CN115313926B - Load damping control method for double stepping motors - Google Patents
Load damping control method for double stepping motors Download PDFInfo
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- CN115313926B CN115313926B CN202211050229.7A CN202211050229A CN115313926B CN 115313926 B CN115313926 B CN 115313926B CN 202211050229 A CN202211050229 A CN 202211050229A CN 115313926 B CN115313926 B CN 115313926B
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- 238000013016 damping Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 claims abstract description 12
- 230000033228 biological regulation Effects 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 7
- 230000006698 induction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- 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
- H02P8/40—Special adaptations for controlling two or more stepping motors
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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
- H02P8/32—Reducing overshoot or oscillation, e.g. damping
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Stopping Of Electric Motors (AREA)
Abstract
The application relates to the technical field of dual-motor driving, in particular to a dual-stepping motor load damping control method, which comprises the following steps: step 1: two identical motors are selected, one is an active motor, and the other is a standby motor; step 2: connecting a rotating shaft of the active motor with one end of a rotating shaft of the standby motor through a coupler, and connecting the other end of the rotating shaft of the standby motor with a mechanism load; step 3: connecting a coil in the standby motor with a control circuit through a load resistor; step 4: connecting the active motor with a power supply; step 5: starting a power supply, enabling the active motor to rotate normally, and enabling the standby motor to rotate along with the active motor; step 6: and the active motor is regulated, so that the standby motor rotates at a constant speed, and the resistance value of the load resistor of the standby motor is regulated through the control circuit, so that the regulation of the load damping of the active motor is realized. Compared with the traditional clutch adjusting mode, the clutch adjusting device has the advantages of no addition of an additional sensor, lower cost and higher reliability.
Description
Technical Field
The application relates to the technical field of dual-motor driving, in particular to a dual-stepping motor load damping control method.
Background
Space electromechanical products often have special requirements for high reliability, and in order to meet the requirements, a driving mechanism is usually designed in a mode of mutually redundant backup of double motors. At the same time, only one motor is in a power-on state, the motor for powering on the mechanism to work by default is called a main motor, the other motor is called a standby motor, and when the main motor fails, the system is automatically switched to the standby motor so as to ensure the reliable action of the mechanism.
The main motor and the standby motor are designed to be in an axial series connection mode on the installation structure, and when one motor is powered up to work, the other motor is in a driven following mode and is driven to rotate together with the driving motor, so that the motor is called a driven motor. One application scenario is to adjust the magnitude of the load damping of the work motor when the mechanism is in operation, and it is common practice to implement variable load damping by using a clutch. In consideration of factors such as cost, reliability and mechanism complexity, a load damping control method in a double-stepping motor driving mechanism is designed, and a control method with variable load damping is realized.
In the driving mechanism of the main and standby double stepping motors, when one motor is powered to rotate, the rotor of the stepping motor in a driven following mode performs cutting magnetic induction line motion in the motor, and induction electromotive force can be generated at two ends of a coil of the motor, wherein the magnitude and the phase of the induction electromotive force are related to the rotation speed and the direction of the motor rotor. In the rotation process of the mechanism, if the two ends of the coil of the driven motor are open, the resistance of the driven motor is mainly inherent resistance such as rotor inertia, bearing friction and the like. If the coils of the driven motor are shorted, the induced current is shorted, a reverse magnetic field is formed inside the coils, the reverse magnetic field can prevent the rotation of the driven motor, electromagnetic resistance is generated except inherent resistance, and the magnitude of the electromagnetic resistance is positively related to the magnitude of the reverse current in the coils.
When the motor is powered on, the load of the driven motor and the load of the mechanism can be regarded as the load of the driving motor, the induced electromotive force generated at the two ends of the driven motor is stable when the motor rotates at a constant speed, if resistors with different resistance values are connected in series at the two ends of the coil of the driven motor, the magnitude of reverse current in the induction coil is regulated, the purpose of changing electromagnetic resistance is further realized, and the damping of the driven motor is regulated, so that the regulation of the load damping of the driving motor can be realized.
Disclosure of Invention
The application provides a load damping control method of a double-stepping motor, which achieves the effect of applying different load resistances to a driving motor and achieves the aim of achieving variable load damping by respectively connecting two coils of a driven motor in series with power resistors with different resistance values.
