CN111082717A - Stepping motor control method and device - Google Patents

Stepping motor control method and device Download PDF

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Publication number
CN111082717A
CN111082717A CN202010081860.8A CN202010081860A CN111082717A CN 111082717 A CN111082717 A CN 111082717A CN 202010081860 A CN202010081860 A CN 202010081860A CN 111082717 A CN111082717 A CN 111082717A
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stepping motor
load angle
driving voltage
maximum value
time
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CN111082717B (en
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施小灵
杨增启
陈明珠
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors 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
    • H02P8/14—Arrangements for controlling speed or speed and torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
    • H02P8/36—Protection against faults, e.g. against overheating, step-out; Indicating faults
    • H02P8/38—Protection against faults, e.g. against overheating, step-out; Indicating faults the fault being step-out

Abstract

The invention provides a stepping motor control method and a stepping motor control device, wherein the method comprises the following steps: in the process of driving the stepping motor to rotate through the driving voltage, determining a first load angle of the stepping motor at a first moment and a second load angle of the stepping motor at a second moment; determining whether the second load angle is equal to the first load angle; and under the condition that the judgment result is negative, adjusting the driving voltage according to the difference value of the second load angle and the first load angle to enable the second load angle to be equal to the first load angle, correspondingly adjusting the driving voltage by monitoring the calculated load angle in real time, further achieving the purpose of dynamically adjusting the winding current to match with the external load change, and solving the problems that in the related technology, current, speed and position acquisition and feedback are carried out by additionally adding sensors such as an encoder and the like, the cost is high, the control is complex, the external interference resistance of open-loop control of a stepping motor is poor, and the step is easy to be out of step.

Description

Stepping motor control method and device
Technical Field
The invention relates to the field of cloud platforms, in particular to a method and a device for controlling a stepping motor.
Background
Most of the existing stepping motors adopt open-loop control, and the technical scheme of the software implementation of the open-loop control of the stepping motors is generally as follows: the software generates sinusoidal reference current with fixed phase difference to the drive circuit by adjusting the PWM duty ratio, so that the actual winding current of the motor changes according to the given reference sinusoidal current, and a rotating magnetic field is formed to drive the motor rotor to rotate.
The existing open-loop control stepping motor has the defects that: the maximum driving voltage of the motor is basically fixed, the problem of poor anti-interference capability exists, and when the load fluctuation is overlarge, the condition of step-out and even locked rotor can occur, so that the control effect is poor.
The closed-loop control stepping motor needs additional sensors such as an encoder to acquire and feed back current, speed and position, and has high cost and complex control scheme.
In the related art, it is proposed to install an azimuth encoder at the end of the motor shaft based on the conventional step open loop control to form a semi-closed loop control. The step-out phenomenon of the holder is effectively avoided through the position fed back by the encoder in real time. The control cost is greatly increased and the structural space occupied by the motor control part is increased by adding the azimuth encoder to form a semi-closed loop, certain compensation hysteresis exists by determining the mode of remedying the step-out after the position deviation, and the change of the external load cannot be dynamically resisted.
Aiming at the problems that in the related art, current, speed and position acquisition and feedback are carried out by additionally adding sensors such as an encoder, the cost is high, the control is complex, and the step motor is poor in external interference resistance in open-loop control, so that the step is easy to lose step, a solution is not provided.
Disclosure of Invention
The embodiment of the invention provides a stepping motor control method and a stepping motor control device, which are used for at least solving the problems that in the related art, sensors such as an encoder are additionally arranged for current, speed and position acquisition and feedback, the cost is high, the control is complex, and the stepping motor is easy to lose step due to poor external interference resistance in open-loop control.
According to an embodiment of the present invention, there is provided a stepping motor control method including:
in the process of driving a stepping motor to rotate through a driving voltage, determining a first load angle of the stepping motor at a first moment and a second load angle of the stepping motor at a second moment, wherein the first load angle and the second load angle are included angles between a synthetic current of each winding of the stepping motor and a rotor;
determining whether the second load angle is equal to the first load angle;
and under the condition that the judgment result is negative, adjusting the driving voltage according to the difference value of the second load angle and the first load angle, so that the second load angle is equal to the first load angle.
Optionally, determining a first load angle of the stepper motor at a first time and a second load angle at a second time comprises:
acquiring the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the first moment, and acquiring the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the second moment;
determining phase lag angles of the winding current of the stepping motor lagging behind the driving voltage at the first moment and the second moment respectively;
determining the first load angle according to a phase lag angle of the winding current of the stepping motor at the first moment lagging the driving voltage, a maximum value of the winding current of the stepping motor at the first moment and a corresponding maximum value of the driving voltage, and determining the second load angle according to a phase lag angle of the winding current of the stepping motor at the second moment lagging the driving voltage, a maximum value of the winding current of the stepping motor at the second moment and a corresponding maximum value of the driving voltage.
