CN117543905A - Integrated closed-loop stepping motor - Google Patents
Integrated closed-loop stepping motor Download PDFInfo
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- CN117543905A CN117543905A CN202410013953.5A CN202410013953A CN117543905A CN 117543905 A CN117543905 A CN 117543905A CN 202410013953 A CN202410013953 A CN 202410013953A CN 117543905 A CN117543905 A CN 117543905A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/27—Devices for sensing current, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/24—Structural association with auxiliary mechanical devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
- H02K5/225—Terminal boxes or connection arrangements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/20—Structural association with auxiliary dynamo-electric machines, e.g. with electric starter motors or exciters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/12—Control or stabilisation of current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
-
- 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
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Abstract
The invention discloses an integrated closed loop stepping motor, which particularly relates to the technical field of stepping motors, and comprises the steps of acquiring a rotation angle deviation coefficient, an adjustable current amplitude coefficient and an adjustable time coefficient, processing the adjustable current amplitude coefficient and the adjustable time coefficient to generate a rotatable angle coefficient, acquiring a rotatable angle range of a rotor corresponding to the rotatable angle coefficient, comparing the maximum value in the range with the rotation angle deviation coefficient, and judging whether the rotation angle of the rotor can be changed by only adjusting the current of the stepping motor under the condition that the working state of an external device of the stepping motor is not changed so as to eliminate step-out or over-step of the stepping motor; by starting the rotating device, additional force is applied to the rotating shaft of the stepping motor, so that the step-out or the overtime of the stepping motor can be timely eliminated when the next working state of the external equipment comes, and the performance of the equipment cannot be influenced.
Description
Technical Field
The invention relates to the technical field of stepping motors, in particular to an integrated closed-loop stepping motor.
Background
An integrated closed loop stepper motor is a motor system that integrates a stepper motor with a closed loop control system that controls the movement of each step in the form of a pulse signal by moving through a fixed step angle. The closed-loop control system monitors the actual state of the motor through a feedback mechanism and adjusts according to the target position so as to realize more accurate position control and motion control.
The existing integrated closed-loop stepping motor is generally provided with a rotor, a rotary incremental encoder, a driver and winding coils, when the stepping motor is out of step or in a superstep condition, the driver generates an electromagnetic field by controlling the current of the winding coils to push the rotor to rotate so as to adjust the position of the rotor to a target position set by the rotary incremental encoder, and therefore the phenomenon that the stepping motor is out of step or in a superstep is reduced.
However, although the step described above can reduce step-out or over-step of the stepping motor, the following problems remain unsolved:
1. when the stepping motor is out of step or overtime, the stepping motor is reduced by changing the current of the winding coil, and the output current of the stepping motor is changed when the current of the winding coil is changed, but for some equipment, once the output current of the stepping motor is changed, the working state of the equipment is likely to be changed, so that the accuracy and the stability of the equipment are adversely affected;
2. if the current variation of the winding coil is small, the rotor may be caused to rotate too long to the target position set by the rotary incremental encoder, and the response speed and the overall performance of the device may be affected.
In order to solve the two defects, a technical scheme is provided.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, embodiments of the present invention provide an integrated closed-loop stepper motor to solve the above-mentioned problems.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the integrated closed-loop stepping motor comprises a stepping motor body, wherein a rotating device is arranged at the bottom of the stepping motor body, a central controller is arranged at the top of the rotating device, a current information module and a time information module are arranged at the top of the stepping motor body, rotating shafts are arranged at two ends of the stepping motor body and penetrate through the stepping motor body, a rotating information module is arranged inside the stepping motor body, and a rotor is arranged on the surface of the rotating shaft;
and a rotating device: the motor is started to drive the second output shaft to rotate so as to drive the rotating shaft to rotate;
and a current information module: the device is used for collecting the actual output current of the stepping motor body;
and a time information module: the device is used for collecting the actual working time of the stepping motor body;
and a rotation information module: the device is used for collecting the actual rotation angle of the rotor;
and the central controller: the input end of the central controller is respectively and electrically connected with the output ends of the current information module, the time information module and the rotation information module, and is used for receiving output signals of the current information module, the time information module and the rotation information module and generating control instructions;
the central controller analyzes the output signal of the current information module to generate an adjustable current amplitude coefficient, analyzes the output signal of the time information module to generate an adjustable time coefficient, analyzes the output signal of the rotation information module to generate a rotation angle deviation coefficient, processes the adjustable time coefficient and the adjustable current amplitude coefficient to generate a rotation angle coefficient, compares the rotation angle range of the rotor corresponding to the rotation angle coefficient with the rotation angle deviation coefficient, and controls the motor to start to drive the second output shaft to rotate according to the comparison result so as to drive the rotating shaft to rotate.
