CN112968637A - Stepping motor driving device - Google Patents
Stepping motor driving device Download PDFInfo
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- CN112968637A CN112968637A CN202110448979.9A CN202110448979A CN112968637A CN 112968637 A CN112968637 A CN 112968637A CN 202110448979 A CN202110448979 A CN 202110448979A CN 112968637 A CN112968637 A CN 112968637A
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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
- H02P8/38—Protection against faults, e.g. against overheating or step-out; Indicating faults the fault being step-out
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Abstract
The invention discloses a stepping motor driving device, which comprises a stepping motor control device and a stepping motor state detection device, wherein the stepping motor control device not only can generate a target control signal based on the setting of a user, but also can drive the operation of a stepping motor based on a feedback signal and a target control signal generated by the stepping motor detection device, so that the operation of the stepping motor can be adjusted when the actual current signal of the stepping motor does not meet the control result of the target control signal, the current input to the stepping motor can drive the stepping motor to operate, and the driving failure or the stepping motor missing caused when the stepping motor is still driven by the target control signal because the actual current signal of the stepping motor does not meet the control result of the target control signal is avoided.
Description
Technical Field
The invention relates to the field of stepping motor control, in particular to a stepping motor driving device.
Background
In the prior art, when the stepping motor is driven, the rotation of the stepping motor is generally controlled by controlling the current. Specifically, when the two-phase stepping motor is controlled, when the current input to one of the phases changes from zero to a maximum value and the current input to the other phase changes from a maximum value to zero, the stepping motor moves through a step angle, and it is most desirable that the current input to the two-phase stepping motor changes in a sine wave form and the current input to the other phase changes in a cosine wave form, the smoother the waveform change of the current is, the larger the number of steps the stepping motor moves through a step angle is, the smaller the angle of rotation per step is, the smaller the noise is, and when the stepping motor moves through a step angle, the current input to the stepping motor has changed by one-quarter of an electrical angle period, wherein the current changes by one period in a sine wave or a cosine wave form, that is, one electrical angle period. Specifically, by subdividing one step angle of the stepping motor into a plurality of micro steps, the number of divisions is proportional to the stability of the stepping motor when it rotates, for example, the greater the number of divisions, the closer the current input to the stepping motor is to the form of a sine wave or a cosine wave, the smaller the angle of the stepping motor when it rotates one micro step, the more stable the stepping motor rotates, and the smaller the noise.
In the related art, when controlling the current input to the stepping motor, a user generally sets a step number for subdividing one step angle of the stepping motor, generates a sine wave signal and a cosine wave signal corresponding to the step number for subdividing the one step angle of the stepping motor, chops the sine wave signal and the cosine wave signal, outputs a current in a sine wave form corresponding to the chopped sine wave signal and a current in a cosine wave form corresponding to the chopped cosine wave signal, and inputs the current in the sine wave form and the current in the cosine wave form to the stepping motor to drive the stepping motor to operate. However, the conventional stepping motor is generally an open-loop stepping motor, and when the rotation speed of the open-loop stepping motor is high, the back electromotive force of the coil of the stepping motor also increases with the increase of the rotation speed of the stepping motor, so that the change of the current of the coil on the stepping motor is suppressed, the torque for controlling the operation of the stepping motor becomes small, and the driving of the stepping motor by the current may fail, resulting in the step loss of the stepping motor.
Disclosure of Invention
The invention aims to provide a stepping motor driving device, which not only can generate a target control signal based on the setting of a user, but also can drive the operation of a stepping motor based on a feedback signal and a target control signal generated by a stepping motor detection device, so that the operation of the stepping motor can be adjusted when the actual current signal of the stepping motor does not meet the control result of the target control signal, the current input to the stepping motor can drive the stepping motor to operate, and the driving failure or the stepping motor missing caused when the stepping motor is still driven by the target control signal because the actual current signal of the stepping motor does not meet the control result of the target control signal is avoided.
In order to solve the above technical problem, the present invention provides a stepping motor driving device, including:
the stepping motor control device is connected with the control end of the stepping motor at a first output end and used for generating a target control signal based on the setting of a user and generating a driving current signal based on the target control signal and a feedback signal so as to drive the operation of the stepping motor;
the stepping motor state detection device is used for detecting an actual current signal when the stepping motor runs, converting the actual current signal into the feedback signal and sending the feedback signal to the stepping motor control device.
Preferably, the stepping motor control device includes:
the feedback signal input end is a target signal generating device of the feedback signal input end of the stepping motor control device and is used for generating a target current sine wave signal based on the stepping number of the stepping motor, the running direction of the stepping motor and the parameters of the stepping motor set by a user and outputting an actual control signal based on the target current sine wave signal and the feedback signal;
the input end of the stepping motor driving circuit is connected with the output end of the target signal generating device, and the output end of the stepping motor driving circuit is a first output end of the stepping motor control device and used for generating the driving current signal based on the actual control signal so as to drive the operation of the stepping motor.
Preferably, the stepping motor is a two-phase stepping motor;
the target signal generation apparatus includes:
the micro-step processing device is used for generating pulse signals corresponding to the number of pulses and the number of steps based on the number of steps and the direction set by a user;
the input end of the sine wave generator is connected with the output end of the micro-step processing device and is used for reading the amplitude value corresponding to each pulse set by a user so as to generate a pulse signal with the amplitude value of a sine wave sequence and a pulse signal with the amplitude value of a cosine wave sequence, which correspond to the pulse signals; the pulse signal with the amplitude of the sine wave sequence and the pulse signal with the amplitude of the cosine wave sequence are the target current sine wave signals;
the feedback signal input end is a feedback adjusting device of the feedback signal input end of the target signal generating device and is used for generating an actual pulse signal with the sine wave sequence based on the pulse signal with the sine wave sequence amplitude and the feedback signal; generating an actual pulse signal with the amplitude of the cosine wave sequence based on the pulse signal with the amplitude of the cosine wave sequence and the feedback signal;
the input end of the pulse width modulation PWM chopper is connected with the output end of the feedback adjusting device and is used for converting the actual pulse signal with the sine wave sequence amplitude into a first PWM waveform signal with the duty ratio corresponding to each pulse of the actual pulse signal with the sine wave sequence amplitude; converting the actual pulse signal with the amplitude of the cosine wave sequence into a second PWM waveform signal in which the duty ratio corresponds to each pulse of the actual pulse signal with the amplitude of the cosine wave sequence one by one; the first PWM waveform signal and the second PWM waveform signal are the actual control signals.
Preferably, the feedback signal is a current adjustment coefficient;
the feedback adjusting device is a multiplier and is specifically used for multiplying the amplitude of each pulse signal in the pulse signals with the amplitude of the sine wave sequence by the current adjusting coefficient to output the actual pulse signals with the amplitude of the sine wave sequence; and multiplying the amplitude of each pulse signal in the pulse signals with the amplitude being the cosine wave sequence by the current adjustment coefficient to output the actual pulse signals with the amplitude being the cosine wave sequence.
Preferably, the stepping motor driving circuit includes:
the input end of the pre-driving module is the input end of the stepping motor driving circuit and is used for converting the first PWM waveform signal into a first driving signal so as to drive a switching tube in a first bridge circuit to be switched on or switched off; converting the second PWM waveform signal into a second driving signal to drive a switching tube in a second bridge circuit to be switched on or switched off;
the first bridge circuit is used for generating a first driving voltage signal to the stepping motor based on the on and off of a switching tube of the first bridge circuit, so as to drive the operation of the stepping motor through a driving current signal in a sine wave form corresponding to the first driving voltage signal;
the input end is connected with the second output end of the pre-driving module, the output end is connected with the second control end of the stepping motor, and the second bridge circuit is used for generating a second driving voltage signal to the stepping motor based on the connection and disconnection of the switch tube of the second bridge circuit, so that the driving current signal in a cosine wave form corresponding to the second driving voltage signal drives the operation of the stepping motor.
Preferably, the stepping motor control device further includes:
the register is connected with the first output end, the second output end and the third output end of the register, and is used for storing the stepping number set by a user and a stepping mode corresponding to the direction so as to enable the micro-step processing module to generate a pulse number and a pulse signal corresponding to the stepping number based on the stepping mode set by the user; storing parameters of the stepping motor and amplitude values of pulse signals corresponding to the parameters of the stepping motor; and storing the frequency of the PWM waveform signal corresponding to the parameters of the stepping motor and the parameters of the stepping motor driving circuit.
Preferably, the micro-step processing device is further configured to subdivide the step number set by the user into a preset step number to generate a pulse signal corresponding to the pulse number and the preset step number, and the frequency of the pulse signal corresponding to the pulse number and the preset step number is the same as the frequency of subdividing the step number set by the user into the preset step number.
Preferably, the target control signal is a digital target control signal;
the stepping motor state detection device includes:
the comparator is used for comparing the target control signal of the analog quantity with the actual current signal and outputting a comparison result signal;
the digital-to-analog converter with an input end connected with the second output end of the stepping motor control device is used for converting the target current signal of digital quantity into the target current signal of analog quantity;
the first input end is connected with the third output end of the stepping motor control device, the second input end is connected with the output end of the comparator, and the output end is a signal processing device of the output end of the stepping motor state monitoring device and used for generating the feedback signal based on the comparison result signal and the target current signal of the digital quantity.
The application provides a stepping motor driving device, including stepping motor controlling means and stepping motor state detection device, stepping motor controlling means not only can be based on user's settlement generation target control signal, can also drive stepping motor's operation based on feedback signal and target control signal that stepping motor detection device generated, thereby can adjust stepping motor's operation when stepping motor's actual current signal does not satisfy target control signal's control result, can drive stepping motor operation with the electric current of guaranteeing to input to stepping motor, avoid because stepping motor's actual current signal does not satisfy target control signal's control result yet, but still drive failure or stepping motor that cause when driving stepping motor through target control signal loses steps.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and 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 to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a stepping motor driving device provided in the present invention;
fig. 2 is a schematic structural diagram of a stepping motor driving device according to the present invention.
Detailed Description
The core of the invention is to provide a stepping motor driving device, which not only can generate a target control signal based on the setting of a user, but also can drive the operation of the stepping motor based on a feedback signal and a target control signal generated by a stepping motor detection device, thereby adjusting the operation of the stepping motor when the actual current signal of the stepping motor does not meet the control result of the target control signal, ensuring that the current input to the stepping motor can drive the stepping motor to operate, and avoiding the driving failure or the stepping motor missing step caused when the stepping motor is still driven by the target control signal because the actual current signal of the stepping motor does not meet the control result of the target control signal.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a stepping motor driving device provided in the present invention, the stepping motor driving device including:
the stepping motor control device 1 is connected with a control end of the stepping motor 3 at a first output end and is used for generating a target control signal based on the setting of a user and generating a driving current signal based on the target control signal and a feedback signal so as to drive the operation of the stepping motor 3;
the stepping motor state detection device 2 is connected with the input end of the stepping motor 3 and the output end of the stepping motor state detection device is connected with the feedback signal input end of the stepping motor control device 1, and is used for detecting an actual current signal when the stepping motor 3 operates, converting the actual current signal into a feedback signal and sending the feedback signal to the stepping motor control device 1.
The applicant considers that when controlling the stepping motor 3, a drive current signal is generally generated based on only a user setting and input to the coil of the stepping motor 3 to realize driving of the stepping motor 3. However, when the stepping motor 3 is driven to operate the stepping motor 3 at a high speed, the counter electromotive force generated by the coil of the stepping motor 3 increases, and the counter electromotive force suppresses the change in the current, so that although the driving current signal corresponding to the target control signal generated based on the setting of the user is input, the driving result of the stepping motor 3 after the current is suppressed cannot satisfy the setting of the user, and the stepping motor 3 loses steps.
In order to solve the above technical problem, the present application further includes a stepping motor state detection device 2, which can generate an actual current signal when the stepping motor 3 operates, so that the stepping motor control device 1 can not only be set by a user, but also generate a driving current signal based on a feedback signal corresponding to the actual current signal of the stepping motor 3, that is, the stepping motor 3 is driven by a closed-loop feedback, thereby avoiding a step loss of the stepping motor 3.
In addition, the user sets a step number by which the user subdivides each step angle of the stepping motor 3, the target control signal is a pulse having a different amplitude corresponding to the step number, the driving current signal is a current input to the stepping motor 3 to drive the stepping motor 3, and when the stepping motor 3 is a two-phase stepping motor, the driving current signal includes a sine current signal and a cosine current signal to drive the two-phase stepping motor.
