CN113060584A - Control system for stepping motor - Google Patents
Control system for stepping motor Download PDFInfo
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- CN113060584A CN113060584A CN202110322034.2A CN202110322034A CN113060584A CN 113060584 A CN113060584 A CN 113060584A CN 202110322034 A CN202110322034 A CN 202110322034A CN 113060584 A CN113060584 A CN 113060584A
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- module
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- stepping motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
- B65H23/032—Controlling transverse register of web
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
Abstract
The invention relates to the field of control circuits of stepping motors, in particular to a control system for a stepping motor, which comprises a deviation-rectifying sensing module, a signal amplification module, a driving module and a control module, wherein the deviation-rectifying sensing module is used for detecting forward offset and reverse offset in the winding process of a coiled material, amplifying the forward offset and the reverse offset by the signal amplification module and then transmitting the forward offset and the reverse offset to the control module, the control module transmits a control signal to the driving module according to the forward offset and the reverse offset, and the driving module transmits a forward driving signal or a reverse driving signal to the stepping motor according to the control signal. The invention corrects the forward offset and the reverse offset in the coiled material winding production process, particularly for the coiled material conveyed back and forth, does not need to additionally install deviation correction control equipment, is automatically controlled, does not need manual intervention, saves the labor cost, is suitable for both material winding and unwinding, has high precision and wide application range in industrial control sites.
Description
Technical Field
The invention relates to the field of control circuits of stepping motors, in particular to a control system for a stepping motor.
Background
A stepper motor is an electric motor that converts electrical pulse signals into corresponding angular or linear displacements. The rotor rotates an angle or one step before inputting a pulse signal, the output angular displacement or linear displacement is proportional to the input pulse number, and the rotating speed is proportional to the pulse frequency. Therefore, the stepping motor is widely applied to industrial production, and in order to improve the industrial production efficiency, the stepping motor needs to be automatically controlled to work according to a preset requirement.
When coiled materials such as paper, battery film coiled materials, plastic films, metal foils and non-woven fabrics are coiled and processed, a deviation rectifying frame which swings to and fro needs to be arranged to rectify deviation of the coiled materials in the coiling process, a stepping motor serves as a power source of the deviation rectifying frame which swings to and fro, the work control of the stepping motor is very accurate, and the existing motor controller cannot control according to the deviation rectifying of the coiled materials, so that the coiling work efficiency of the coiled materials is influenced.
Disclosure of Invention
The invention aims to provide a control system for a stepping motor, which is used for controlling the stepping motor to correct the winding of a coiled material.
A control system for step motor in this scheme, including rectifying sensing module, signal amplification module, drive module and control module, rectifying sensing module is used for detecting the forward offset and the reverse offset of coiled material coiling in-process to send to control module after signal amplification module enlargies, control module sends control signal to drive module according to forward offset and reverse offset, drive module sends forward drive signal or reverse drive signal to step motor according to control signal.
The beneficial effect of this scheme is:
the device comprises a deviation-correcting sensing module, a control module, a driving module and a control module, wherein the deviation-correcting sensing module is used for detecting forward deviation and reverse deviation in the winding process of the coiled material, the detected forward deviation and reverse deviation are amplified and then sent to the control module, the control module sends control signals to the driving module according to the forward deviation and the reverse deviation, the driving module drives a stepping motor or a stepping motor to correct according to the control signals, the same control system is used for correcting the deviation of two directions, two control systems do not need to be arranged, different control systems do not need to be replaced, and the device is more convenient.
Further, still include the switch module, switch module electricity is connected between drive module and step motor, drive module's drive signal is through the output forward drive signal or the reverse drive signal of switch module backward step motor.
The beneficial effects are that: the switch module is used for transmitting the driving signal of the driving module to the stepping motor, so that the control effectiveness of the stepping motor is ensured.
Further, the switch module comprises a regulating circuit, the regulating circuit comprises a first field effect transistor (Q2), a second field effect transistor (Q4), a third field effect transistor (Q3) and a fourth field effect transistor (Q5), the first field effect transistor (Q2) and the second field effect transistor (Q4) output forward driving signals to the stepping motor, and the third field effect transistor (Q3) and the fourth field effect transistor (Q5) output reverse driving signals to the stepping motor.
The beneficial effects are that: the control of the stepping motor is carried out through the field effect transistor, the stepping motor can be started and stopped quickly, and the accurate control of the stepping motor is improved so as to correct the deviation accurately.
