CN113740730A - Programmable stepping motor loop tester and testing method - Google Patents
Programmable stepping motor loop tester and testing method Download PDFInfo
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Abstract
The invention discloses a programmable stepping motor loop tester which comprises a tester body, wherein the tester body comprises a main controller, a motor driver, a liquid crystal display, a key operation panel and a voltage regulator, wherein the main controller is internally provided with a reading module for reading data, a storage module for storing the data, a control module for controlling the operation of a component, a calculation module for calculating a data algorithm and a detection module for detecting the loop voltage, the step subdivision and the pulse frequency PPS parameters of a motor, the main controller is also connected with a loop power supply, and the motor driver is connected with a stepping motor. The loop tester can compile action texts according to the actual rotation requirements of the motor, and automatically converts the action texts into motor control instructions, so that the motor motion performance is tested, the professional technical requirements of motor testers are reduced, and the production detection efficiency is improved.
Description
Technical Field
The invention relates to the technical field of motor testing, in particular to a programmable stepping motor loop tester and a testing method.
Background
The stepping motor has the characteristics of small volume and large torque, is widely applied to electronic products of instruments and meters, and along with the rapid development of the Internet of things and the consumer electronics industry, the demand of the stepping motor in scene applications such as camera focusing and posture adjustment is increasingly expanded. Because different electronic products have different voltage, rotating speed, noise and control requirements, and the stepper motor product has high requirements on production quality, the quality detection of the stepper motor in the production process is very important, and the performance test of the motor is required. In addition, because the application scenarios of the stepping motor are wide, the feasibility test of the application performance of the stepping motor is required in the production test link, including the loop voltage, the rotating speed, the starting and stopping speed and the acceleration performance of the motor, so that the equipment is required to be capable of simulating various motion control conditions to control the rotary motion of the stepping motor, and is convenient to use and simple to operate.
The patent "stepping motor test system and method" (patent number CN101344577B) is a stepping motor loop detection device, which has a test function of controlling the operation and stop of a stepping motor, no acceleration and deceleration time parameter, and no programmable motion control function. The patent "a stepping motor detection method, device and system" (patent number CN110187274A) is a method for detecting the running condition of a stepping motor by detecting phase voltage, and does not relate to the invention content of the programmable loop detector mentioned in the patent. A patent "a device and a method for detecting a motion state of a stepping motor" (patent No. CN107340472B) discloses a device and a method for detecting a motion state of a stepping motor, and specifically detects a counter electromotive force of the stepping motor to detect a motor operation condition.
In summary, no stepping motor loop detection device with programmable motion control function is available at present.
Disclosure of Invention
The invention aims to solve the problems and designs a programmable stepping motor loop tester and a testing method.
The technical scheme of the invention is that the programmable stepping motor loop tester comprises a tester body, wherein the tester body comprises a main controller for storing downloaded action files, calculating action control parameters, a motor driver for driving a motor to move, a liquid crystal display for displaying current motor loop voltage, step subdivision, pulse frequency PPS parameters and current control program sequence number, a key operation panel for inputting the pulse frequency and step subdivision of the motor, a communication board for information communication and a voltage regulator for regulating voltage, wherein a reading module for reading data, a storage module for storing the data, a control module for controlling the operation of components, a calculation module for calculating data algorithms and a voltage regulator for detecting the motor loop voltage are arranged in the main controller, the detection module of step subdivision and pulse frequency PPS parameter, main control unit still is connected with return circuit power supply, motor driver is connected with step motor.
As a further explanation of the present invention, the liquid crystal display, the key operation panel, and the voltage regulator are electrically connected to the main controller, respectively.
As a further explanation of the present invention, the communication board is externally connected to a computer terminal and is connected to the main controller, and the main controller is electrically connected to the motor driver.
As a further explanation of the present invention, the key operation panel is a set of self-recovery keys, and the key operation panel includes an action execution start and stop button, a step subdivision input button, and a pulse frequency input button.