In the present application, the stepping motor state detection device 2 may detect the actual current signal on the coil of the stepping motor 3 by, but not limited to, a detection resistor when detecting the actual current signal when the stepping motor 3 is operating.
In summary, the present application can not only generate the target control signal based on the setting of the user, but also drive the operation of the stepping motor 3 based on the feedback signal and the target control signal generated by the stepping motor detection device, so as to adjust the operation of the stepping motor 3 when the actual current signal of the stepping motor 3 does not satisfy the control result of the target control signal, so as to ensure that the current input to the stepping motor 3 can drive the stepping motor 3 to operate, thereby avoiding the drive failure or step loss of the stepping motor 3 caused when the actual current signal of the stepping motor 3 does not satisfy the control result of the target control signal, but still drives the stepping motor 3 through the target control signal.
On the basis of the above-described embodiment:
as a preferred embodiment, the stepping motor control device 1 includes:
the feedback signal input end is a target signal generating device of the feedback signal input end of the stepping motor control device 1, and is used for generating a target current sine wave signal based on the stepping number of the stepping motor 3, the running direction of the stepping motor 3 and the parameters of the stepping motor 3 set by a user and outputting an actual control signal based on the target current sine wave signal and the feedback signal;
the stepping motor driving circuit is connected with the input end of the target signal generating device, and the output end of the stepping motor driving circuit is a first output end of the stepping motor control device 1 and is used for generating a driving current signal based on an actual control signal so as to drive the operation of the stepping motor 3.
The stepping motor control device 1 in this embodiment includes a target signal generation device and a stepping motor drive circuit, the target signal generation device can generate a target current sine wave signal based on the number of steps set by a user, the direction in which the stepping motor 3 operates, and parameters of the stepping motor 3 itself, and can generate an actual control signal based on the target current sine wave signal and a feedback signal, so as to control the stepping motor drive circuit, so that the stepping motor drive circuit correspondingly drives the stepping motor 3, thereby satisfying the requirements of the user, and avoiding step loss of the stepping motor 3.
As a preferred embodiment, the stepping motor 3 is a two-phase stepping motor;
the target signal generation device includes:
a micro-step processing device 11 for generating a pulse signal corresponding to the number of pulses and the number of steps based on the number and direction of steps set by a user;
a sine wave generator 12, the input end of which is connected with the output end of the micro-step processing device 11, for reading the amplitude value corresponding to each pulse set by the user, so as to generate a pulse signal with the amplitude value of a sine wave sequence and a pulse signal with the amplitude value of a cosine wave sequence corresponding to the pulse signal; pulse signals with sine wave sequences and pulse signals with cosine wave sequences are target current sine wave signals;
a target signal input end is connected with a target signal output end of the sine wave generator 12, and a feedback signal input end is a feedback adjusting device 13 of a feedback signal input end of the target signal generating device and is used for generating an actual pulse signal with the amplitude of the sine wave sequence based on the pulse signal with the amplitude of the sine wave sequence and the feedback signal; generating an actual pulse signal with the amplitude of the cosine wave sequence based on the pulse signal with the amplitude of the cosine wave sequence and the feedback signal;
a PWM (Pulse Width Modulation) chopper 14 having an input end connected to an output end of the feedback adjustment device 13, and configured to convert an actual Pulse signal having a sine wave sequence in amplitude into a first PWM waveform signal in which each Pulse of the actual Pulse signal having a sine wave sequence in duty ratio and amplitude corresponds to one Pulse; converting the actual pulse signal with the amplitude of the cosine wave sequence into a second PWM waveform signal with duty ratio and one-to-one correspondence to each pulse of the actual pulse signal with the amplitude of the cosine wave sequence; the first PWM waveform signal and the second PWM waveform signal are actual control signals.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a stepping motor driving device according to the present invention.
The target signal generating device in this embodiment includes a micro-step processing device 11, a sine wave generator 12, a feedback adjusting device 13, and a PWM chopper 14, the micro-step processing device 11 can receive the settings of the number and direction of steps of the stepping motor 3 sent by the user, for example, the user sets the number of steps to 1/2 steps, 1/8 steps, 1/16 steps, 1/32 steps, 1/64 steps, 1/128 steps, and 1/256 steps, and the micro-step processing device 11 outputs corresponding pulses. When the user sets 1/2 step, two pulses are output, that is, the stepping motor 3 steps two steps to step by one step angle; when 1/256 steps are set by the user, 256 pulses are output, i.e., the stepping motor 3 takes 256 steps and then takes a step angle. Of course, the more steps taken at a step angle the more stable the number of steps taken.
