CN110212821A - Control method and driving circuit based on positive and negative feedback voltage control current ripples - Google Patents
Control method and driving circuit based on positive and negative feedback voltage control current ripples Download PDFInfo
- Publication number
- CN110212821A CN110212821A CN201910506537.8A CN201910506537A CN110212821A CN 110212821 A CN110212821 A CN 110212821A CN 201910506537 A CN201910506537 A CN 201910506537A CN 110212821 A CN110212821 A CN 110212821A
- Authority
- CN
- China
- Prior art keywords
- reference voltage
- voltage
- feedback voltage
- stepper motor
- positive
- 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.)
- Granted
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
- H02P8/12—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
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The application provides a kind of control method and driving circuit based on positive and negative feedback voltage control current ripples, the control method is by obtaining the first reference voltage and the second reference voltage, and it is based on the first feedback voltage and the second feedback voltage, during stepper motor is charged and discharged, using the first reference voltage and the second reference voltage as threshold voltage, realize that stepper motor charge and discharge are controlled using dual threshold, namely using Voltage Feedback and threshold value is arranged in the charging process of stepper motor, discharge process equally uses Voltage Feedback and threshold value is arranged, to monitor coil current in real time by feedback voltage, adjustment charging and discharging process in real time, current ripples can accurately be controlled, so that current ripples are only related to the difference and resistance of the first reference voltage and the second reference voltage, with charging rate, the velocity of discharge is unrelated, thus will Coil current controls within the current threshold up and down of setting, the accurate ripple for controlling electric current.
Description
Technical field
The present invention relates to Current Control Technology fields more particularly to a kind of based on positive and negative feedback voltage control current ripples
Control method and driving circuit.
Background technique
Stepper motor is one of critical product of electromechanical integration, is widely used in various automatic control systems.Step
It is a kind of executing agency for converting electric pulse to angular displacement into motor.Stepper motor is also stepper motor, receives step each time
Into pulse, a step angle is rotated.This characteristic makes its very simple in terms of revolving speed control and position control, is answered extensively
For every field such as industrial control system, office automation, robot, security protection cameras.
The micro-stepping technology of stepper motor, is also the Subdivision driving technology of stepper motor.By controlling each phase of stepper motor
Coil current direction and size to generate the magnetic field of corresponding direction and size realize that the subdivision of step angle is accurately controlled
System.Stepping each time, coil current can all change correspondingly a little, and the magnetic field of generation also changes correspondingly, to enable motor in magnetic
Field force is rotated by corresponding angle.The running accuracy of stepper motor can be improved in stepper motor micro-step control technology, changes
Kind vibration and noise of the stepper motor in low-speed running.
The key of micro-step control technology is the control of the electric current in motor coil, controls current ripples in the prior art
Accuracy is inadequate, is unable to accurately control the size of coil current, therefore how to provide a kind of electric current of accurate control current ripples
Control method becomes technical problem urgently to be resolved.
Summary of the invention
In view of this, the present invention provides a kind of control method and driving electricity based on positive and negative feedback voltage control current ripples
Road, to solve the problem of the inadequate size for being unable to accurately control coil current of micro-step control technology acuracy in the prior art.
To achieve the above object, the invention provides the following technical scheme:
A kind of control method based on positive and negative feedback voltage control current ripples, the H bridge applied to stepper motor drive electricity
Road, is provided with resistance between the H-bridge drive circuit and ground, the stepper motor current ripple control method includes:
The first reference voltage and the second reference voltage are obtained, first reference voltage is greater than second reference voltage；
The sampled voltage of the H-bridge drive circuit Yu the resistance joint is obtained, and amplifies the sampled voltage, is obtained
First feedback voltage and the second feedback voltage, wherein the absolute value phase of first feedback voltage and second feedback voltage
Together, symbol is opposite；
In the stepper motor charging process, judge whether first feedback voltage is greater than described first with reference to electricity
Pressure, if so, being converted to electric discharge by charging；
In the stepper motor discharge process, judge whether second feedback voltage is less than described second with reference to electricity
Pressure, if so, being converted to charging by electric discharge.
Preferably, further includes:
Receive step-by-step impulse；
Encoded signal is generated according to the step-by-step impulse；
Based on the encoded signal, the value of first reference voltage and second reference voltage is updated, and keeps institute
The difference stated between the first reference voltage and second reference voltage is constant；
According to updated first reference voltage and updated second reference voltage, controls the stepper motor and filled
Electric discharge.
Preferably, it is described judge whether first feedback voltage is greater than first reference voltage before further include:
Judge that the stepper motor is in charging process or discharge process.
