CN112436764B - Dynamic control method and system for driving stepping motor - Google Patents
Dynamic control method and system for driving stepping motor Download PDFInfo
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- CN112436764B CN112436764B CN202011425847.6A CN202011425847A CN112436764B CN 112436764 B CN112436764 B CN 112436764B CN 202011425847 A CN202011425847 A CN 202011425847A CN 112436764 B CN112436764 B CN 112436764B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/12—Control or stabilisation of current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
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Abstract
The invention discloses a dynamic control method and a system for driving a stepping motor, wherein the method comprises the steps of generating a sine digital signal excitation set, wherein the sine digital signal excitation set comprises a static coefficient and a dynamic coefficient, the static coefficient is used for adjusting the amplitude of peak current, and the dynamic coefficient is used for adjusting the amplitude of instantaneous current; when the input voltage of the stepping motor driver changes, the static coefficient is dynamically adjusted, so that the output power and the output current of the stepping motor driver are kept unchanged; when the rotating speed of the stepping motor changes, the dynamic coefficient is adjusted in real time according to the rotating speed of the motor, so that the output power of a driver of the stepping motor keeps stable along with the change of the rotating speed of the motor. According to the method, the working current amplitude is dynamically adjusted, so that different working states and working parameters of the stepping motor are matched, the working precision and stability of the motor are effectively improved, and the complex requirements of industrial application are met.
Description
Technical Field
The invention relates to the technical field of stepping motor driving, in particular to a dynamic control method and a dynamic control system for stepping motor driving.
Background
In the field of application of stepping motors, the stepping motors are widely applied to industrial and agricultural engineering. Because the stepping motor must use a special stepping motor driver to control the operation, the stepping motor driver needs to be designed according to specific working voltage, working current and output power and specific stepping motor models, which limits the application flexibility of the stepping motor driver and brings the disadvantages of poor universality, troublesome debugging and the like.
Disclosure of Invention
It is an object of the present invention to provide a method and system for dynamic control of stepper motor drive that overcomes the above-mentioned problems of stepper motor drivers in current applications.
A first aspect of the present invention provides a method for dynamic control of stepper motor drive, the method comprising:
generating an excitation set of sinusoidal digital signals, the excitation set of sinusoidal digital signals comprising static coefficients and dynamic coefficients, wherein the static coefficients are used to adjust peak current amplitude according to stepper motor static parameters, the static parameters including stepper motor driver input voltage; the dynamic coefficient is used for adjusting the instantaneous current amplitude according to a dynamic parameter of the stepping motor, wherein the dynamic parameter comprises the rotating speed of the stepping motor;
when the input voltage of the stepping motor driver changes, dynamically adjusting the static coefficient to keep the output power and the output current of the stepping motor driver unchanged;
when the rotating speed of the stepping motor changes, the dynamic coefficient is adjusted in real time according to the rotating speed of the motor, so that the output power of the driver of the stepping motor keeps stable along with the change of the rotating speed of the motor.
In one embodiment, the static parameters further include a motor model, and when the internal resistance and the back electromotive force of a motor coil are increased, the static coefficient is correspondingly increased; and when the internal resistance and the counter electromotive force of the motor coil are reduced, correspondingly reducing the static coefficient.
In one embodiment, the static parameters of the stepping motor further include a load connected with the motor, and when the load is increased, the static coefficient is correspondingly increased; when the load is reduced, the static coefficient is correspondingly reduced.
In one embodiment, the set of sinusoidal digital signal excitations is determined by the formula: y (t) ═ nsin (x) rk,
wherein x is an angular radian variable and is obtained by subdividing the time t in 512 steps through a sinusoidal radian of 0-2 pi, wherein the angular radian is 0-360 degrees, and t belongs to the element (0,512); n is the amplification amplitude coefficient, r is the static coefficient, and k is the dynamic coefficient.
In one embodiment, the stepper motor driver includes a microprocessor and a peripheral MOS driver device.