In a preferred embodiment, the other end of the rotating shaft is fixedly connected with a first output shaft for outputting the current of the stepper motor body, and the surface of the rotating shaft is provided with a cooling fan for cooling the surface of the stepper motor body.
In a preferred embodiment, the inside of step motor body is provided with actuating mechanism, actuating mechanism includes stator core, stator core's inner peripheral wall is equipped with the winding coil along the protruding of circumferencial direction even interval, the inboard of winding coil is provided with the rotor, the rotor rotatable set up in the stator core, the rotor sets up the surface at the pivot, stator core's one end is provided with the wiring fixed plate, the upper end of wiring fixed plate is equipped with a plurality of lugs, the lug with the winding coil electricity is connected, the top of wiring fixed plate is provided with rotatory incremental encoder.
In a preferred embodiment, the rotating device comprises a rotating shaft, the rotating shaft is arranged on the inner wall of the rotating device, an air cylinder is arranged at the top of the rotating shaft, a motor is arranged at the top end of the air cylinder, a second output shaft is arranged at the top end of the motor, a clamping block is arranged at the top end of the second output shaft, a groove is formed in the top end of the clamping block, the groove is formed in the fixing block, the fixing block is fixedly connected to one end of the rotating shaft, the air cylinder stretches out to push the clamping block to be inserted into the groove, and the motor starts to drive the rotating shaft to rotate so that the rotor rotates.
In a preferred embodiment of the present invention,the acquisition logic of the rotation angle deviation coefficient is as follows:in which, in the process,as a coefficient of the deviation of the rotation angle,for the actual rotation angle of the rotor,the preset rotation angle is provided for the rotor.
In a preferred embodiment, the logic for obtaining the adjustable current amplitude coefficient is:
step one: obtaining the range of the output current of the stepping motor body corresponding to the external equipment connected with the stepping motor body in different working states during operation, and marking as；
Step two: acquiring the actual output current of the stepping motor body and marking as；
Step three: calculating an adjustable current amplitude coefficient:or (b)The method comprises the steps of carrying out a first treatment on the surface of the In the method, in the process of the invention,is an adjustable current amplitude coefficient.
In a preferred embodiment, the obtaining logic of the adjustable time coefficient is:in which, in the process,in order to adjust the time coefficient of the time,in order to be able to work for a practical time,the working time is preset.
In a preferred embodiment, the acquiring logic of the rotatable angle coefficient is:in which, in the process,as the coefficient of the angle of rotation,、respectively preset proportional coefficients of an adjustable current amplitude coefficient and an adjustable time coefficient, and、are all greater than 0.
In a preferred embodiment, the central controller obtains the rotatable angle range of the rotor corresponding to the rotatable angle coefficient and marks asAnd willCoefficient of deviation from rotational angleFor comparison, ifLess thanThe central controller generates a control instruction to control the rotation device to move.
The invention has the technical effects and advantages that:
1. the invention acquires the rotation angle deviation coefficient, the adjustable current amplitude coefficient and the adjustable time coefficient, processes the adjustable current amplitude coefficient and the adjustable time coefficient to generate the rotatable angle coefficient, acquires the rotatable angle range of the rotor corresponding to the rotatable angle coefficient, compares the maximum value in the range with the rotation angle deviation coefficient, judges whether the rotation angle of the rotor can be changed by only adjusting the current of the stepper motor under the condition of not changing the working state of the external equipment of the stepper motor so as to eliminate step-out or step-out of the stepper motor, and judges accurately.
2. When the rotating angle of the rotor cannot be changed by only adjusting the current of the stepping motor so as to eliminate the step-out or the step-out of the stepping motor, the rotating device is started to apply additional force to the rotating shaft of the stepping motor, so that the step-out or the step-out of the stepping motor can be timely eliminated when the next working state of the external equipment comes, and the performance of the equipment cannot be influenced.
Drawings
For the convenience of those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is a schematic diagram of the overall structure of an integrated closed-loop stepper motor according to the present invention;
FIG. 2 is a schematic view of a partial structure of a rotating device;
FIG. 3 is a schematic diagram of the drive mechanism inside an integrated closed loop stepper motor;
FIG. 4 is an exploded view of the drive mechanism inside an integrated closed loop stepper motor;
FIG. 5 is a schematic diagram of a system module according to the present invention.
In the figure: 1. a stepping motor body; 2. a first output shaft; 3. a heat radiation fan; 4. a rotating device; 41. a cylinder; 42. a motor; 43. a second output shaft; 44. a clamping block; 45. a groove; 46. a fixed block; 47. a rotating shaft; 5. a central controller; 6. a current information module; 7. a time information module; 8. a driving mechanism; 81. a rotation information module; 82. a rotating shaft; 83. a rotor; 84. a winding coil; 85. a stator core; 86. a wiring fixing plate; 87. a wire connection piece; 88. and rotating the incremental encoder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1: as shown in fig. 1-4, an integrated closed loop stepper motor comprises a stepper motor body 1, wherein a rotating device 4 is arranged at the bottom of the stepper motor body 1, a central controller 5 is arranged at the top of the rotating device 4, a current information module 6 and a time information module 7 are arranged at the top of the stepper motor body 1, rotating shafts 82 are arranged at two ends of the stepper motor body 1, the rotating shafts 82 penetrate through the stepper motor body 1, a rotating information module 81 is arranged inside the stepper motor body 1, and a rotor 83 is arranged on the surface of the rotating shafts 82; the other end of the rotating shaft 82 is fixedly connected with a first output shaft 2 for outputting the current of the stepping motor body 1, and the surface of the rotating shaft 82 is provided with a cooling fan 3 for cooling the surface of the stepping motor body 1. The inside of step motor body 1 is provided with actuating mechanism 8, actuating mechanism 8 includes stator core 85, stator core 85's inner peripheral wall is equipped with winding coil 84 along the even spaced protruding of circumferencial direction, winding coil 84's inboard is provided with rotor 83, rotor 83 rotatable setting is in stator core 85, rotor 83 sets up the surface at pivot 82, stator core 85's one end is provided with wiring fixed plate 86, wiring fixed plate 86's upper end is equipped with a plurality of lugs 87, lug 87 and winding coil 84 electricity are connected, wiring fixed plate 86's top is provided with rotatory incremental encoder 88. The rotating device 4 comprises a rotating shaft 47, the rotating shaft 47 is arranged on the inner wall of the rotating device 4, an air cylinder 41 is arranged at the top of the rotating shaft 47, a motor 42 is arranged at the top of the air cylinder 41, a second output shaft 43 is arranged at the top of the motor 42, a clamping block 44 is arranged at the top of the second output shaft 43, a groove 45 is formed in the top of the clamping block 44, the groove 45 is arranged in a fixed block 46, the fixed block 46 is fixedly connected to one end of the rotating shaft 82, the air cylinder 41 stretches out to push the clamping block 44 to be inserted into the groove 45, and the motor 42 is started to drive the rotating shaft 82 to rotate so that the rotor 83 rotates.
The working principle of the invention is as follows:
when the integrated closed-loop stepping motor works, a driver in the stepping motor body 1 generates an electromagnetic field by controlling the current of the winding coil 84, so that the rotor 83 rotates to enable the rotating shaft 82 to rotate, meanwhile, the first output shaft 2 outputs the current to electrify external equipment, meanwhile, the rotary incremental encoder 88 collects the actual rotating angle of the rotor 83, and judges whether the integrated closed-loop stepping motor is out of step or out of step according to the target position of the rotor 83 arranged in the rotary incremental encoder 88, if the integrated closed-loop stepping motor is out of step or out of step, the driver in the stepping motor body 1 rotates the rotor 83 to adjust the position of the rotor 83 to the target position set by the rotary incremental encoder by changing the current of the winding coil 84, so that the out of step or out of step of the integrated closed-loop stepping motor is eliminated; in addition, a cooling fan 3 is disposed at one end of the first output shaft 2, which is close to the rotating shaft 82, and when the stepper motor body 1 works, the rotating shaft 82 rotates to drive the cooling fan 3 to rotate to cool the stepper motor body 1.
Example 2: when the rotary incremental encoder 88 detects that the angle of rotation of the rotor 83 does not coincide with the target value, the driver generates an electromagnetic field by changing the current of the winding coil 84 at this time, and pushes the rotor 83 to rotate to adjust the position of the rotor 83 to the target position set by the rotary incremental encoder 88 as described in embodiment 1; although changing the current of the winding coil 84 changes the position of the rotor 83, the output current of the stepper motor body 1 is also changed, and for some devices sensitive to current change, changing the current is likely to change the working state of the device, and the performance of the whole device is affected; for example: a robotic arm system on an assembly line that requires high precision. The robotic arm needs to position and accurately place the part to the target location. When the integrated closed loop stepper motor is out of step or over step, the closed loop system attempts to correct the position by adjusting the current, but this also results in current variations that can negatively impact the accuracy of the robotic arm, resulting in inaccurate part positioning, and thus affecting the overall assembly process. In addition, if the current of the winding coil 84 is changed by the driver, the current change is very small, which may cause the rotor 83 to rotate to the target position set by the rotary incremental encoder 88 for too long, and thus affect the response time of the apparatus, and cause a problem in the performance of the apparatus, so that it is necessary to quickly adjust the rotation of the rotor 83 to the target position set by the rotary incremental encoder 88, and at the same time, the operation state of the apparatus is not affected.
The method comprises the following specific steps:
as shown in fig. 5, an integrated closed loop stepper motor comprises a current information module 6, a time information module 7, a rotation information module 81 and a central controller 5;
current information module 6: the method is used for collecting the actual output current of the stepping motor body 1 of the external equipment in a certain working state, storing the current range of the stepping motor body 1 of the external equipment in the working state, and marking the actual output current asThe range of the output current of the stepping motor body 1 of the external equipment in the working state is marked asThe method comprises the steps of carrying out a first treatment on the surface of the And processing the actual output current and the current range in the working state to generate an adjustable current amplitude coefficientAnd transfers the generated data to the central controller 5;
time information module 7: is used for collecting the external equipment in the working stateThe actual working time of the stepping motor body 1 and the time for storing the next working state of the preset external equipment are respectively marked asAnd (3) withAnd willAnd (3) withProcessing to generate adjustable time coefficientAnd transfers the generated data to the central controller 5;
the rotation information module 81: for acquiring the actual rotation angle of the rotor 83 and storing the preset rotation angle of the rotor 83, and marking the actual rotation angle of the rotor 83 and the preset rotation angle of the rotor 83 asAnd (3) withAnd processing the actual rotation angle of the rotor 83 and the preset rotation angle of the rotor 83 to generate a rotation angle deviation coefficientAnd transmitting the generated data to a central controller;
the central controller 5: the adjustable current amplitude coefficient to be uploadedAnd adjustable time coefficientProcessing to generate rotatable angle coefficientAnd getThe corresponding rotor 83 is rotatable through a range of angles and is labeledIn a rotatable angle rangeCoefficient of deviation from rotational angleComparing, and controlling the rotating device 4 to be started according to a comparison result;
the specific operation is as follows:
adjustable current amplitude coefficient: the output current of the stepping motor body 1 of the external equipment in different working states is adjustable in amplitude; because when the integrated closed-loop stepping motor is out of step or over step, the current of the winding coil 84 can be changed by the driver to generate an electromagnetic field, which pushes the rotor 83 to rotate, so as to adjust the position of the rotor 83 to the target position set by the rotary incremental encoder 88; however, if the current change range is larger, the output current of the stepper motor body 1 may be changed greatly, and the external device connected to the stepper motor body 1 may be changed in a working state, so that the performance of the external device is unstable, and therefore, when the current passing through the winding coil 84 changes the position of the rotor 83 to reach the target position set by the rotary incremental encoder 88, the current needs to be adjusted in the output current range of the stepper motor body 1 corresponding to the external device in a certain working state, so that the working state of the external device is not changed.