Preferably, the judgement stepper motor is in charging process or discharge process, specifically includes:
The turn-on and turn-off state of each switch in the H-bridge drive circuit of the stepper motor is judged, to judge the step
Charging process or discharge process are in into motor.
The present invention also provides a kind of driving circuits based on positive and negative feedback voltage control current ripples, for realizing appointing above
Control method based on positive and negative feedback voltage control current ripples described in meaning one, it is described based on positive and negative feedback voltage control electricity
The driving circuit of flow liner wave includes:
First obtains module, for obtaining the first reference voltage and the second reference voltage；
Second obtains module, for obtaining the sampled voltage of H-bridge drive circuit Yu resistance joint, and amplifies the sampling
Voltage obtains the first feedback voltage and the second feedback voltage；
First judgment module, for judging whether first feedback voltage is greater than institute in stepper motor charging process
The first reference voltage is stated, if so, being converted to electric discharge by charging；
Second judgment module, for judging whether second feedback voltage is less than institute in stepper motor discharge process
The second reference voltage is stated, if so, being converted to charging by electric discharge.
Preferably, the first acquisition module includes: stepping index, digital analog converter and variation module；
The stepping index generates encoded signal for receiving step-by-step impulse, and according to the step-by-step impulse；
The digital analog converter obtains first reference for the encoded signal to be converted to analog signal
Voltage；
The variation module, for being based on first reference voltage, offset obtains second reference voltage.
Preferably, the first acquisition module includes: stepping index, digital analog converter and variation module；
The stepping index generates encoded signal for receiving step-by-step impulse, and according to the step-by-step impulse；
The digital analog converter obtains second reference for the encoded signal to be converted to analog signal
Voltage；
The variation module, for being based on second reference voltage, offset obtains first reference voltage.
Preferably, the second acquisition module includes the first amplifier and the second amplifier；
The first input end of the first input end of first amplifier and second amplifier is all connected with the H bridge and drives
The common end of dynamic circuit and the resistance；
Second input terminal of the second input terminal of first amplifier and second amplifier is grounded；
The output end of first amplifier exports the first feedback voltage, the output end output second of second amplifier
Feedback voltage.
Preferably, the first judgment module is first comparator, and second judgment module is the second comparator；
The first input end of the first comparator receives the first reference voltage, and the second input terminal receives the first feedback electricity
Pressure；
The first input end of second comparator receives the second reference voltage, and the second input terminal receives the second feedback electricity
Pressure.
It preferably, further include Logic control module；
The Logic control module connects the output end of the first comparator and the output end of second comparator, uses
In judging that the stepper motor is in charging process or discharge process, and compared according to the first comparator and described second
The output signal of device controls the switch motion of the H-bridge drive circuit, switches the charge and discharge process of the stepper motor.
It can be seen via above technical scheme that the control provided by the invention based on positive and negative feedback voltage control current ripples
Method by obtaining the first reference voltage and the second reference voltage, and is based on the first feedback voltage and the second feedback voltage, in step
During being charged and discharged into motor, using the first reference voltage and the second reference voltage as threshold voltage, stepper motor is realized
Charge and discharge are controlled using dual threshold namely the charging process of stepper motor uses Voltage Feedback and threshold value is arranged, and are discharged
Journey equally uses Voltage Feedback and threshold value is arranged, thus by feedback voltage monitor in real time coil current, in real time adjustment charging and
Discharge process can accurately control current ripples, so that difference of the current ripples with the first reference voltage and the second reference voltage
Value is related to resistance, unrelated with charging rate, the velocity of discharge, so that coil current is controlled the current threshold up and down in setting
Within value, the accurate ripple for controlling electric current.
The present invention also provides a kind of driving circuits based on positive and negative feedback voltage control current ripples, for executing institute above
The control method based on positive and negative feedback voltage control current ripples stated, realizes the accurate control of current ripples.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is stepper motor H-bridge drive circuit structural schematic diagram in the prior art；
Fig. 2 is micro-step control driving circuit structure schematic diagram；
Fig. 3 is current control timing diagram in the prior art；
Fig. 4 is current ripples control method flow diagram provided in an embodiment of the present invention；
Fig. 5 is multiple grading current ripple control method flow schematic diagrams provided in an embodiment of the present invention；
Fig. 6 is that current ripples provided in an embodiment of the present invention control driving circuit block diagram；
Fig. 7 is a kind of driving circuit structure that current ripples are controlled based on positive and negative feedback voltage provided in an embodiment of the present invention
Schematic diagram；
Fig. 8 is the voltage and current timing diagram provided in an embodiment of the present invention that current ripples are controlled based on positive and negative feedback voltage；
Fig. 9 is the voltage and current timing diagram of multiple grading current ripples provided in an embodiment of the present invention；
Figure 10 is another driving circuit that current ripples are controlled based on positive and negative feedback voltage provided in an embodiment of the present invention
Structural schematic diagram；
When Figure 11 is current ripples control method timing diagram provided by the invention and existing conventional current ripple control method
Sequence figure comparison diagram；
Figure 12 and Figure 13 is current ripples control method simulation result diagram provided in an embodiment of the present invention.