As a further explanation of the present invention, the main controller detects the current voltage value on line through the detection module and outputs the voltage control PWM wave after the calculation by the calculation module using the PID algorithm according to the set voltage value, and the loop power supply outputs the power supply voltage according to the received PWM wave.
A test method of a programmable stepping motor loop tester calculates the speed value of motor motion control in the whole time period and converts the motion text data into a motor motion control command, comprising the following steps:
s1, compiling the motion control parameters of the stepping motor into a file at the computer end, wherein the parameters contained in the file comprise motor loop voltage, control step subdivision, file action and the cycle number of the file action;
s2, connecting the main controller with the computer terminal interface through the communication board, downloading the action file and storing the action file in the storage module, wherein the detection module in the main controller detects the current voltage value on line and outputs voltage control PWM wave after the calculation module adopts PID algorithm to calculate according to the set voltage value, and the loop power supply outputs power supply voltage, loop voltage, step subdivision and pulse frequency PPS parameters according to the received PWM wave and the current control program sequence number is displayed on the liquid crystal display;
and S3, calculating action control parameters by a calculation module in the main controller, calculating to obtain a motion speed value of the stepping motor, converting to obtain a stepping pulse frequency, outputting a control pulse and a motion direction to a motor driver by a control module in the main controller, and controlling the motor driver to drive the stepping motor to move.
As a further illustration of the invention, the motor motion control includes speed control and position control, and the change and transition of the motion speed in the speed control mode includes the following parameters: speed, acceleration and time, the change and transition of position in the position control mode comprising the following parameters: rotational position, velocity, acceleration, and time.
As a further explanation of the present invention, the relevant motion parameters are calculated in the position control mode, the motion text is converted into a motor control program, and the number of motion steps satisfies the following formula:
T＝t0+t1+t2 (2)
wherein, T is the total execution time of the action, T0 is the front acceleration and deceleration time, T1 bit middle constant speed section time, T2 is the rear acceleration and deceleration time, a0 is the front acceleration and deceleration value, v1 is the middle constant speed section speed value, a2 is the rear acceleration and deceleration value, and the front acceleration and deceleration time and the rear acceleration and deceleration time can both be zero;
the speed values of the t0 time period and the t2 time period satisfy the following formula:
v0＝v1-a0·t0≤t≤t1 (3)
v2＝v1+a2·t0≤t≤t2 (4)
as a further explanation of the present invention, the relevant motion parameters are calculated in the speed control mode, the motion text is converted into a motor control program, and the motion speed satisfies the following formula:
v0＝v1-a0·t0 (5)
v2＝v1+a2·t2 (6)
T＝t0+t1+t2 (7)
wherein, T is the total execution time of the action, T0 is the front acceleration and deceleration time, T1 bit middle constant speed section time, T2 is the rear acceleration and deceleration time, a0 is the front acceleration and deceleration value, v1 is the middle constant speed section speed value, a2 is the rear acceleration and deceleration value, and the front acceleration and deceleration time and the rear acceleration and deceleration time can both be zero.
The stepping motor loop tester has the advantages that aiming at the problem that a stepping motor loop tester with a programmable function is lacked in the prior art, a set of text editing mode adopting action commands arranged in rows is provided, the programmable requirement of the movement command of the stepping motor is met, the loop tester can compile action texts according to the actual rotation requirement of the motor and automatically convert the action texts into motor control commands, so that the movement performance of the motor is tested, the loop voltage, the rotation speed, the starting and stopping speed and the acceleration performance of the motor are included, the professional technical requirement of motor testers is lowered, the management difficulty of the personnel of motor production enterprises is lowered, and the production detection efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of the main controller;
FIG. 3 is a block diagram of the execution flow of the action line of the file of the present invention;
in the figure, 1, a computer terminal; 2. a communication board; 3. a liquid crystal display; 4. a main controller; 41. a storage module; 42. a reading module; 43. a calculation module; 44. a control module; 45. a detection module; 5. a voltage regulator; 6. a key operation panel; 7. a loop power supply; 8. a motor driver; 9. a stepper motor.