Optionally, the obtaining a maximum value of the winding current and a corresponding maximum value of the driving voltage of the stepping motor at the first time, and the obtaining a maximum value of the winding current and a corresponding maximum value of the driving voltage of the stepping motor at the second time comprises:
collecting the winding current of the stepping motor at the first moment according to an analog-to-digital conversion sampling period to obtain a first current sine wave of the winding current;
obtaining a maximum value of a winding current of the stepping motor at the first moment in the first current sine wave, and obtaining a maximum value of the driving voltage in a first voltage sine wave of the corresponding driving voltage;
collecting the winding current of the stepping motor at the second moment according to the analog-to-digital conversion sampling period to obtain a second current sine wave of the winding current;
and acquiring the maximum value of the winding current of the stepping motor at the first moment in the second current sine wave and acquiring the maximum value of the driving voltage in a second voltage sine wave of the corresponding driving voltage, wherein the time difference between the first moment and the second moment is greater than or equal to the period of the first voltage sine wave or the second voltage sine wave.
Optionally, determining phase lag angles at which the winding current of the stepper motor lags the drive voltage at the first time and at the second time, respectively, comprises:
determining a first time corresponding to a maximum value of the driving voltage in the first voltage sine wave, determining a second time corresponding to a maximum value of the winding current in the first current sine wave, determining a third time corresponding to a maximum value of the driving voltage in the second voltage sine wave, and determining a fourth time corresponding to a maximum value of the winding current in the second current sine wave;
and determining a phase lag angle of the winding current of the stepping motor at the first moment lagging behind the driving voltage according to the first time and the second time, and determining a phase lag angle of the winding current of the stepping motor at the second moment lagging behind the driving voltage according to the third time and the fourth time.
Optionally, the method further comprises:
determining a phase lag angle of the stepping motor at the first time after the winding current lags behind the driving voltage according to the first time and the second time by the following formula:
Figure BDA0002380587420000031
Figure BDA0002380587420000032
for the step motor, the winding current at the first time lags behind the phase lag angle t of the driving voltage1Is a first time, t2The second time;
determining a phase lag angle of the stepping motor at the second time after the winding current lags behind the driving voltage according to the third time and the fourth time by the following formula:
Figure BDA0002380587420000041
Figure BDA0002380587420000042
for the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, t3Is the third time, t4Is the fourth time;
wherein V is the movement speed of the stepping motor, f is the frequency of the first voltage sine wave or the second voltage sine wave, and thetaPitch of teethIs determined according to the step angle of the stepper motor.
Optionally, the method further comprises:
determining the first load angle according to a phase lag angle by which the winding current of the stepper motor at the first time lags behind the drive voltage, a maximum value of the winding current of the stepper motor at the first time, and a corresponding maximum value of the drive voltage by:
Figure BDA0002380587420000043
gamma is the first load angle, UmIs the maximum value of the driving voltage, ImThe winding of the stepping motor at the first moment is electrifiedThe maximum value of the flow;
determining the second load angle by the following formula, wherein the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, the maximum value of the winding current of the stepping motor at the second moment and the corresponding maximum value of the driving voltage:
Figure BDA0002380587420000044
γ1at the second load angle, Im1 is the maximum value of the winding current of the stepping motor at the second moment;
wherein the content of the first and second substances,
Figure BDA0002380587420000045
r is the sum of the motor phase resistance and the H bridge conduction resistance of the driving circuit, and L is the phase inductance of a single motor winding.
Optionally, adjusting the driving voltage according to a difference between the second load angle and the first load angle, so that the second load angle is equal to the first load angle, comprises:
inputting the difference value of the second load angle and the first load angle into a proportional integral derivative PID;
and controlling the H bridge of a driving circuit of the stepping motor to be conducted through Sinusoidal Pulse Width Modulation (SPWM) based on the output value of the PID so as to adjust the driving voltage and the actual current of the motor winding, so that the second load angle is equal to the first load angle.
According to another embodiment of the present invention, there is also provided a stepping motor control apparatus including:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a first load angle of a stepping motor at a first moment and a second load angle of the stepping motor at a second moment in the process of driving the stepping motor to rotate through a driving voltage, and the first load angle and the second load angle are included angles between the synthetic current of each winding of the stepping motor and a rotor;
the judging module is used for judging whether the second load angle is equal to the first load angle or not;
and the adjusting module is used for adjusting the driving voltage according to the difference value between the second load angle and the first load angle under the condition that the judgment result is negative, so that the second load angle is equal to the first load angle.
Optionally, the determining module includes:
the obtaining submodule is used for obtaining the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the first moment, and obtaining the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the second moment;
a first determining submodule for determining phase lag angles at which the winding current of the stepping motor lags behind the driving voltage at the first time and the second time, respectively;
and the second determining submodule is used for determining the first load angle according to the phase lag angle of the winding current of the stepping motor at the first moment lagging the driving voltage, the maximum value of the winding current of the stepping motor at the first moment and the corresponding maximum value of the driving voltage, and determining the second load angle according to the phase lag angle of the winding current of the stepping motor at the second moment lagging the driving voltage, the maximum value of the winding current of the stepping motor at the second moment and the corresponding maximum value of the driving voltage.
Optionally, the obtaining sub-module includes:
the first acquisition unit is used for acquiring the winding current of the stepping motor at the first moment according to an analog-to-digital conversion sampling period to obtain a first current sine wave of the winding current;
a first obtaining unit configured to obtain, in the first current sine wave, a maximum value of a winding current of the stepping motor at the first time, and obtain, in a first voltage sine wave of a corresponding driving voltage, a maximum value of the driving voltage;
the second acquisition unit is used for acquiring the winding current of the stepping motor at the second moment according to the analog-to-digital conversion sampling period to obtain a second current sine wave of the winding current;
a second obtaining unit, configured to obtain, in the second current sine wave, a maximum value of a winding current of the stepping motor at the first time and obtain a maximum value of the driving voltage in a second voltage sine wave of the corresponding driving voltage, where a time difference between the first time and the second time is greater than or equal to a period of the first voltage sine wave or the second voltage sine wave.
Optionally, the first determining sub-module includes:
a first determination unit configured to determine a first time corresponding to a maximum value of the driving voltage in the first voltage sine wave, determine a second time corresponding to a maximum value of the winding current in the first current sine wave, determine a third time corresponding to a maximum value of the driving voltage in the second voltage sine wave, and determine a fourth time corresponding to a maximum value of the winding current in the second current sine wave;
and the second determining unit is used for determining a phase lag angle of the winding current of the stepping motor at the first moment lagging the driving voltage according to the first time and the second time, and determining a phase lag angle of the winding current of the stepping motor at the second moment lagging the driving voltage according to the third time and the fourth time.
Optionally, the second determining unit is further configured to determine a phase lag angle, by which the winding current of the stepping motor lags behind the driving voltage at the first time, according to the first time and the second time by the following formula:
Figure BDA0002380587420000061
Figure BDA0002380587420000062
for the step motor, the winding current at the first time lags behind the phase lag angle t of the driving voltage1Is a first time, t2The second time;
determining a phase lag angle of the stepping motor at the second time after the winding current lags behind the driving voltage according to the third time and the fourth time by the following formula:
Figure BDA0002380587420000063
Figure BDA0002380587420000064
for the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, t3Is the third time, t4Is the fourth time;
wherein V is the movement speed of the stepping motor, f is the frequency of the first voltage sine wave or the second voltage sine wave, and thetaPitch of teethIs determined according to the step angle of the stepper motor.
Optionally, the second determining submodule is further configured to determine the first load angle according to the phase lag angle of the driving voltage lagging the winding current of the stepping motor at the first time, the maximum value of the winding current of the stepping motor at the first time, and the corresponding maximum value of the driving voltage, by the following formula:
Figure BDA0002380587420000071
gamma is the first load angle, UmIs the maximum value of the driving voltage, ImThe maximum value of the winding current of the stepping motor at the first moment;
determining the second load angle by the following formula, wherein the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, the maximum value of the winding current of the stepping motor at the second moment and the corresponding maximum value of the driving voltage:
Figure BDA0002380587420000072
γ1is the second load angle, Im1To said step electricityThe maximum value of the winding current of the machine at the second moment;
wherein the content of the first and second substances,
Figure BDA0002380587420000073
r is the sum of the motor phase resistance and the H bridge conduction resistance of the driving circuit, and L is the phase inductance of a single motor winding.
Optionally, the adjusting module includes:
the input submodule is used for inputting the difference value of the second load angle and the first load angle into a proportional integral derivative PID;
and the adjusting submodule is used for controlling the H bridge of a driving circuit of the stepping motor to be conducted through Sinusoidal Pulse Width Modulation (SPWM) based on the output value of the PID so as to adjust the driving voltage and the actual current of the motor winding, so that the second load angle is equal to the first load angle.
According to a further embodiment of the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above-described method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, in the process of driving the stepping motor to rotate through the driving voltage, a first load angle of the stepping motor at a first moment and a second load angle of the stepping motor at a second moment are determined; determining whether the second load angle is equal to the first load angle; and under the condition that the judgment result is negative, the driving voltage is adjusted according to the difference value of the second load angle and the first load angle, so that the second load angle is equal to the first load angle, the problems that in the related technology, the cost is high, the control is complex, the open-loop control of the stepping motor is poor in external interference resistance and the stepping motor is easy to step out due to the fact that sensors such as an encoder are additionally arranged to acquire current, speed and position and feed back can be solved, the calculated load angle is monitored in real time to correspondingly adjust the size of the driving voltage, and the purpose that the winding current is dynamically adjusted to be matched with the change of the external load is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a mobile terminal of a stepping motor control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a stepper motor control method according to an embodiment of the present invention;
FIG. 3 is a flow chart of a motor control method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a camera system motor drive circuit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a relationship of a click stator and a rotor according to an embodiment of the invention;
FIG. 6 is a schematic illustration of the phase relationship of motor drive voltage and winding current according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of motor current and voltage regulation according to an embodiment of the present invention;
fig. 8 is a block diagram of a stepping motor control apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram of a stepping motor control apparatus according to a preferred embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The method provided by the first embodiment of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking a mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of the mobile terminal of a stepping motor control method according to an embodiment of the present invention, and as shown in fig. 1, a mobile terminal 10 may include one or more processors 102 (only one is shown in fig. 1) (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), and a memory 104 for storing data, and optionally, the mobile terminal may further include a transmission device 106 for communication function and an input/output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the message receiving method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In this embodiment, a stepping motor control method operating in the mobile terminal or the network architecture is provided, and fig. 2 is a flowchart of a stepping motor control method according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, in the process of driving a stepping motor to rotate through a driving voltage, determining a first load angle of the stepping motor at a first moment and a second load angle of the stepping motor at a second moment, wherein the first load angle and the second load angle are included angles between a synthetic current of each winding of the stepping motor and a rotor;
step S204, judging whether the second load angle is equal to the first load angle;
step S206, if the determination result is negative, adjusting the driving voltage according to a difference between the second load angle and the first load angle, so that the second load angle is equal to the first load angle.