Specific embodiment
Just as described in the background section, the accuracy of micro-step control technical controlling current ripples is inadequate in the prior art,
It is unable to accurately control the size of coil current.
The basic reason that the above problem occurs in inventor's discovery is as follows:
The driving method of stepper motor is driven using H bridge in the prior art, as depicted in figs. 1 and 2, wherein Fig. 1 is existing
There is the stepper motor H-bridge drive circuit structural schematic diagram in technology, Fig. 2 is micro-step control driving circuit structure schematic diagram.
As shown in Figure 1, by four switches S1, S2, S3, S4 come control coil charge and discharge.If the electric current currently needed
Direction is VOP- > VON, is charged to stepper motor, then S1 and S4 is opened, and S2 and S3 are closed；If the electric current currently needed
Direction is VON- > VOP, so that the coil of stepper motor discharges；Then S2 and S3 is opened, and S1 and S4 are closed.It does not need to drive
(electric current is allowed to be 0) when motor, then S3 and S4 can be allowed to open, S1 and S2 closing or four switches are all closed.
Due to H bridge driving method shown in FIG. 1, do not increase feedback, is unable to accurately control the size of coil current, it can not
Realize micro-step control.Micro-step control driving circuit as shown in Figure 2, by the voltage on resistance Rsen come the electricity in detection coil
Stream, then makes comparisons with reference voltage Vref, according to output valve is compared, by corresponding algorithm control switch charge and discharge, realizes
The purpose of stabling current.
The key of micro-step control technology is to control the coil current of motor, i.e., electrically operated by charge and discharge, and electric current is stablized
Near setting value.Common current control method is upper limit threshold and discharge time by setting electric current.When electric current is charged to
When setting value Iref, terminates charging, discharge；When electric discharge reaches certain time, terminate electric discharge, then charge, it is corresponding
Timing diagram it is as shown in Figure 3.
Above-mentioned current control method is unable to accurately control current ripples, concrete reason are as follows:
Since electric discharge, terminate to electric discharge, curent change is how many, not merely controls by discharge time, with the velocity of discharge
Also there is relationship.But the velocity of discharge is related with inductance value and coil inductance both end voltage.And different motors, corresponding coil electricity
Sense is different, the inductance value of big motor and fractional motor or even the difference for having magnitude；And the voltage at motor both ends is not equal to line
The voltage at both ends is enclosed, since it is desired that deducting the voltage of voltage and reverse electromotive force that motor internal resistance point is fallen.Therefore, when depending merely on electric discharge
Between cannot control current ripples well.
Based on this, the present invention provides a kind of control method based on positive and negative feedback voltage control current ripples, is applied to step
Into the H-bridge drive circuit of motor, resistance, the stepper motor current ripple control are provided between the H-bridge drive circuit and ground
Method processed includes:
The first reference voltage and the second reference voltage are obtained, first reference voltage is greater than second reference voltage；
The sampled voltage of the H-bridge drive circuit Yu the resistance joint is obtained, and amplifies the sampled voltage, is obtained
First feedback voltage and the second feedback voltage, wherein the absolute value phase of first feedback voltage and second feedback voltage
Together, symbol is opposite；
In the stepper motor charging process, judge whether first feedback voltage is greater than described first with reference to electricity
Pressure, if so, being converted to electric discharge by charging；
In the stepper motor discharge process, judge whether second feedback voltage is less than described second with reference to electricity
Pressure, if so, being converted to charging by electric discharge.
Control method provided by the invention based on positive and negative feedback voltage control current ripples, by obtaining first with reference to electricity
Pressure and the second reference voltage, and it is based on the first feedback voltage and the second feedback voltage, during stepper motor is charged and discharged,
Using the first reference voltage and the second reference voltage as threshold voltage, realize that stepper motor charge and discharge are controlled using dual threshold
Using Voltage Feedback and threshold value is arranged in system namely the charging process of stepper motor, and discharge process equally uses Voltage Feedback and sets
Threshold value is set, to monitor coil current in real time by feedback voltage, charging and discharging process is adjusted in real time, can accurately control electricity
Flow liner wave, so that current ripples are only related to the difference and resistance of the first reference voltage and the second reference voltage, with charging
Speed, the velocity of discharge are unrelated, thus by coil current control within the current threshold up and down of setting, the accurate line for controlling electric current
Wave.
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 description, 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.