Further, the signal amplification module comprises a first amplifier (AR1A) and a second amplifier (AR1B), the deviation rectification sensing module comprises a forward deviation Sensor (Sensor1) and a reverse deviation Sensor (Sensor2), the forward deviation Sensor (Sensor1) is connected to a forward input pin (5) of the first amplifier (AR1A) through signals, and the reverse deviation Sensor (Sensor2) is connected to a forward input pin (3) of the second amplifier (AR1B) through signals.
The beneficial effects are that: through the two amplifiers, the forward offset and the reverse offset can be amplified independently, and the accuracy after offset processing is ensured.
Further, the forward offset Sensor (Sensor1) and the reverse offset Sensor (Sensor2) are connected to the first amplifier (AR1A) and the second amplifier (AR1B) through a four-port pin (J9).
The beneficial effects are that: carry out the skew detection of coiled material rolling with unreeling the in-process through two sensors, need not adjust the sensor position once more when the rolling or unreel, it is more convenient to use.
Further, the memory module comprises a memory (U5), a clock input pin (SCLK) of the memory is connected with one end of a fifty-eighth resistor (R58), a serial input pin (SDA) of the memory is connected with one end of a fifty-ninth resistor (R59), the other end of the fifty-eighth resistor (R58) and the other end of the fifty-ninth resistor (R59) are connected in parallel and then connected with a power supply pin (VCC) of the memory, the rest pins of the memory are grounded, and the clock input pin (SCLK) and the serial input pin (SDA) of the memory are in signal connection with the control module.
Further, the display module is further included and comprises a display driver (J1) and a display screen, and the display driver (J1) is connected between the control module and the display screen in a signal mode.
The beneficial effects are that: the display module can display the content of the deviation correction control, and the content of the deviation correction control can be checked more intuitively.
Further, the display device further comprises a communication module, the communication module comprises a communicator (U4) used for transmitting information to the display module, a receiving output end (RO) and a driving input end (DI) of the communicator (U4) are connected to the control module in a signal mode, and a receiving output enabling end (RE) and a driving output enabling end (DE) of the communicator (U4) are connected in parallel and then connected to the control module in a signal mode.
The beneficial effects are that: and the display module is used for displaying the information of the control process in time.
Drawings
FIG. 1 is a schematic block diagram of a first embodiment of a control system for a stepper motor according to the present invention;
FIG. 2 is a pin layout diagram of a control module in an embodiment of a control system for a stepper motor according to the present invention;
FIG. 3 is a diagram of a pin layout of a driving module in an embodiment of a control system for a stepping motor according to the present invention;
FIG. 4 is a pin connection diagram of a transceiver and a line receiver in an embodiment of a control system for a stepper motor according to the present invention;
FIG. 5 is a schematic circuit diagram of a regulating circuit in a first embodiment of the control system for a stepping motor according to the present invention;
FIG. 6 is a schematic circuit diagram of a signal amplification module according to a first embodiment of the present invention;
FIG. 7 is a diagram of a sensor connection pin in the first embodiment of the control system for a stepper motor according to the present invention;
FIG. 8 is a schematic circuit diagram of a memory module of the control system for a stepper motor according to an embodiment of the present invention;
FIG. 9 is a schematic circuit diagram of a communication module of the control system for a stepping motor according to the first embodiment of the present invention;
FIG. 10 is a schematic circuit diagram of a display driver in the first embodiment of the control system for a step motor according to the present invention;
fig. 11 is a longitudinal sectional view of a spacer in a third embodiment of the control system for a stepping motor according to the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
Control system for a stepper motor, as shown in fig. 1: the device comprises a deviation-rectifying sensing module, a signal amplification module, a driving module, a switch module, a storage module, a communication module, a display module and a control module, wherein the signal amplification module, the driving module, the switch module, the storage module, the communication module and the control module are positioned on a first circuit board, the display module is positioned on a second circuit board, the deviation-rectifying sensing module transmits information with the control module on the first circuit board through a data line, the first circuit board and the second circuit board carry out information interaction through the communication module, namely the information on the first circuit board is transmitted to the display module on the second circuit board through the communication module to be displayed, the deviation-rectifying sensing module is used for detecting the forward deviation and the reverse deviation in the coiling process of the coiled material, the forward deviation is the deviation in the width direction when the coiled material is transmitted forwards, and the reverse deviation is the deviation in the width direction when, the forward offset and the reverse offset are amplified by the signal amplification module and then are sent to the control module, the control module sends a control signal to the driving module according to the received forward offset and the reverse offset, the driving module sends a forward driving signal or a reverse driving signal to the stepping motor according to the control signal, and the stepping motor is a product of STP-42D type.