The acquisition logic of the adjustable current amplitude coefficient is as follows:
step one: the range of the output current of the stepping motor body 1 corresponding to the external equipment connected with the stepping motor body 1 in different working states during operation is obtained and marked as；
Step two: the actual output current of the stepping motor body 1 is obtained and marked as；
Step three: calculating an adjustable current amplitude coefficient:or (b)The method comprises the steps of carrying out a first treatment on the surface of the In the method, in the process of the invention,is an adjustable current amplitude coefficient.
The range of the output currentThe current output by the stepping motor body 1 is in a range of the corresponding current in different working states of the external equipment according to the specific external equipment connected with the stepping motor body 1, and once the current output by the stepping motor body 1 exceeds the range, the working state of the external equipment is changed; the specific acquisition mode can be acquired according to specific information of the external equipment, such as a factory specification and the like. In addition, the actual output current of the stepping motor body 1 can be acquired by the current information module 6; when the prepared output current range is obtainedAnd can be transmitted to the current information module 6 for storage.
In addition, when the external equipment is in a certain working state, if the integrated closed-loop stepping motor is out of step, the out-of-step condition of the integrated closed-loop stepping motor can be changed by regulating the current, and the formula of the current amplitude adjustable coefficient at the moment is as followsThe method comprises the steps of carrying out a first treatment on the surface of the When the external equipment is in a certain working state, if the integrated closed-loop stepping motor is in a step-out state, the step-out condition of the integrated closed-loop stepping motor can be changed by regulating the current, and the formula of the current amplitude adjustable coefficient at the moment is as follows。
Adjustable time coefficient: the difference value between the actual working time of the stepping motor body 1 and the time corresponding to the preset next working state when the external equipment is in a certain working state; for some high-precision external devices, the working state of each time point is fixed, if the integrated closed-loop stepper motor is out of step or overtime, the working state is the current working state, if the out of step or overtime of the stepper motor body 1 is not eliminated when the next working state comes, the time sequence deviation of the external device when executing the task of the external device can be caused, and the synchronism of the whole system can be influenced. Therefore, the step-out or step-out condition of the integrated closed-loop stepping motor needs to be changed before the next working state of the external equipment comes.
The acquisition logic of the adjustable time coefficient is as follows:in which, in the process,in order to adjust the time coefficient of the time,in order to be able to work for a practical time,the working time is preset.
It should be noted that, the actual working time of the stepper motor body 1 may be collected by the time information module 7, and the preset working time may be determined according to a specific external device and stored in the time information module 7.
Current amplitude coefficient to be adjustableAnd adjustable time coefficientProcessing to generate rotatable angle coefficient, and specifically expressingThe formula is:in which, in the process,as the coefficient of the angle of rotation,、respectively preset proportional coefficients of an adjustable current amplitude coefficient and an adjustable time coefficient, and、are all greater than 0.