The embodiment of the present invention provides a kind of control method based on positive and negative feedback voltage control current ripples, is applied to stepping
The H-bridge drive circuit of motor is provided with resistance, the stepper motor current ripple control between the H-bridge drive circuit and ground
Method is as shown in Figure 4, comprising:
S101: obtaining the first reference voltage and the second reference voltage, and first reference voltage is greater than second reference
Voltage；
The difference not limited between the first reference voltage and the second reference voltage in the present embodiment is much, can be according to reality
Situation is set.It should be noted that since the size of the difference of the first reference voltage and the second reference voltage influences stepping electricity
The charging time and discharge time of machine, when the difference of the first reference voltage and the second reference voltage is smaller, corresponding current ripples
Smaller, then the switching frequency being charged and discharged is bigger, the turn-on and turn-off switching frequency of the switch in corresponding H-bridge drive circuit
It is bigger, cause switching loss bigger.It therefore, can be by considering that the first reference voltage and the second reference voltage is arranged in switching loss
Difference.
S102: obtaining the sampled voltage of the H-bridge drive circuit Yu the resistance joint, and amplifies the sampling electricity
Pressure, obtains the first feedback voltage and the second feedback voltage, wherein first feedback voltage and second feedback voltage it is exhausted
Identical to being worth, symbol is opposite；
It should be noted that the method in the embodiment of the present invention realizes current ripples control based on positive and negative feedback voltage.
Herein, positive and negative feedback voltage is the first feedback voltage and the second feedback voltage, the first feedback voltage and second in the present embodiment
The absolute value of feedback voltage is identical, is all from and amplifies to obtain to sampled voltage, and only in amplification coefficient, one is positive,
One is negative.
The sequence of S101 and S102 are not limited in the present embodiment, in other embodiments of the invention, obtain the first ginseng
The sequence of voltage, the second reference voltage is examined, can be exchanged with the sequence for obtaining the first feedback voltage and the second feedback voltage.At this
In the additional embodiment of invention, the first reference voltage, the second reference voltage, the first feedback voltage and second can also be obtained simultaneously
Feedback voltage, this is not limited by the present invention.
S103: in the stepper motor charging process, judge whether first feedback voltage is greater than first ginseng
Voltage is examined, if so, being converted to electric discharge by charging；
In the embodiment of the present invention, when in stepper motor charging process, the first feedback voltage and the first reference voltage are judged
Relationship, if the first feedback voltage less than the first reference voltage, illustrates that upper current limit threshold has not been reached yet in coil charges electric current
Value；If the first feedback voltage is equal to the first reference voltage, illustrate that coil charges electric current reaches upper current limit threshold value；If first is anti-
Feedthrough voltage is greater than the first reference voltage, then terminates to charge, be switched to discharge process.
S104: in the stepper motor discharge process, judge whether second feedback voltage is less than second ginseng
Voltage is examined, if so, being converted to charging by electric discharge.
Likewise, the relationship of the second feedback voltage and the second reference voltage is judged in stepper motor discharge process, if the
Two feedback voltages are greater than the second reference voltage, then illustrate that lower current limit threshold value has not been reached yet in coil discharge current；If second is anti-
Feedthrough voltage is equal to the second reference voltage, then illustrates that coil discharge current reaches lower current limit threshold value；If the second feedback voltage is less than
Second reference voltage then terminates to discharge, is switched to charging process.
It should be noted that further include judging stepper motor state in which in the embodiment of the present invention, be charging process also
The step of being discharge process.By judging stepper motor state in which, further determination be compare the first feedback voltage with
The size of first reference voltage still compares the size of the second feedback voltage and the second reference voltage, further according to comparison result, sentences
It is disconnected whether to carry out charge and discharge switching.The conducting of each switch in H-bridge drive circuit in the present embodiment by judging stepper motor
And off state, to judge that the stepper motor is in charging process or discharge process.Such as shown in Fig. 1, as switch S1
It is connected with switch S4, and the case where switch S2 and switch S3 shutdown, then current direction is VOP- > VON, is judged as stepper motor
Charging process, when switch S2 and switch S3 are connected, and the case where switch S1 and switch S4 shutdown, then current direction for VON- >
VOP is judged as the discharge process of stepper motor.
It should be noted that above-mentioned current ripples control is only the ripple control in an electric current ladder, if wanted
Multiple current ripples are realized from a stepped change to another ladder, then provided in the embodiment of the present invention based on positive and negative feedback
The control method of voltage control current ripples further include:
Receive step-by-step impulse；
Encoded signal is generated according to the step-by-step impulse；
Based on the encoded signal, the value of first reference voltage and second reference voltage is updated, and keeps institute
The difference stated between the first reference voltage and second reference voltage is constant；
According to updated first reference voltage and updated second reference voltage, controls the stepper motor and filled
Electric discharge.
Idiographic flow schematic diagram is as shown in Figure 5, comprising:
S201: step-by-step impulse is received；
S202: encoded signal is generated according to the step-by-step impulse；
S203: being based on the encoded signal, updates the value of first reference voltage and second reference voltage, and protects
The difference held between first reference voltage and second reference voltage is constant；
S204: judge that stepper motor status is discharge process or charging process；
S205: in the stepper motor charging process, judge whether first feedback voltage is greater than first ginseng
Voltage is examined, if so, being converted to electric discharge by charging；If it is not, then continuing to judge whether the first feedback voltage is greater than first ginseng
Examine voltage；
S206: in the stepper motor discharge process, judge whether second feedback voltage is less than second ginseng
Voltage is examined, if so, being converted to charging by electric discharge；If it is not, then continuing to judge whether second feedback voltage is less than described
Two reference voltages.
Control method provided in an embodiment of the present invention based on positive and negative feedback voltage control current ripples, by obtaining first
Reference voltage and the second reference voltage, and it is based on the first feedback voltage and the second feedback voltage, it is charged and discharged in stepper motor
In the process, using the first reference voltage and the second reference voltage as threshold voltage, realize that stepper motor charge and discharge use dual threshold
It is controlled namely the charging process of stepper motor uses Voltage Feedback and threshold value is arranged, discharge process equally uses voltage anti-
Threshold value is presented and be arranged, to monitor coil current in real time by feedback voltage, adjusts charging and discharging process in real time, it can be accurate
Current ripples are controlled, so that current ripples are only related to the difference and resistance of the first reference voltage and the second reference voltage,
It is unrelated with charging rate, the velocity of discharge, thus by coil current control within the current threshold up and down of setting, accurate control electricity
The ripple of stream.
The present invention also provides a kind of driving circuits based on positive and negative feedback voltage control current ripples, for realizing real above
The control method based on positive and negative feedback voltage control current ripples described in example is applied, it is described based on positive and negative feedback voltage control electricity
The driving circuit of flow liner wave, as shown in Figure 6, comprising:
First obtains module 31, for obtaining the first reference voltage and the second reference voltage；
Second obtains module 32, adopts for obtaining the sampled voltage of H-bridge drive circuit Yu resistance joint, and described in amplification
Sample voltage obtains the first feedback voltage and the second feedback voltage；
First judgment module 33, for judging whether first feedback voltage is greater than in stepper motor charging process
First reference voltage, if so, being converted to electric discharge by charging；
Second judgment module 34, for judging whether second feedback voltage is less than in stepper motor discharge process
Second reference voltage, if so, being converted to charging by electric discharge.
More clearly to illustrate that is provided in the embodiment of the present invention controls the driving of current ripples based on positive and negative feedback voltage
Circuit, refers to Fig. 7, and Fig. 7 is a kind of driving that current ripples are controlled based on positive and negative feedback voltage provided in an embodiment of the present invention
Electrical block diagram.
As shown in fig. 7, the first acquisition module includes: stepping index 41, digital analog converter DAC42 and variation
Module 43；Stepping index 41 generates encoded signal (Code) for receiving step-by-step impulse, and according to step-by-step impulse；Digital mould
Quasi- converter DAC42 obtains the first reference voltage Vref 1 for encoded signal to be converted to analog signal；Variation module
43, for being based on the first reference voltage Vref 1, offset-Δ V obtains the second reference voltage Vref 2.
Second, which obtains module, includes the first amplifier A1 and the second amplifier A2；The first input end of first amplifier A1 and
The first input end of second amplifier A2 is all connected with the common end of H-bridge drive circuit Yu resistance Rsen；The of first amplifier A1
The second input terminal of two input terminals and the second amplifier A2 are grounded；The output end of first amplifier A1 exports the first feedback voltage
The output end of Vsen_p, the second amplifier A2 export the second feedback voltage V sen_n.
First judgment module is first comparator C1, and the second judgment module is the second comparator C2；First comparator C1's
First input end receives the first reference voltage Vref 1, and the second input terminal receives the first feedback voltage V sen_p；Second comparator C2
First input end receive the second reference voltage Vref 2, the second input terminal receive the second feedback voltage V sen_n.
Logic control module 44 connects the output end of first comparator C1 and the output end of the second comparator C2, for judging
Stepper motor is in charging process or discharge process, and according to the output signal of first comparator C1 and the second comparator C2,
The switch motion for controlling H-bridge drive circuit, switches the charge and discharge process of stepper motor.In the present embodiment, when switch S1 and switch
S4 conducting, and the case where switch S2 and switch S3 shutdown, then current direction is VOP- > VON, is judged as the charging of stepper motor
Journey (the 1. process in such as Fig. 7), when switch S2 and switch S3 are connected, and the case where switch S1 and switch S4 shutdown, then electric current side
To for VON- > VOP, it is judged as the discharge process (the 2. process in such as Fig. 7) of stepper motor.
It is illustrated for when current direction is VOP- > VON in the present embodiment, is at this time charging process, S1 and S4 are led
Logical, S2 and S3 are turned off, and the sampled voltage Vsensor on resistance Rsen is positive, and after the first amplifier A1, k times of amplification is obtained
First feedback voltage V sen_p=k*Vsensor, then pass through first comparator C1 and the first reference voltage of upper voltage limit threshold value
Vref1 makes comparisons, and when the first feedback voltage V sen_p is greater than the first reference voltage Vref 1, coil current is charged to upper current limit
Threshold value (Iref1=Vref1/ (k*Rsen)), terminates to charge at this time, carries out repid discharge.
When repid discharge, S2 and S3 are opened, and S1 and S4 are closed, and the sampled voltage Vsensor mutation on resistance Rsen is negative,
After the second amplifier A2, amplification-k obtains the second feedback voltage V sen_n=-k*Vsensor again, passes through the second comparator
C2 makes comparisons with the second reference voltage Vref 2, when the second feedback voltage V sen_n is less than the second reference voltage Vref 2, electric current
Reach lower threshold (Iref2=Vref2/ (k*Rsen)), terminates to discharge at this time, charge, it and so on, can be by coil
For current control within the bound threshold value of setting, corresponding timing diagram is as shown in Figure 8.
It can be completed it should be noted that the charge and discharge of stepper motor coil current are more than a secondary control, each hyposynchronization
Into coil current can all change correspondingly a little, and the magnetic field of generation also changes correspondingly, to enable motor under the driving of magnetic field force
Rotate corresponding angle.In order to enable coil current successively changes, Fig. 9 is referred to, by receiving step-by-step impulse, changes the first ginseng
Examine the value of voltage, the value of corresponding second reference voltage changes therewith, so as to change electric current bound threshold value Iref1 and
Iref2, the final electric current that controls is from a stepped change to another ladder.
It should be noted that the voltage that DAC is generated in the present embodiment can also be the second reference voltage Vref 2, pass through electricity
43 shifted by delta V of offset module is pressed, the first reference voltage Vref 1 is obtained.Corresponding driving circuit can be as shown in Figure 10 at this time, i.e.,
First acquisition module includes: stepping index 41, digital analog converter 42 and variation module 43 '；Stepping index 41,
Encoded signal is generated for receiving step-by-step impulse, and according to step-by-step impulse；Digital analog converter DAC42, for letter will to be encoded
Number analog signal is converted to, obtains the second reference voltage Vref 2；Variation module 43 ', for being based on the second reference voltage
Vref2, offset+Δ V obtain the first reference voltage Vref 1.Other structures function is similar, does not make specifically in the present embodiment to this
It is bright.
Driving circuit provided in an embodiment of the present invention and control method are controlled based on dual threshold, had both controlled the upper limit of electric current,
Also control the lower limit of electric current, and not based on discharge time, it is unrelated with discharge time, charging and discharging be all reach current threshold or
Voltage threshold terminates.The method of control current ripples, can guarantee each of Sine current waveform in compared with the existing technology
A ladder ripple is the same.
Referring to Figure 11, it is current ripples control mode provided in an embodiment of the present invention and current ripples control in the prior art
The contrast schematic diagram of mode processed；It is illustrated so that s coil current is in Sine shape as an example, in fact, being to be filled near 0 in electric current
Electric fast speed, the velocity of discharge is slower, and when electric current is near Sine maximum amplitude, charging rate is slack-off, and the velocity of discharge is very fast.
Prior art control method only controls upper current limit, that is, is charged to threshold value, does not just fill because single threshold controls,
The electric discharge of discharge time is fixed.However identical discharge time, not represent current ripples identical.Electric current in coil is
It is continually changing, and also real-time change, the voltage for being really added in inductance both ends are to change to the size and Orientation of inverse electromotive force
, i.e. the velocity of discharge of coil is variation, so identical discharge time, the variation of electric current is different, some places
Greatly, some places are small, and small when big when leading to current ripples, in stepper motor, the size of coil current is corresponding conversion into torsion
Power, it is clear that small when big when current ripples is bad.And control method provided by the invention preferably controls ripple, makes complete
Period, each ladder ripple was equally big, that is, can guarantee that each ladder ripple of Sine current waveform is the same, and protected
It demonstrate,proves motor rotation and rotates a step angle each time, suffered torsion is relatively more uniform.It as shown in Figure 12 and Figure 13, is this
The current ripples control method simulation result schematic diagram that inventive embodiments provide；It can be seen that the present invention by Figure 12 and Figure 13
The current ripples that the current ripples control method that embodiment provides obtains are relatively uniform, can be realized the accurate control of current ripples
System.
In conclusion the current ripples Δ I=Δ V/ (k* that current ripples control method provided in an embodiment of the present invention obtains
Rsen), current ripples are only related with Δ V, Rsen.The charging and discharging stage can be transferred through Rsen monitoring coil current, and in real time
Adjustment is charged or discharged, and so as to accurately control current ripples, the ripple of each electric current ladder is equally big, theory
On ripple can be accomplished infinitely small, but ripple Δ I is smaller, and the switching frequency of H bridge will be bigger, and switching loss can be bigger.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that article or equipment including a series of elements not only include those elements, but also
It including other elements that are not explicitly listed, or further include for this article or the intrinsic element of equipment.Do not having
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that in the article including above-mentioned element
Or there is also other identical elements in equipment.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of control method based on positive and negative feedback voltage control current ripples, which is characterized in that the H applied to stepper motor
Bridge driving circuit is provided with resistance, the stepper motor current ripple control method packet between the H-bridge drive circuit and ground
It includes:
The first reference voltage and the second reference voltage are obtained, first reference voltage is greater than second reference voltage；
The sampled voltage of the H-bridge drive circuit Yu the resistance joint is obtained, and amplifies the sampled voltage, obtains first
Feedback voltage and the second feedback voltage, wherein first feedback voltage is identical with the absolute value of second feedback voltage, symbol
It is number opposite；
In the stepper motor charging process, judge whether first feedback voltage is greater than first reference voltage, if
It is that electric discharge is then converted to by charging；
In the stepper motor discharge process, judge whether second feedback voltage is less than second reference voltage, if
It is that charging is then converted to by electric discharge.
2. the control method according to claim 1 based on positive and negative feedback voltage control current ripples, which is characterized in that also
Include:
Receive step-by-step impulse；
Encoded signal is generated according to the step-by-step impulse；
Based on the encoded signal, the value of first reference voltage and second reference voltage is updated, and keeps described the
Difference between one reference voltage and second reference voltage is constant；
According to updated first reference voltage and updated second reference voltage, controls the stepper motor and carry out charge and discharge
Electricity.
3. the control method according to claim 1 based on positive and negative feedback voltage control current ripples, which is characterized in that
It is described to judge whether first feedback voltage is greater than before first reference voltage further include:
Judge that the stepper motor is in charging process or discharge process.
4. the control method according to claim 3 based on positive and negative feedback voltage control current ripples, which is characterized in that institute
It states and judges that the stepper motor is in charging process or discharge process, specifically include:
The turn-on and turn-off state of each switch in the H-bridge drive circuit of the stepper motor is judged, to judge the stepping electricity
Machine is in charging process or discharge process.
5. a kind of driving circuit based on positive and negative feedback voltage control current ripples, which is characterized in that for realizing claim
Control method based on positive and negative feedback voltage control current ripples described in 1-4 any one, it is described to be based on positive and negative feedback voltage
Control current ripples driving circuit include:
First obtains module, for obtaining the first reference voltage and the second reference voltage；
Second obtains module, for obtaining the sampled voltage of H-bridge drive circuit Yu resistance joint, and amplifies the sampled voltage
Obtain the first feedback voltage and the second feedback voltage；
First judgment module judges whether first feedback voltage is greater than described the in stepper motor charging process
One reference voltage, if so, being converted to electric discharge by charging；
Second judgment module judges whether second feedback voltage is less than described the in stepper motor discharge process
Two reference voltages, if so, being converted to charging by electric discharge.
6. the driving circuit according to claim 5 based on positive and negative feedback voltage control current ripples, which is characterized in that institute
Stating the first acquisition module includes: stepping index, digital analog converter and variation module；
The stepping index generates encoded signal for receiving step-by-step impulse, and according to the step-by-step impulse；
The digital analog converter obtains first reference voltage for the encoded signal to be converted to analog signal；
The variation module, for being based on first reference voltage, offset obtains second reference voltage.
7. the driving circuit according to claim 5 based on positive and negative feedback voltage control current ripples, which is characterized in that institute
Stating the first acquisition module includes: stepping index, digital analog converter and variation module；
The stepping index generates encoded signal for receiving step-by-step impulse, and according to the step-by-step impulse；
The digital analog converter obtains second reference voltage for the encoded signal to be converted to analog signal；
The variation module, for being based on second reference voltage, offset obtains first reference voltage.
8. the driving circuit according to claim 5 based on positive and negative feedback voltage control current ripples, which is characterized in that institute
Stating the second acquisition module includes the first amplifier and the second amplifier；
The first input end of the first input end of first amplifier and second amplifier is all connected with the H bridge driving electricity
The common end on road and the resistance；
Second input terminal of the second input terminal of first amplifier and second amplifier is grounded；
The output end of first amplifier exports the first feedback voltage, the second feedback of output end output of second amplifier
Voltage.
9. the driving circuit according to claim 8 based on positive and negative feedback voltage control current ripples, which is characterized in that institute
Stating first judgment module is first comparator, and second judgment module is the second comparator；
The first input end of the first comparator receives the first reference voltage, and the second input terminal receives the first feedback voltage；
The first input end of second comparator receives the second reference voltage, and the second input terminal receives the second feedback voltage.
10. the driving circuit according to claim 9 based on positive and negative feedback voltage control current ripples, which is characterized in that
It further include Logic control module；
The Logic control module connects the output end of the first comparator and the output end of second comparator, for sentencing
The stepper motor that breaks is in charging process or discharge process, and according to the first comparator and second comparator
Output signal controls the switch motion of the H-bridge drive circuit, switches the charge and discharge process of the stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910506537.8A CN110212821B (en) | 2019-06-12 | 2019-06-12 | Control method and driving circuit for controlling current ripple based on positive and negative feedback voltages |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910506537.8A CN110212821B (en) | 2019-06-12 | 2019-06-12 | Control method and driving circuit for controlling current ripple based on positive and negative feedback voltages |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110212821A true CN110212821A (en) | 2019-09-06 |
| CN110212821B CN110212821B (en) | 2020-10-02 |
Family
ID=67792215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910506537.8A Active CN110212821B (en) | 2019-06-12 | 2019-06-12 | Control method and driving circuit for controlling current ripple based on positive and negative feedback voltages |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110212821B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103607151A (en) * | 2013-12-03 | 2014-02-26 | 嘉兴中润微电子有限公司 | Mixing attenuation control circuit in motor drive chip |
| US20170354087A1 (en) * | 2016-06-13 | 2017-12-14 | Honda Motor Co., Ltd. | Electric lawn mower control apparatus |
-
2019
- 2019-06-12 CN CN201910506537.8A patent/CN110212821B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103607151A (en) * | 2013-12-03 | 2014-02-26 | 嘉兴中润微电子有限公司 | Mixing attenuation control circuit in motor drive chip |
| US20170354087A1 (en) * | 2016-06-13 | 2017-12-14 | Honda Motor Co., Ltd. | Electric lawn mower control apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110212821B (en) | 2020-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101576581B (en) | Voltage detecting apparatus with voltage controlled oscillator and battery state control system | |
| CN101557194B (en) | Motor driving apparatus | |
| CN110731039B (en) | Battery system, motor vehicle and method for operating a battery system | |
| AU615299B2 (en) | Integrated generator set controller apparatus and method | |
| CN1194229C (en) | Battery power source protecting device for an electromotive device | |
| US5969515A (en) | Apparatus and method for digital control of a power converter current | |
| KR0140362B1 (en) | Inverter and airconditioner controlled by the same | |
| CN1156976C (en) | Method and device for controlling power output stage | |
| CN101789744B (en) | Driver circuit | |
| CN108092352A (en) | A kind of modulator approach suitable for the state-of-charge equilibrium of multimode battery modules | |
| CN1112752C (en) | Controller of AC generator for vehicle | |
| Le et al. | An open-loop stepper motor driver based on FPGA | |
| CN101401288A (en) | Power conversion device and method, and triangular wave generation circuit | |
| CN108809171A (en) | It is a kind of to determine frequency PWM full-bridge type motor micro-stepping subdivision drive control methods and circuit | |
| CN1055809C (en) | Speed control apparatus for switched reluctance motor | |
| CN104065294A (en) | Control System For Multi-phase Rotary Machine System | |
| CN110212821A (en) | Control method and driving circuit based on positive and negative feedback voltage control current ripples | |
| JP6873251B2 (en) | Power converter and power conversion system | |
| CN110224644A (en) | Control method and driving circuit based on offset feedback voltage control current ripples | |
| CN105553355A (en) | Current limiting value adjustment device and method for brushless direct current motor for driving electric motor car | |
| CN1578154A (en) | Analog-to-digital converter utilizing a timer for increased resolution | |
| Attia et al. | Novel discrete components based speed controller for induction motor | |
| CN1106708C (en) | Circuit arrangement for powering electric motor | |
| RU2372706C1 (en) | Device for connection of controlled voltage rectifier to source of ac voltage | |
| CN111525654A (en) | Circuit and method for time-sharing charging of batteries in battery pack |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |