CN110277939B

CN110277939B - Control system and control method and refrigerant valve with stepping motor

Info

Publication number: CN110277939B
Application number: CN201810259859.2A
Authority: CN
Inventors: 不公告发明人
Original assignee: Zhejiang Sanhua Intelligent Controls Co Ltd
Current assignee: Zhejiang Sanhua Intelligent Controls Co Ltd
Priority date: 2018-03-15
Filing date: 2018-03-27
Publication date: 2022-08-09
Anticipated expiration: 2038-03-27
Also published as: CN110277939A

Abstract

The embodiment of the invention discloses a control system, a control method and a refrigerant valve with a stepping motor, wherein the control system comprises a microcontroller and a Hall element, the microcontroller acquires a target rotation angle signal according to a target position, the Hall element detects the current position of the stepping motor, generates a first position parameter signal and sends the first position parameter signal to the microcontroller, and the microcontroller controls the stepping motor to operate towards the target position according to the first position parameter signal and the target rotation angle signal; the Hall element detects the actual running position of the stepping motor, generates a second position parameter signal and sends the second position parameter signal to the microcontroller, and the microcontroller acquires an actual rotation angle signal according to the first position parameter signal and the second position parameter signal; and the microprocessor judges whether to control the stepping motor to run to the target position or not according to the target rotation angle signal, the actual rotation angle signal and the stepping unit of the stepping motor. Through the technical scheme, the running position of the stepping motor is controlled more accurately.

Description

Control system and control method and refrigerant valve with stepping motor

Technical Field

The embodiment of the invention relates to the technical field of control, in particular to a control system, a control method and a refrigerant valve with a stepping motor.

Background

The stepping motor is more and more widely applied due to the advantages of high position precision, good reliability and the like, for example, a refrigerant valve which is widely applied to an automobile air conditioner control system can drive a valve core to rotate through the stepping motor, so that a valve port is opened and closed, and various working modes such as refrigeration, heating and the like can be realized by opening and closing the valve port.

The stepping motor is driven to run to a set position in a stepping mode by sending a pulse signal through the microcontroller, detection of the stepping motor is usually feedback of one step or feedback derived according to back electromotive force, the stepping motor cannot feed back the current actual position, and therefore the actual running state of the stepping motor cannot be detected, and the stepping motor cannot be controlled to run to a target position.

Disclosure of Invention

In view of this, embodiments of the present invention provide a control system and a control method, and a refrigerant valve with a stepping motor, which can detect an operation state of the stepping motor, determine a current operation position of the stepping motor, and control the stepping motor to more accurately operate to a target position.

In a first aspect, an embodiment of the present invention provides a control system, configured to control a stepping motor, including:

the device comprises a microcontroller and a Hall element, wherein the microcontroller comprises a detection signal input end, and the Hall element comprises a detection signal output end;

the microcontroller acquires a target rotation angle signal according to a target position, wherein the target rotation angle signal is the rotation angle of the stepping motor from a zero position to the target position;

the Hall element detects the current position of the stepping motor and generates a first position parameter signal, the first position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, and the microcontroller controls the stepping motor to operate to the target position according to the first position parameter signal and the target rotation angle signal;

the Hall element detects the actual operation position of the stepping motor and generates a second position parameter signal, the second position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, the microcontroller acquires an actual rotation angle signal according to the first position parameter signal and the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from a zero point position to the actual operation position;

and the microprocessor judges whether to control the stepping motor to run to the target position or not according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

In a second aspect, an embodiment of the present invention further provides a control system, for controlling a stepping motor, including:

the Hall element detects the actual operation position of the stepping motor and generates a second position parameter signal, the second position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, the microcontroller acquires an actual rotation angle signal according to the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from a zero point position to the actual operation position;

In a third aspect, an embodiment of the present invention further provides a control method for controlling a stepping motor, including:

the Hall element detects the current position of the stepping motor to generate a first position parameter signal and sends the first position parameter signal to the microcontroller, and the microcontroller controls the stepping motor to operate towards the target position according to the first position parameter signal and the target rotation angle signal;

the Hall element detects an actual operation position of the stepping motor to generate a second position parameter signal and sends the second position parameter signal to the microcontroller, the microcontroller acquires an actual rotation angle signal according to the first position parameter signal and the second position parameter signal, and the actual rotation angle signal is a rotation angle of the stepping motor from a zero position to the actual operation position;

In a fourth aspect, an embodiment of the present invention further provides a control method for controlling a stepping motor, including:

the microcontroller acquires a target rotation angle signal according to a target position, wherein the target rotation angle signal is a rotation angle from a zero point position to the target position of the stepping motor;

the Hall element detects the actual operation position of the stepping motor to generate a second position parameter signal and sends the second position parameter signal to the microcontroller, the microcontroller acquires an actual rotation angle signal according to the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from a zero point position to the actual operation position;

In a fifth aspect, an embodiment of the present invention further provides a refrigerant valve with a stepper motor, including a stator assembly, a rotor assembly, and a circuit board assembly, where the stator assembly includes a coil, the rotor assembly includes a permanent magnet, the coil is electrically connected to the circuit board assembly, the coil generates an excitation magnetic field after being energized, the rotor assembly rotates in the excitation magnetic field, the circuit board assembly is integrated with a control system of the stepper motor, and the control system of the stepper motor includes:

the Hall element detects the actual operation position of the stepping motor and generates a second position parameter signal, the second position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, the microcontroller acquires an actual rotation angle signal according to the first position parameter and the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from a zero point position to the actual operation position;

and the microprocessor judges whether to control the stepping motor to operate towards the target position or not according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

In a sixth aspect, an embodiment of the present invention further provides a refrigerant valve with a stepper motor, including a stator assembly, a rotor assembly, and a circuit board assembly, where the stator assembly includes a coil, the rotor assembly includes a permanent magnet, the coil is electrically connected to the circuit board assembly, the coil generates an excitation magnetic field after being energized, the rotor assembly rotates in the excitation magnetic field, the circuit board assembly is integrated with a control system of the stepper motor, and the control system of the stepper motor includes:

The embodiment of the invention provides a control system and a control method and a refrigerant valve with a stepping motor. The actual position of the Hall element detecting stepping motor generates a second position parameter signal and sends the second position parameter signal to the microcontroller, the microcontroller acquires an actual rotation angle signal according to the second position parameter signal, the microcontroller judges whether to control the stepping motor to operate towards the target position according to the target rotation angle signal, the actual rotation angle signal and a stepping unit of the stepping motor, the running state of the stepping motor can be detected, the current running position of the stepping motor is determined, the actual position of the stepping motor is closer to the target position, and the stepping motor can be controlled to operate to the target position more accurately.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a control method according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of another control method according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of another control method according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a refrigerant valve with a stepping motor according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a control system, which is used for controlling a stepping motor and comprises a microcontroller and a Hall element, wherein the microcontroller comprises a detection signal input end, the Hall element comprises a detection signal output end, the detection signal input end can be electrically connected with the detection signal output end, the microcontroller acquires a target rotation angle signal according to a target position, and the target rotation angle signal is the rotation angle of the stepping motor from a zero point position to the target position; the Hall element detects the current position of the stepping motor and generates a first position parameter signal, the first position parameter signal is output to a detection signal input end of the microcontroller through a detection signal output end, and the microcontroller controls the stepping motor to operate towards a target position according to the first position parameter signal and a target rotation angle signal; the Hall element detects the actual operation position of the stepping motor and generates a second position parameter signal, the second position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, the microcontroller acquires an actual rotation angle signal according to the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from the zero point position to the actual operation position; and the microprocessor controls the stepping motor to operate towards the target position according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

The stepping motor is driven to run to a set position in a stepping mode by sending a pulse signal through the microcontroller, detection of the stepping motor is usually one step feedback or feedback derived according to back electromotive force, the stepping motor cannot feed back the current actual position, and therefore the actual running state of the stepping motor cannot be detected, and the stepping motor cannot be controlled to run to a target position.

According to the embodiment of the invention, the Hall element is arranged in the control system, the microcontroller acquires a target rotation angle signal according to a target position, the Hall element is used for detecting the current position of the stepping motor to generate a first position parameter signal and send the first position parameter signal to the microcontroller, and the microcontroller controls the stepping motor to operate towards the target position according to the first position parameter signal and the target rotation angle signal. The Hall element detects the actual position of the stepping motor to generate a second position parameter signal and sends the second position parameter signal to the microcontroller, the microcontroller acquires an actual rotation angle signal according to the first position parameter signal and the second position parameter signal, and the microcontroller judges whether to control the stepping motor to operate towards the target position according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor, so that the actual position of the stepping motor is closer to the target position, and the stepping motor can be controlled to operate to the target position more accurately.

The above is the core idea of the present invention, and the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention. In one aspect, as shown in fig. 1, the control system is used for controlling a stepping motor, and includes a microcontroller 1 and a hall element 2, where the microcontroller 1 includes a detection signal input terminal a2, the hall element 2 includes a detection signal output terminal a1, the detection signal input terminal a2 may be electrically connected to a detection signal output terminal a1, the microcontroller 1 obtains a target rotation angle signal according to a target position, and the target rotation angle signal is a rotation angle of the stepping motor from a zero point position to the target position. The Hall element 2 detects the current position of the stepping motor and generates a first position parameter signal, the first position parameter signal is output to a detection signal input end A2 of the microcontroller 1 through a detection signal output end A1, and the microcontroller 1 controls the stepping motor to operate towards a target position according to the first position parameter signal and a target rotation angle signal; the Hall element 2 detects the actual operation position of the stepping motor and generates a second position parameter signal, the second position parameter signal is output to a detection signal input end A2 of the microcontroller 1 through a detection signal output end A1, the microcontroller 1 obtains an actual rotation angle signal according to the first position parameter signal and the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from a zero point position to the actual operation position; the microprocessor 1 determines whether to control the stepping motor to further operate to the target position according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

In another case, as shown in fig. 1, the hall element 2 may also directly detect an actual operating position of the stepping motor and generate a second position parameter signal, the second position parameter signal is output to a detection signal input terminal a2 of the microcontroller 1 through a detection signal output terminal a1, and the microcontroller 1 obtains an actual rotation angle signal according to the second position parameter signal; the microprocessor 1 determines whether to control the stepping motor to further operate to the target position according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

Applicable to both cases, as shown in fig. 1, the control system may further include an electronic control module 3, the electronic control module 3 includes a command signal output terminal B1, the microcontroller 1 further includes a command signal input terminal B2, and the command signal output terminal B1 may be electrically connected to the command signal input terminal B2. The electronic control module 3 sends a command signal to a command signal input end B2 of the microcontroller 1 through a command signal output end B1, and the microcontroller 1 controls the stepping motor to rotate according to the command signal sent by the electronic control module and obtains the target position of the stepping motor according to the command signal.

As shown in fig. 1, the control system may further include a power supply module 4 and an electrical energy storage element 5, the power supply module 4 includes a power supply signal output terminal C1, the microcontroller 1 further includes a power supply signal input terminal C2, and the power supply signal output terminal C1 is electrically connected to the power supply signal input terminal C2 through the electrical energy storage element 5. For example, the power storage element 5 may adopt a storage capacitor with a larger capacitance, and the power module 4 may send a power signal to the power signal input terminal C2 of the microcontroller 1 through the power storage element 5 to supply the microcontroller 1 with operation. In addition, when the power module 4 is in a power-down state, that is, the power module 4 cannot output a power signal, electric energy is stored in the electric energy storage element 5, and the electric energy storage element 5 can continue to supply power to the microcontroller 1, thereby effectively preventing the stepping motor from immediately stopping working when the power module 4 is powered down.

Illustratively, the hall element 2 may be a 3D (three-dimensional) hall element, the hall element 2 may be, for example, a 3D hall sensor, the 3D hall sensor may detect a spatial magnetic field, the 3D hall element may detect a real-time position angle of the stepping motor, that is, a current position angle of the stepping motor, and the 3D hall element may be used to calibrate an initial position angle of the stepping motor, that is, an initial position of the stepping motor.

On the basis of the foregoing embodiment, an embodiment of the present invention further provides a control method for controlling a stepping motor, which can be applied to a scenario where the stepping motor needs to be controlled, and can be executed by a control system for controlling the stepping motor in the foregoing embodiment, where fig. 2 is a flowchart of the control method provided in the embodiment of the present invention, and as shown in fig. 2, the control method includes:

s101, the microcontroller acquires a target rotation angle signal according to a target position, wherein the target rotation angle signal is a rotation angle of the stepping motor from a zero point position to the target position.

As shown in fig. 1, the compensation system of the stepping motor may further include an electronic control module 3, the electronic control module 3 includes a command signal output terminal B1, the microcontroller 1 further includes a command signal input terminal B2, the command signal output terminal B1 may be electrically connected to the command signal input terminal B2, and before the microcontroller 1 obtains the target rotation angle signal according to the target position, the electronic control module 3 may be further controlled to send a command signal to a command signal input terminal B2 of the microcontroller 1 through a command signal output terminal B1. The instruction signal sent by the electronic control module 3 may include target position information of the stepping motor, and the microcontroller 1 may obtain the target position of the stepping motor according to the instruction signal sent by the electronic control module 3.

The microcontroller 1 is preset with a zero position angle of the stepping motor, and the target position information acquired by the microcontroller 1 according to the instruction signal comprises a target position angle and a target rotation number of turns of the stepping motor. Specifically, the zero position angle of the stepping motor is an angle corresponding to the stepping motor when the stepping motor is located at the zero position, the target position angle of the stepping motor is an angle corresponding to the stepping motor when the stepping motor is located at the target position, and the target number of rotation turns of the stepping motor is an integer number of turns of rotation of the stepping motor from the zero position to the target position. For example, the zero position angle of the stepping motor can be set as baseangle, the target position angle of the stepping motor is C0, and the target number of turns of the stepping motor is count0, then the target turning angle C1 of the stepping motor satisfies the following formula:

C1＝count0·360°+C0-baseangle

according to the formula, the microcontroller 1 can obtain a target rotation angle signal of the stepping motor according to the target position of the stepping motor.

S102, detecting the current position of the stepping motor by the Hall element to generate a first position parameter signal and sending the first position parameter signal to the microcontroller, and controlling the stepping motor to operate towards the target position by the microcontroller according to the first position parameter signal and the target rotation angle signal.

As shown in fig. 1, the hall element 2 detects the current position of the stepping motor to generate a first position parameter signal, and sends the first position parameter signal to the detection signal input terminal a2 of the microcontroller 1 through the detection signal output terminal a 1. The first position parameter signal of the stepping motor comprises a rotation angle of the stepping motor from a zero position to a current position, namely the current rotation angle. Illustratively, the hall element 2 can directly detect the angle of the stepping motor at the current position, i.e. the current position angle, and send the detected angle to the microcontroller 1, and can also detect the number of turns of the stepping motor from the zero position to the current position, for example, the hall element 2 can be controlled to detect the real-time position angle of the stepping motor in the process from the zero position to the current position, and detect the number of turns of the stepping motor from the zero position to the current position according to the real-time position angle, and send the detected number of turns to the microcontroller 1. For example, the zero position angle of the stepping motor may be set to 0 °, and then in the process of the stepping motor from the zero position to the current position, the hall element 2 detects that the real-time position angle of the stepping motor changes from 0 ° to 360 °, then 1 is added to the number of turns of the stepping motor, and the hall element 2 detects that the real-time position angle of the stepping motor changes from 360 ° to 0 °, then 1 is subtracted from the number of turns of the stepping motor, so as to obtain the number of turns of the stepping motor from the zero position to the current position.

For example, the zero position angle of the stepping motor can be set as baseangle, the current position angle of the stepping motor is set as a0, and the number of turns of the stepping motor from the zero position to the current position is set as count1, then the current turning angle a1 of the stepping motor from the zero position to the current position satisfies the following formula:

A1＝count1·360°+A0-baseangle

according to the formula, the microcontroller 1 can obtain the rotation angle of the stepping motor from the zero position to the current position, namely the current rotation angle.

The microcontroller 1 controls the stepping motor to operate towards the target position according to the first position parameter signal and the target rotation angle signal, the microcontroller 1 can obtain the angle of the stepping motor, which needs to rotate from the current position to the target position, according to the obtained angle of the stepping motor, which rotates from the zero position to the current position, and the angle of the stepping motor, which rotates from the zero position to the target position, and controls the stepping motor to operate from the current position to the target position according to the angle of the stepping motor, which needs to rotate from the current position to the target position.

S103, detecting the actual operation position of the stepping motor by the Hall element to generate a second position parameter signal and sending the second position parameter signal to the microcontroller, acquiring an actual rotation angle signal by the microcontroller according to the first position parameter signal and the second position parameter signal, wherein the actual rotation angle signal is the rotation angle of the stepping motor from the zero position to the actual operation position.

As shown in fig. 1, the hall element 2 detects an actual operation position of the stepping motor to generate a second position parameter signal, and sends the second position parameter signal to a detection signal input terminal a2 of the microcontroller 1 through a detection signal output terminal a 1. Hall element 2 can detect stepper motor's actual position angle and correspond and generate actual position angle signal, can also detect stepper motor and correspond by the first actual number of turns of rotation of current position to actual running position and generate first actual number of turns signal of rotating, and Hall element 2 sends the actual position angle signal and the first actual number of turns signal of rotating that generate to microcontroller 1's detection signal input end A2 through detection signal output end A1. The microcontroller 1 acquires an actual rotation angle signal according to the first position parameter signal, the actual position angle signal and the first actual rotation turn number signal.

Specifically, the actual position angle of the stepping motor is the angle corresponding to the stepping motor when the stepping motor is in the actual operating position, and the actual position angle can be directly detected and obtained by the hall element 2. The number of turns of the stepping motor from the current position to the actual operation position is an integer number of turns of the stepping motor from the current position to the actual operation position, the hall element 2 can be controlled to detect the real-time position angle of the stepping motor from the current position to the actual operation position, and the number of turns of the stepping motor from the current position to the actual operation position is detected according to the real-time position angle. For example, the current position angle of the stepping motor may be calibrated to be 0 °, then in the rotating process of the stepping motor, the hall element 2 detects that the real-time position angle of the stepping motor changes from 0 ° to 360 °, then 1 is added to the first actual number of turns of rotation of the stepping motor, the hall element 2 detects that the real-time position angle of the stepping motor changes from 360 ° to 0 °, then 1 is subtracted from the first actual number of turns of rotation of the stepping motor, and thus the first actual number of turns of rotation of the stepping motor in the process from the current position to the actual operating position is obtained.

As shown in fig. 1, the microcontroller 1 may obtain an actual rotation angle signal according to the first position parameter signal, the actual position angle signal, and the first actual rotation turn number signal, where the actual rotation angle of the stepping motor is an angle at which the stepping motor rotates from the zero point position to the actual operation position. For example, the current position angle of the stepping motor may be set to a0, the actual position angle of the stepping motor may be set to B0, the first actual number of turns of the stepping motor from the current position to the actual operating position is count2, and the rotation angle B' of the stepping motor from the current position to the actual operating position satisfies the following formula:

B'＝count2·360°+B0-A0

the actual rotation angle of the stepping motor, i.e. the rotation angle B1 from the zero position to the actual operating position of the stepping motor is equal to the sum of the current rotation angle a1 from the zero position to the current position of the stepping motor and the rotation angle B' from the current position to the actual operating position of the stepping motor, and according to the above formula, the rotation angle B1 from the zero position to the actual operating position of the stepping motor satisfies the following formula:

B1＝(count1+count2)·360°+B0-baseangle

the microcontroller 1 can obtain the actual rotation angle signal of the stepping motor according to the above formula.

And S104, judging whether to control the stepping motor to run to the target position or not by the microprocessor according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

As shown in fig. 1, after acquiring the actual rotation angle signal and the target rotation angle signal of the stepping motor, the microcontroller 1 may determine whether to control the stepping motor to operate to the target position according to the magnitude relationship between the actual rotation angle signal of the stepping motor, the absolute value of the difference between the target rotation angle signals, and the stepping unit angle of the stepping motor. For example, the stepping motor can rotate one turn by 72 stepping units, and the stepping unit angle of the stepping motor corresponds to an angle of 5 °.

For example, the step unit angle is one or more full step angles of the stepping motor, or the step unit angle is one or more micro step angles of the stepping motor, or the step unit angle is a sum of one or more full step angles and one or more micro step angles of the stepping motor, that is, a sum of one full step angle and one micro step angle, or a sum of a plurality of full step angles and one micro step angle, or a sum of one full step angle and a plurality of micro step angles, or a sum of a plurality of full step angles and a plurality of micro step angles.

The microcontroller 1 judges whether to control the stepping motor to run towards a target position according to the magnitude relation between the absolute value of the difference value between the target rotation angle signal and the actual rotation angle signal and the stepping unit angle of the stepping motor, and if the absolute value of the difference value is smaller than the stepping unit angle and the stepping unit angle of the stepping motor is taken as a standard value for judging whether the stepping motor is out of step, the target rotation angle of the stepping motor is equal to the actual rotation angle, namely the stepping motor is not out of step, and the microcontroller 1 controls the stepping motor to keep the position unchanged; if the absolute value of the difference is larger than the stepping unit angle, the stepping motor can be judged to have step loss, and the microcontroller 1 controls the stepping motor to operate to the target position according to the absolute value of the difference.

If the absolute value of the difference is judged to be larger than the stepping unit angle, the microcontroller 1 controls the operation of the stepping motor according to the magnitude relation between the actual rotation angle signal and the target rotation angle signal. Specifically, if the actual rotation angle signal is greater than the target rotation angle signal, the microcontroller 1 controls the stepping motor to rotate in the direction in which the number of steps decreases according to the absolute value of the difference. If the actual rotation angle signal is smaller than the target rotation angle signal, the microcontroller 1 controls the stepping motor to rotate in the direction of increasing the number of steps according to the absolute value of the difference.

After the operation is completed, the microcontroller 1 obtains a target operation rotation angle signal and an actual operation rotation angle signal of the stepping motor in the operation process, and controls the stepping motor to operate again according to the magnitude relation between the absolute value of the difference value between the target operation rotation angle signal and the actual operation rotation angle signal and the stepping unit angle of the stepping motor until the absolute value of the difference value is smaller than the stepping unit angle.

On the basis of the foregoing embodiment, an embodiment of the present invention further provides a control method for controlling a stepping motor, which can be applied to a scenario where the stepping motor needs to be controlled, and can be executed by a control system for controlling the stepping motor in the foregoing embodiment, where fig. 3 is a flowchart of another control method provided in the embodiment of the present invention, and as shown in fig. 3, the control method includes:

s301, the microcontroller acquires a target rotation angle signal according to the target position, wherein the target rotation angle signal is the rotation angle of the stepping motor from the zero point position to the target position.

As shown in fig. 1, the process of the microcontroller 1 obtaining the target rotation angle signal according to the target position is similar to step S101, and is not described herein again.

S302, detecting an actual operation position of the stepping motor by the Hall element to generate a second position parameter signal and sending the second position parameter signal to the microcontroller, and acquiring an actual rotation angle signal by the microcontroller according to the second position parameter signal, wherein the actual rotation angle signal is a rotation angle of the stepping motor from a zero position to the actual operation position.

As shown in fig. 1, the hall element 2 detects an actual operation position of the stepping motor to generate a second position parameter signal, and sends the second position parameter signal to a detection signal input terminal a2 of the microcontroller 1 through a detection signal output terminal a 1. Hall element 2 can detect that step motor's actual position angle corresponds and generates actual position angle signal, can also detect that step motor corresponds and generates the actual number of turns signal of rotation of second by the actual number of turns of rotation of zero point position to actual running position, and Hall element 2 sends the actual position angle signal and the actual number of turns signal of rotation of second that generate to microcontroller 1's detection signal input end A2 through detection signal output end A1. The microcontroller 1 is preset with a zero position angle of the stepping motor, and the microcontroller 1 acquires an actual rotation angle signal according to the zero position angle, the actual position angle signal and the second actual rotation turn number signal.

Specifically, the actual position angle of the stepping motor is the angle corresponding to the stepping motor when the stepping motor is in the actual operating position, and the actual position angle can be directly detected and obtained by the hall element 2. The second actual rotating turn number of the stepping motor from the zero point position to the actual operating position is an integer number of turns of the stepping motor rotating from the zero point position to the actual operating position, the Hall element 2 can be controlled to detect the real-time position angle of the stepping motor from the zero point position to the actual operating position, and the second actual rotating turn number of the stepping motor from the zero point position to the actual operating position is detected according to the real-time position angle of the stepping motor from the zero point position to the actual operating position. For example, the zero position angle of the stepping motor may be set to 0 °, and then in the rotation process of the stepping motor from the zero position to the actual operation position, the real-time position angle of the stepping motor detected by the hall element 2 changes from 0 ° to 360 °, then the number of second actual rotation turns of the stepping motor is added by 1, the real-time position angle of the stepping motor detected by the hall element 2 changes from 360 ° to 0 °, then the number of second actual rotation turns of the stepping motor is subtracted by 1, and thus the number of second actual rotation turns of the stepping motor in the process from the zero position to the actual operation position is obtained.