In order to achieve the above object, the present application provides a load damping control method for a dual stepper motor, comprising the steps of: step 1: two identical motors are selected, one is an active motor, and the other is a standby motor; step 2: connecting a rotating shaft of the active motor with one end of a rotating shaft of the standby motor through a coupler, and connecting the other end of the rotating shaft of the standby motor with a mechanism load; step 3: connecting a coil in the standby motor with a control circuit through a load resistor; step 4: connecting the active motor with a power supply; step 5: starting a power supply, enabling the active motor to rotate normally, and enabling the standby motor to rotate along with the active motor; step 6: and the active motor is regulated, so that the standby motor rotates at a constant speed, and the resistance value of the load resistor of the standby motor is regulated through the control circuit, so that the regulation of the load damping of the active motor is realized.
Further, in step 3, the coils inside the standby motor are multiple groups.
Further, the load resistor is a transistor or a power triode or an insulated gate bipolar transistor.
Further, in step 3, the control circuit includes a single chip microcomputer, a pulse width modulation generator, and a driving circuit.
Further, in step 6, the resistance of the load resistor of the standby motor is adjusted by the control circuit, so that the current in the coil of the standby motor becomes smaller, and the reverse magnetic field generated in the coil becomes weaker; the resistance value of the load resistor of the standby motor is reduced through the control circuit, so that the current in the coil of the standby motor can be increased, and the reverse magnetic field generated in the coil can be enhanced.
The load damping control method of the double stepping motors provided by the application has the following beneficial effects:
the application realizes the variable control of the load damping of the double stepping motors on the basis of not changing the original mechanical structure, does not add an additional sensor, adjusts the load damping by arranging the control circuit, has lower cost and higher reliability compared with the traditional clutch adjusting mode, adopts a transistor working in a linear region as a load resistor, has linearly variable resistance value, has high response speed and accurate control, and in the adjusting process, the resistance energy is dispersed in a heat mode through a radiating fin of the transistor, the control circuit only consumes weak power, in addition, the automatic adjustment of the active motor load is realized through a pure electronic circuit, and the electronic component has long service life and no maintenance because no mechanical abrasion exists during the working, and can integrate a control algorithm on the control circuit to realize the accurate control of the load damping.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application. In the drawings:
FIG. 1 is a schematic diagram of an active motor, a standby motor, and a mechanical load connection provided in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of an internal coil connection of a standby motor provided in accordance with an embodiment of the present application;
in the figure: 1-active motor, 2-standby motor, 3-mechanism load, 4-coil, 5-control circuit, 6-load resistor.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1, the application provides a load damping control method for a dual stepper motor, which comprises the following steps: step 1: two identical motors are selected, one is an active motor 1, and the other is a standby motor 2; step 2: the rotating shaft of the driving motor 1 is connected with one end of the rotating shaft of the standby motor 2 through a coupler, and the other end of the rotating shaft of the standby motor 2 is connected with a mechanism load 3; step 3: the coil 4 in the standby motor 2 is connected with the control circuit 5 through the load resistor 6; step 4: connecting the active motor 1 with a power supply; step 5: starting a power supply, enabling the active motor 1 to rotate normally, and enabling the standby motor 2 to rotate along with the active motor 1; step 6: the active motor 1 is regulated, so that the standby motor 2 rotates at a constant speed, and the resistance value of the load resistor 6 of the standby motor 2 is regulated by the control circuit 5, so that the load damping of the active motor 1 is regulated.
Specifically, when the motion of the mechanism is finished, the power supply of the active motor 1 is directly turned off, and the motor is rotated for a certain time and then stopped due to the action of load inertia, the time depends on the size of the load, so that after the active motor 1 stops powering up, the active motor 2 can be stopped at any time in a controllable time by utilizing the load damping adjustment function of the standby motor, in addition, in some application scenes, the size of the load inertia is changed with time, the rotating speed of the mechanism is higher and higher under the condition that the current of the active motor 1 is not changed, the galloping hidden danger exists, the load damping control can be used for reversely compensating the load which is actually lighter, the rotating speed of the mechanism can be limited in a controlled range as far as possible, and the damping of the load of the active motor 1 needs to be greatly changed, the structure is more complicated, and the current equipment is not beneficial to upgrade, so that the technical scheme of indirectly adjusting the load damping of the active motor 1 is designed by adjusting the load damping of the standby motor 2 is designed.
