adjusted PWM signalP2Is equal to 1/(K)1·TC) In which K is1Is a periodic adjustment coefficient with a value range of (0, 0.8), TCThe period of the acquired signal at the output end of the first comparator CMP1 in the constant-current chopper circuit is represented;
the duty ratio of the regulated PWM signal is equal to K2·TCL·fP2＝K2·TCL/(K1·TC) In which K is2Is the duty ratio regulating coefficient, and the value range is (0.5, 1.5), the preferred range is (0.9, 1.1), TCLAnd represents the low level time of the signal acquired at the output terminal of the first comparator CMP1 in the constant-current chopper circuit.
The step has the advantages that through adjusting the frequency and the duty ratio of the PWM signal, ripples in the working current of the integrated hybrid stepping servo motor are reduced, and therefore vibration noise of the integrated hybrid stepping servo motor is further reduced.
(4) The encoder circuit acquires the angle of a rotor in the integrated hybrid stepping servo motor in real time, judges whether the angle of the rotor is equal to a preset angle or not, and enters the step (5) if the angle of the rotor is not equal to the preset angle or enters the step (6) if the angle of the rotor is equal to the preset angle;
specifically, the preset angle is equal to m · theta/N, wherein m is the pulse number of a control sub-signal used for driving the integrated hybrid stepping servo motor to rotate by an angle theta/N in the control signal in the step (2), theta represents the stepping angle of the integrated hybrid stepping servo motor, N represents a subdivision number, and the value of the subdivision number is equal to 2nWherein n has a value range of [0, 8 ]]N may be user-driven by an integral hybrid stepper servo motorThe method comprises the following steps of.
(5) The encoder circuit feeds back the angle of the rotor to the microprocessor circuit, and the microprocessor circuit increases the working current of the integrated hybrid stepping servo motor according to the difference value between the angle of the rotor and a preset angle;
specifically, the increased operating current is equal to Im+KCΔ θ, wherein ImIndicating the current operating current, K, of an integrated hybrid stepping servo motorCRepresents a current compensation coefficient having a value ranging from 0 toWherein ImaxRepresents the maximum current that the whole control circuit can bear, and delta theta is the difference value between the angle of the rotor and the preset angle.
The step has the advantage that the step-out compensation of the motor is realized by increasing the working current of the integrated hybrid stepping servo motor under the condition that the angle of the rotor does not reach the preset angle.
(6) The serial interface circuit receives the next control signal from the PLC, passes the control signal to the microprocessor circuit, and repeats steps (3) through (5) above until no control signal arrives.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A control method of a control circuit of an integrated hybrid stepping servo motor comprises an overvoltage and overcurrent protection circuit, a microprocessor circuit, a power driving circuit, a constant-current chopper circuit, a serial interface circuit, an encoder circuit and a power management circuit, wherein the overvoltage and overcurrent protection circuit, the power driving circuit and the constant-current chopper circuit are respectively and electrically connected with the microprocessor circuit, and the power driving circuit and the constant-current chopper circuit are electrically connected with each other; the serial interface circuit is electrically connected with the input end of the power management circuit, and the output end of the power management circuit is electrically connected with the encoder circuit, the microprocessor circuit and the power driving circuit; the microprocessor circuit is electrically connected with the encoder circuit; the encoder circuit transmits the angle of the rotor in the integrated hybrid stepping servo motor to the microprocessor circuit, and the microprocessor circuit increases the working current of the integrated hybrid stepping servo motor according to the difference between the angle of the rotor and a preset angle, and the control method is characterized by comprising the following steps of:
(1) the power supply management circuit is started and supplies power to the overvoltage and overcurrent protection circuit, the microprocessor circuit, the power driving circuit, the constant-current chopper circuit, the serial interface circuit and the encoder circuit;
(2) the serial interface circuit receives a control signal from an external controller and transmits the control signal to the microprocessor circuit;
(3) the microprocessor circuit generates a PWM signal according to the control signal, controls the constant-current chopper circuit to generate a driving signal according to the PWM signal so as to control the power driving circuit to drive the integrated hybrid stepping servo motor to operate, simultaneously acquires a signal at the output end of a first comparator CMP1 in the constant-current chopper circuit, and adjusts the frequency and the duty ratio of the PWM signal according to the signal; wherein the frequency f of the adjusted PWM signalP2Is equal to 1/(K)1·TC) In which K is1Is the periodic adjustment coefficient, TCThe period of the acquired signal at the output end of the first comparator CMP1 in the constant-current chopper circuit is represented; the duty ratio of the regulated PWM signal is equal to K2·TCL·fP2＝K2·TCL/(K1·TC) In which K is2Is the duty cycle adjustment factor, TCLThe low level time of the acquired signal at the output end of the first comparator CMP1 in the constant-current chopper circuit is represented;
(4) the encoder circuit acquires the angle of a rotor in the integrated hybrid stepping servo motor in real time, judges whether the angle of the rotor is equal to a preset angle or not, and enters the step (5) if the angle of the rotor is not equal to the preset angle or enters the step (6) if the angle of the rotor is equal to the preset angle;
(5) the encoder circuit feeds back the angle of the rotor to the microprocessor circuit, and the microprocessor circuit increases the working current of the integrated hybrid stepping servo motor according to the difference value between the angle of the rotor and a preset angle;
(6) the serial interface circuit receives the next control signal from the PLC, passes the control signal to the microprocessor circuit, and repeats steps (3) through (5) above until no control signal arrives.