A second aspect of the present invention provides a stepper motor driven dynamic control system comprising:
a signal generation unit for generating a sinusoidal digital signal excitation set comprising static coefficients and dynamic coefficients, wherein the static coefficients are used to adjust peak current amplitudes according to stepper motor static parameters, including stepper motor driver input voltage; the dynamic coefficient is used for adjusting the instantaneous current amplitude according to a dynamic parameter of the stepping motor, wherein the dynamic parameter comprises the rotating speed of the stepping motor;
the static coefficient adjusting unit is used for dynamically adjusting the static coefficient when the input voltage of the stepping motor driver changes, so that the output power and the output current of the stepping motor driver are kept unchanged;
and the dynamic coefficient adjusting unit is used for adjusting the dynamic coefficient in real time according to the rotating speed of the motor when the rotating speed of the stepping motor changes, so that the output power of the stepping motor driver is kept stable along with the change of the rotating speed of the motor.
In a certain embodiment, the static coefficient adjusting unit is further configured to:
when the internal resistance and the back electromotive force of the motor coil are increased, the static coefficient is correspondingly increased; and when the internal resistance and the counter electromotive force of the motor coil are reduced, correspondingly reducing the static coefficient.
In a certain embodiment, the static coefficient adjusting unit is further configured to:
when the load is increased, correspondingly increasing the static coefficient; when the load is reduced, the static coefficient is correspondingly reduced.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method according to any of the above embodiments.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
the dynamic control method for the stepping motor drive, provided by the invention, enables the stepping motor driver to adapt to the working parameters and the working state of the asynchronous stepping motor by dynamically adjusting the working current amplitude, has more flexibility, effectively avoids the problem of burning out the motor due to current overload and overlarge power when the motor runs at low speed, and can keep high-efficiency running.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a dynamic control method for driving a stepping motor according to an embodiment of the present invention;
FIG. 2 is a waveform diagram of a motor drive current provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a dynamic control system driven by a stepping motor according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.
As shown in fig. 1, an embodiment of the present invention provides a dynamic control method for driving a stepping motor, where the method specifically includes:
s11: generating an excitation set of sinusoidal digital signals, the excitation set of sinusoidal digital signals comprising static coefficients and dynamic coefficients, wherein the static coefficients are used to adjust peak current amplitude according to stepper motor static parameters, the static parameters including stepper motor driver input voltage; the dynamic coefficient is used to adjust the instantaneous current amplitude according to stepper motor dynamic parameters, including stepper motor speed.
In this embodiment, the set of sinusoidal digital signal excitations is determined by the following equation: y (t) ═ nsin (x) rk,
wherein x is an angular radian variable and is obtained by subdividing the time t in 512 steps through a sinusoidal radian of 0-2 pi, wherein the angular radian is 0-360 degrees, and t belongs to the element (0,512); n is the amplification magnitude coefficient, which is usually a constant, r is the static coefficient, and k is the dynamic coefficient.
In the embodiment, a sinusoidal digital signal excitation set is generated by a microcontroller MCU, wherein a static coefficient r is used for adjusting amplitude when static parameters of a stepping motor are changed, and the static parameters comprise working voltage, motor model, load and the like; the dynamic coefficient k is used for adjusting amplitude when the dynamic parameters of the stepping motor change, for example, when the rotating speed of the motor changes, the output power of the driver can change in real time along with the rotating speed of the motor through the dynamic coefficient k.
In this embodiment, the stepper motor driver includes a microprocessor and a peripheral MOS drive device.
S12: when the input voltage of the stepping motor driver changes, the static coefficient is dynamically adjusted, so that the output power and the output current of the stepping motor driver are kept unchanged.
And adjusting the static coefficient r according to the working voltage input by the stepping motor driver, wherein the input voltage is increased, the r is reduced, and the r is increased when the input voltage is reduced, so that constant power and constant current output are realized.
In this embodiment, the static parameters further include a motor model, and when the internal resistance and the back electromotive force of the motor coil are increased, the static coefficient is correspondingly increased; and when the internal resistance and the counter electromotive force of the motor coil are reduced, correspondingly reducing the static coefficient.
In this embodiment, the static parameters of the stepping motor further include a load connected to the motor, and when the load increases, the static coefficient is correspondingly increased; when the load is reduced, the static coefficient is correspondingly reduced, so that the motor is kept to operate at high efficiency.
