CN112636645A - Open-loop stepping motor drives integrative integrated circuit board of accuse - Google Patents
Open-loop stepping motor drives integrative integrated circuit board of accuse Download PDFInfo
- Publication number
- CN112636645A CN112636645A CN202011587819.4A CN202011587819A CN112636645A CN 112636645 A CN112636645 A CN 112636645A CN 202011587819 A CN202011587819 A CN 202011587819A CN 112636645 A CN112636645 A CN 112636645A
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- stepping motor
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- 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
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/18—Printed circuits structurally associated with non-printed electric components
Abstract
The invention provides an open-loop stepping motor drive and control integrated board card which comprises a power supply unit, a core control unit, a motor drive and control unit, a peripheral drive unit and a communication unit, wherein the core control unit is respectively connected with the motor drive unit, the peripheral drive unit and the communication unit; the invention can meet the requirements of continuous miniaturization, accurate positioning and control, concise wiring and multi-axis control of an industrial automation machine, and can increase the anti-interference capability under the condition of greatly saving the cost.
Description
Technical Field
The invention relates to the technical field of motion control of a stepping motor, in particular to a drive and control integrated board card of an open-loop stepping motor.
Background
The stepping motor, specially used for the special motor of speed and accurate control of position, it rotates and operates in one step with fixed angle (called step angle), it is the open loop control motor which changes the electric pulse signal into angular displacement or linear displacement, we can control the angular displacement through controlling the number of pulse, thus achieve the goal of accurate positioning; meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the purpose of speed regulation is achieved.
The stepping motor is a main executive component in a modern digital program control system and is widely applied. With the gradual maturity of the technology and the increasing miniaturization of the automation equipment, the way of controlling the motor by the card and the driver cannot meet the requirements of miniaturization and simple installation, and the number of moving parts is increasing.
The commercially available stepper motor drivers have the following disadvantages:
1. most of the drivers provided in the market are split stepping drivers;
2. the traditional control mode of pulse plus direction is adopted;
3. the wiring is complicated, the occupied space is large, and the anti-interference capability is poor.
Disclosure of Invention
In order to solve the problems, the invention provides an open-loop stepping motor driving and controlling integrated board card.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the utility model provides an integrative integrated circuit board of open-loop stepper motor drive control, includes power supply unit, core control unit, motor drive control unit, peripheral drive unit and communication unit, the core control unit respectively with the motor drive unit peripheral drive unit with the communication unit is connected, the motor drive control unit is through receiving the drive signal of core control unit drives and controls stepper motor, the communication unit passes through core control unit and PC end communication to acquire the signal from the PC end.
Furthermore, the core control unit and the communication unit are integrated on a PCBA board which is an MCU board; the power supply unit, the motor driving and controlling unit and the peripheral driving unit are all integrated on another PCBA board which is an IO board; the back surface of the IO board is superposed on the front surface of the MCU board, and the MCU board and the IO board are connected through a pin header and a bus header so as to transmit signals; connect with the superimposed mode MCU board with the IO board reduces the space on its level, satisfies the constantly miniaturized demand of industrial automation board.
Furthermore, the motor driving and controlling unit is located on the back side of the IO board, and adopts a TMC2209 chip of Trinamic company, and an interface of the TMC2209 chip is located on the front side of the IO board; TMC2209 is an extremely quiet stepping driver chip and can also be used as a SilentStepStick, the peak current is 2.8A, the continuous current is 2A, 256 subdivision outputs are realized by the MicroPley subdivision interpolation technology, and smooth operation is ensured; the motor driving method provides an accurate motor driving algorithm and utilizes an advanced FOC motor driving mode, so that the torque direction of the motor is tangent to the rotation of the motor, the torque in the motor running process can be ensured to be constant and maximum, and the problems of insufficient torque, step loss and the like of a common driver are avoided.
Furthermore, the communication unit is positioned on the front side of the MCU board and comprises a network port communication unit, a serial port communication unit and a CAN communication unit; and multiple feasible schemes are provided for industrial control, and the cost in the industrial control process is reduced.
Further, the communication protocol of the internet access communication unit is UDP protocol, and the default IP address is: 192.168.5.140, port number: 2017; the default configuration of the serial communication unit is a baud rate 115200, 8-bit data bit, 1-bit stop bit and no check bit.
Furthermore, the CAN communication unit comprises two communicated CAN communication interfaces which are connected with the same bus according to a CAN protocol; when a plurality of board cards are required to be used together, one CAN communication interface CAN be connected to the bus, and the other CAN communication interface is connected to the next board card; the bus connection mode is used, the wiring mode is simplified, and therefore wiring is greatly reduced.