2. The control method according to claim 1,
the preset angle is equal to m.theta/N, wherein m is the pulse number of a control sub-signal used for driving the integrated hybrid stepping servo motor to rotate by theta/N angle in the control signal in the step (2), theta represents the stepping angle of the integrated hybrid stepping servo motor, N represents the subdivision number, and the value of the subdivision number is equal to 2nWherein the value range of n is a natural number between 0 and 8;
the increased operating current is equal to Im+KCΔ θ, wherein ImIndicating the current operating current, K, of an integrated hybrid stepping servo motorCRepresents a current compensation coefficient having a value ranging from 0 to
Wherein ImaxRepresents the maximum current that the whole control circuit can bear, and delta theta is the difference value between the angle of the rotor and the preset angle.
3. The control method according to claim 1, wherein the overvoltage and overcurrent protection circuit, the microprocessor circuit, the power driving circuit and the constant current chopper circuit are arranged on one surface of the PCB, and the serial interface circuit, the optical coupling isolation circuit, the encoder circuit, the serial communication circuit and the power management circuit are arranged on the other surface of the PCB.
4. The control method according to claim 1,
the control circuit further comprises an LED indicating circuit and a dial switch circuit, and the LED indicating circuit and the dial switch circuit are arranged on the same surface of the PCB;
the LED indicating circuit and the dial switch circuit are respectively electrically connected with the microprocessor circuit.
5. The control method according to claim 1,
the control circuit further comprises an optical coupling isolation circuit and a serial port communication circuit which are arranged on the same surface of the PCB as the serial interface circuit;
the optical coupling isolation circuit and the serial port communication circuit are respectively electrically connected with the serial interface circuit;
the optical coupling isolation circuit and the serial port communication circuit are respectively electrically connected with the output end of the power management circuit;
the optical coupling isolation circuit is electrically connected with the microprocessor circuit.
6. The control method according to claim 1,
the overvoltage and overcurrent protection circuit comprises a first resistor, a second resistor, a third resistor and a first amplifier;
one end of the third resistor is connected with the power management circuit, the other end of the third resistor is connected with the second resistor, and the common connection point of the second resistor and the third resistor is connected to the microprocessor circuit;
the first resistor and the power management circuit are connected in series, the first resistor is connected in parallel with the input end of the first amplifier, and the output end of the first amplifier is connected to the microprocessor circuit.
7. The control method according to claim 1,
the constant-current chopper circuit comprises a fourth resistor, a second amplifier and a first comparator;
the fourth resistor and the power management circuit are connected in series, and the fourth resistor is connected with the input end of the second amplifier in parallel;
the output end of the second amplifier is connected with the positive input end of the first comparator;
the inverting input of the first comparator is connected to the microprocessor circuit and the output of the first comparator is connected to the microprocessor circuit and the power driver circuit.
8. The control method according to claim 1,
the encoder circuit comprises a magnetoelectric encoder, a differential sub-circuit and a power-down storage sub-circuit;
one output end of the magnetoelectric encoder is electrically connected with the differential sub-circuit, and the other output end of the magnetoelectric encoder is electrically connected with the power-down storage sub-circuit;
the power-down storage sub-circuit is realized by a capacitor and an EEPROM;
when the control circuit is powered off, the capacitor supplies power to the microprocessor circuit, and the microprocessor circuit writes data to be protected into the EEPROM.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811001592.3A CN108933550B (en) | 2018-08-30 | 2018-08-30 | Control circuit and control method of integrated hybrid stepping servo motor |
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| CN201811001592.3A CN108933550B (en) | 2018-08-30 | 2018-08-30 | Control circuit and control method of integrated hybrid stepping servo motor |
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| CN108933550B true CN108933550B (en) | 2020-01-24 |
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| CN201811001592.3A Active CN108933550B (en) | 2018-08-30 | 2018-08-30 | Control circuit and control method of integrated hybrid stepping servo motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112737434A (en) * | 2020-12-30 | 2021-04-30 | 广东工业大学 | Stepping motor driver |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6150789A (en) * | 1999-02-13 | 2000-11-21 | Tri-Tech, Inc. | Stepper motor control |
| CN203872095U (en) * | 2014-05-23 | 2014-10-08 | 岳阳巅峰电子科技有限责任公司 | Stepper motor control circuit in 3D printing |
| CN104716879A (en) * | 2015-02-27 | 2015-06-17 | 深圳市雷赛软件技术有限公司 | Method and device for controlling current of stepping motor |
| CN106849785A (en) * | 2017-02-16 | 2017-06-13 | 山东仕脉机器人技术有限公司 | Driving stepper motor module and the system with the module |
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2018
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6150789A (en) * | 1999-02-13 | 2000-11-21 | Tri-Tech, Inc. | Stepper motor control |
| CN203872095U (en) * | 2014-05-23 | 2014-10-08 | 岳阳巅峰电子科技有限责任公司 | Stepper motor control circuit in 3D printing |
| CN104716879A (en) * | 2015-02-27 | 2015-06-17 | 深圳市雷赛软件技术有限公司 | Method and device for controlling current of stepping motor |
| CN106849785A (en) * | 2017-02-16 | 2017-06-13 | 山东仕脉机器人技术有限公司 | Driving stepper motor module and the system with the module |
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