S13: when the rotating speed of the stepping motor changes, the dynamic coefficient is adjusted in real time according to the rotating speed of the motor, so that the output power of the driver of the stepping motor keeps stable along with the change of the rotating speed of the motor
According to the back electromotive force characteristics of the stepping motor, the higher the motor rotating speed is, the shorter the conduction time of the MOS device is, the higher the back electromotive force formed by the coil is, and when the PWM duty ratio is the same, the smaller the current output by the stepping motor driver is; conversely, the lower the motor speed, the greater the driver output current. In order to ensure that the output current is not overloaded and the power is not too large to burn out the motor when the motor runs at a low speed, the dynamic coefficient k can be adjusted in real time according to the rotating speed of the motor.
Taking a three-phase stepping motor driver as an example, the sinusoidal digital signal excitation set is composed of a fundamental wave function, where the fundamental wave function is u (t) ═ nsin (x), where
Excitation set Y (t) of sinusoidal digital signals at fundamental function U (t)Based on the influence of two coefficients, i.e., r and k, a three-phase driving current waveform diagram generated by a sinusoidal digital signal excitation set y (t) is shown in fig. 2, where fig. 1 is a current waveform diagram generated by a fundamental wave function u (t), an amplification amplitude coefficient N is 1024, a static coefficient r is 1, a dynamic coefficient k is 1, when it is required to adjust the output peak current of the stepper motor driver, the static coefficient r is adjusted, and at this time, r is 0.6, and the current waveform diagram is shown in fig. 2; when the rotating speed of the motor is increased to 400RPM, the dynamic coefficient k is adjusted and is made to be 0.3, so that the output power of the stepping motor driver correspondingly changes along with the rotating speed of the motor.
The embodiment of the invention dynamically adjusts the amplitude of the sine digital signal excitation set by using the microcontroller so as to change the amplitude of the driving voltage and current finally output by the peripheral MOS device, thereby realizing that the stepping motor driver meets the requirements of different working voltages, motor models, loads and power consumption.
As shown in fig. 3, an embodiment of the present invention further provides a dynamic control system driven by a stepping motor, where the system signal generation unit 101, the static coefficient adjustment unit 102, and the dynamic coefficient adjustment unit 103 are provided.
The signal generation unit 101 is configured to generate a sinusoidal digital signal excitation set, where the sinusoidal digital signal excitation set includes static coefficients and dynamic coefficients, where the static coefficients are used to adjust peak current amplitudes according to stepper motor static parameters, and the static parameters include stepper motor driver input voltage; the dynamic coefficient is used to adjust the instantaneous current amplitude according to stepper motor dynamic parameters, including stepper motor speed.
The static coefficient adjusting unit 102 is configured to dynamically adjust the static coefficient when the input voltage of the stepping motor driver changes, so that the output power and the output current of the stepping motor driver remain unchanged.
The dynamic coefficient adjusting unit 103 is configured to adjust the dynamic coefficient in real time according to the magnitude of the motor rotation speed when the rotation speed of the stepping motor changes, so that the output power of the stepping motor driver is kept stable along with the change of the motor rotation speed.
In this embodiment, the static coefficient adjusting unit 103 is further configured to correspondingly increase the static coefficient when the internal resistance and the back electromotive force of the motor coil increase; and when the internal resistance and the counter electromotive force of the motor coil are reduced, correspondingly reducing the static coefficient.
In this embodiment, the static coefficient adjusting unit 103 is further configured to correspondingly increase the static coefficient when the load increases; when the load is reduced, the static coefficient is correspondingly reduced.
Because the information interaction, execution process and other contents between the units in the system are based on the same concept as the method embodiment of the present invention, specific contents can be referred to the description in the method embodiment of the present invention, and are not described herein again.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method according to any of the above embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium, and may include the processes of the embodiments of the methods when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. A method for dynamic control of stepper motor drive, the method comprising:
generating an excitation set of sinusoidal digital signals, the excitation set of sinusoidal digital signals comprising static coefficients and dynamic coefficients, wherein the static coefficients are used to adjust peak current amplitude according to stepper motor static parameters, the static parameters including stepper motor driver input voltage; the dynamic coefficient is used for adjusting the instantaneous current amplitude according to a dynamic parameter of the stepping motor, wherein the dynamic parameter comprises the rotating speed of the stepping motor;
when the input voltage of the stepping motor driver changes, dynamically adjusting the static coefficient to keep the output power and the output current of the stepping motor driver unchanged;
when the rotating speed of the stepping motor changes, the dynamic coefficient is adjusted in real time according to the rotating speed of the motor, so that the output power of the driver of the stepping motor keeps stable along with the change of the rotating speed of the motor.