For the obtained rotatable angle coefficientProcessing to obtain rotatable angle coefficientThe corresponding rotor 83 is rotatable through a range of angles and is labeledAnd willCoefficient of deviation from rotational angleComparing;
if it isGreater thanIt means that when the next working state of the external equipment comes, the current of the winding coil 84 is changed by the driver to generate an electromagnetic field to drive the rotationThe rotor 83 rotates, so that the position of the rotor 83 can be rotated to the target position set by the rotary incremental encoder 88, and at the moment, the rotary device 4 does not need to be started to rotate the rotary shaft 82, so that the rotor 83 rotates, and the working state of external equipment is captured and changed;
if it isLess thanIt indicates that when the next operation state of the external device is coming, the current of the winding coil 84 is changed by the driver to adjust the position of the rotor 83 to rotate to the target position set by the rotary incremental encoder 88, and at this time, in order to ensure that the stepping motor body 1 does not have the phenomenon of step-out or step-over when the next operation state of the external device is coming, an additional force needs to be applied to rotate the rotor 83, so that the position of the rotor 83 is consistent with the target position set by the rotary incremental encoder 88 when the next operation is coming, and the rotating device 4 needs to be started.
Rotation angle deviation coefficient: refers to a difference between an actual rotation angle of the rotor 83 and a preset rotation angle of the rotor 83; when the actual rotation angle of the rotor 83 is inconsistent with the preset rotation angle of the rotor 83, the phenomenon that the integrated closed-loop stepping motor is out of step or out of step is indicated at the moment, and the rotation position of the rotor 83 needs to be adjusted timely at the moment;
the acquisition logic of the rotation angle deviation coefficient is as follows:
in which, in the process,as a coefficient of the deviation of the rotation angle,for the actual rotation angle of the rotor 83,a rotation angle preset for the rotor 83.
It should be noted that, the actual rotation angle of the rotor 83 and the preset rotation angle of the rotor 83 may be obtained by the rotation information module 81, and the obtained data of the rotation information module 81 is consistent with the data in the rotary incremental encoder 88.
Example 3: as described in example 3, whenLess thanAt this time, the rotating device 4 starts to move, and the specific operation process is as follows:
the cylinder 41 extends forward so that the latch 44 can be inserted into the recess 45, and at this time, the central controller 5 controls the motor 42 to be turned on, and applies an additional force to the rotating shaft 82 so that the rotating shaft 82 rotates, thereby driving the rotor 83 to rotate.
The above formulas are all formulas with dimensions removed and numerical values calculated, the formulas are formulas with a large amount of data collected for software simulation to obtain the latest real situation, and preset parameters in the formulas are set by those skilled in the art according to the actual situation.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides an integrated closed loop stepper motor, includes stepper motor body (1), its characterized in that, the bottom of stepper motor body (1) is provided with rotary device (4), the top of rotary device (4) is provided with central controller (5), the top of stepper motor body (1) is provided with current information module (6) and time information module (7), the both ends of stepper motor body (1) are provided with pivot (82), pivot (82) run through in stepper motor body (1), stepper motor body (1) inside is provided with rotatory information module (81), the surface of pivot (82) is provided with rotor (83);
rotation device (4): the motor (42) is started to drive the second output shaft (43) to rotate so as to drive the rotating shaft (82) to rotate;
current information module (6): the device is used for collecting the actual output current of the stepping motor body (1);
time information module (7): the device is used for collecting the actual working time of the stepping motor body (1);
rotation information module (81): for detecting the actual rotation angle of the rotor (83);
central controller (5): the input end of the central controller (5) is respectively and electrically connected with the output ends of the current information module (6), the time information module (7) and the rotation information module (81), and is used for receiving output signals of the current information module (6), the time information module (7) and the rotation information module (81) and generating control instructions;
the central controller (5) analyzes the output signal of the current information module (6) to generate an adjustable current amplitude coefficient, analyzes the output signal of the time information module (7) to generate an adjustable time coefficient, analyzes the output signal of the rotation information module (81) to generate a rotation angle deviation coefficient, processes the adjustable time coefficient and the adjustable current amplitude coefficient to generate a rotation angle coefficient, compares the rotation angle range of the rotor (83) corresponding to the rotation angle coefficient with the rotation angle deviation coefficient, and controls the motor (42) to start to drive the second output shaft (43) to rotate to drive the rotating shaft (82) to rotate according to the comparison result.