As shown in fig. 2, 3 and 4, the switch module is electrically connected between the driving module and the stepping motor, the driving module is a single-axis driving control chip of TMC5160-TA model, the control module may use a control chip of STM32F103RCT6 model or may use a control chip of AT32F413RCT7 model, a driving enable pin (DRV _ ENN) of the driving module is in signal connection with a PA7 pin of the control module, a CSN _ CFG3 pin, an SPI _ SCK pin, an SPI _ MOSI pin and an SPI _ MISO pin of the driving module are in signal connection with a PB12 pin, a PB13 pin, a PB14 pin and a PB15 pin of the control module respectively, that is, the driving module is in signal connection with the control module through an SPI bus, an ENCA _ cfin _ CFG5 pin of the driving module is in signal connection with a PA11 pin of the control module, an ENCB _ DCEN _ CFG 2 pin of the driving module is in signal connection with a PA12 pin of the control module, and a dcca _ in pin is connected with a transceiver pin 11 of a dcu 84, the transceiver U9 is a SN74LVC3G17DCUR type chip, a lead wire led out between an ENCB _ DCEN _ CFG4 pin and a PA12 pin is connected to a 1Y pin of the transceiver U9, a 1A pin of the transceiver U9 is connected to a 1Y pin of the line receiver U8 in a signal mode, the line receiver U8 is an AM26LS32 type chip, and a 2A pin of the transceiver U9 is connected to a 2Y pin of the line receiver U8 in a signal mode.
As shown in fig. 5, during forward deviation correction, the driving signal of the driving module outputs a forward driving signal to the stepping motor through the switching module, and during reverse deviation correction, the driving signal of the driving module outputs a reverse driving signal to the stepping motor through the switching module; the specific circuit diagram is that the switch module includes an adjusting circuit, the adjusting circuit includes a first field-effect transistor Q2, a second field-effect transistor Q4, a third field-effect transistor Q3 and a fourth field-effect transistor Q5, the first field-effect transistor Q2, the second field-effect transistor Q4, the third field-effect transistor Q3 and the fourth field-effect transistor Q5 are double N-channel MOS transistors, the first field-effect transistor Q2, the second field-effect transistor Q4, the third field-effect transistor Q3 and the fourth field-effect transistor Q5 can be products of the existing AO4882 model, or can be products of the AO4884 model, the first field-effect transistor Q2 and the second field-effect transistor Q4 output forward driving signals to the stepping motor, and the third field-effect transistor Q3 and the fourth field-effect transistor Q5 output reverse driving signals to the stepping motor.
As shown in fig. 6, the signal amplification module includes a first amplifier AR1A and a second amplifier AR1B, the deviation rectification sensing module includes a forward deviation Sensor1 and a reverse deviation Sensor2, the forward deviation Sensor1 and the reverse deviation Sensor2 can use the existing ultrasonic wave or infrared Sensor, the forward deviation amount and the reverse deviation amount are measured by different voltage levels fed back by the sensors, the forward deviation Sensor1 is connected to the forward input pin (5) of the first amplifier AR1A in a signal mode, the reverse deviation Sensor2 is connected to the forward input pin 3 of the second amplifier AR1B in a signal mode, the ground pins of the first amplifier AR1A and the second amplifier AR1B are connected in parallel to one ends of a tenth resistor R10 and a fifteenth capacitor C15, and the other ends of the tenth resistor R10 and the fifteenth capacitor C15 are connected in parallel to ground.
As shown in fig. 7, the forward offset Sensor1 and the reverse offset Sensor2 are connected to the first amplifier AR1A and the second amplifier AR1B through a four-port pin J9.
As shown in fig. 8, the memory module includes a memory U5, the memory U5 may be a chip of an existing 24C02 model, a clock input pin SCLK of the memory is connected to one end of a fifty-eighth resistor R58, a serial input pin SDA of the memory is connected to one end of a fifty-ninth resistor R59, the other end of the fifty-eighth resistor R58 and the other end of the fifty-ninth resistor R59 are connected in parallel and then connected to a power pin VCC of the memory, the rest pins of the memory are grounded, the clock input pin SCLK and the serial input pin SDA of the memory are connected to the control module by signals, the memory stores all contents of core parameters of the control module, including user-adjustable contents such as skew correction gain, dead zone, speed, and the like, and also includes real-time saving of motor position power down, the user-adjusted contents are sent to the control module by a key, the key inputs an adjusting, specifically PC0, PC1, PC2, and PC3 pins on the control chip.
As shown in fig. 9, the communication module includes a communicator U4, the communicator U4 may be conventional, a receiving output RO and a driving input DI of the communicator U4 are respectively signal-connected to a pin PB11 and a pin PB10 of the control module, and a receiving output enable RE and a driving output enable DE of the communicator U4 are signal-connected to a pin PB2 of the control module after being connected in parallel.
As shown in fig. 10, the display module includes a display driver J1 and a display screen, and the display driver J1 is signal-connected between the control module and the display screen.
The specific implementation process is as follows:
in the process of processing the coiled material, when the stepping motor is controlled, the forward offset of the coiled material is detected through a forward offset Sensor1, the forward offset is processed and amplified through a first amplifier AR1A of an amplification module and then is input into a control module, namely the amplified forward offset is subjected to analog-to-digital conversion through a PA4 pin of a control chip, and the control module obtains a corresponding control signal according to the forward offset and sends the control signal to a driving module; the driving module converts the control signal into a forward driving signal through a field effect transistor regulating circuit of the switch module, and outputs the forward driving signal to the stepping motor to enable the stepping motor to carry out forward deviation correction.
When reverse deviation correction is carried out, the reverse deviation amount of the coiled material is detected through a reverse deviation Sensor2, the reverse deviation amount is processed and amplified through a second amplifier AR1B of the amplification module and then is input into the control module, namely, the amplified reverse deviation amount is subjected to analog-to-digital conversion through a control chip, and the control module obtains a corresponding control signal according to the reverse deviation amount and sends the control signal to the driving module; the driving module converts the control signal into a reverse driving signal through a field effect transistor regulating circuit of the switch module, and outputs the reverse driving signal to the stepping motor to enable the stepping motor to carry out reverse deviation correction.
And the control parameters generated in the deviation rectifying process are sent to the display module through the communication module to be displayed.
This embodiment one is through same control circuit, forward and reverse offset to in the coiled material coiling production process is corrected, especially to the coiled material of making a round trip to convey, if the rolling process of coiled material with unreel the process, need not to additionally install the controlgear of rectifying respectively to the rolling process with unreel the process, the installation space of sparingly equipment, only need install the controlgear of rectifying once can, also need not to change controlgear respectively to rolling and unreeling, the human cost has been saved, step motor's whole process automatic control, need not artificial intervention, and the material is received and is unreeled and all can be suitable for, high accuracy, application scope at the industrial control scene is very wide.
Example two
The difference from the first embodiment is that the forward deviation Sensor1 and the reverse deviation Sensor2 are detachably arranged at two sides of the width direction of the coiled material respectively, for example, the two sensors are detachably connected through a screw and a nut, the control module sends control signals to the driving module according to the received forward deviation amount and the received reverse deviation amount, for example, the forward deviation amount indicates deviation from the forward deviation Sensor1, then the deviation is corrected to one side of the forward deviation Sensor1, the driving module sends a forward driving signal or a reverse driving signal to the stepping motor according to the control signals, namely, the forward deviation Sensor1 and the reverse deviation Sensor2 are combined to be used as a signal input in the coil detection to keep the coiled material at the middle position between the forward deviation Sensor1 and the reverse deviation Sensor2, and the two sensors are detachably connected to adjust the distance between each other, the method is suitable for the coiled materials with different widths, and has wider application range.
EXAMPLE III
The difference from the second embodiment is that, as shown in fig. 11, U-shaped isolation sleeves 1 are mounted on the end edges of the first circuit board and the second circuit board, two isolation sleeves 1 are respectively disposed on the first circuit board and the second circuit board, the isolation sleeves 1 are made of rubber, the width of the U-shaped opening of the isolation sleeve 1 is smaller than the thickness of the first circuit board and the second circuit board, a cylindrical sleeve 2 is bonded on the isolation sleeve 1, a support column is inserted into the sleeve 2 in a damping manner, and the inner diameter of the sleeve 2 is smaller than that of the support column.