Detailed Description
Because the stepping motor is widely applied to consumer electronic products, the requirement on the quality of the products is strict, and the production quality detection of the stepping motor at present mainly utilizes various universal devices for testing, the testing efficiency and the accuracy rate need to be further improved. Secondly, because different electronic products adopt different voltages and have different requirements on the rotating speed, noise and control of the stepping motor, therefore, a programmable motor loop test instrument is needed, which can write out the corresponding motor action command according to the practical application requirement, thereby testing the motion performance of the motor, and the tester faces not only the motor developer but also the operator of the production line, so the use is convenient and the operation is simple, however, in practical applications, the motor motion types are many, and cannot be preset in advance, so a new method is needed for testing the stepping motor, and preferably, a motor loop testing instrument can program the motor motion in a set of standardized file writing mode to realize the programmable function of a motor control program, so that the invention provides a programmable stepping motor loop tester and a testing method.
The present invention is described in detail below with reference to the accompanying drawings, and the programmable stepper motor loop tester mainly includes a tester body, as shown in fig. 1, the tester body is composed of several modules, which are a main controller 4, a motor driver 8, a liquid crystal display 3, a key operation panel 6, a communication board 2, a voltage regulator 5 and a loop power supply 7, wherein the liquid crystal display 3, the key operation panel 6 and the voltage regulator 5 are electrically connected with the main controller 4, the main controller 4 is electrically connected with the motor driver 8, the motor driver 8 is connected with a stepper motor 9, the communication board 2 is externally connected with a computer terminal 1 and is connected with the main controller 4, as shown in fig. 2, a reading module 42 for reading data, a storage module 41 for storing data, a control module 44 for controlling the operation of components, a data reading module 42, a data reading module, a data module, a communication module, a, The calculation module 43 used for calculating the data algorithm and the detection module 45 used for detecting the loop voltage, the step subdivision and the pulse frequency PPS parameters of the motor, when the device works specifically, the device is connected with the main controller 4 and the USB port of the computer end 1 through the communication board 2 to receive action file data downloaded by the computer, then the main controller 4 downloads the action file transmitted by the communication board 2 and stores the action file in the storage module 41, the reading module 42 can automatically read the action text data stored in the storage module 41 according to the requirement, the calculation module 43 can calculate the action control parameters according to the action text data and send the parameters to the control module 44, the control module 44 outputs control pulses and the movement direction, and the motor driver 8 is controlled to drive the motor to move; the liquid crystal display 3 is used for displaying various parameters including current motor loop voltage, step subdivision, pulse frequency PPS parameters and current control program serial numbers; the key operation panel 6 is a group of self-recovery keys, is used for inputting the pulse frequency and the step pitch subdivision of a control motor, selects a control program serial number, and comprises an action execution start button and an action execution stop button; the voltage regulator 5 changes the target value of the motor loop voltage to the main controller 4 in a knob mode, and the specific implementation mode is as follows: the main controller detects the current voltage value on line through the detection module 45, outputs voltage control PWM waves after being calculated by the calculation module 43 by adopting a PID algorithm according to the set voltage value, and the loop power supply outputs power supply voltage according to the received PWM waves.
The file compiled by the computer end 1 is downloaded to the memory of the testing instrument through the USB and can be permanently stored, and the next time the file is used, the program can be directly called to carry out motor testing; the testing instrument can compile action files according to actual requirements to realize various motor motion control tests in the production and application development of the stepping motor 9, can calculate the speed value of motor motion control in the whole time period and convert action text data into motor motion control instructions, and the specific testing method using the instrument comprises the following steps:
s1, compiling the motion control parameters of the stepping motor 9 into a file of the computer terminal 1, wherein the parameters contained in the file comprise motor loop voltage, control step subdivision, file action and the cycle number of the file action;
s2, the main controller 4 is connected with the interface of the computer end 1 through the communication board 2, the action file is downloaded and stored in the storage module 41, the detection module 45 in the main controller 4 detects the current voltage value on line and outputs voltage control PWM wave after being calculated by the calculation module 43 by adopting PID algorithm according to the set voltage value, the loop power supply 7 outputs power supply voltage, loop voltage, step subdivision and pulse frequency PPS parameter according to the received PWM wave, and the current control program sequence number is displayed on the liquid crystal display 3;
s3, calculating action control parameters by the calculating module 43 in the main controller 4, calculating to obtain the motion speed value of the stepping motor 9, converting to obtain the stepping pulse frequency, outputting control pulse and motion direction to the motor driver 8 by the control module 44 in the main controller 4, and controlling the motor driver 8 to drive the stepping motor 9 to move.