2. The dynamic control method of stepper motor drive as claimed in claim 1, wherein the static parameters further include motor model, and when the internal resistance and back electromotive force of the motor coil increase, the static coefficient is correspondingly increased; and when the internal resistance and the counter electromotive force of the motor coil are reduced, correspondingly reducing the static coefficient.
3. The dynamic control method of stepper motor drive as claimed in claim 1, wherein the stepper motor static parameters further include a load connected to the motor, and when the load increases, the static coefficient is correspondingly increased; when the load is reduced, the static coefficient is correspondingly reduced.
4. The stepper motor driven dynamic control method of claim 1, wherein the sinusoidal digital signal excitation set is determined by the formula: y (t) ═ N sin (x) rk,
wherein x is an angular radian variable and is obtained by subdividing the time t in 512 steps through a sinusoidal radian of 0-2 pi, wherein the angular radian is 0-360 degrees, and t belongs to (0,512); n is the amplification amplitude coefficient, r is the static coefficient, and k is the dynamic coefficient.
5. The method of claim 1, wherein the stepper motor driver includes a microprocessor and peripheral MOS drive devices.
6. A stepper motor driven dynamic control system, comprising:
a signal generation unit for generating a sinusoidal digital signal excitation set comprising static coefficients and dynamic coefficients, wherein the static coefficients are used to adjust peak current amplitudes according to stepper motor static parameters, including stepper motor driver input voltage; the dynamic coefficient is used for adjusting the instantaneous current amplitude according to a dynamic parameter of the stepping motor, wherein the dynamic parameter comprises the rotating speed of the stepping motor;
the static coefficient adjusting unit is used for dynamically adjusting the static coefficient when the input voltage of the stepping motor driver changes, so that the output power and the output current of the stepping motor driver are kept unchanged;
and the dynamic coefficient adjusting unit is used for adjusting the dynamic coefficient in real time according to the rotating speed of the motor when the rotating speed of the stepping motor changes, so that the output power of the stepping motor driver is kept stable along with the change of the rotating speed of the motor.
7. The stepper motor driven dynamic control system of claim 6, wherein the static coefficient adjustment unit is further configured to:
when the internal resistance and the back electromotive force of the motor coil are increased, the static coefficient is correspondingly increased; and when the internal resistance and the counter electromotive force of the motor coil are reduced, correspondingly reducing the static coefficient.
8. The stepper motor driven dynamic control system of claim 6, wherein the static coefficient adjustment unit is further configured to:
when the load connected with the motor is increased, correspondingly increasing the static coefficient; when the load is reduced, the static coefficient is correspondingly reduced.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the control method according to any one of claims 1 to 5.
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| CN102918762A (en) * | 2010-03-23 | 2013-02-06 | 派尔高公司 | Voltage-controlled stepper motor driver |
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| JPH08275590A (en) * | 1995-03-27 | 1996-10-18 | Sony Corp | Portable video camera |
| CN102843083B (en) * | 2012-09-18 | 2015-06-03 | 天津市亚安科技股份有限公司 | Method for controlling stepper motor current |
| CN103567134B (en) * | 2013-11-11 | 2016-01-13 | 河海大学常州校区 | The coalignment of ultrasonic-frequency power supply and matching process thereof |
| DE102014108637A1 (en) * | 2014-06-18 | 2015-12-24 | Trinamic Motion Control Gmbh & Co. Kg | Method and circuit arrangement for driving a stepping motor |
| CN104660127B (en) * | 2014-12-04 | 2017-04-05 | 重庆谱思机器人控制系统有限公司 | A kind of control method of controllor for step-by-step motor |
| US10084402B2 (en) * | 2016-10-17 | 2018-09-25 | Texas Instruments Incorporated | Microstepper motor control circuit PWM output coupled to H-bridge gates |
| CN107040176B (en) * | 2017-06-12 | 2019-05-10 | 武汉科技大学 | A kind of stepping motor driving method and system |
| CN107276470B (en) * | 2017-06-22 | 2020-07-21 | 防灾科技学院 | Three-phase hybrid stepping motor controller soft core based on FPGA |
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