As shown in fig. 1, a zero position angle of the stepping motor is preset in the microcontroller 1, the microcontroller 1 can obtain an actual rotation angle signal according to the zero position angle, the actual position angle signal and the second actual rotation turn number signal, and the actual rotation angle of the stepping motor is an angle at which the stepping motor rotates from the zero position to the actual operation position. For example, the zero position angle of the stepping motor can be set as baseangle, the actual position angle of the stepping motor is set as D0, and the second actual number of turns of the stepping motor from the zero position to the actual running position is set as count3, then the actual turning angle signal D1 of the stepping motor satisfies the following formula:

D1＝count3·360°+D0-baseangle

according to the formula, the microcontroller 1 can obtain the actual rotation angle signal of the stepping motor according to the zero position angle, the actual position angle signal and the second actual rotation turn number signal of the stepping motor.

And S303, judging whether to control the stepping motor to run to the target position or not by the microprocessor according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

The process of the microcontroller 1 controlling the stepping motor to operate to the target position according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor is similar to step S104, and will not be described herein again.

Fig. 4 is a schematic flowchart of another control method provided in an embodiment of the present invention, and the following takes the control method shown in fig. 4 as an example to specifically describe a cycle control process of a stepping motor by a microcontroller, as shown in fig. 4, the control method includes:

s201, the microcontroller acquires a target position of the stepping motor according to an instruction signal sent by the electronic control module, and acquires a target rotation angle C1 of the stepping motor according to the target position.

S202, in the process that the stepping motor moves from the current position to the actual operation position, the Hall element detects the number of rotation turns of the stepping motor relative to the current position, and sends the detected number of rotation turns to the microcontroller.

S203, the stepping motor runs to an actual running position, the Hall element detects the actual running position angle of the stepping motor and sends a detected actual position supervision signal to the microcontroller.

And S204, the microcontroller acquires an actual rotation angle B1 of the stepping motor according to the zero position, the rotation number of turns of the stepping motor in the process from the current position to the actual operation position and the actual position angle of the stepping motor.

The current position in the control method may be a zero point position or may not be the zero point position.

And S205, calculating the absolute value E of the difference value between B1 and C1.

And S206, whether E is larger than the stepping unit angle N of the stepping motor.

Referring to fig. 1, the microcontroller 1 determines whether the absolute value E of the difference between B1 and C1 is greater than the step unit angle N of the stepping motor, and if the absolute value E of the difference between B1 and C1 is less than the step unit angle N of the stepping motor, S207 is performed; if the absolute value E of the difference between B1 and C1 is greater than the step unit angle N of the stepping motor, S208 is performed.

And S207, controlling the stepping motor to keep the position unchanged by the microcontroller.

Referring to fig. 1, since the absolute value E of the difference between B1 and C1 is smaller than the stepping unit angle N of the stepping motor, it can be determined that the stepping motor does not have step loss, and the microcontroller 1 controls the stepping motor to keep the position unchanged, and the control process is ended.

Whether S208, B1 are greater than C1.

With reference to fig. 1, since the absolute value E of the difference between B1 and C1 is greater than the stepping unit angle N of the stepping motor, it can be determined that the stepping motor is out of step, and the magnitude relationship between B1 and C1 is determined, and if B1 is less than C1, S209 is executed; if B1 is greater than C1, then S210 is performed.

And S209, controlling the stepping motor to rotate to the original rotation direction by Y steps by the microcontroller, wherein Y is equal to the ratio of E to N.

Referring to fig. 1, since B1 is smaller than C1, the microcontroller 1 controls the stepping motor to rotate Y steps in the original rotation direction, i.e., controls the stepping motor to rotate Y steps in the direction in which the number of steps increases, Y is equal to the ratio of E to N, i.e., the actual rotation angle of the stepping motor is smaller than the target rotation angle of the stepping motor by E, and controls the stepping motor to rotate Y steps in the original rotation direction to rotate the stepping motor to the target position.

S210, the microcontroller controls the stepping motor to rotate in the direction opposite to the original rotation direction for Y steps, wherein Y is equal to the ratio of E to N.

Referring to fig. 1, since B1 is greater than C1, the microcontroller 1 controls the stepping motor to rotate Y steps in the opposite direction of the original rotation direction, i.e., controls the stepping motor to rotate Y steps in the direction of decreasing the number of steps, Y is equal to the ratio of E to N, i.e., the actual rotation angle of the stepping motor is greater than the target rotation angle of the stepping motor by C, and controls the stepping motor to rotate Y steps in the opposite direction of the original rotation direction to rotate the stepping motor to the target position.

And S211, finishing the single control action, and adding 1 to the running times.

S212, the microcontroller acquires the running times of the position of the stepping motor, and judges whether the stepping motor is locked up according to the running times, and whether the running times are larger than the set running times.