The key of the programmable motor loop tester for converting the action text data into the motor motion control instruction is to calculate the speed value of the motor motion control in the whole time period, and the motor motion control in practical application comprises two types of speed control and position control.
The change and transition of the movement speed in the speed control mode are embodied in 3 movement parameters, namely speed (including direction), acceleration and time, wherein the acceleration can be calculated by using the speed difference and the acceleration time, so that the total movement time, the movement speed (including direction) and the acceleration time can be used for replacing the change and transition. The position change and transition in the position control mode are represented by 4 motion parameters, namely, rotation position (including direction), speed, acceleration and time, wherein the acceleration can be calculated by using a speed difference and an acceleration time, and the speed can be calculated by using a position difference and a motion time, so that the total motion time, the rotation position (including direction) and the acceleration time can be used instead.
The following describes a specific implementation according to a position control mode and a speed control mode:
1. the operation of the position control mode is described in this embodiment as follows:
the first number 2 in the first row represents the position control mode (the speed control mode is number 1), the second number 8 represents the step size value, the third decimal number 3.66 represents the motor circuit voltage value 3.66V, and the fourth number represents the number of times of execution of the motion cycle from the third row to the tenth row is 10.
Starting with the second row, there is a sequence of actions, each row containing 5 values. In the second row, the first numerical value represents the execution time of 3000ms, the second numerical value represents the acceleration/deceleration time of 50ms, the third numerical value represents the total step number of the motor movement of 100 (position control mode), the fourth numerical value represents the acceleration/deceleration time of 90ms, and the fifth numerical value represents the motor movement direction of the current row (1 and 2 represent clockwise and counterclockwise directions, respectively).
The motion text is converted into a motor motion control program, and related motion parameters including acceleration and deceleration and a zone velocity value need to be calculated so as to be used for controlling the motion of the motor.
The number of the moving steps of the line meets the following formula:
T＝t0+t1+t2 (2)
wherein, T is the total execution time of the action, T0 is the front acceleration and deceleration time, T1 bit middle constant speed section time, T2 is the rear acceleration and deceleration time, a0 is the front acceleration and deceleration value, v1 is the middle constant speed section speed value, a2 is the rear acceleration and deceleration value, and the front acceleration and deceleration time and the rear acceleration and deceleration time can both be zero. If the fifth row operation has no speed output, the operation is stopped and waits for 1000 ms.
Therefore, the speed values for the t0 time period and the t2 time period are formulated as:
v0＝v1-a0·t 0≤t≤t1 (3)
v2＝v1+a2·t 0≤t≤t2 (4)
2. the operation of the speed control mode is described in this embodiment as follows:
the first number 1 in the first row represents the speed control mode (position control mode is number 2), the second number 8 represents the step size value, the third decimal number 3.66 represents the motor circuit voltage value 3.66V, and the fourth number represents the number of times of execution of the motion cycle from the third row to the tenth row is 10.
Starting with the second row, there is a sequence of actions, each row containing 5 values. In the second row, the first numerical value represents the execution time of 3000ms, the second numerical value represents the acceleration/deceleration time of 50ms, the third numerical value represents the motor movement speed of 100PPS (speed control mode) of the current row, the fourth numerical value represents the acceleration/deceleration time of 90ms, and the fifth numerical value represents the motor movement direction of the current row (1 and 2 represent clockwise and counterclockwise directions, respectively).
The motion text is converted into a motor motion control program, and related motion parameters including acceleration and deceleration and a zone velocity value need to be calculated so as to be used for controlling the motion of the motor.
The movement speed of this line satisfies the following formula:
v0＝v1-a0·t0 (5)
v2＝v1+a2·t2 (6)
T＝t0+t1+t2 (7)
wherein, T is the total execution time of the action, T0 is the front acceleration and deceleration time, T1 bit middle constant speed section time, T2 is the rear acceleration and deceleration time, a0 is the front acceleration and deceleration value, v1 is the middle constant speed section speed value, a2 is the rear acceleration and deceleration value, and the front acceleration and deceleration time and the rear acceleration and deceleration time can both be zero. If the fifth row operation has no speed output, the operation is stopped and waits for 1000 ms.
The motor motion control is realized by writing files on a computer, specifically, motor motion control parameters are written in the files at the computer end, and the parameters contained in the files comprise motor loop voltage, control step subdivision and the cycle number of file actions. The actions in the file are arranged in sequence in action rows, and each action comprises the total movement time T, the front acceleration and deceleration time T0, the speed PPS or the number P of the rotation positions, the rear acceleration and deceleration time T2 and the movement direction of the row. T is more than or equal to T0+ T2, a speed PPS parameter is adopted in the speed control mode, a rotating position number P parameter is adopted in the position control mode, the execution mode of the file action line is shown in figure 2, and the execution action can be stopped only after all actions are executed.
The programmable stepping motor loop tester and the method can be expanded on other types of motor loop testers, and through the programmable mode, a stepping motor manufacturer can write a stepping motor action command conveniently through an intuitive file definition mode, so that the performance and the characteristics of the stepping motor are tested, the investment in the motor loop test process is greatly saved, the personnel management difficulty of a motor production enterprise is reduced, and the production detection efficiency is improved.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (9)
1. A programmable stepping motor loop tester comprises a tester body and is characterized in that the tester body comprises a main controller (4) for storing downloaded action files and calculating action control parameters, a motor driver (8) for driving a motor to move, a liquid crystal display (3) for displaying current motor loop voltage, step subdivision and pulse frequency PPS parameters and current control program serial numbers, a key operation panel (6) for inputting the pulse frequency and step subdivision of the motor, a communication board (2) for information communication and a voltage regulator (5) for voltage regulation, wherein a reading module (42) for data reading, a storage module (41) for data storage, a control module (44) for controlling the operation of components, a calculation module (43) for data algorithm calculation and a voltage regulator (5) for detecting the motor loop voltage are arranged in the main controller, step subdivision and pulse frequency PPS parameter's detection module (45), main control unit (4) still are connected with return circuit power supply (7), motor driver (8) are connected with step motor (9).
2. The programmable stepping motor loop tester of claim 1, wherein the liquid crystal display (3), the key operation panel (6) and the voltage regulator (5) are electrically connected with the main controller (4) respectively.
3. The programmable stepping motor loop tester of claim 1, wherein the communication board (2) is externally connected with a computer terminal (1) and is connected with the main controller (4), and the main controller (4) is electrically connected with the motor driver (8).
4. The programmable stepper motor loop tester as claimed in claim 1, wherein the key operation panel (6) is a set of self-recovery keys, and the key operation panel (6) comprises an action execution start and stop button, a step subdivision input button, and a pulse frequency input button.
5. The programmable stepping motor loop tester as claimed in claim 1, wherein the main controller (4) detects the current voltage value on line through the detection module (45) and outputs a voltage control PWM wave after being calculated by the calculation module (43) by adopting a PID algorithm according to the set voltage value, and the loop power supply (7) outputs a power supply voltage according to the received PWM wave.
6. A test method of a programmable stepping motor loop tester calculates the speed value of motor motion control in the whole time period and converts the motion text data into a motor motion control command, which is characterized by comprising the following steps:
s1, writing the motion control parameters of the stepping motor (9) in a file of the computer end (1), wherein the parameters contained in the file comprise motor loop voltage, control step subdivision, file action and the cycle number of the file action;
s2, the main controller (4) is connected with the interface of the computer end (1) through the communication board (2), an action file is downloaded and stored in the storage module (41), the detection module (45) in the main controller (4) detects the current voltage value on line, the calculation module (43) adopts PID algorithm to calculate according to the set voltage value and then outputs voltage to control PWM wave, the loop power supply (7) outputs power supply voltage, loop voltage, step subdivision and pulse frequency PPS parameter according to the received PWM wave, and the current control program sequence number is displayed on the liquid crystal display (3);
s3, a calculation module (43) in the main controller (4) calculates action control parameters, calculates to obtain a motion speed value of the stepping motor (9), converts to obtain a stepping pulse frequency, and then a control module (44) in the main controller (4) outputs a control pulse and a motion direction to the motor driver (8) to control the motor driver (8) to drive the stepping motor (9) to move.
7. The method of claim 6, wherein the motor motion control comprises speed control and position control, and the change and transition of the motion speed in the speed control mode comprises the following parameters: speed, acceleration and time, the change and transition of position in the position control mode comprising the following parameters: rotational position, velocity, acceleration, and time.
8. The method as claimed in claim 6, wherein the relative motion parameters are calculated in a position control mode, the motion text is converted into a motor control program, and the number of motion steps satisfies the following formula:
T＝t0+t1+t2 (2)
wherein, T is the total execution time of the action, T0 is the front acceleration and deceleration time, T1 bit middle constant speed section time, T2 is the rear acceleration and deceleration time, a0 is the front acceleration and deceleration value, v1 is the middle constant speed section speed value, a2 is the rear acceleration and deceleration value, and the front acceleration and deceleration time and the rear acceleration and deceleration time can both be zero;
the speed values of the t0 time period and the t2 time period satisfy the following formula:
v0＝v1-a0·t 0≤t≤t1 (3)
v2＝v1+a2·t 0≤t≤t2 (4)。
9. the method as claimed in claim 6, wherein the related motion parameters are calculated in a speed control mode, the motion text is converted into a motor control program, and the motion speed satisfies the following formula:
v0＝v1-a0·t0 (5)
v2＝v1+a2·t2 (6)
T＝t0+t1+t2 (7)
wherein, T is the total execution time of the action, T0 is the front acceleration and deceleration time, T1 bit middle constant speed section time, T2 is the rear acceleration and deceleration time, a0 is the front acceleration and deceleration value, v1 is the middle constant speed section speed value, a2 is the rear acceleration and deceleration value, and the front acceleration and deceleration time and the rear acceleration and deceleration time can both be zero.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07288990A (en) * | 1994-04-14 | 1995-10-31 | Nippon Parusumootaa Kk | Pulse train input behavior measuring apparatus |
| CN101598766A (en) * | 2009-07-07 | 2009-12-09 | 华中科技大学 | A kind of full-automatic testing device of open type portable motor driver |
| CN105866683A (en) * | 2016-04-01 | 2016-08-17 | 深圳北航天汇创业孵化器有限公司 | Closed-loop stepping motor and driver test system |
| CN212410792U (en) * | 2020-04-20 | 2021-01-26 | 西安微电机研究所 | Control device for testing stepping motor assembly |
| CN216013596U (en) * | 2021-09-10 | 2022-03-11 | 上海瀚创机器人技术有限公司 | Programmable stepping motor loop tester |
-
2021
- 2021-09-10 CN CN202111059330.4A patent/CN113740730A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07288990A (en) * | 1994-04-14 | 1995-10-31 | Nippon Parusumootaa Kk | Pulse train input behavior measuring apparatus |
| CN101598766A (en) * | 2009-07-07 | 2009-12-09 | 华中科技大学 | A kind of full-automatic testing device of open type portable motor driver |
| CN105866683A (en) * | 2016-04-01 | 2016-08-17 | 深圳北航天汇创业孵化器有限公司 | Closed-loop stepping motor and driver test system |
| CN212410792U (en) * | 2020-04-20 | 2021-01-26 | 西安微电机研究所 | Control device for testing stepping motor assembly |
| CN216013596U (en) * | 2021-09-10 | 2022-03-11 | 上海瀚创机器人技术有限公司 | Programmable stepping motor loop tester |
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