Furthermore, the peripheral driving unit is positioned on the front surface of the IO plate and comprises two origin limiting units, two upper limiting units, two lower limiting units, two vacuum detection units, two vacuum suction units and two vacuum blowing units; interfaces A +, A-, B + and B-defined by the interfaces TMC2209 chip are also positioned on the front surface of the IO board and are respectively connected with an M1 shaft, an M2 shaft, an M3 shaft and an M4 shaft of a stepping motor; wherein, two origin limit units are respectively connected with the M1 shaft and the M2 shaft and are used for limiting the rotation origin; the two upper limit units and the two lower limit units are respectively connected with the M3 shaft and the M4 shaft and are used for limiting up and down movement; the vacuum detection unit is used as a vacuum value detection signal input and transmits the signal to the core control unit for analysis; the vacuum suction unit and the vacuum blowing unit are used as vacuum output, the core control unit judges whether the conditions meet the vacuum output or not, and an external electromagnetic valve is controlled to act.
Furthermore, the power supply unit is located on the front side of the IO board, the power supply unit includes two power supply interfaces with voltage of 24V, and the two power supply interfaces respectively supply power to the two board cards; in the process of industrial control of the multi-shaft motor, the power supply unit can supply power to the board card through one power supply interface, and the other power supply interface can supply power to the other board card, so that the number of power supply interfaces and simple wiring modes provided by a machine table can be greatly reduced, the N board cards can be expanded to carry out control under the condition that the power of a 24V access power supply is enough, wiring is reduced from the source, the wiring mode is simplified, the occupied space is reduced, and the research and development cost is greatly reduced.
Furthermore, the core control unit is positioned on the front side of the MCU board and adopts an STM32 chip of STM company; a control center that is used for whole ring-opening step motor to drive integrative integrated circuit board, both satisfied the demand, the price is reasonable again.
Furthermore, the MCU board and the IO board are square boards with the same shape and size, the thickness of the MCU board and the IO board is 3 millimeters, and the side length of the MCU board and the IO board is 65 millimeters; two PCBA boards that link up are small and exquisite, satisfy the constantly miniaturized demand of industrial automation board.
The invention has the beneficial effects that: compared with the traditional control mode, the integrated board card can save the installation space of a driver, and can greatly save cost and space from wiring and control;
the specific movement mode is used, so that the moment of the stepping motor in the movement process is stable and maximum, the unstable moment condition of the traditional control mode is shielded, and the positioning precision of the motor is greatly improved;
STM32 chip signal of core control unit directly reaches in the TMC2209 chip of motor control unit, reduces the connection of line, strengthens the interference killing feature.
Drawings
FIG. 1 is a general block diagram of a system according to an embodiment of the invention;
fig. 2 is a diagram showing an IO board structure according to an embodiment of the present invention;
FIG. 3 is a diagram showing a structure of an MCU board according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a core control unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a motor control unit according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a peripheral driver circuit according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a peripheral driver circuit according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating an Internet port communication protocol according to an embodiment of the invention;
in the figure: 101. interfaces of TMC2209 chips; 102. an origin limiting unit; 103. an upper limit bit unit; 104. a lower limit unit; 105. a vacuum detection unit; 106. a vacuum suction unit; 107. a vacuum blowing unit; 108. a power supply interface; 201. a network port communication unit; 202. a serial communication unit; 203. a CAN communication unit; 204. a core control unit.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
as shown in fig. 1 to 8, an open-loop stepping motor driving and controlling integrated board card includes a power supply unit, a core control unit 204, a motor driving and controlling unit, a peripheral driving unit, and a communication unit, where the core control unit 204 is respectively connected to the motor driving unit, the peripheral driving unit, and the communication unit receives a driving signal of the core control unit 204 to drive and control a stepping motor, and the communication unit communicates with a PC terminal through the core control unit 204 and obtains a signal from the PC terminal.
The core control unit 204 and the communication unit are integrated on a PCBA board, which is an MCU board; the power supply unit, the motor driving and controlling unit and the peripheral driving unit are integrated on another PCBA board which is an IO board; the back surface of the IO board is superposed on the front surface of the MCU board, and the MCU board and the IO board are connected through a pin header and a bus header so as to transmit signals; connect with the superimposed mode MCU board with the IO board reduces the space on its level, satisfies the constantly miniaturized demand of industrial automation board.
The motor driving and controlling unit is positioned on the back side of the IO board and adopts a TMC2209 chip of Trinamic company, and an interface 101 of the TMC2209 chip is positioned on the front side of the IO board; TMC2209 is an extremely quiet stepping driver chip and can also be used as a SilentStepStick, the peak current is 2.8A, the continuous current is 2A, 256 subdivision outputs are realized by the MicroPley subdivision interpolation technology, and smooth operation is ensured; the motor driving method provides an accurate motor driving algorithm and utilizes an advanced FOC motor driving mode, so that the torque direction of the motor is tangent to the rotation of the motor, the torque in the motor running process can be ensured to be constant and maximum, and the problems of insufficient torque, step loss and the like of a common driver are avoided.
The communication unit is positioned on the front side of the MCU board and comprises a network port communication unit 201, a serial port communication unit 202 and a CAN communication unit 203; and multiple feasible schemes are provided for industrial control, and the cost in the industrial control process is reduced.
The communication protocol of the portal communication unit 201 is UDP, and the default IP address is: 192.168.5.140, port number: 2017; the default configuration of the serial communication unit 202 is a baud rate 115200, 8-bit data bits, 1-bit stop bits and no check bits.
The CAN communication unit 203 comprises two communicated CAN communication interfaces which are connected with the same bus according to a CAN protocol; when a plurality of board cards are required to be used together, one CAN communication interface CAN be connected to the bus, and the other CAN communication interface is connected to the next board card; the bus connection mode is used, the wiring mode is simplified, and therefore wiring is greatly reduced.
The peripheral driving unit is positioned on the front surface of the IO board and comprises two origin limiting units 102, two upper limiting units 103, two lower limiting units 104, two vacuum detection units 105, two vacuum suction units 106 and two vacuum blowing units 107; the interface 101 of the TMC2209 chip is also positioned on the front side of the IO board, and the defined interfaces A +, A-, B + and B-are respectively connected with the M1 shaft, the M2 shaft, the M3 shaft and the M4 shaft of the stepping motor; the two origin limiting units 102 are respectively connected with the M1 shaft and the M2 shaft and are used for limiting the rotation origin; the two upper limit units 103 and the two lower limit units 104 are respectively connected with the M3 shaft and the M4 shaft and are used for limiting up and down movement; the vacuum detection unit 105 is used as a vacuum value detection signal input and transmits the signal to the core control unit 204 for analysis; the vacuum suction unit 106 and the vacuum blowing unit 107 are outputted as vacuum, and the core control unit 204 determines whether or not the conditions are satisfied with the vacuum output, and controls the operation of the external solenoid valve.
The power supply unit is positioned on the front surface of the IO board and comprises two power supply interfaces 108 with the voltage of 24V, and the two power supply interfaces 108 respectively supply power to the two board cards; in the process of industrially controlling the multi-shaft motor, the power supply unit can supply power to the board card through one power supply interface 108, and the other power supply interface 108 can supply power to the other board card, so that the power supply interfaces 108 and simple wiring modes provided by a machine table can be greatly reduced, and the N board cards can be expanded to carry out control under the condition of ensuring that the power of a 24V access power supply is enough, thereby reducing wiring from the source, simplifying the wiring mode, reducing the occupied space and greatly reducing the research and development cost.
The core control unit 204 is positioned on the front side of the MCU board and adopts an STM32 chip of STM company; a control center that is used for whole ring-opening step motor to drive integrative integrated circuit board, both satisfied the demand, the price is reasonable again.
The MCU board and the IO board are square boards with the same shape and size, the thickness of the MCU board and the IO board is 3 millimeters, and the side length of the MCU board and the IO board is 65 millimeters; two PCBA boards that link up are small and exquisite, satisfy the constantly miniaturized demand of industrial automation board.
The working principle of the invention is as follows:
the two power supply interfaces 108 are connected with a 24V power supply, the interface 101 of the TMC2209 chip is used for connecting A +, A-, B + and B-phase lines of a stepping motor, the two origin limiting units 102 are used for M1 and M2 axes and used as rotation origin limiting, the M3 and M4 axis units respectively adopt an upper limiting unit 103 and a lower limiting unit 104 and used as up-and-down movement limiting, the vacuum detection unit 105 is used as vacuum value detection signal input and transmits the signal to the core control unit 204 for analysis, the vacuum suction unit 106 and the vacuum blowing unit 107 are used as vacuum output, the core control unit 204 judges whether the conditions meet the vacuum output or not, and the external electromagnetic valve is controlled to act. The network port communication unit 201 of the MCU board can be connected with a network cable to communicate with the PC terminal, so as to transmit data; the serial communication unit 202 communicates with the PC terminal through a serial line.
The open-loop stepping motor of the embodiment drives and controls the integrated board card to have the following working modes:
the absolute position motion mode, the integrated circuit board provides two kinds of mode of returning to zero, and the first kind is positive spacing returning to zero, and the second kind is negative spacing returning to zero, can confirm zero point through these two kinds of modes, and absolute position control utilizes TMC2209 chip to provide the microstep number of real-time feedback and carries out accurate locate function.
In the relative motion mode, in the case of the relative motion mode, the motor is shifted according to the current position as a zero point, the minimum unit is 256 × 200 microsteps as one turn, and the motion distance of the motor can be calculated through an accurate gear ratio.
In the use of the integrated board card driven and controlled by the open-loop stepping motor, a specific motion mode is selected according to actual use conditions, so that the miniaturization and accurate positioning control of industrial control are realized, and a large amount of cost is saved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, which are directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides an integrative integrated circuit board of open-loop stepper motor drive control which characterized in that, includes power supply unit, core control unit, motor drive control unit, peripheral drive unit and communication unit, core control unit respectively with motor drive unit peripheral drive unit with the communication unit is connected, motor drive control unit is through receiving core control unit's drive signal drives and controls stepper motor, the communication unit passes through core control unit communicates with the PC end to acquire the signal from the PC end.
2. The open-loop stepping motor driving and controlling integrated board card of claim 1, wherein the core control unit and the communication unit are integrated on a PCBA board which is an MCU board; the power supply unit, the motor driving and controlling unit and the peripheral driving unit are all integrated on another PCBA board which is an IO board; the back surface of the IO board is superposed on the front surface of the MCU board, and the MCU board and the IO board are connected through the pin header and the female header, so that signal transmission is carried out.
3. The open-loop stepping motor driving and controlling integrated board card of claim 2, wherein the motor driving and controlling unit is located on a back side of the IO board and adopts a TMC2209 chip, and an interface of the TMC2209 chip is located on a front side of the IO board.
4. The open-loop stepping motor driving and controlling integrated board card of claim 2, wherein the communication unit is located on the front surface of the MCU board and comprises a network port communication unit, a serial port communication unit and a CAN communication unit.
5. The open-loop stepping motor drive and control integrated board card of claim 4, wherein the communication protocol of the network port communication unit is UDP protocol, and the default IP address is: 192.168.5.140, port number: 2017; the default configuration of the serial communication unit is a baud rate 115200, 8-bit data bit, 1-bit stop bit and no check bit.
6. The open-loop stepping motor drive and control integrated board card of claim 4, wherein the CAN communication unit comprises two communicated CAN communication interfaces, and the two CAN communication interfaces are connected with the same bus according to a CAN protocol.
7. The open-loop stepping motor drive and control integrated board card of claim 2, wherein the peripheral drive unit is located on the front face of the IO board and comprises two origin limiting units, two upper limiting units, two lower limiting units, two vacuum detection units, two vacuum suction units and two vacuum blowing units.
8. The open-loop stepping motor drive and control integrated board card of claim 2, wherein the power supply unit is located on the front face of the IO board, the power supply unit comprises two power supply interfaces with voltage of 24V, and the two power supply interfaces respectively supply power to the two board cards.
9. The open-loop stepping motor driving and controlling integrated board card of claim 2, wherein the core control unit is located on the front surface of the MCU board and adopts an STM32 chip.
10. The open-loop stepping motor driving and controlling integrated board card as claimed in claim 2, wherein the MCU board and the IO board are square boards with the same shape and size, the thickness of the MCU board and the IO board is 3 mm, and the side length of the MCU board and the IO board is 65 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587819.4A CN112636645A (en) | 2020-12-28 | 2020-12-28 | Open-loop stepping motor drives integrative integrated circuit board of accuse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587819.4A CN112636645A (en) | 2020-12-28 | 2020-12-28 | Open-loop stepping motor drives integrative integrated circuit board of accuse |
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| Publication Number | Publication Date |
|---|---|
| CN112636645A true CN112636645A (en) | 2021-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011587819.4A Pending CN112636645A (en) | 2020-12-28 | 2020-12-28 | Open-loop stepping motor drives integrative integrated circuit board of accuse |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115864915A (en) * | 2023-02-23 | 2023-03-28 | 美视康健(吉林)医疗设备有限公司 | Driving device of Haiding lattice brush |
-
2020
- 2020-12-28 CN CN202011587819.4A patent/CN112636645A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115864915A (en) * | 2023-02-23 | 2023-03-28 | 美视康健(吉林)医疗设备有限公司 | Driving device of Haiding lattice brush |
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