Referring to fig. 1, after the microcontroller controls the operation of the stepping motor according to the magnitude relationship between the actual rotation angle signal and the target rotation angle signal, the microcontroller obtains the number of times of operation on the position of the stepping motor, and determines whether the stepping motor is locked according to the number of times of operation. The step motor stalling means that the step motor cannot rotate continuously but oscillates back and forth at a certain position, so that the step motor cannot realize corresponding functions.

If the number of times of operation is less than the set number of times of operation, it is determined that the stepping motor is not locked, step S205 is executed, that is, after completing a single operation, if the number of times of compensation is less than the set number of times of operation, the microcontroller 1 re-acquires the target operation rotation angle and the actual rotation angle of the stepping motor in the corresponding operation process, at this time, B1 in fig. 5 may represent the actual operation rotation angle, C1 may represent the target operation rotation angle, and the determination process from step S205 to step S212 is repeated until the absolute value E of the difference between B1 and C1 is less than the stepping unit angle N of the stepping motor. If the operation times is greater than the set operation times, step S213 is executed.

And S213, judging the locked rotor of the stepping motor.

And if the running times are more than the set running times, judging that the stepping motor is locked, and ending the control process. The set operation frequency may be, for example, 20, and if the operation frequency is less than 20, it is determined that the stepping motor is not locked, and if the operation frequency is greater than 20, it is determined that the stepping motor is locked, and the detection of whether the stepping motor is locked is realized by determining the operation frequency.

The embodiment of the invention also provides a refrigerant valve with a stepping motor, and fig. 5 is a schematic structural diagram of the refrigerant valve with the stepping motor provided by the embodiment of the invention. As shown in fig. 5, the refrigerant valve 100 includes a housing 60, a stator assembly 601, a rotor assembly 602, and a circuit board assembly 90, the circuit board assembly 90 is disposed in an inner cavity formed by the housing 60, the stator assembly 601 is disposed at an outer periphery of the rotor assembly 602, the rotor assembly 602 and the stator assembly 601 form a stepping motor in the refrigerant valve 100, the stator assembly 601 includes a coil 5 (not shown in fig. 5), the rotor assembly 602 includes a permanent magnet, the coil 5 is electrically connected to the circuit board assembly 90, the coil 5 generates an excitation magnetic field after being powered on, the rotor assembly 602 rotates in the excitation magnetic field, the circuit board assembly 90 is integrated with a control system of the stepping motor, the control system of the stepping motor includes a microcontroller and a hall element, the microcontroller includes a detection signal input terminal, and the hall element includes a detection signal output terminal. And the microcontroller acquires a target rotation angle signal according to the target position, wherein the target rotation angle signal is the rotation angle of the stepping motor from the zero position to the target position. The Hall element detects the current position of the stepping motor and generates a first position parameter signal, the first position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, and the microcontroller controls the stepping motor to operate to a target position according to the first position parameter signal and the target rotation angle signal. The Hall element detects the actual operation position of the stepping motor and generates a second position parameter signal, the second position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, the microcontroller acquires an actual rotation angle signal according to the first position parameter signal and the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from the zero point position to the actual operation position. And the microprocessor judges whether to control the stepping motor to run to the target position or not according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

In another case, as shown in fig. 5, the hall element in the control system of the stepping motor integrated with the circuit board assembly 90 may also directly detect the actual operating position of the stepping motor and generate a second position parameter signal, the second position parameter signal is output to the detection signal input end of the microcontroller through the detection signal output end, the microcontroller obtains an actual rotation angle signal according to the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from the zero position to the actual operating position. And the microprocessor judges whether to control the stepping motor to run to the target position or not according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor.

Since the control system of the stepping motor according to the above embodiment is integrated in the circuit board assembly 90, the control system of the stepping motor according to the above embodiment also has the beneficial effects, and details are not described here.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control system for controlling a stepper motor, comprising:

the microcontroller judges whether to control the stepping motor to operate towards the target position or not according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor;

the microcontroller controls the stepping motor to operate towards the target position according to the target rotation angle signal, the actual rotation angle signal and the stepping unit angle of the stepping motor, and the microcontroller comprises:

the microcontroller controls the stepping motor to operate towards the target position according to the magnitude relation between the absolute value of the difference value between the target rotation angle signal and the actual rotation angle signal and the stepping unit angle of the stepping motor;

if the absolute value of the difference is judged to be larger than the stepping unit angle, the microcontroller controls the operation of the stepping motor according to the magnitude relation between the actual rotation angle signal and the target rotation angle signal;

if the actual rotation angle signal is larger than the target rotation angle signal, the microcontroller controls the stepping motor to rotate towards the direction of reducing the step number according to the absolute value of the difference value;

if the actual rotation angle signal is smaller than the target rotation angle signal, the microcontroller controls the stepping motor to rotate towards the direction of increasing the step number according to the absolute value of the difference value;

after the operation is finished, the microcontroller acquires a target operation rotation angle signal and an actual operation rotation angle signal of the stepping motor in the operation process, and controls the stepping motor to operate again according to the magnitude relation between the absolute value of the difference value between the target operation rotation angle signal and the actual operation rotation angle signal and the stepping unit angle of the stepping motor until the absolute value of the difference value is smaller than the stepping unit angle;

the microcontroller acquires the operation times of the position of the stepping motor and judges whether the stepping motor is locked according to the operation times;

if the running times are less than the set running times, judging that the stepping motor is not locked;

and if the running times are more than the set running times, judging that the stepping motor is locked.