2. An integrated closed loop stepper motor according to claim 1, wherein the other end of the rotating shaft (82) is fixedly connected with a first output shaft (2) for outputting the current of the stepper motor body (1), and a cooling fan (3) is arranged on the surface of the rotating shaft (82) for cooling the surface of the stepper motor body (1).
3. The integrated closed-loop stepping motor according to claim 2, wherein a driving mechanism (8) is arranged in the stepping motor body (1), the driving mechanism (8) comprises a stator core (85), winding coils (84) are convexly arranged on the inner peripheral wall of the stator core (85) at uniform intervals along the circumferential direction, a rotor (83) is arranged on the inner side of each winding coil (84), the rotor (83) is rotatably arranged in the stator core (85), the rotor (83) is arranged on the surface of a rotating shaft (82), a wiring fixing plate (86) is arranged at one end of each stator core (85), a plurality of wiring lugs (87) are arranged at the upper end of each wiring fixing plate (86), the wiring lugs (87) are electrically connected with the winding coils (84), and a rotary incremental encoder (88) is arranged above each wiring fixing plate (86).
4. An integrated closed-loop stepping motor according to claim 3, wherein the rotating device (4) comprises a rotating shaft (47), the rotating shaft (47) is arranged on the inner wall of the rotating device (4), an air cylinder (41) is arranged at the top of the rotating shaft (47), a motor (42) is arranged at the top end of the air cylinder (41), a second output shaft (43) is arranged at the top end of the motor (42), a clamping block (44) is arranged at the top end of the second output shaft (43), a groove (45) is arranged at the top end of the clamping block (44), the groove (45) is arranged in a fixed block (46), the fixed block (46) is fixedly connected to one end of the rotating shaft (82), the air cylinder (41) stretches out to push the clamping block (44) to be inserted into the groove (45), and the motor (42) is started to drive the rotating shaft (82) to rotate so that the rotor (83) rotates.
5. The integrated closed loop stepper motor of claim 4 wherein said rotationThe acquisition logic of the angle deviation coefficient is as follows:wherein->For the rotation angle deviation coefficient, +>For the actual rotation angle of the rotor (83), +.>The rotation angle preset for the rotor (83).
6. The integrated closed loop stepper motor of claim 5, wherein the adjustable current amplitude coefficient acquisition logic is:
step one: obtaining the range of the output current of the stepping motor body (1) corresponding to the external equipment connected with the stepping motor body (1) in different working states during operation, and marking as；
Step two: the actual output current of the stepping motor body (1) is obtained and marked as；
Step three: calculating an adjustable current amplitude coefficient:or->The method comprises the steps of carrying out a first treatment on the surface of the In (1) the->Is an adjustable current amplitude coefficient.
7. The integrated closed loop stepper motor of claim 6, wherein the adjustable time coefficient acquisition logic is:wherein->For an adjustable time coefficient, +.>For the actual working time, +.>The working time is preset.
8. The integrated closed loop stepper motor of claim 7, wherein the rotatable angle coefficient acquisition logic is:wherein->Is a rotatable angle coefficient +>、/>The current amplitude coefficient and the time coefficient are respectively adjustable, and the ratio coefficient is preset, and +.>、/>Are all greater than 0.
9. An integrated closed loop stepper motor according to claim 8, wherein the central controller (5) obtains the rotatable angle range of the rotor (83) corresponding to the rotatable angle coefficient, and marks asAnd will->Deviation from the rotation angle coefficient->For comparison, if->Less than->The central controller (5) generates control instructions to control the rotation device (4) to move.
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| CN202410013953.5A CN117543905B (en) | 2024-01-05 | 2024-01-05 | Integrated closed-loop stepping motor |
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| CN202410013953.5A CN117543905B (en) | 2024-01-05 | 2024-01-05 | Integrated closed-loop stepping motor |
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