Because first circuit board and second circuit board have different functions respectively, and when two actual circuit board installations, because the aesthetic property of the whole outward appearance of product to and the volume problem after the product equipment, first circuit board and second circuit board need be installed with overlapping position mode, and after the installation circuit board, the circuit board can not rock at will in the use, so, the circuit board produces the friction with the shell inner wall when installing in the shell of product and arouses static easily. This embodiment is three, through the spacer sleeve on two circuit board borders, can keep apart the rigid friction of circuit board during installation with the shell, simultaneously, spacer sleeve 1 also can the separation static, prevents that the static that the circuit board produced from conducting to the shell in the use, and, the spacer sleeve on two circuit boards supports through the support column, just can fix the interval of two circuit boards before in the shell with two circuit board installations, need not follow-up interval of adjusting repeatedly.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. A control system for a stepper motor, characterized by: including deviation-correcting sensing module, signal amplification module, drive module and control module, deviation-correcting sensing module is used for detecting the forward offset and the reverse offset of coiled material coiling in-process to send to control module after signal amplification module enlargies the processing, control module sends control signal to drive module according to forward offset and reverse offset, drive module sends forward drive signal or reverse drive signal to step motor according to control signal.
2. The control system for a stepping motor according to claim 1, wherein: still include the switch module, switch module electric connection is between drive module and step motor, drive module's drive signal is to step motor output forward drive signal or reverse drive signal behind the switch module.
3. The control system for a stepping motor according to claim 2, wherein: the switch module comprises a regulating circuit, the regulating circuit comprises a first field effect transistor (Q2), a second field effect transistor (Q4), a third field effect transistor (Q3) and a fourth field effect transistor (Q5), the first field effect transistor (Q2) and the second field effect transistor (Q4) output forward driving signals to the stepping motor, and the third field effect transistor (Q3) and the fourth field effect transistor (Q5) output reverse driving signals to the stepping motor.
4. The control system for a stepping motor according to claim 3, wherein: the signal amplification module comprises a first amplifier (AR1A) and a second amplifier (AR1B), the deviation rectification sensing module comprises a forward deviation Sensor (Sensor1) and a reverse deviation Sensor (Sensor2), the forward deviation Sensor (Sensor1) is connected to a forward input pin (5) of the first amplifier (AR1A) through signals, and the reverse deviation Sensor (Sensor2) is connected to a forward input pin (3) of the second amplifier (AR1B) through signals.
5. The control system for a stepping motor according to claim 4, wherein: the forward offset Sensor (Sensor1) and the reverse offset Sensor (Sensor2) are connected to the first amplifier (AR1A) and the second amplifier (AR1B) via a four-port pin (J9).
6. The control system for a stepping motor according to claim 1, wherein: the memory module comprises a memory (U5), a clock input pin (SCLK) of the memory is connected with one end of a fifty-eight resistor (R58), a serial input pin (SDA) of the memory is connected with one end of a fifty-ninth resistor (R59), the other end of the fifty-eight resistor (R58) and the other end of the fifty-ninth resistor (R59) are connected in parallel and then connected with a power supply pin (VCC) of the memory, the rest pins of the memory are grounded, and the clock input pin (SCLK) and the serial input pin (SDA) of the memory are connected to the control module through signals.
7. The control system for a stepping motor according to any one of claims 1 to 6, wherein: the display module comprises a display driver (J1) and a display screen, and the display driver (J1) is connected between the control module and the display screen in a signal mode.
8. The control system for a stepping motor according to claim 7, wherein: the display module further comprises a communication module, the communication module comprises a communicator (U4) used for transmitting information to the display module, a receiving output end (RO) and a driving input end (DI) of the communicator (U4) are connected to the control module in a signal mode, and a receiving output enabling end (RE) and a driving output enabling end (DE) of the communicator (U4) are connected to the control module in a signal mode after being connected in parallel.
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| CN113346807A (en) * | 2021-07-16 | 2021-09-03 | 重庆大学 | Two-phase stepping motor drive control circuit for deep sea electric cradle head |
| CN113726233A (en) * | 2021-08-31 | 2021-11-30 | 高新兴科技集团股份有限公司 | Stepping motor drive circuit and stepping motor |
| CN114919952A (en) * | 2022-04-26 | 2022-08-19 | 广东工业大学 | Ultrasonic pinhole detection and deviation correction discrimination method for coiled material with edge perforation |
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| CN114919952B (en) * | 2022-04-26 | 2023-10-31 | 广东工业大学 | Ultrasonic small hole detection and deviation correction discrimination method for coiled material with edge perforation |
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