More specifically, in the dual-step motor mechanism axially connected in series, when the standby motor 2 follows the active motor 1 to rotate, the two ends of the coil 4 generate induced electromotive force, the magnitude and direction of the induced electromotive force are related to the rotating speed of the motor, in the rotating process of the active motor 1, resistive load is applied to the two ends of the coil 4 of the standby motor 2, the internal coil 4 and external resistor form a complete closed loop, and due to the effect of induced current, a reverse magnetic field is generated in the internal coil, and the magnetic field can obstruct the rotation of the standby motor 2. In the embodiment of the application, two motors are mutually backed up, the rotating shafts of the two motors are connected in series through a coupler, the active motor and the standby motor are relatively speaking, namely, the motor which works preferentially when the system is started is called as an active motor 1, and the other motor is called as a standby motor 2, and no sequence relationship exists in a designated position or connection sequence. The active motor 1 needs to be connected with a power supply source in operation and consumes a certain power supply, and the standby motor 2 rotates along with the active motor 1 in operation, does not need to be connected with the power supply and does not consume any power supply. The mechanical load 3 is connected with the standby motor 2 through a coupling, and is the main application object of motor torque.
Further, in step 3, the coils 4 inside the standby motor 2 are grouped into a plurality of groups. The standby motor 2 is internally provided with a plurality of groups of coils 4, each group of coils 4 can be provided with a control circuit 5 and a load resistor 6, or the plurality of groups of coils 4 are arranged in parallel through a relay, and the adjustment control is realized through a total control circuit 5.
Further, as shown in fig. 2, the load resistor 6 is a transistor or a power transistor or an insulated gate bipolar transistor. In the embodiment of the application, the load resistor 6 is preferably a transistor, the input end of the transistor is connected with the control circuit 5, and the other two ends of the transistor are connected with the two ends of the coil 4 of the standby motor 2, mainly because the transistor works in a linear region, the resistance value is linearly variable, the conduction depth of the transistor can be controlled through the control circuit 5, the response speed is high, and the purpose of accurately adjusting the load damping of the active motor 1 is realized.
Further, in step 3, the control circuit 5 includes a single chip microcomputer, a pulse width modulation generator and a driving circuit. The control circuit is mainly used for adjusting the resistance value of the transistor, so that the adjustment of the load damping of the active motor 1 is realized. The control process is mainly that the singlechip receives data sent by the upper computer, converts the data into a duty ratio signal of PWM (pulse width modulation), and sends the PWM signal to a driving electrode of a transistor to realize control after being amplified by the driving circuit.
Further, in step 6, the resistance value of the load resistor 6 of the standby motor 2 is adjusted by the control circuit 5, so that the current in the coil 4 of the standby motor 2 becomes small, and the reverse magnetic field generated in the coil 4 becomes weak; when the resistance of the load resistor 6 of the standby motor 2 is reduced by the control circuit 5, the current in the coil 4 of the standby motor 2 becomes large, and the reverse magnetic field generated in the coil 4 becomes strong. In the embodiment of the application, since the rotation of the standby motor 2 is driven by an external force, the two ends of the coil 4 in the standby motor 2 can generate induced electromotive force during rotation, and the generated induced electromotive force is relatively stable, at this time, if resistors with different resistance values are connected in series to the two ends of the coil 4 during uniform rotation of the standby motor 2, the current in the coil 4 can be adjusted, the magnitude of a reverse magnetic field generated in the coil 4 can also be changed, the reverse magnetic field can prevent the rotation of the motor, the magnitude of the internal reverse resistance of the reverse magnetic field is linearly related to the resistance values of the induced current in the coil 4 and the external resistance connected in series to the coil 4 during rotation of the standby motor 2, for example, when the rotation speed of the standby motor 2 is constant, the rotation speed of the standby motor 2 is preferably uniform, but the speed can be selected according to practical situations, the resistance value of the load resistor 6 of the standby motor 2 can be adjusted by the control circuit 5 not exceeding the limited maximum rotation speed, the current in the coil 4 of the standby motor 2 can be reduced; when the resistance of the load resistor 6 of the standby motor 2 is reduced by the control circuit 5, the current in the coil 4 of the standby motor 2 becomes large, and the reverse magnetic field generated in the coil 4 becomes strong. Therefore, the load damping of the active motor 1 can be adjusted by adjusting the resistance value of the external load resistor 6 of the coil 4 of the standby motor 2.