The sine wave generator 12 can reset the amplitude of the pulse signal output from the micro-step processing device 11, that is, reset the amplitude of the pulse signal based on the parameters of the stepping motor 3, thereby setting the amplitude of the pulse signal to fluctuate in the form of a sine signal or a cosine signal. For example, the user preset the amplitude of each pulse corresponding to different step numbers, that is, when 1/2 steps the amplitude of two pulses correspondingly set, 1/8 steps the amplitude of 8 pulses correspondingly set, 1/16 steps the amplitude of 16 pulses correspondingly set, 1/32 steps the amplitude of 32 pulses correspondingly set, 1/64 steps the amplitude of 64 pulses correspondingly set, 1/128 steps the amplitude of 128 pulses correspondingly set and 1/256 steps the amplitude of 256 pulses correspondingly set. When the sine wave generator 12 receives the pulse signals sent by the micro-step processing device 11, according to the amplitudes of the pulses corresponding to the number of pulses set by the user, generating pulse signals with sine wave sequence amplitudes and pulse signals with cosine wave sequence amplitudes corresponding to the pulse signals; for example, when the user sets the number of steps to be 1/256 steps, the micro-step processing device 11 outputs 256 pulses, the sine wave generator 12 reads 1/256 the amplitude corresponding to the first pulse of the 256 pulses set corresponding to the step when receiving the first pulse, reads 1/256 the amplitude corresponding to the second pulse of the 256 pulses set corresponding to the step when receiving the second pulse, and so on until 256 pulses are output. Certainly, when setting the amplitude of each pulse corresponding to different step numbers, the user needs to set the amplitude of each pulse according to not only a sine waveform but also a cosine waveform, so that the sine wave generator 12 generates a pulse signal having a sine wave sequence and a pulse signal having a cosine wave sequence.
The PWM chopper 14 chops the actual pulse signal output by the feedback adjustment device 13, for example, when the step number set by the user is 1/256 steps, the duty ratio in the first period of the first PWM waveform signal corresponding to the first pulse in the actual pulse signal of the sine wave sequence is 0, the duty ratio in the first period of the first PWM waveform signal corresponding to the 256 th pulse in the actual pulse signal of the sine wave sequence is 1, and so on, the first PWM waveform signal and the second PWM waveform signal can be obtained, so that the stepping motor driving device drives the stepping motor 3 to meet the user's demand.
The applicant has also considered that chopping the actual pulse signal output from the feedback adjustment device 13 with a signal having a different frequency, although at a high speed, causes a large noise in the stepping motor 3. The frequency of the PWM waveform output by the PWM chopper 14 is fixed, and the effects of reducing noise and ensuring the normal operation of the switching tube in the stepping motor driving circuit can be achieved as long as the frequency of the PWM waveform of the PWM chopper 14 is set to a frequency at which the noise is not heard by human ears and a frequency at which the normal operation of the switching tube in the stepping motor driving circuit is not affected.
It should be noted that, in the present application, the stepping motor 3 is divided into a plurality of steps by operating one stepping angle, which may also be referred to as dividing the stepping motor 3 into a plurality of micro steps by operating one stepping angle.
As a preferred embodiment, the feedback signal is a current adjustment coefficient;
the feedback adjusting device 13 is a multiplier, and is specifically configured to multiply the amplitude of each pulse signal in the pulse signal with the amplitude of the sine wave sequence by the current adjusting coefficient to output an actual pulse signal with the amplitude of the sine wave sequence; and multiplying the amplitude of each pulse signal in the pulse signals with the amplitude of the cosine wave sequence by the current adjustment coefficient to output the actual pulse signals with the amplitude of the cosine wave sequence.
The stepping motor state detection device 2 converts an actual current signal of the stepping motor 3 into a current adjustment coefficient, and the feedback adjustment device 13, that is, the multiplier multiplies the amplitude value of each pulse signal in the pulse signal with the amplitude value of a sine wave sequence by the current adjustment coefficient, multiplies the amplitude value of each pulse signal in the pulse signal with the amplitude value of a cosine wave sequence by the current adjustment coefficient to obtain a corresponding actual pulse signal, thereby driving the stepping motor 3.
As a preferred embodiment, the stepping motor driving circuit includes:
the pre-driving module 15 has an input end which is an input end of the stepping motor driving circuit and is configured to convert the first PWM waveform signal into a first driving signal to drive a switching tube in the first bridge circuit 16 to be turned on or off; converting the second PWM waveform signal into a second driving signal to drive the switching tube of the second bridge circuit 17 to be turned on or off;
the first bridge circuit 16 is used for generating a first driving voltage signal to the stepping motor 3 based on the on and off of a switching tube of the first bridge circuit, and the output end of the first bridge circuit is connected with the first output end of the pre-driving module 15, so that the stepping motor 3 is driven to operate through a driving current signal in a sine wave form corresponding to the first driving voltage signal;
the second bridge circuit 17, the input end of which is connected to the second output end of the pre-driving module 15 and the output end of which is connected to the second control end of the stepping motor 3, is configured to generate a second driving voltage signal to the stepping motor 3 based on the on and off of the switching tube itself, so as to drive the operation of the stepping motor 3 by a driving current signal in the form of a cosine wave corresponding to the second driving voltage signal.
The pre-driving module 15 in the present application drives the switch tube in the first bridge circuit 16 by converting the first PWM waveform signal into the first driving signal, and drives the switch tube in the second bridge circuit 17 by converting the second PWM waveform signal into the second driving signal, so that the first bridge circuit 16 and the second bridge circuit 17 output corresponding driving voltage signals, and drives the stepping motor 3 by the driving current signal in the sine wave form corresponding to the first driving voltage signal and the driving current signal in the cosine wave form corresponding to the second driving voltage signal, thereby satisfying the user's requirement.
It can be seen that, in the present application, when the stepping motor 3 is driven, the voltage driving mode is adopted, that is, the driving voltage signal is adjusted by adjusting the duty ratio of the PWM waveform signal, so as to adjust the driving current signal, and the chopping frequency of the voltage driving mode is kept constant in the whole electrical cycle, so that the noise of the stepping motor 3 is small when the stepping motor 3 is driven.
As a preferred embodiment, the stepping motor control device 1 further includes:
the register with a first output end connected with the micro-step processing device 11, a second output end connected with the sine wave generator 12 and a third output end connected with the PWM chopper 14 is used for storing the step number and the step mode corresponding to the direction set by the user so that the micro-step processing module generates pulse signals corresponding to the pulse number and the step number based on the step mode set by the user; storing parameters of the stepping motor 3 and amplitude values of pulse signals corresponding to the parameters of the stepping motor 3; the frequency of the PWM waveform signal corresponding to the parameter of the stepping motor 3 and the parameter of the stepping motor drive circuit is stored.
In order to enable the micro-step processing device 11 to output a pulse signal corresponding to the setting of the user, enable the target generating device to reset the amplitude of the pulse signal generated by the micro-step processing device 11 based on the parameter of the stepping motor 3 and the amplitude of the pulse signal corresponding to the parameter of the stepping motor 3, and enable the PWM chopper 14 to chop the actual pulse signal with the amplitude of the sine wave sequence and the actual pulse signal with the amplitude of the cosine wave sequence, a register is further provided in the application, so that the stepping motor control device 1 can drive the stepping motor 3 based on the setting of the user.
As a preferred embodiment, the microstep processing device 11 is further configured to subdivide the step number set by the user into a preset step number to generate a pulse signal corresponding to the pulse number and the preset step number, and the frequency of the pulse signal corresponding to the pulse number and the preset step number is the same as the frequency of subdividing the step number set by the user into the preset step number.
In addition, the micro-step processing device 11 can further subdivide the step number set by the user into the preset step number, for example, when the step number set by the user is 1/2 steps, if the user also sets that the micro-step processing device 11 can further subdivide, the micro-step processing device 11 further subdivides two pulses into 256 small pulses by science and technology, and the driving current signal output by the stepping motor control device 1 is closer to a sine wave form or a cosine wave form, so that the driving speed of the stepping motor 3 is ensured, the stability of the stepping motor 3 is improved, and ultra-silence during the operation of the stepping motor 3 is realized.
As a preferred embodiment, the target control signal is a digital target control signal;
the stepping motor state detection device 2 includes:
the comparator 21 is connected with the first input end of the stepping motor 3 and the second input end of the stepping motor and the digital-to-analog conversion module, and is used for comparing a target control signal of an analog quantity with an actual current signal and outputting a comparison result signal;
the digital-to-analog converter 22 with an input end connected with the second output end of the stepping motor control device 1 is used for converting the target current signal of digital quantity into the target current signal of analog quantity;
the first input end is connected with the third output end of the stepping motor control device 1, the second input end is connected with the output end of the comparator 21, and the output end is a signal processing device 23 of the output end of the stepping motor state detection device 2, and the signal processing device is used for generating a feedback signal based on the comparison result signal and the target current signal of the digital quantity.
The digital-to-analog converter 22 provided in the stepping motor state detection device 2 in the present application can convert a target control signal of a digital quantity into a target control signal of an analog quantity, so that the comparator 21 compares the target control signal with an actual current to obtain a comparison result signal, and the signal processing device 23 generates a feedback signal, i.e., a current adjustment coefficient, based on the target current signal and the comparison result signal, so that the stepping motor control device 1 controls the stepping motor 3 based on the current adjustment coefficient to meet the user's demand.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A stepping motor driving device, comprising:
the stepping motor control device is connected with the control end of the stepping motor at a first output end and used for generating a target control signal based on the setting of a user and generating a driving current signal based on the target control signal and a feedback signal so as to drive the operation of the stepping motor;
the stepping motor state detection device is used for detecting an actual current signal when the stepping motor runs, converting the actual current signal into the feedback signal and sending the feedback signal to the stepping motor control device.
2. The stepping motor driving device according to claim 1, wherein said stepping motor control means comprises:
the feedback signal input end is a target signal generating device of the feedback signal input end of the stepping motor control device and is used for generating a target current sine wave signal based on the stepping number of the stepping motor, the running direction of the stepping motor and the parameters of the stepping motor set by a user and outputting an actual control signal based on the target current sine wave signal and the feedback signal;
the input end of the stepping motor driving circuit is connected with the output end of the target signal generating device, and the output end of the stepping motor driving circuit is a first output end of the stepping motor control device and used for generating the driving current signal based on the actual control signal so as to drive the operation of the stepping motor.
3. The stepping motor driving device according to claim 2, wherein said stepping motor is a two-phase stepping motor;
the target signal generation apparatus includes:
the micro-step processing device is used for generating pulse signals corresponding to the number of pulses and the number of steps based on the number of steps and the direction set by a user;
the input end of the sine wave generator is connected with the output end of the micro-step processing device and is used for reading the amplitude value corresponding to each pulse set by a user so as to generate a pulse signal with the amplitude value of a sine wave sequence and a pulse signal with the amplitude value of a cosine wave sequence, which correspond to the pulse signals; the pulse signal with the amplitude of the sine wave sequence and the pulse signal with the amplitude of the cosine wave sequence are the target current sine wave signals;
the feedback signal input end is a feedback adjusting device of the feedback signal input end of the target signal generating device and is used for generating an actual pulse signal with the sine wave sequence based on the pulse signal with the sine wave sequence amplitude and the feedback signal; generating an actual pulse signal with the amplitude of the cosine wave sequence based on the pulse signal with the amplitude of the cosine wave sequence and the feedback signal;
the input end of the pulse width modulation PWM chopper is connected with the output end of the feedback adjusting device and is used for converting the actual pulse signal with the sine wave sequence amplitude into a first PWM waveform signal with the duty ratio corresponding to each pulse of the actual pulse signal with the sine wave sequence amplitude; converting the actual pulse signal with the amplitude of the cosine wave sequence into a second PWM waveform signal in which the duty ratio corresponds to each pulse of the actual pulse signal with the amplitude of the cosine wave sequence one by one; the first PWM waveform signal and the second PWM waveform signal are the actual control signals.
4. The stepping motor driving apparatus according to claim 3, wherein said feedback signal is a current adjustment coefficient;
the feedback adjusting device is a multiplier and is specifically used for multiplying the amplitude of each pulse signal in the pulse signals with the amplitude of the sine wave sequence by the current adjusting coefficient to output the actual pulse signals with the amplitude of the sine wave sequence; and multiplying the amplitude of each pulse signal in the pulse signals with the amplitude being the cosine wave sequence by the current adjustment coefficient to output the actual pulse signals with the amplitude being the cosine wave sequence.
5. The stepping motor driving device according to claim 3, wherein said stepping motor driving circuit comprises:
the input end of the pre-driving module is the input end of the stepping motor driving circuit and is used for converting the first PWM waveform signal into a first driving signal so as to drive a switching tube in a first bridge circuit to be switched on or switched off; converting the second PWM waveform signal into a second driving signal to drive a switching tube in a second bridge circuit to be switched on or switched off;
the first bridge circuit is used for generating a first driving voltage signal to the stepping motor based on the on and off of a switching tube of the first bridge circuit, so as to drive the operation of the stepping motor through a driving current signal in a sine wave form corresponding to the first driving voltage signal;
the input end is connected with the second output end of the pre-driving module, the output end is connected with the second control end of the stepping motor, and the second bridge circuit is used for generating a second driving voltage signal to the stepping motor based on the connection and disconnection of the switch tube of the second bridge circuit, so that the driving current signal in a cosine wave form corresponding to the second driving voltage signal drives the operation of the stepping motor.
6. The stepping motor driving device according to claim 3, wherein said stepping motor control device further comprises:
the register is connected with the first output end, the second output end and the third output end of the register, and is used for storing the stepping number set by a user and a stepping mode corresponding to the direction so as to enable the micro-step processing module to generate a pulse number and a pulse signal corresponding to the stepping number based on the stepping mode set by the user; storing parameters of the stepping motor and amplitude values of pulse signals corresponding to the parameters of the stepping motor; and storing the frequency of the PWM waveform signal corresponding to the parameters of the stepping motor and the parameters of the stepping motor driving circuit.
7. The stepping motor driving device according to claim 3, wherein said microstep processing means is further configured to subdivide said number of steps set by a user into a preset number of steps to generate a pulse signal corresponding to a number of pulses and said preset number of steps, and a frequency of said pulse signal corresponding to said number of pulses and said preset number of steps is the same as a frequency of subdividing said number of steps set by a user into a preset number of steps.
8. The stepping motor driving device according to any of claims 1 to 7, wherein said target control signal is a digital quantity of target control signal;
the stepping motor state detection device includes:
the comparator is used for comparing the target control signal of the analog quantity with the actual current signal and outputting a comparison result signal;
the digital-to-analog converter with an input end connected with the second output end of the stepping motor control device is used for converting the target current signal of digital quantity into the target current signal of analog quantity;
the first input end is connected with the third output end of the stepping motor control device, the second input end is connected with the output end of the comparator, and the output end is a signal processing device of the output end of the stepping motor state monitoring device and used for generating the feedback signal based on the comparison result signal and the target current signal of the digital quantity.
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| CN202110448979.9A CN112968637A (en) | 2021-04-25 | 2021-04-25 | Stepping motor driving device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113315426A (en) * | 2021-06-16 | 2021-08-27 | 杭州瑞盟科技有限公司 | Driving device of stepping motor and motor system |
| CN113809962A (en) * | 2021-11-18 | 2021-12-17 | 杭州瑞盟科技有限公司 | Stepping motor driving system and motor system |
| CN116633214A (en) * | 2023-07-24 | 2023-08-22 | 晶艺半导体有限公司 | Micro-step driving circuit and method for stepping motor system |
-
2021
- 2021-04-25 CN CN202110448979.9A patent/CN112968637A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113315426A (en) * | 2021-06-16 | 2021-08-27 | 杭州瑞盟科技有限公司 | Driving device of stepping motor and motor system |
| CN113809962A (en) * | 2021-11-18 | 2021-12-17 | 杭州瑞盟科技有限公司 | Stepping motor driving system and motor system |
| CN113809962B (en) * | 2021-11-18 | 2022-06-17 | 杭州瑞盟科技股份有限公司 | Stepping motor driving system and motor system |
| CN116633214A (en) * | 2023-07-24 | 2023-08-22 | 晶艺半导体有限公司 | Micro-step driving circuit and method for stepping motor system |
| CN116633214B (en) * | 2023-07-24 | 2023-09-15 | 晶艺半导体有限公司 | Micro-step driving circuit and method for stepping motor system |
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