Further, inputting the difference value of the second load angle and the first load angle into a proportional integral derivative PID; and controlling the H bridge of a driving circuit of the stepping motor to be conducted through Sinusoidal Pulse Width Modulation (SPWM) based on the output value of the PID so as to adjust the driving voltage and the actual current of the motor winding, so that the second load angle is equal to the first load angle.
Through the steps S202 to S206, the problem that the stepping motor is easy to step out due to high cost and complex control caused by additionally adding sensors such as an encoder for current, speed and position acquisition and feedback and poor external interference resistance of open-loop control of the stepping motor in the related technology can be solved, and the magnitude of the driving voltage is correspondingly adjusted by monitoring the calculated load angle in real time, so that the purpose of dynamically adjusting the winding current to match with the change of an external load is achieved.
In an embodiment of the present invention, the step S202 may specifically include:
acquiring the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the first moment, and acquiring the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the second moment;
further, winding current of the stepping motor at the first moment is collected according to an analog-to-digital conversion sampling period, and a first current sine wave of the winding current is obtained; obtaining a maximum value of a winding current of the stepping motor at the first moment in the first current sine wave, and obtaining a maximum value of the driving voltage in a first voltage sine wave of the corresponding driving voltage; collecting the winding current of the stepping motor at the second moment according to the analog-to-digital conversion sampling period to obtain a second current sine wave of the winding current; and acquiring the maximum value of the winding current of the stepping motor at the first moment in the second current sine wave and acquiring the maximum value of the driving voltage in a second voltage sine wave of the corresponding driving voltage, wherein the time difference between the first moment and the second moment is greater than or equal to the period of the first voltage sine wave or the second voltage sine wave.
Determining phase lag angles of the winding current of the stepping motor lagging behind the driving voltage at the first moment and the second moment respectively;
further, a first time corresponding to a maximum value of the driving voltage is determined in the first voltage sine wave, a second time corresponding to a maximum value of the winding current is determined in the first current sine wave, a third time corresponding to a maximum value of the driving voltage is determined in the second voltage sine wave, and a fourth time corresponding to a maximum value of the winding current is determined in the second current sine wave; and determining a phase lag angle of the winding current of the stepping motor at the first moment lagging behind the driving voltage according to the first time and the second time, and determining a phase lag angle of the winding current of the stepping motor at the second moment lagging behind the driving voltage according to the third time and the fourth time.
Specifically, the phase lag angle of the winding current of the stepping motor lagging the driving voltage at the first moment is determined according to the first time and the second time through the following formula:
Figure BDA0002380587420000121
Figure BDA0002380587420000122
for the step motor, the winding current at the first time lags behind the phase lag angle t of the driving voltage1Is a first time, t2The second time;
determining a phase lag angle of the stepping motor at the second time after the winding current lags behind the driving voltage according to the third time and the fourth time by the following formula:
Figure BDA0002380587420000123
Figure BDA0002380587420000124
for the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, t3Is the third time, t4Is the fourth time;
wherein V is the movement speed of the stepping motor in degrees per second, f is the frequency of the first voltage sine wave or the second voltage sine wave, and thetaPitch of teethIs determined according to the step angle of the stepper motor.
Determining the first load angle according to a phase lag angle of the winding current of the stepping motor at the first moment lagging the driving voltage, a maximum value of the winding current of the stepping motor at the first moment and a corresponding maximum value of the driving voltage, and determining the second load angle according to a phase lag angle of the winding current of the stepping motor at the second moment lagging the driving voltage, a maximum value of the winding current of the stepping motor at the second moment and a corresponding maximum value of the driving voltage.
Specifically, the first load angle is determined according to the phase lag angle of the winding current of the stepping motor at the first moment lagging the driving voltage, the maximum value of the winding current of the stepping motor at the first moment and the corresponding maximum value of the driving voltage by the following formula:
Figure BDA0002380587420000125
gamma is the first load angle, UmIs the maximum value of the driving voltage, ImThe maximum value of the winding current of the stepping motor at the first moment;
determining the second load angle by the following formula, wherein the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, the maximum value of the winding current of the stepping motor at the second moment and the corresponding maximum value of the driving voltage:
Figure BDA0002380587420000131
γ1is the second load angle, Im1The maximum value of the winding current of the stepping motor at the second moment is obtained;
wherein the content of the first and second substances,
Figure BDA0002380587420000132
r is the sum of the motor phase resistance and the H bridge conduction resistance of the driving circuit, and L is the phase inductance of a single motor winding.
Fig. 3 is a flowchart of a motor control method according to an embodiment of the present invention, and as shown in fig. 3, the specific steps are:
step S301, obtaining parameters such as resistance R, inductance L, pitch angle and initial driving voltage, initializing system parameters before movement to obtain resistance R, inductance L, pitch angle and driving voltage UmAnd (4) equivalence.
Step S302, when receiving a motion command of moving at a speed V, entering a motor timer interrupt process to accelerate the speed from 0 to a target speed V, and respectively calculating a phase lag β and an impedance Z according to known parameters such as the speed V.
Figure BDA0002380587420000133
Figure BDA0002380587420000134
Step S303, entering timer interrupt processing, and acquiring winding current I through ADC samplingmAnd obtaining the maximum value U of the driving power supplymSpecifically, the maximum value I of the sine wave current is obtained by collecting the magnitude of the winding current according to the ADC sampling period in the interruption of the motor timerm(e.g., by comparing the magnitudes of the two previous and subsequent acquired values in real time to obtain the final ImSize) and reads the maximum value U in the drive voltage reference table stored in advance in the softwarem。
In step S304, the reference driving voltage given by the software is 0 to U in the motion processmWith sinusoidal periodic variation, detecting a maximum U of a given reference drive voltage on the softwaremIs recorded as a first time t1And detecting the subsequent change in current to a maximum value ImIs recorded as a second time t2(t2And t1Less than one sine wave period); according to t2、t1Step angle of the motor determines phase lag angle
Figure BDA0002380587420000141
In particular, the method comprises the following steps of,
Figure BDA0002380587420000142
θpitch of teethIs determined according to the step angle of the motor.
In step S305, the load angles γ, γ of the previous time (corresponding to the first time) and the current time (corresponding to the second time) are calculated1；
Step S306, according to the load angle gamma, gamma1Judging whether the load angle changes。
Step S307, if the judgment result is that the load angle fluctuates, a new driving voltage U is obtained through PID adjustment, so that the motor winding current finally reaches a value Im1Thereby making the load angle gamma1Equal to the load angle gamma.
Fig. 4 is a schematic diagram of a motor driving circuit of a camera system according to an embodiment of the present invention, as shown in fig. 4, driving a motor winding to operate by a driving voltage U,
U＝i·(R+jwL)+wC；
wherein U, I, C are vectors, and are represented by polar coordinates:
Um·e(jwt+ψ)＝Im·e(jwt+θ)·|Z|e(jβ)+w|C|e(j(wt+γ))；
where γ is a load angle, fig. 5 is a schematic diagram of a relationship between a click stator and a click rotor according to an embodiment of the present invention, as shown in fig. 5, reflecting an included angle relationship between a rotor magnetic field and a stator magnetic field. Um is the peak value of the sine wave drive voltage, ImIs the peak value of the current of the sine wave,
Figure BDA0002380587420000143
fig. 6 is a schematic diagram of the phase relationship between the driving voltage and the winding current of the motor according to the embodiment of the present invention, in terms of phase lag (i.e. the angle of the current lag voltage), and the winding current has a phase lag angle with respect to the driving voltage as shown in fig. 6
Figure BDA0002380587420000144
And | Z | is the magnitude of the impedance, β is the angle associated with the impedance.
The formula is simplified by removing e (jwt) on both sides:
Um·e(jψ)＝Im·e(jθ)·|Z|e(jβ)+w|C|e(jγ)；
taking the phase of the current i of the electric phase as a reference, namely, taking theta as 0, and obtaining the following formula according to euler:
Figure BDA0002380587420000145
according to the equation, the real steps and imaginary parts of the left side and the right side are respectively equal to obtain:
Figure BDA0002380587420000151
Figure BDA0002380587420000152
the load angle is obtained by the above formula:
Figure BDA0002380587420000153
impedance and phase lag calculation:
Figure BDA0002380587420000154
Figure BDA0002380587420000155
wherein R is the sum of the motor phase resistance and the drive circuit H bridge conduction resistance, and L is the phase inductance of a single motor winding. w is the phase current sine wave angular frequency, and w is 2 pi f, f is the sine wave frequency, in Hz.
If the stepper motor is expected to rotate at V degrees per second, then there are: theta ═ VPitch of teethF; thus, the following results were obtained:
w＝2πf＝2πV/θpitch of teeth；
For example, for a two-phase four-wire stepper motor: thetaPitch of teeth＝4θStep pitch；
The following can be obtained:
Figure BDA0002380587420000156
Figure BDA0002380587420000157
as can be seen from FIG. 3, the angle of the current lagging the voltage
Figure BDA0002380587420000158
(in radians) can be calculated as:
Figure BDA0002380587420000159
motor torque and Current calculations, as shown in FIG. 5, isSynthesizing current vectors for each winding of the motor, wherein gamma is a load angle, and the torque equation output by the motor is as follows:
Te＝p*φf*Im*sinγ；
wherein p is the pole pair number of the motor; phi is afFor magnet flux linkage, when the motor parameters are not changed, phifIs a constant value.
When the motor stably runs at a constant speed V, the motor outputs torque T according to torque balanceeEqual to the current load torque TLNamely:
TL＝Te＝p*φf*Im*sinγ；
when the load torque changes, the load torque is changed by TLIs changed into TL1In ImWithout adjustment, if TL1>TLIf the current load torque is larger than the output torque of the motor, the load angle of the motor is increased from gamma to maintain the new torque balance1So that:
TL1＝Te1＝p*φf*Im*sinγ1；
from the above formula, when γ is1The torque output by the motor is the maximum when the angle is 90 degrees. Only changing gamma without adjusting the current Im1When loaded with a load TL1At a very high time, due to gamma1Cannot be increased infinitely when gamma is1If the output torque of the motor increased to 90 degrees can not overcome TL1There is also a risk of loss of synchronism. Similarly, when the load suddenly decreases by a large amount, γ appears1And when the voltage is too small, the driving current is large, so that the power consumption of the motor cannot be reduced.
To solve the problem, the following steps are providedBy regulating current I when load changesmBy adjusting the torque, i.e. by adjusting the current to Im1The rear and load angle remains at the magnitude of gamma before the load change. The new moment balance equation at this time is:
TL1＝Te2＝p*φf*Im1*sinγ；
the current I which is newly adjusted after the load change can be obtainedm1The size is as follows:
Im1＝Imsinγ1/sinγ。
in summary, when the external load changes, the driving current is dynamically adjusted according to the method to reduce the step-out risk (when the load becomes larger, the current is adjusted to be larger, and when the load is reduced, the current is adjusted to be smaller). The load angle change process in the adjustment process is that the gamma change before the load change is changed into the gamma1Current to be regulated Im1Then the load angle is changed from gamma1The change is gamma, thereby ensuring that the load angle is maintained at a reasonable given value and avoiding the problem that the load angle is too large to exceed 90 degrees and step out or the problem that the power consumption is large when the load angle is too small.
FIG. 7 is a schematic diagram of motor current and voltage regulation according to an embodiment of the present invention, as shown in FIG. 7, current Im1The variation of the load angle is changed by changing the driving voltage U, so that the dynamic regulation of the system is achieved by introducing simple PID control which can take effect into consideration to ensure that the load angle is stabilized at a reasonable reference value gamma.
The embodiment of the invention newly introduces a load angle software calculation mode, and correspondingly adjusts the magnitude of the driving current and the driving voltage by monitoring the calculated load angle in real time, thereby achieving the purpose of dynamically adjusting the winding current to match the external load change. The condition of out-of-step or over-large power consumption during load fluctuation can be avoided while hardware cost is not increased.
Example 2
According to another embodiment of the present invention, there is also provided a stepping motor control apparatus, and fig. 8 is a block diagram of the stepping motor control apparatus according to the embodiment of the present invention, as shown in fig. 8, including:
the determining module 82 is configured to determine a first load angle of the stepping motor at a first time and a second load angle of the stepping motor at a second time in a process of driving the stepping motor to rotate by using the driving voltage, where the first load angle and the second load angle are included angles between a resultant current of each winding of the stepping motor and a rotor;
a determining module 84, configured to determine whether the second load angle is equal to the first load angle;
and an adjusting module 86, configured to adjust the driving voltage according to a difference between the second load angle and the first load angle if the determination result is negative, so that the second load angle is equal to the first load angle.
Fig. 9 is a block diagram of a stepping motor control apparatus according to a preferred embodiment of the present invention, and as shown in fig. 9, the determination module 82 includes:
the obtaining submodule 92 is configured to obtain a maximum value of the winding current and a maximum value of the corresponding driving voltage of the stepping motor at the first time, and obtain a maximum value of the winding current and a maximum value of the corresponding driving voltage of the stepping motor at the second time;
a first determining submodule 94 for determining a phase lag angle by which the winding current of the stepping motor lags the driving voltage at the first time and the second time, respectively;
a second determining submodule 96, configured to determine the first load angle according to the phase lag angle of the winding current of the stepping motor at the first time lagging the driving voltage, the maximum value of the winding current of the stepping motor at the first time and the corresponding maximum value of the driving voltage, and determine the second load angle according to the phase lag angle of the winding current of the stepping motor at the second time lagging the driving voltage, the maximum value of the winding current of the stepping motor at the second time and the corresponding maximum value of the driving voltage.
Optionally, the obtaining sub-module 92 includes:
the first acquisition unit is used for acquiring the winding current of the stepping motor at the first moment according to an analog-to-digital conversion sampling period to obtain a first current sine wave of the winding current;
a first obtaining unit configured to obtain, in the first current sine wave, a maximum value of a winding current of the stepping motor at the first time, and obtain, in a first voltage sine wave of a corresponding driving voltage, a maximum value of the driving voltage;
the second acquisition unit is used for acquiring the winding current of the stepping motor at the second moment according to the analog-to-digital conversion sampling period to obtain a second current sine wave of the winding current;
a second obtaining unit, configured to obtain, in the second current sine wave, a maximum value of a winding current of the stepping motor at the first time and obtain a maximum value of the driving voltage in a second voltage sine wave of the corresponding driving voltage, where a time difference between the first time and the second time is greater than or equal to a period of the first voltage sine wave or the second voltage sine wave.
Optionally, the first determining sub-module 94 includes:
a first determination unit configured to determine a first time corresponding to a maximum value of the driving voltage in the first voltage sine wave, determine a second time corresponding to a maximum value of the winding current in the first current sine wave, determine a third time corresponding to a maximum value of the driving voltage in the second voltage sine wave, and determine a fourth time corresponding to a maximum value of the winding current in the second current sine wave;
and the second determining unit is used for determining a phase lag angle of the winding current of the stepping motor at the first moment lagging the driving voltage according to the first time and the second time, and determining a phase lag angle of the winding current of the stepping motor at the second moment lagging the driving voltage according to the third time and the fourth time.
Optionally, the second determining unit is further configured to determine a phase lag angle, by which the winding current of the stepping motor lags behind the driving voltage at the first time, according to the first time and the second time by the following formula:
Figure BDA0002380587420000191
Figure BDA0002380587420000192
for the step motor, the winding current at the first time lags behind the phase lag angle t of the driving voltage1Is a first time, t2The second time;
determining a phase lag angle of the stepping motor at the second time after the winding current lags behind the driving voltage according to the third time and the fourth time by the following formula:
Figure BDA0002380587420000193
Figure BDA0002380587420000194
for the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, t3Is the third time, t4Is the fourth time;
wherein V is the movement speed of the stepping motor, f is the frequency of the first voltage sine wave or the second voltage sine wave, and thetaPitch of teethIs determined according to the step angle of the stepper motor.
Optionally, the second determining submodule is further configured to determine the first load angle according to the phase lag angle of the driving voltage lagging the winding current of the stepping motor at the first time, the maximum value of the winding current of the stepping motor at the first time, and the corresponding maximum value of the driving voltage, by the following formula:
Figure BDA0002380587420000195
gamma is the first load angle, UmIs the maximum value of the driving voltage, ImThe maximum value of the winding current of the stepping motor at the first moment;
determining the second load angle by the following formula, wherein the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, the maximum value of the winding current of the stepping motor at the second moment and the corresponding maximum value of the driving voltage:
Figure BDA0002380587420000196
γ1is the second load angle, Im1The maximum value of the winding current of the stepping motor at the second moment is obtained;
wherein the content of the first and second substances,
Figure BDA0002380587420000201
r is the sum of the motor phase resistance and the H bridge conduction resistance of the driving circuit, and L is the phase inductance of a single motor winding.
Optionally, the adjusting module 86 includes:
the input submodule is used for inputting the difference value of the second load angle and the first load angle into a proportional integral derivative PID;
and the adjusting submodule is used for controlling the H bridge of a driving circuit of the stepping motor to be conducted through Sinusoidal Pulse Width Modulation (SPWM) based on the output value of the PID so as to adjust the driving voltage and the actual current of the motor winding, so that the second load angle is equal to the first load angle.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 4
Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, in the process of driving the stepping motor to rotate through the driving voltage, determining a first load angle of the stepping motor at a first moment and a second load angle of the stepping motor at a second moment, wherein the first load angle and the second load angle are included angles between the synthetic current of each winding of the stepping motor and a rotor;
s2, determining whether the second load angle is equal to the first load angle;
and S3, if the judgment result is negative, adjusting the driving voltage according to the difference value between the second load angle and the first load angle, so that the second load angle is equal to the first load angle.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Example 5
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, in the process of driving the stepping motor to rotate through the driving voltage, determining a first load angle of the stepping motor at a first moment and a second load angle of the stepping motor at a second moment, wherein the first load angle and the second load angle are included angles between the synthetic current of each winding of the stepping motor and a rotor;
s2, determining whether the second load angle is equal to the first load angle;
and S3, if the judgment result is negative, adjusting the driving voltage according to the difference value between the second load angle and the first load angle, so that the second load angle is equal to the first load angle.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A stepping motor control method, comprising:
in the process of driving a stepping motor to rotate through a driving voltage, determining a first load angle of the stepping motor at a first moment and a second load angle of the stepping motor at a second moment, wherein the first load angle and the second load angle are included angles between a synthetic current of each winding of the stepping motor and a rotor;
determining whether the second load angle is equal to the first load angle;
and under the condition that the judgment result is negative, adjusting the driving voltage according to the difference value of the second load angle and the first load angle, so that the second load angle is equal to the first load angle.
2. The method of claim 1, wherein determining a first load angle of the stepper motor at a first time and a second load angle at a second time comprises:
acquiring the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the first moment, and acquiring the maximum value of the winding current and the maximum value of the corresponding driving voltage of the stepping motor at the second moment;
determining phase lag angles of the winding current of the stepping motor lagging behind the driving voltage at the first moment and the second moment respectively;
determining the first load angle according to a phase lag angle of the winding current of the stepping motor at the first moment lagging the driving voltage, a maximum value of the winding current of the stepping motor at the first moment and a corresponding maximum value of the driving voltage, and determining the second load angle according to a phase lag angle of the winding current of the stepping motor at the second moment lagging the driving voltage, a maximum value of the winding current of the stepping motor at the second moment and a corresponding maximum value of the driving voltage.
3. The method of claim 2, wherein obtaining the maximum value of the winding current and the corresponding maximum value of the drive voltage of the stepper motor at the first time, and obtaining the maximum value of the winding current and the corresponding maximum value of the drive voltage of the stepper motor at the second time comprises:
collecting the winding current of the stepping motor at the first moment according to an analog-to-digital conversion sampling period to obtain a first current sine wave of the winding current;
obtaining a maximum value of a winding current of the stepping motor at the first moment in the first current sine wave, and obtaining a maximum value of the driving voltage in a first voltage sine wave of the corresponding driving voltage;
collecting the winding current of the stepping motor at the second moment according to the analog-to-digital conversion sampling period to obtain a second current sine wave of the winding current;
and acquiring the maximum value of the winding current of the stepping motor at the first moment in the second current sine wave and acquiring the maximum value of the driving voltage in a second voltage sine wave of the corresponding driving voltage, wherein the time difference between the first moment and the second moment is greater than or equal to the period of the first voltage sine wave or the second voltage sine wave.
4. The method of claim 3, wherein determining phase lag angles at which the winding current of the stepper motor lags the drive voltage at the first time and the second time, respectively, comprises:
determining a first time corresponding to a maximum value of the driving voltage in the first voltage sine wave, determining a second time corresponding to a maximum value of the winding current in the first current sine wave, determining a third time corresponding to a maximum value of the driving voltage in the second voltage sine wave, and determining a fourth time corresponding to a maximum value of the winding current in the second current sine wave;
and determining a phase lag angle of the winding current of the stepping motor at the first moment lagging behind the driving voltage according to the first time and the second time, and determining a phase lag angle of the winding current of the stepping motor at the second moment lagging behind the driving voltage according to the third time and the fourth time.
5. The method of claim 4, wherein the phase lag angle by which the winding current of the stepper motor lags the drive voltage at the first time is determined from the first time and the second time by the following equation:
Figure FDA0002380587410000031
Figure FDA0002380587410000032
for the step motor, the winding current at the first time lags behind the phase lag angle t of the driving voltage1Is a first time, t2The second time;
determining a phase lag angle of the stepping motor at the second time after the winding current lags behind the driving voltage according to the third time and the fourth time by the following formula:
Figure FDA0002380587410000033
Figure FDA0002380587410000034
for the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, t3Is the third time, t4Is the fourth time;
wherein V is the movement speed of the stepping motor, f is the frequency of the first voltage sine wave or the second voltage sine wave, and thetaPitch of teethIs determined according to the step angle of the stepper motor.
6. The method according to any one of claims 2 to 5,
determining the first load angle according to a phase lag angle by which the winding current of the stepper motor at the first time lags behind the drive voltage, a maximum value of the winding current of the stepper motor at the first time, and a corresponding maximum value of the drive voltage by:
Figure FDA0002380587410000035
gamma is the first minusCarry angle, UmIs the maximum value of the driving voltage, ImThe maximum value of the winding current of the stepping motor at the first moment;
determining the second load angle by the following formula, wherein the winding current of the stepping motor at the second moment lags behind the phase lag angle of the driving voltage, the maximum value of the winding current of the stepping motor at the second moment and the corresponding maximum value of the driving voltage:
Figure FDA0002380587410000041
γ1is the second load angle, Im1The maximum value of the winding current of the stepping motor at the second moment is obtained;
wherein the content of the first and second substances,
Figure FDA0002380587410000042
r is the sum of the motor phase resistance and the H bridge conduction resistance of the driving circuit, and L is the phase inductance of a single motor winding.
7. The method of claim 6, wherein adjusting the driving voltage according to the difference between the second load angle and the first load angle such that the second load angle is equal to the first load angle comprises:
inputting the difference value of the second load angle and the first load angle into a proportional integral derivative PID;
and controlling the H bridge of a driving circuit of the stepping motor to be conducted through Sinusoidal Pulse Width Modulation (SPWM) based on the output value of the PID so as to adjust the driving voltage and the actual current of the motor winding, so that the second load angle is equal to the first load angle.
8. A stepping motor control apparatus, comprising:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a first load angle of a stepping motor at a first moment and a second load angle of the stepping motor at a second moment in the process of driving the stepping motor to rotate through a driving voltage, and the first load angle and the second load angle are included angles between the synthetic current of each winding of the stepping motor and a rotor;
the judging module is used for judging whether the second load angle is equal to the first load angle or not;
and the adjusting module is used for adjusting the driving voltage according to the difference value between the second load angle and the first load angle under the condition that the judgment result is negative, so that the second load angle is equal to the first load angle.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 7 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 7.
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CN112923839A (en) * 2021-01-25 2021-06-08 深圳市和力泰智能科技有限公司 Stepping motor control method, device, equipment and storage medium
CN116111789A (en) * 2023-02-28 2023-05-12 随州锦翔机电有限公司 Stepping motor assembly production line

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CN112923839A (en) * 2021-01-25 2021-06-08 深圳市和力泰智能科技有限公司 Stepping motor control method, device, equipment and storage medium
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