Further, in another embodiment of the present application, the coils inside the two motors are connected to the control circuit 5 and the transistor, when the power is applied, the active motor 1 works, the internal coil is occupied by power supply, the standby motor 2 follows to rotate, the internal coil is in idle state, the coil of the standby motor 2 is controlled by the control circuit 5 and the transistor, if the standby motor 2 is required to be powered according to the actual situation, and the active motor 1 is idle, the coil of the standby motor 2 is occupied by power supply, and at the moment, the coil of the active motor 1 is controlled by the control circuit 5 and the transistor. In general, which motor is idle and which motor is controlled by the control circuit 5 and the transistor, so that the load damping of the other motor is controlled.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (1)
1. The load damping control method for the double stepping motors is characterized by comprising the following steps of:
step 1: two identical motors are selected, one is an active motor, and the other is a standby motor;
step 2: connecting a rotating shaft of the active motor with one end of a rotating shaft of the standby motor through a coupler, and connecting the other end of the rotating shaft of the standby motor with a mechanism load;
step 3: the method comprises the steps that coils in a standby motor are connected with a control circuit through load resistors, the coils in the standby motor are multiple groups, the load resistors are transistors or power triodes or insulated gate bipolar transistors, the input ends of the transistors are connected with the control circuit, the other two ends of the transistors are connected with the two ends of the coils of the standby motor, the conduction depth of the transistors can be controlled through the control circuit, the control circuit is used for adjusting the resistance value of the transistors and comprises a singlechip, a pulse width modulation generator and a driving circuit, the control process is that the singlechip receives data sent by an upper computer, the data are converted into duty ratio signals of pulse width modulation, and the pulse width modulation signals are amplified by the driving circuit and then are sent to a driving electrode of the transistors to realize control;
step 4: connecting the active motor with a power supply;
step 5: starting a power supply, enabling the active motor to rotate normally, and enabling the standby motor to rotate along with the active motor;
step 6: the active motor is regulated, so that the standby motor rotates at a constant speed, the resistance value of the load resistor of the standby motor is regulated through the control circuit, the regulation of the load damping of the active motor is realized, the resistance value of the load resistor of the standby motor is regulated through the control circuit, the current in the coil of the standby motor can be reduced, and the reverse magnetic field generated in the coil can be weakened; the resistance value of the load resistor of the standby motor is reduced through the control circuit, so that the current in the coil of the standby motor can be increased, and the reverse magnetic field generated in the coil can be enhanced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211050229.7A CN115313926B (en) | 2022-08-30 | 2022-08-30 | Load damping control method for double stepping motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211050229.7A CN115313926B (en) | 2022-08-30 | 2022-08-30 | Load damping control method for double stepping motors |
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| Publication Number | Publication Date |
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| CN115313926A CN115313926A (en) | 2022-11-08 |
| CN115313926B true CN115313926B (en) | 2023-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211050229.7A Active CN115313926B (en) | 2022-08-30 | 2022-08-30 | Load damping control method for double stepping motors |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470840Y (en) * | 2000-05-18 | 2002-01-09 | 上海宝钢益昌薄板有限公司 | Testing device of electric motor |
| WO2010033101A1 (en) * | 2008-09-18 | 2010-03-25 | Moog Inc. | Improved motor driver for damping movement of an oscillatory load, and method of damping movement of an oscillatory load |
| CN102353902A (en) * | 2011-10-13 | 2012-02-15 | 陕西航空电气有限责任公司 | Equivalent test device and method for motor |
| CN102369656A (en) * | 2009-04-03 | 2012-03-07 | 萨甘安全防护公司 | Engine power supply circuit, and flight control member provided with such a circuit |
| CN102928779A (en) * | 2012-10-24 | 2013-02-13 | 贵州航天林泉电机有限公司 | Method and device for testing mechanical property of motor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6964311B2 (en) * | 2003-04-07 | 2005-11-15 | Tai-Her Yang | Repulsive differential driving double-acting type electrical machinery power system |
| JP6258004B2 (en) * | 2013-11-07 | 2018-01-10 | ローム株式会社 | Motor driving circuit, driving method thereof, and electronic apparatus using the same |
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2022
- 2022-08-30 CN CN202211050229.7A patent/CN115313926B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470840Y (en) * | 2000-05-18 | 2002-01-09 | 上海宝钢益昌薄板有限公司 | Testing device of electric motor |
| WO2010033101A1 (en) * | 2008-09-18 | 2010-03-25 | Moog Inc. | Improved motor driver for damping movement of an oscillatory load, and method of damping movement of an oscillatory load |
| CN102369656A (en) * | 2009-04-03 | 2012-03-07 | 萨甘安全防护公司 | Engine power supply circuit, and flight control member provided with such a circuit |
| CN102353902A (en) * | 2011-10-13 | 2012-02-15 | 陕西航空电气有限责任公司 | Equivalent test device and method for motor |
| CN102928779A (en) * | 2012-10-24 | 2013-02-13 | 贵州航天林泉电机有限公司 | Method and device for testing mechanical property of motor |
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| CN115313926A (en) | 2022-11-08 |
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