2. The control system of claim 1, further comprising:

the electronic control module comprises a command signal output end, and the microcontroller also comprises a command signal input end;

the electronic control module sends an instruction signal to the instruction signal input end of the microcontroller through the instruction signal output end; and the microcontroller acquires the target position according to the instruction signal.

3. A control system for controlling a stepper motor, comprising:

and if the running times are greater than the set running times, judging that the stepping motor is locked.

4. The control system of claim 3, further comprising:

5. A control method for controlling a stepping motor, comprising:

6. The control method of claim 5, wherein the detecting of the actual operating position of the stepper motor by the hall element to generate the second position parameter signal sent to the microcontroller comprises:

the Hall element detects that the actual position angle of the stepping motor corresponds to generate an actual position angle signal and sends the actual position angle signal to the microcontroller, and the Hall element detects that a first actual rotating turn number signal is generated by the stepping motor from the current position to the actual running position and sent to the microcontroller;

correspondingly, the step of acquiring, by the microcontroller, an actual rotation angle signal according to the first position parameter signal and the second position parameter signal includes:

and the microcontroller acquires the actual rotation angle signal according to the first position parameter signal, the actual position angle signal and the first actual rotation turn number signal.

7. The control method of claim 5, further comprising, before the microcontroller obtains the target rotation angle signal according to the target position:

the electronic control module sends an instruction signal to the microcontroller;

and the microcontroller acquires the target position according to the instruction signal.

8. The control method of claim 5, wherein the step of controlling the step motor to move to the target position according to the target rotation angle signal, the actual rotation angle signal and the step unit angle of the step motor by the microcontroller comprises:

if the absolute value of the difference is smaller than the stepping unit angle, the microcontroller controls the stepping motor to keep the position unchanged;

and if the absolute value of the difference is larger than the stepping unit angle, the microcontroller controls the stepping motor to operate towards the target position according to the absolute value of the difference.

9. The control method according to claim 5, characterized in that the step unit angle is one or more full step angles of the stepping motor, or the step unit angle is one or more micro step angles of the stepping motor, or the step unit angle is a sum of one or more full step angles and one or more micro step angles of the stepping motor.

10. A control method for controlling a stepping motor, comprising:

the Hall element detects the actual operation position of the stepping motor to generate a second position parameter signal and sends the second position parameter signal to the microcontroller, the microcontroller acquires an actual rotation angle signal according to the second position parameter signal, and the actual rotation angle signal is the rotation angle of the stepping motor from a zero position to the actual operation position;

11. The control method of claim 10, wherein the detecting of the actual operating position of the stepper motor by the hall element to generate the second position parameter signal sent to the microcontroller comprises:

the Hall element detects that the actual position angle of the stepping motor corresponds to generate an actual position angle signal and sends the actual position angle signal to the microcontroller, and the Hall element detects that a second actual rotating turn number of the stepping motor from a zero position to the actual running position corresponds to generate a second actual rotating turn number signal and sends the second actual rotating turn number signal to the microcontroller;

correspondingly, the step of acquiring the actual rotation angle signal by the microcontroller according to the second position parameter signal includes:

the microcontroller is preset with a zero position angle of the stepping motor, and acquires the actual rotation angle signal according to the zero position angle, the actual position angle signal and the second actual rotation turn number signal.

12. The control method of claim 10, further comprising, before the microcontroller obtains the target rotation angle signal according to the target position:

13. The method of claim 10, wherein the step of controlling the step motor to move to the target position according to the target rotation angle signal, the actual rotation angle signal and the step unit angle of the step motor by the microcontroller comprises:

14. The control method according to claim 10, characterized in that the step unit angle is one or more full step angles of the stepping motor, or the step unit angle is one or more micro step angles of the stepping motor, or the step unit angle is a sum of one or more full step angles and one or more micro step angles of the stepping motor.

15. The utility model provides a refrigerant valve with step motor, includes stator module, rotor subassembly and circuit board subassembly, stator module includes the coil, the rotor subassembly includes the permanent magnet, the coil with circuit board subassembly electricity is connected, the coil generates excitation magnetic field after circular telegram, the rotor subassembly is in rotate its characterized in that in the excitation magnetic field:

the integrated control system who has step motor of circuit board subassembly, step motor's control system includes:

after the operation is finished, the microcontroller acquires a target operation rotation angle signal and an actual operation rotation angle signal of the stepping motor in the operation process, and controls the stepping motor to operate again according to the size relation between the absolute value of the difference value between the target operation rotation angle signal and the actual operation rotation angle signal and the stepping unit angle of the stepping motor until the absolute value of the difference value is smaller than the stepping unit angle;

16. The utility model provides a refrigerant valve with step motor, includes stator module, rotor subassembly and circuit board subassembly, stator module includes the coil, the rotor subassembly includes the permanent magnet, the coil with circuit board subassembly electricity is connected, the coil generates excitation magnetic field after circular telegram, the rotor subassembly is in rotate its characterized in that in the excitation magnetic field: