CN112737434A - Stepping motor driver - Google Patents
Stepping motor driver Download PDFInfo
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- CN112737434A CN112737434A CN202011627888.3A CN202011627888A CN112737434A CN 112737434 A CN112737434 A CN 112737434A CN 202011627888 A CN202011627888 A CN 202011627888A CN 112737434 A CN112737434 A CN 112737434A
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- 230000008878 coupling Effects 0.000 claims abstract description 33
- 238000010168 coupling process Methods 0.000 claims abstract description 33
- 238000005859 coupling reaction Methods 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 238000001914 filtration Methods 0.000 claims abstract description 19
- 229910044991 metal oxide Inorganic materials 0.000 claims abstract description 4
- 150000004706 metal oxides Chemical class 0.000 claims abstract description 4
- 239000004065 semiconductor Substances 0.000 claims abstract description 4
- 239000003990 capacitor Substances 0.000 claims description 154
- 239000003381 stabilizer Substances 0.000 claims description 26
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
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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
- H02P8/14—Arrangements for controlling speed or speed and torque
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Abstract
The invention provides a stepping motor driver, which comprises a photoelectric coupling module, a microcontroller, an RC (resistance-capacitance) filtering module, a half-bridge driving module, an MOS (metal oxide semiconductor) tube module, a displacement detection module and a voltage-stabilized power supply module, wherein the photoelectric coupling module is connected with the microcontroller; the input end of the photoelectric coupling module is connected with an external input signal, and the output end of the photoelectric coupling module is connected with the input end of the microcontroller; the output end of the microcontroller is connected with the input end of the RC filter module, the output end of the RC filter module is connected with the input end of the half-bridge drive module, the output end of the half-bridge drive module is connected with the input end of the MOS tube module, and the output end of the MOS tube module is connected with the control end of the motor; the displacement detection module is used for acquiring motor rotation position data and transmitting the position data to the microcontroller; the voltage-stabilizing power supply module supplies power to the photoelectric coupling module, the microcontroller, the RC filtering module, the half-bridge driving module, the MOS tube module and the displacement detection module. According to the invention, the current, the position and the speed of the driving motor are controlled in a three-closed-loop manner, so that the driving motor is accurately controlled.
Description
Technical Field
The invention relates to the technical field of stepping motor driving, in particular to a stepping motor driver.
Background
A stepper motor is an electric motor that converts electrical pulse signals into corresponding angular or linear displacements. The rotor is rotated by an angle or one step every time a pulse signal is inputted. However, the stepping motor cannot be directly connected to a dc or ac power source, and a dedicated driving power source, i.e., a stepping motor driver, must be used. The common stepper motor driver generally uses open-loop control or speed closed-loop control, and has poor control precision, large noise and vibration, serious heating and easy step loss.
Chinese patent CN208971421U published in 6, 11 and 2019 provides a stepping motor driving circuit, which comprises a dc power circuit, a control center circuit, a voltage detection circuit and a driving execution circuit; the input end of the direct current power supply circuit is electrically connected with a direct current power supply of the motor, and the direct current power supply circuit is provided with a direct current voltage output end and a direct current chip output end; the control center circuit comprises a control chip with a power supply pin, an input pin and a control pin; the voltage detection circuit comprises a power supply measuring component and a driving measuring component; the drive execution circuit comprises a drive input component and a motor drive component; the direct current voltage output end can provide power supply, the control central circuit sends a signal for controlling the motor to the drive execution circuit, and the input pin can receive a power supply voltage signal and a drive voltage signal result signal in the voltage detection circuit, can detect the voltage condition of the power supply and drive voltage signals in the drive execution circuit, so that the stepping motor drive circuit has a negative feedback function. The control of the stepping motor by the patent is still inaccurate.
Disclosure of Invention
The invention provides a stepping motor driver for overcoming the defect that the conventional stepping motor driver cannot accurately control a stepping motor.
The technical scheme of the invention is as follows:
the invention provides a stepping motor driver, which comprises a photoelectric coupling module, a microcontroller, an RC (remote control) filtering module, a half-bridge driving module, an MOS (metal oxide semiconductor) tube module, a displacement detection module and a voltage-stabilized power supply module, wherein the photoelectric coupling module is connected with the microcontroller;
the input end of the photoelectric coupling module is connected with an external input signal, the output end of the photoelectric coupling module is connected with the input end of the microcontroller, the output end of the microcontroller is connected with the input end of the RC filter module, the output end of the RC filter module is connected with the input end of the half-bridge driving module, the output end of the half-bridge driving module is connected with the input end of the MOS tube module, and the output end of the MOS tube module is connected with the control end of the motor;
the displacement detection module is used for acquiring motor rotation position data and transmitting the position data to the microcontroller;
the stabilized voltage power supply module supplies power to the photoelectric coupling module, the microcontroller, the RC filtering module, the half-bridge driving module, the MOS tube module and the displacement detection module.
Preferably, the voltage-stabilized power supply module comprises an external power supply VCC, a diode D1, a bidirectional diode DD1, an electrolytic capacitor CE1, a voltage stabilizer VR1, a voltage stabilizer VR2, a capacitor C9, a capacitor C10, a capacitor C11 and a capacitor C12;
the anode of the diode D1 is connected with an external power supply VCC, the cathode of the diode D1 is connected with one end of a bidirectional diode DD1, and the other end of the bidirectional diode DD1 is grounded;
the cathode of the diode D1 is also connected with the anode of the electrolytic capacitor CE1, and the cathode of the electrolytic capacitor CE1 is grounded;
a pin 1 of the voltage stabilizer VR1 is connected with the anode of the electrolytic capacitor CE1, a pin 2 of the voltage stabilizer VR1 is a direct-current voltage output pin of 5v, and a pin 3 of the voltage stabilizer VR1 is grounded; a pin 2 of the voltage stabilizer VR1 is further connected to one end of the capacitor C9 and one end of the capacitor C10, and the other end of the capacitor C9 and the other end of the capacitor C10 are both grounded;
a pin 1 of the voltage stabilizer VR2 is connected with a pin 2 of the voltage stabilizer VR1, a pin 2 of the voltage stabilizer VR2 is a pin 3.3v direct-current voltage output pin, and a pin 3 of the voltage stabilizer VR2 is grounded; the pin 2 of the voltage regulator VR2 is further connected to one end of the capacitor C11 and one end of the capacitor C12, and the other end of the capacitor C11 and the other end of the capacitor C12 are both grounded.
Preferably, the photoelectric coupling module comprises a coupler T1, a resistor R7, a resistor R8, a resistor R9 and a resistor R10;
the external input signals comprise pulse signals +, pulse signals, direction signals and direction signals;
the input end of the photoelectric coupling module comprises one end of a resistor R7, 2 pins of a coupler T1, 3 pins of a coupler T1 and one end of a resistor R8; the output end of the photoelectric coupling module comprises a pin 6 of a coupler T1 and a pin 7 of a coupler T1;
the pulse signal + is connected with one end of a resistor R7, and the other end of the resistor R7 is connected with a pin 1 of a coupler T1;
the pulse signal is connected with a pin 2 of a coupler T1;
the direction signal-is connected to pin 3 of coupler T1;
the direction signal + is connected with one end of a resistor R8, and the other end of the resistor R8 is connected with a pin 4 of a coupler T1;
the pin 5 of the coupler T1 is grounded;
a pin 6 of the coupler T1 is connected with the input end of the microcontroller, a pin 6 of the coupler T1 is also connected with one end of a resistor R10, and the other end of the resistor R10 is connected with a 3.3v direct-current voltage output pin of the voltage-stabilized power supply module;
a pin 7 of the coupler T1 is connected with the input end of the microcontroller, a pin 7 of the coupler T1 is also connected with one end of a resistor R9, and the other end of the resistor R9 is connected with a 3.3v direct-current voltage output pin of the voltage-stabilized power supply module;
the pin 8 of the coupler T1 is connected with the 3.3v direct-current voltage output pin of the voltage-stabilized power supply module.
Preferably, the RC filtering module comprises a resistor R26, a resistor R27, a resistor R28, a resistor R29, a capacitor C26, a capacitor C27, a capacitor C28 and a capacitor C29;
one end of the resistor R26 is connected with the output end of the microcontroller, the other end of the resistor R26 is connected with one end of the capacitor C26, and the other end of the capacitor C26 is grounded; the other end of the resistor R26 is further connected with one end of a resistor R27, the other end of the resistor R27 is connected with the input end of the half-bridge driving module, the other end of the resistor R27 is further connected with one end of a capacitor C27, and the other end of the capacitor C27 is grounded;
one end of the resistor R28 is connected with the output end of the microcontroller, the other end of the resistor R28 is connected with one end of the capacitor C28, and the other end of the capacitor C28 is grounded; the other end of the resistor R28 is further connected with one end of a resistor R29, the other end of the resistor R29 is connected with the input end of the half-bridge driving module, the other end of the resistor R29 is further connected with one end of a capacitor C29, and the other end of the capacitor C29 is grounded.
Preferably, the half-bridge driving module comprises a half-bridge driver a1, a resistor R18, a capacitor C18, a capacitor C19, a capacitor C20, a half-bridge driver a2, a resistor R22, a capacitor C22, a capacitor C23 and a capacitor C24;
a pin 2 of the half-bridge driver A1 is connected with one end of a resistor R18, the other end of the resistor R18 is connected with a capacitor C18, and the other end of the capacitor C18 is grounded;
the pin 4 of the half-bridge driver A1 is connected with the other end of the resistor R27 of the RC filtering module;
a pin 17 of the half-bridge driver A1 is connected with one end of a capacitor C20, and the other end of the capacitor C20 is connected with an external power supply VCC;
the pin 18 of the half-bridge driver A1 is connected with one end of a capacitor C19, and the other end of the capacitor C19 is connected with the pin 20 of the half-bridge driver A1;
a pin 19 of the half-bridge driver A1 is connected with an external power supply VCC;
a pin 2 of the half-bridge driver A2 is connected with one end of a resistor R22, the other end of the resistor R22 is connected with a capacitor C22, and the other end of the capacitor C22 is grounded;
the pin 4 of the half-bridge driver A2 is connected with the other end of the resistor R29 of the RC filtering module;
a pin 17 of the half-bridge driver A2 is connected with one end of a capacitor C24, and the other end of the capacitor C24 is connected with an external power supply VCC;
the pin 18 of the half-bridge driver A2 is connected with one end of a capacitor C23, and the other end of the capacitor C23 is connected with the pin 20 of the half-bridge driver A1;
Preferably, the MOS transistor module comprises a MOS transistor S1, a MOS transistor S2, a MOS transistor S3, a MOS transistor S4, a resistor R21 and a resistor R25;
the pin 1 of the MOS tube S1 is connected with the pin 14 of a half-bridge driver A1;
the pin 2 of the MOS transistor S1 is connected with the pin 13 of the half-bridge driver A1;
the pin 3 of the MOS transistor S1 is connected with the MOS transistor S2;
the pin 4 of the MOS tube S1 is connected with the pin 15 of the half-bridge driver A1;
the pin 2 of the MOS transistor S2 is connected with the pin 12 of a half-bridge driver A1;
the pin 4 of the MOS tube S2 is connected with the pin 11 of the half-bridge driver A1;
the pin 1 of the MOS tube S3 is connected with the pin 14 of a half-bridge driver A2;
the pin 2 of the MOS transistor S3 is connected with the pin 13 of the half-bridge driver A2;
the pin 3 of the MOS transistor S3 is connected with the MOS transistor S4;
the pin 4 of the MOS tube S3 is connected with the pin 15 of the half-bridge driver A2;
pins 5, 6, 7 and 8 of the MOS transistor S3 are all connected with an external power supply VCC;
the pin 2 of the MOS transistor S4 is connected with the pin 12 of a half-bridge driver A2;
the pin 4 of the MOS tube S4 is connected with the pin 11 of the half-bridge driver A2;
and the pins 7 and 8 of the MOS tube S4 are connected together and then connected with the control end of the motor, and the pins 7 and 8 of the MOS tube S4 are connected together and then connected with the pin 3 of the MOS tube S3.
Preferably, the displacement detection module comprises a magnetometer M1, a capacitance C14 and a capacitance C15;
pins 1, 2, 3, 5, 6 and 7 of the magnetometer M1 are all connected with the microcontroller;
the 4 pins of the magnetometer M1 are connected with the 3.3v direct-current voltage output pin of the voltage-stabilized power supply module; the 4 pin of the magnetometer M1 is also connected with one end of a capacitor C14, and the other end of the capacitor C14 is grounded; the 4 pin of the magnetometer M1 is also connected with one end of a capacitor C15, and the other end of the capacitor C15 is grounded;
the 8 feet of the magnetometer M1 are grounded.
Preferably, the microcontroller is of the model STM32F100CBT 6B.
Preferably, the half-bridge drivers a1 and a2 of the half-bridge drive module are both a 4955.
Preferably, the magnetometer M1 of the displacement detection module is of the type MT 8616.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention utilizes the photoelectric coupling module to realize the electrical isolation between the external input signal and the microcontroller, and the microcontroller processes the external input signal and outputs the corresponding PWM signal; the RC filtering module filters the PWM signal into a stable target voltage signal and outputs the stable target voltage signal to the half-bridge driving module; the MOS tube module is connected with the motor, acquires a feedback voltage signal and transmits the feedback voltage signal to the half-bridge driving module, the half-bridge driving module compares a target voltage signal with the feedback voltage signal, and controls the MOS tube module to be switched on or switched off in real time according to a comparison result so as to enable the MOS tube module to reach the target voltage signal, further controls the working current within a limit range, and realizes current closed-loop control; the displacement detection module acquires motor rotation position data, transmits the motor rotation position data to the microcontroller for processing, and obtains speed data through position data calculation, thereby realizing position and speed closed-loop control. According to the invention, the current, the position and the speed of the driving motor are controlled in a three-closed-loop manner, so that the driving motor is accurately controlled.
Drawings
Fig. 1 is a schematic structural diagram of a stepping motor driver according to embodiment 1;
FIG. 2 is a circuit diagram of a regulated power supply module according to embodiment 2;
FIG. 3 is a circuit diagram of the optoelectronic coupling module according to embodiment 2;
FIG. 4 is a circuit diagram of an RC filter module according to embodiment 2;
FIG. 5 is a circuit diagram of a half-bridge driving module according to embodiment 2;
FIG. 6 is a circuit diagram of a MOS transistor module according to embodiment 2;
fig. 7 is a circuit diagram of a displacement detection module according to embodiment 2.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
The present embodiment provides a driver for a stepping motor, as shown in fig. 1, the driver includes a photoelectric coupling module, a microcontroller, an RC filter module, a half-bridge driving module, an MOS transistor module, a displacement detection module, and a regulated power supply module;
the input end of the photoelectric coupling module is connected with an external input signal, the output end of the photoelectric coupling module is connected with the input end of the microcontroller, the output end of the microcontroller is connected with the input end of the RC filter module, the output end of the RC filter module is connected with the input end of the half-bridge driving module, the output end of the half-bridge driving module is connected with the input end of the MOS tube module, and the output end of the MOS tube module is connected with the control end of the motor;
the displacement detection module is used for acquiring motor rotation position data and transmitting the position data to the microcontroller;
the stabilized voltage power supply module supplies power to the photoelectric coupling module, the microcontroller, the RC filtering module, the half-bridge driving module, the MOS tube module and the displacement detection module.
In the specific implementation process, the photoelectric coupling module is used for electrically isolating the external input signal from the microcontroller, and the microcontroller processes the external input signal and outputs a corresponding PWM signal; the RC filtering module filters the PWM signal into a stable target voltage signal and outputs the stable target voltage signal to the half-bridge driving module; the MOS tube module is connected with the motor, acquires a feedback voltage signal and transmits the feedback voltage signal to the half-bridge driving module, the half-bridge driving module compares a target voltage signal with the feedback voltage signal, and controls the MOS tube module to be switched on or switched off in real time according to a comparison result so as to enable the MOS tube module to reach the target voltage signal, further controls the working current within a limit range, and realizes current closed-loop control; the displacement detection module acquires motor rotation position data, transmits the motor rotation position data to the microcontroller for processing, and obtains speed data through position data calculation, thereby realizing position and speed closed-loop control. The embodiment realizes the accurate control of the driving motor by the three closed-loop control of the current, the position and the speed of the driving motor, and further overcomes the defects of large noise, large vibration, serious heating and easy desynchronization of the common driving motor.
Example 2
The embodiment provides a stepping motor driver, which comprises a photoelectric coupling module, a microcontroller, an RC (resistance-capacitance) filtering module, a half-bridge driving module, an MOS (metal oxide semiconductor) tube module, a displacement detection module and a voltage-stabilized power supply module;
the input end of the photoelectric coupling module is connected with an external input signal, the output end of the photoelectric coupling module is connected with the input end of the microcontroller, the output end of the microcontroller is connected with the input end of the RC filter module, the output end of the RC filter module is connected with the input end of the half-bridge driving module, the output end of the half-bridge driving module is connected with the input end of the MOS tube module, and the output end of the MOS tube module is connected with the control end of the motor;
the displacement detection module is used for acquiring motor rotation position data and transmitting the position data to the microcontroller;
the stabilized voltage power supply module supplies power to the photoelectric coupling module, the microcontroller, the RC filtering module, the half-bridge driving module, the MOS tube module and the displacement detection module.
As shown in fig. 2, the regulated power supply module includes an external power supply VCC, a diode D1, a bidirectional diode DD1, an electrolytic capacitor CE1, a voltage regulator VR1, a voltage regulator VR2, a capacitor C9, a capacitor C10, a capacitor C11, and a capacitor C12; in this embodiment, the model of the diode D1 is SS54, the model of the bidirectional diode DD1 is SMBJ28CA, the model of the voltage regulator VR1 is ME6203a50PG, and the model of the voltage regulator VR2 is ME6209a33M 3G.
The anode of the diode D1 is connected with an external power supply VCC, the cathode of the diode D1 is connected with one end of a bidirectional diode DD1, and the other end of the bidirectional diode DD1 is grounded;
the cathode of the diode D1 is also connected with the anode of the electrolytic capacitor CE1, and the cathode of the electrolytic capacitor CE1 is grounded;
a pin 1 of the voltage stabilizer VR1 is connected with the anode of the electrolytic capacitor CE1, a pin 2 of the voltage stabilizer VR1 is a direct-current voltage output pin of 5v, and a pin 3 of the voltage stabilizer VR1 is grounded; a pin 2 of the voltage stabilizer VR1 is further connected to one end of the capacitor C9 and one end of the capacitor C10, and the other end of the capacitor C9 and the other end of the capacitor C10 are both grounded;
a pin 1 of the voltage stabilizer VR2 is connected with a pin 2 of the voltage stabilizer VR1, a pin 2 of the voltage stabilizer VR2 is a pin 3.3v direct-current voltage output pin, and a pin 3 of the voltage stabilizer VR2 is grounded; the pin 2 of the voltage regulator VR2 is further connected to one end of the capacitor C11 and one end of the capacitor C12, and the other end of the capacitor C11 and the other end of the capacitor C12 are both grounded.
As shown in fig. 3, the photocoupling module includes a coupler T1, a resistor R7, a resistor R8, a resistor R9, and a resistor R10; in the present embodiment, the coupler T1 has a model TLP2160.
The external input signals comprise a pulse signal + (corresponding to PLU + in figure 3), a pulse signal- (corresponding to PLU-in figure 3), a direction signal + (corresponding to DIR + in figure 3) and a direction signal- (corresponding to DIR-in figure 3);
the input end of the photoelectric coupling module comprises one end of a resistor R7, 2 pins of a coupler T1, 3 pins of a coupler T1 and one end of a resistor R8; the output end of the photoelectric coupling module comprises a pin 6 of a coupler T1 and a pin 7 of a coupler T1;
the pulse signal + is connected with one end of a resistor R7, and the other end of the resistor R7 is connected with a pin 1 of a coupler T1;
the pulse signal is connected with a pin 2 of a coupler T1;
the direction signal-is connected to pin 3 of coupler T1;
the direction signal + is connected with one end of a resistor R8, and the other end of the resistor R8 is connected with a pin 4 of a coupler T1;
the pin 5 of the coupler T1 is grounded;
the pin 6 of the coupler T1 is connected with the microcontroller, the pin 6 of the coupler T1 is also connected with one end of a resistor R10, and the other end of the resistor R10 is connected with a 3.3v direct-current voltage output pin of the voltage-stabilized power supply module;
a pin 7 of the coupler T1 is connected with the microcontroller, a pin 7 of the coupler T1 is also connected with one end of a resistor R9, and the other end of the resistor R9 is connected with a 3.3v direct-current voltage output pin of the voltage-stabilized power supply module;
the pin 8 of the coupler T1 is connected with the 3.3v direct-current voltage output pin of the voltage-stabilized power supply module.
As shown in fig. 4, the RC filtering module includes a resistor R26, a resistor R27, a resistor R28, a resistor R29, a capacitor C26, a capacitor C27, a capacitor C28, and a capacitor C29;
one end of the resistor R26 is connected with the output end of the microcontroller, the other end of the resistor R26 is connected with one end of the capacitor C26, and the other end of the capacitor C26 is grounded; the other end of the resistor R26 is further connected with one end of a resistor R27, the other end of the resistor R27 is connected with the input end of the half-bridge driving module, the other end of the resistor R27 is further connected with one end of a capacitor C27, and the other end of the capacitor C27 is grounded;
one end of the resistor R28 is connected with the output end of the microcontroller, the other end of the resistor R28 is connected with one end of the capacitor C28, and the other end of the capacitor C28 is grounded; the other end of the resistor R28 is further connected with one end of a resistor R29, the other end of the resistor R29 is connected with the input end of the half-bridge driving module, the other end of the resistor R29 is further connected with one end of a capacitor C29, and the other end of the capacitor C29 is grounded.
As shown in fig. 5, the half-bridge driving module includes a half-bridge driver a1, a resistor R18, a capacitor C18, a capacitor C19, a capacitor C20, a half-bridge driver a2, a resistor R22, a capacitor C22, a capacitor C23, and a capacitor C24; in this embodiment, the half-bridge drivers a1 and a2 are both a 4955.
a pin 2 of the half-bridge driver A1 is connected with one end of a resistor R18, the other end of the resistor R18 is connected with a capacitor C18, and the other end of the capacitor C18 is grounded;
the pin 4 of the half-bridge driver A1 is connected with the other end of the resistor R27 of the RC filtering module;
pins 10, 11, 12, 13, 14 and 15 of the half-bridge driver A1 are all connected with the input end of the MOS transistor module;
a pin 17 of the half-bridge driver A1 is connected with one end of a capacitor C20, and the other end of the capacitor C20 is connected with an external power supply VCC;
the pin 18 of the half-bridge driver A1 is connected with one end of a capacitor C19, and the other end of the capacitor C19 is connected with the pin 20 of the half-bridge driver A1;
a pin 19 of the half-bridge driver A1 is connected with an external power supply VCC;
a pin 2 of the half-bridge driver A2 is connected with one end of a resistor R22, the other end of the resistor R22 is connected with a capacitor C22, and the other end of the capacitor C22 is grounded;
the pin 4 of the half-bridge driver A2 is connected with the other end of the resistor R29 of the RC filtering module;
pins 10, 11, 12, 13, 14 and 15 of the half-bridge driver A2 are all connected with the input end of the MOS transistor module;
a pin 17 of the half-bridge driver A2 is connected with one end of a capacitor C24, and the other end of the capacitor C24 is connected with an external power supply VCC;
the pin 18 of the half-bridge driver A2 is connected with one end of a capacitor C23, and the other end of the capacitor C23 is connected with the pin 20 of the half-bridge driver A1;
As shown in fig. 6, the MOS transistor module includes a MOS transistor S1, a MOS transistor S2, a MOS transistor S3, a MOS transistor S4, a resistor R21, and a resistor R25;
the pin 1 of the MOS tube S1 is connected with the pin 14 of a half-bridge driver A1;
the pin 2 of the MOS transistor S1 is connected with the pin 13 of the half-bridge driver A1;
the pin 3 of the MOS transistor S1 is connected with the MOS transistor S2;
the pin 4 of the MOS tube S1 is connected with the pin 15 of the half-bridge driver A1;
pins 5, 6, 7 and 8 of the MOS transistor S1 are all connected with an external power supply VCC;
the pin 2 of the MOS transistor S2 is connected with the pin 12 of a half-bridge driver A1;
the pin 4 of the MOS tube S2 is connected with the pin 11 of the half-bridge driver A1;
the pin 1 of the MOS tube S3 is connected with the pin 14 of a half-bridge driver A2;
the pin 2 of the MOS transistor S3 is connected with the pin 13 of the half-bridge driver A2;
the pin 3 of the MOS transistor S3 is connected with the MOS transistor S4;
the pin 4 of the MOS tube S3 is connected with the pin 15 of the half-bridge driver A2;
pins 5, 6, 7 and 8 of the MOS transistor S3 are all connected with an external power supply VCC;
the pin 2 of the MOS transistor S4 is connected with the pin 12 of a half-bridge driver A2;
the pin 4 of the MOS tube S4 is connected with the pin 11 of the half-bridge driver A2;
and the pins 7 and 8 of the MOS tube S4 are connected together and then connected with the control end of the motor, and the pins 7 and 8 of the MOS tube S4 are connected together and then connected with the pin 3 of the MOS tube S3.
As shown in fig. 7, the displacement detection module includes a magnetometer M1, a capacitor C14, and a capacitor C15; in this embodiment, the magnetometer M1 is of the type MT 8616.
the 4 pins of the magnetometer M1 are connected with the 3.3v direct-current voltage output pin of the voltage-stabilized power supply module; the 4 pin of the magnetometer M1 is also connected with one end of a capacitor C14, and the other end of the capacitor C14 is grounded; the 4 pin of the magnetometer M1 is also connected with one end of a capacitor C15, and the other end of the capacitor C15 is grounded;
the 8 feet of the magnetometer M1 are grounded.
The microcontroller is of the model STM32F100CBT 6B.
The terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A driver of a stepping motor is characterized by comprising a photoelectric coupling module, a microcontroller, an RC (remote control) filtering module, a half-bridge driving module, an MOS (metal oxide semiconductor) tube module, a displacement detection module and a voltage-stabilized power supply module;
the input end of the photoelectric coupling module is connected with an external input signal, the output end of the photoelectric coupling module is connected with the input end of the microcontroller, the output end of the microcontroller is connected with the input end of the RC filter module, the output end of the RC filter module is connected with the input end of the half-bridge driving module, the output end of the half-bridge driving module is connected with the input end of the MOS tube module, and the output end of the MOS tube module is connected with the control end of the motor;
the displacement detection module is used for acquiring motor rotation position data and transmitting the position data to the microcontroller;
the stabilized voltage power supply module supplies power to the photoelectric coupling module, the microcontroller, the RC filtering module, the half-bridge driving module, the MOS tube module and the displacement detection module.
2. The stepping motor driver as claimed in claim 1, wherein said regulated power supply module comprises an external power supply VCC, a diode D1, a bidirectional diode DD1, an electrolytic capacitor CE1, a voltage regulator VR1, a voltage regulator VR2, a capacitor C9, a capacitor C10, a capacitor C11 and a capacitor C12;
the anode of the diode D1 is connected with an external power supply VCC, the cathode of the diode D1 is connected with one end of a bidirectional diode DD1, and the other end of the bidirectional diode DD1 is grounded;
the cathode of the diode D1 is also connected with the anode of the electrolytic capacitor CE1, and the cathode of the electrolytic capacitor CE1 is grounded;
a pin 1 of the voltage stabilizer VR1 is connected with the anode of the electrolytic capacitor CE1, a pin 2 of the voltage stabilizer VR1 is a direct-current voltage output pin of 5v, and a pin 3 of the voltage stabilizer VR1 is grounded; a pin 2 of the voltage stabilizer VR1 is further connected to one end of the capacitor C9 and one end of the capacitor C10, and the other end of the capacitor C9 and the other end of the capacitor C10 are both grounded;
a pin 1 of the voltage stabilizer VR2 is connected with a pin 2 of the voltage stabilizer VR1, a pin 2 of the voltage stabilizer VR2 is a pin 3.3v direct-current voltage output pin, and a pin 3 of the voltage stabilizer VR2 is grounded; the pin 2 of the voltage regulator VR2 is further connected to one end of the capacitor C11 and one end of the capacitor C12, and the other end of the capacitor C11 and the other end of the capacitor C12 are both grounded.
3. The stepper motor driver of claim 2, wherein the electro-optical coupling module comprises a coupler T1, a resistor R7, a resistor R8, a resistor R9 and a resistor R10;
the external input signals comprise pulse signals +, pulse signals, direction signals and direction signals;
the input end of the photoelectric coupling module comprises one end of a resistor R7, 2 pins of a coupler T1, 3 pins of a coupler T1 and one end of a resistor R8; the output end of the photoelectric coupling module comprises a pin 6 of a coupler T1 and a pin 7 of a coupler T1;
the pulse signal + is connected with one end of a resistor R7, and the other end of the resistor R7 is connected with a pin 1 of a coupler T1;
the pulse signal is connected with a pin 2 of a coupler T1;
the direction signal-is connected to pin 3 of coupler T1;
the direction signal + is connected with one end of a resistor R8, and the other end of the resistor R8 is connected with a pin 4 of a coupler T1;
the pin 5 of the coupler T1 is grounded;
a pin 6 of the coupler T1 is connected with the input end of the microcontroller, a pin 6 of the coupler T1 is also connected with one end of a resistor R10, and the other end of the resistor R10 is connected with a 3.3v direct-current voltage output pin of the voltage-stabilized power supply module;
a pin 7 of the coupler T1 is connected with the input end of the microcontroller, a pin 7 of the coupler T1 is also connected with one end of a resistor R9, and the other end of the resistor R9 is connected with a 3.3v direct-current voltage output pin of the voltage-stabilized power supply module;
the pin 8 of the coupler T1 is connected with the 3.3v direct-current voltage output pin of the voltage-stabilized power supply module.
4. The stepper motor driver of claim 3, wherein the RC filter module comprises a resistor R26, a resistor R27, a resistor R28, a resistor R29, a capacitor C26, a capacitor C27, a capacitor C28 and a capacitor C29;
one end of the resistor R26 is connected with the output end of the microcontroller, the other end of the resistor R26 is connected with one end of the capacitor C26, and the other end of the capacitor C26 is grounded; the other end of the resistor R26 is further connected with one end of a resistor R27, the other end of the resistor R27 is connected with the input end of the half-bridge driving module, the other end of the resistor R27 is further connected with one end of a capacitor C27, and the other end of the capacitor C27 is grounded;
one end of the resistor R28 is connected with the output end of the microcontroller, the other end of the resistor R28 is connected with one end of the capacitor C28, and the other end of the capacitor C28 is grounded; the other end of the resistor R28 is further connected with one end of a resistor R29, the other end of the resistor R29 is connected with the input end of the half-bridge driving module, the other end of the resistor R29 is further connected with one end of a capacitor C29, and the other end of the capacitor C29 is grounded.
5. The stepper motor driver of claim 4, wherein the half-bridge driving module comprises a half-bridge driver A1, a resistor R18, a capacitor C18, a capacitor C19, a capacitor C20, a half-bridge driver A2, a resistor R22, a capacitor C22, a capacitor C23 and a capacitor C24;
pin 1 of the half-bridge driver a1 is grounded;
a pin 2 of the half-bridge driver A1 is connected with one end of a resistor R18, the other end of the resistor R18 is connected with a capacitor C18, and the other end of the capacitor C18 is grounded;
the pin 4 of the half-bridge driver A1 is connected with the other end of the resistor R27 of the RC filtering module;
pins 10, 11, 12, 13, 14 and 15 of the half-bridge driver A1 are all connected with the input end of the MOS transistor module;
a pin 17 of the half-bridge driver A1 is connected with one end of a capacitor C20, and the other end of the capacitor C20 is connected with an external power supply VCC;
the pin 18 of the half-bridge driver A1 is connected with one end of a capacitor C19, and the other end of the capacitor C19 is connected with the pin 20 of the half-bridge driver A1;
a pin 19 of the half-bridge driver A1 is connected with an external power supply VCC;
pin 1 of the half-bridge driver a2 is grounded;
a pin 2 of the half-bridge driver A2 is connected with one end of a resistor R22, the other end of the resistor R22 is connected with a capacitor C22, and the other end of the capacitor C22 is grounded;
the pin 4 of the half-bridge driver A2 is connected with the other end of the resistor R29 of the RC filtering module;
pins 10, 11, 12, 13, 14 and 15 of the half-bridge driver A2 are all connected with the input end of the MOS transistor module;
a pin 17 of the half-bridge driver A2 is connected with one end of a capacitor C24, and the other end of the capacitor C24 is connected with an external power supply VCC;
the pin 18 of the half-bridge driver A2 is connected with one end of a capacitor C23, and the other end of the capacitor C23 is connected with the pin 20 of the half-bridge driver A1;
pin 19 of the half-bridge driver a2 is connected to an external power source VCC.
6. The stepping motor driver as claimed in claim 5, wherein said MOS transistor module comprises MOS transistor S1, MOS transistor S2, MOS transistor S3, MOS transistor S4, resistor R21 and resistor R25;
the pin 1 of the MOS tube S1 is connected with the pin 14 of a half-bridge driver A1;
the pin 2 of the MOS transistor S1 is connected with the pin 13 of the half-bridge driver A1;
the pin 3 of the MOS transistor S1 is connected with the MOS transistor S2;
the pin 4 of the MOS tube S1 is connected with the pin 15 of the half-bridge driver A1;
pins 5, 6, 7 and 8 of the MOS transistor S1 are all connected with an external power supply VCC;
pins 1 and 3 of the MOS transistor S2 are both connected with one end of a resistor R21, the other end of the resistor R21 is grounded, and one end of the resistor R21 is also connected with a pin 10 of a half-bridge driver A1;
the pin 2 of the MOS transistor S2 is connected with the pin 12 of a half-bridge driver A1;
the pin 4 of the MOS tube S2 is connected with the pin 11 of the half-bridge driver A1;
pins 5 and 6 of the MOS tube S2 are connected together and then connected with a motor control end, and pins 5 and 6 of the MOS tube S2 are connected together and then connected with a pin 14 of a half-bridge driver A1;
pins 7 and 8 of the MOS tube S2 are connected together and then connected with a motor control end, and pins 7 and 8 of the MOS tube S2 are connected together and then connected with pin 3 of the MOS tube S1;
the pin 1 of the MOS tube S3 is connected with the pin 14 of a half-bridge driver A2;
the pin 2 of the MOS transistor S3 is connected with the pin 13 of the half-bridge driver A2;
the pin 3 of the MOS transistor S3 is connected with the MOS transistor S4;
the pin 4 of the MOS tube S3 is connected with the pin 15 of the half-bridge driver A2;
pins 5, 6, 7 and 8 of the MOS transistor S3 are all connected with an external power supply VCC;
pins 1 and 3 of the MOS transistor S4 are both connected with one end of a resistor R25, the other end of the resistor R25 is grounded, and one end of the resistor R25 is also connected with a pin 10 of a half-bridge driver A2;
the pin 2 of the MOS transistor S4 is connected with the pin 12 of a half-bridge driver A2;
the pin 4 of the MOS tube S4 is connected with the pin 11 of the half-bridge driver A2;
pins 5 and 6 of the MOS tube S4 are connected together and then connected with a motor control end, and pins 5 and 6 of the MOS tube S4 are connected together and then connected with a pin 14 of a half-bridge driver A2;
and the pins 7 and 8 of the MOS tube S4 are connected together and then connected with the control end of the motor, and the pins 7 and 8 of the MOS tube S4 are connected together and then connected with the pin 3 of the MOS tube S3.
7. The stepper motor driver of claim 6, wherein the displacement detection module comprises magnetometer M1, capacitor C14 and capacitor C15;
pins 1, 2, 3, 5, 6 and 7 of the magnetometer M1 are all connected with the microcontroller;
the 4 pins of the magnetometer M1 are connected with the 3.3v direct-current voltage output pin of the voltage-stabilized power supply module; the 4 pin of the magnetometer M1 is also connected with one end of a capacitor C14, and the other end of the capacitor C14 is grounded; the 4 pin of the magnetometer M1 is also connected with one end of a capacitor C15, and the other end of the capacitor C15 is grounded;
the 8 feet of the magnetometer M1 are grounded.
8. A stepper motor driver as claimed in claim 7, wherein the microcontroller is of the type STM32F100CBT 6B.
9. The stepper motor driver of claim 8, wherein the half-bridge drivers a1 and a2 of the half-bridge driver module are each a 4955.
10. A stepper motor driver according to claim 9, wherein the magnetometer M1 of the displacement detection module is of type MT 8616.
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|---|---|---|---|
| CN202011627888.3A CN112737434A (en) | 2020-12-30 | 2020-12-30 | Stepping motor driver |
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| CN202011627888.3A CN112737434A (en) | 2020-12-30 | 2020-12-30 | Stepping motor driver |
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