CN1225524A - Method and device for controlling stepping electric motor - Google Patents
Method and device for controlling stepping electric motor Download PDFInfo
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- CN1225524A CN1225524A CN 98104403 CN98104403A CN1225524A CN 1225524 A CN1225524 A CN 1225524A CN 98104403 CN98104403 CN 98104403 CN 98104403 A CN98104403 A CN 98104403A CN 1225524 A CN1225524 A CN 1225524A
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Abstract
The invention relates to a device used for controlling stepping electrical machine and method. The device consists of driving unit and mojority groups electrical property unit. The method includes following steps: first to set up a corresponding graph of electrical property device according to dynamic performance of power-driven machine, then to select one group electrical property unit among majority groups to be coupled with driving unit by way of that power supply pass through this group electrical performance unit according to the corresponding graph to provide the power required by operating of the power-driven machine.
Description
The present invention relates to the apparatus and method of a kind of control step motor (stepping motor), relate in particular to a kind of apparatus and method that can reach the control step motor of universe speed applications.
In the application of general image analyzer, usually wish to do an associated between the resolution of image that the translational speed of probe and institute's desire are obtained.Because under constant transmissions speed, when resolution was high more, probe is required, and to be used for the required time of transmit image data just many more.For example, if the specification of image analyzer is 300 * 600dpi (dot per inch), be per inch 300 * 600 points, and the user to select the resolution of the image that the institute desire obtains be 75dpi and 600dpi, and the sweep speed of probe when resolution is 75dpi, preferably the octuple during 600dpi can reach best efficient, but often can not be like this.Relation between speed of stepping motor (speed) and the moment (torque) is approximately shown in Figure 1A.It is apparent that the moment of motor just reduces, so available velocity interval has certain restriction when the speed of motor increases.
When the speed applications of stepping motor during in unsuitable operating speed-moment of torsion zone, some all can occur such as problems such as moment deficiency, resonance and noises.The moment deficiency produces the phenomenon of interrupting (smearing interruption), beat (jitter) and vibrate (vibration) with the image that resonance can cause image analyzer to be exported, influence the quality of image, also can cause user's use wish greatly to reduce as for the noise that is produced.Because above-mentioned reason, the speed of stepping motor cannot drop on the zone of some application speed, thus the designer of image analyzer can't design allow the probe of image analyzer be able to arbitrarily speed scans.
Because step motor control image analyzer probe moving, so the characteristic curve of the output image quality of image analyzer and stepping motor has very important relation.With one four phase (four phase) stepping motor is example, obviously in Fig. 1 B, the rotation of rotor (rotor) 10 has been controlled in the variation of the electric current on four stator winding (stator winding) N1, N2, N3 and the N4.The first stator winding N1 and the second stator winding N2 differ (phase difference) is 180 degree, and differing of the 3rd stator winding N3 and the 4th stator winding N4 is 180 degree, and differing of first stator winding and the 3rd stator winding is 90 degree.The common mode of drive pattern has one pole (unipolar), bipolar (bipolar) and 1 phase, 2 phase 1-2 to equate.
The stepping motor that image analyzer is used and the structure of drive unit are shown in motor among Fig. 1 C 15 and drive unit 19, and drive unit 19 provides drive motors 15 needed electric currents.Drive unit 19 is one group of birotor transistor normally, or one group of MOS field transistor (Metal Oxide SemiconductorField Effect Transistor).Model (model) and the circuit replacement stepping motor 15 of one pole drive unit and the circuit of drive unit 19 with the single-phase winding of stepping motor are presented at entire circuit figure among Fig. 1 D.In Fig. 1 D, the model of the single-phase winding of stepping motor is with motor model 100 expressions, and the one pole drive unit then is with 105 expressions of two-carrier transistor.
Shown in Fig. 1 D, motor model 100 can be regarded as an inductance L and be connected in series a resistance R
M, resistance R ' be and motor model 100 polyphones, so that the required external resistor of time constant of change stepping motor to be provided.Because the time constant of stepping motor [(L)/(R
M+ R ')] R ' in can be controlled size by the designer, so the designer can realize the control step time constant of electric motors thus, and then the dynamic characteristic of change motor.With reference to figure 1D, when the voltage waveform on the VB end was shown in the voltage waveform among Fig. 1 E 110, the current waveform on the stator winding was shown in the waveform 115 of Fig. 1 F, wherein will not react electromotive force (back Electro-Mechanical Force) as yet and take into account.With reference to figure 1F, because the electric current on the stator winding can determine the position of rotor (rotor), and some a is to putting b and some c to time difference of some d time constant of stepping motor no better than, be defined as τ, τ is very important to stepping motor, and the size of foregoing τ be [(L)/(R
M+ R ')].Take into account if will react electromotive force, then the waveform of the electric current on the stator winding can be shown in Fig. 1 G, and the zero current that original d point is ordered to c will extend recovery time.
Though by with resistance R ' be connected in the circuit, with vibration and the noise of avoiding stepping motor, the electric current on the stator winding (stator winding) also reduces, and the pressure drop above it also reduces.Because above-mentioned reason, the moment that stepping motor produced is directly proportional with electric current and reduces, often the vibration of the image that image analyzer scanned (jitter) with interrupt also therefore producing, so the designer of image analyzer just must do a choice between the time constant of stepping motor and moment.Unless employed stepping motor has very good moment-speed characteristic curve, otherwise be the scanning that to carry out the universe application speed.For the common electric machine with general moment-speed characteristic curve, under a fixing parameter, with prior art, the scanning that carry out the universe application speed is impossible.
With reference to figure 1H, in order to reduce of the influence of reaction electromotive force, so must oppositely be connected in series a last Zener diode (Zener Diode) Z to the diode D on the original circuit to the stepping motor dynamic characteristic
D, then can reduce the influence of reaction electromotive force, because Zener diode Z
DCan provide the electric current of higher speed to open the only time (turn-offswitching time).Because above-mentioned reason, so one group of fixing parameter (resistance R
MWith Zener diode Z
D) under, the operable application speed of motor just is limited within the particular range.If the designer of image analyzer, want under one group of fixing parameter, with a stepping motor that can in application speed scope very widely, can use, just must use the stepping motor that a moment-the speed characteristic curve dynamic characteristic is very good, its shortcoming then is to use the cost of this kind stepping motor to increase substantially, and manufacturer is few.
The purpose of invention of the present invention provides a kind of apparatus and method of control step motor, and it can make single stepping motor run well in the universe application speed, and is all obtained high-quality dynamic characteristic.
The object of the present invention is achieved like this:
A kind of device, it is to be used to control an electromechanical rotating speed, is characterized in that this device comprises at least:
Drive unit, it is to be used to be connected to this motor machine, to provide this motor machine running required electric power;
Most group electric devices, it is to be used for the reaction electromotive force that the change of this motor machine component resistance is provided and removes this motor machine, this drive unit is connected to one group of electric device in this majority group electric device according to this electromechanical dynamic characteristic.
A kind of method of controlling the motor machine rotating speed is characterized in that this method comprises the following step at least:
Set up an electric device correspondence table according to this electromechanical dynamic characteristic, this electric device correspondence table is to be used for that majority is organized electric device to correspond to this electromechanical different rotating speeds, and this majority group electric device is to be used for the reaction electromotive force that the change of this motor machine component resistance is provided and removes this motor machine; And
Select one group of electric device in this majority group electric device, should organize electric device electrical couplings to a drive unit, this group electric device is according to this electric device correspondence table, make this power supply see through this group electric device and electrically be bonded to this drive unit, so that this motor machine required electric power that turns round to be provided.
In above-mentioned apparatus and method, wherein, described motor machine is a stepping motor.
In above-mentioned apparatus and method, wherein, described most group electric devices be following one of them: electric charge releasing member, resistance with and combination.
In above-mentioned apparatus and method, wherein, described electric charge releasing member is a Zener diode.
A kind of method of controlling the step rotating speed of motor is characterized in that this method comprises the following step at least:
Set up an electric device correspondence table according to this electromechanical dynamic characteristic, this electric device correspondence table is to be used for majority is organized the different rotating speeds that electric device corresponds to this stepping motor, and this majority group electric device is to be used for the reaction electromotive force that the change of this stepping motor component resistance is provided and removes this stepping motor; And
Select one group of electric device in this majority group electric device, should organize electric device electrical couplings to a drive unit, this group electric device is according to this electric device correspondence table, make this power supply see through this group electric device and electrical couplings to this drive unit, so that this stepping motor required electric power that turns round to be provided.
The present invention is owing to provide a kind of method and apparatus with many group parameters for automatic switchover, and the designer can be according to needed speed selection parameters needed (Z
D, R), make to be able in the field normal operation of full speed degree at the stepping motor of narrow velocity interval running originally; Simultaneously, the designer is by using these most group parameters, can with former be not that the speed-torque factor curve of good common stepping motor obtains changing and improves, and then make stepping motor can in the universe application speed, do best running, the image that image analyzer is obtained is not beated and vibration, does not have noise simultaneously yet and occurs.
Some embodiment by following apparatus and method to control step motor of the present invention can further understand purpose of the present invention, architectural feature and advantage in conjunction with the description of its accompanying drawing.Wherein, accompanying drawing is:
Figure 1A is the speed-torque factor curve of stepping motor.
Figure 1B is the basic structure of explanation stepping motor.
Fig. 1 C is the simple block diagram of the employed stepping motor of image analyzer of explanation prior art.
Fig. 1 D is the electrical schematic diagram that the employed stepping motor one pole of image analyzer of explanation prior art drives.
Fig. 1 E is performed on the voltage oscillogram on the drive unit of stepping motor.
Fig. 1 F is the current waveform figure when considering the reaction electromotive force on the stator winding of stepping motor.
Fig. 1 G is the current waveform figure of having considered on the stator winding of stepping motor behind the reaction electromotive force.
Fig. 1 H is the step motor drive electrical schematic diagram that applies the compensation method of reaction electromotive force.
Fig. 2 is the electrical schematic diagram according to the stepping motor among the embodiment of the apparatus and method of the control step motor of the present invention's proposition.
Fig. 3 is the electrical schematic diagram according to the stepping motor among another embodiment of the apparatus and method of the control step motor of the present invention's proposition.
Fig. 4 is the general electrical schematic diagram according to the stepping motor of the image analyzer in the apparatus and method of the control step motor of the present invention's proposition.
As everyone knows; because the price of the stepping motor that can operate in extensive speed field is very expensive; and the designer of image analyzer usually can need stepping motor is operated in extensive speed field; the present invention promptly provides a kind of method and apparatus with many group parameters, makes that the designer can be according to needed speed selection parameters needed (Z
D, R).The designer organizes the speed selection parameters according to needed majority, and with a speed parameter correspondence table binding is done at the user interface of image analyzer and the circuit of stepping motor.Make when the user sees through user's operation interface operation image analyzer, after having selected an image analytic degree and having started scanner, the probe of image analyzer will be designed according to the designer, scans corresponding to the sweep speed of selected resolution.And corresponding to this sweep speed, the speed parameter correspondence table has one group of corresponding parameter (Z
D, R).
And after the user had selected a resolution, the computer that is connected to scanner will penetration speed parameter correspondence table make that diode and the resistance of organizing parameter that need use be connected to stepping motor.When making the stepping motor running, be to be connected to stepper motor driving circuit with Zener diode and the resistance that is suitable for most its selected velocity.Because under different parameters, operable velocity interval is all inequality, so the present invention takes after many group parameter combinations, just can plan the speed parameter that it is suitable in each velocity interval, the designer can design a speed parameter correspondence table, make stepping motor according to the corresponding relation in the speed parameter correspondence table, and be connected to pairing Zener diode of a certain speed and resistance.So apparatus and method of the present invention can be used the stepping motor of a common dynamic characteristic (moment-speed characteristic curve), make it can under different velocity intervals, obtain best dynamic characteristic.
Although the speed of stepping motor used in the present invention-torque factor curve is comparatively common stepping motor, its characteristic curve is not very good, but because the present invention uses most group parameters, make the designer be changed this curve, and then make stepping motor can in the universe application speed, do best running, the image that image analyzer is obtained is not beated and vibration, does not have noise simultaneously yet and occurs.
Most group parameter provided by the present invention can allow the image analyzer designer design a program according to this, makes in the time of need using the application speed of stepping motor different range, corresponds to one group of parameter (Z that the designer determined automatically
D, R), this moment, stepping motor will be connected to one group of Zener diode and resistance, and the speed that the probe of the image analyzer of this moment moves will move with the speed that the designer sets.
Because with regard to user's viewpoint, when carrying out image scanning after with user's INTERFACE DESIGN resolution, the resolution of design is low more, and the speed of scanning should be fast more, so the designer will design a sweep speed and the connected scanner of resolution, to satisfy user's requirement.The invention provides most group parameters, just the Zener diode and the resistance of most groups.And the designer designs a program control stepping motor, is connected to majority group Zener diode that this program sets and one of them group in the resistance with the drive circuit with stepping motor.And this group Zener diode and resistance are exactly after the selected resolution of user, in the program of designer's design with regard to that group corresponding parameters (Z of appointment according to this resolution
D, R).So when driving before this image analyzer, stepping motor just is connected to this group Zener diode and resistance, the probe of image analyzer then can scan with the designed speed of designer.
Because Zener diode is being stored in its inner electric charge, remove the electric charge in the stepping motor stator winding, to remove the reaction electromotive force, its principle is a kind of electric charge releasing device.Also can be just with the Zener diode among electric charge releasing device replacement the present invention.And have a variety of modes to can be used as the parameter (Z of most groups
D, modification R), just as Fig. 2 and shown in Figure 3, even only a parameter is done switching and another parameter is not done switching, for example, a zener diode Z
DOr resistance R does single parameter and switches, and this modification is not still taken off within the spirit and scope of the present invention.
As shown in Figure 2, transducer 21 is to be used for the program designed according to the designer, connects first resistance R 1 or the second resistance R2 to stepping motor 25.When needs used the application speed of different range, the designed program of designer can be controlled adapter 21 and be connected to specified resistance.As shown in Figure 3, adapter 30 is to be used for the program designed according to the designer, connects the first Zener diode Z
D1Or the second Zener diode Z
D2To stepping motor 25.When needs used the application speed of different range, the designed program of designer can be controlled adapter 30 and be connected to specified diode.Adapter 30 in Fig. 3 and adapter 21 are by designed its action of program control of designer, and the present invention promptly is one group of diode and the resistance that makes with this adapter that moves together that stepping motor is transferred to that batch processing corresponded to.
The first Zener diode Z
D1And the second Zener diode Z
D2Be to be stored in inner electric charge with it, remove the caused reaction electromotive force of electric charge in the stator coil, so stepping motor of any variable-ratio, if its structure just replaces Zener diode among the present invention with a kind of its inner electronics that discharges with the element of eliminating the reaction electromotive force in the stator winding, do not break away from spirit of the present invention and scope.
The method that adapter 21 among the present invention and adapter 30 have a variety of realizations, for example relay, transistor or multiplexer, because aforesaid device just is used for doing switching between most parameters, so the stepping motor of any variable-ratio is if its structure just replaces adapter among the present invention with a kind of element that can do switching between most elements.
The general functional block diagram of employed device provided by the present invention wherein has eight groups of parameters as shown in Figure 4 in image analyzer, is respectively (Z
D1, R
1), (Z
D2, R
2), (Z
D3, R
3) ... (Z
D8, R
8), to be controlled by multiplexer 40, the function of its selection is controlled by two signals on selecting side 43,44 and 45, and 49 of drivers provide the needed energy of stepping motor 50 runnings.Although used in the present invention is the very common stepping motor of a kind of characteristic curve,, make to be able in the field normal operation of full speed degree at the stepping motor of narrow velocity interval running originally owing to the invention provides many group parameters for automatic switchover.
Claims (11)
1. device, it is to be used to control an electromechanical rotating speed, it is characterized in that this device comprises at least:
Drive unit, it is to be used to be connected to this motor machine, to provide this motor machine running required electric power;
Most group electric devices, it is to be used for the reaction electromotive force that the change of this motor machine component resistance is provided and removes this motor machine, this drive unit is connected to one group of electric device in this majority group electric device according to this electromechanical dynamic characteristic.
2. device as claimed in claim 1 is characterized in that: described motor machine is a stepping motor.
3. device as claimed in claim 1 is characterized in that: described most group electric devices be following one of them: electric charge releasing member, resistance with and combination.
4. device as claimed in claim 3 is characterized in that: described electric charge releasing member is a Zener diode.
5. method of controlling the motor machine rotating speed is characterized in that this method comprises the following step at least:
Set up an electric device correspondence table according to this electromechanical dynamic characteristic, this electric device correspondence table is to be used for that majority is organized electric device to correspond to this electromechanical different rotating speeds, and this majority group electric device is to be used for the reaction electromotive force that the change of this motor machine component resistance is provided and removes this motor machine; And
Select one group of electric device in this majority group electric device, should organize electric device electrical couplings to a drive unit, this group electric device is according to this electric device correspondence table, make this power supply see through this group electric device and electrically be bonded to this drive unit, so that this motor machine required electric power that turns round to be provided.
6. method as claimed in claim 5 is characterized in that: described motor machine is a stepping motor.
7. method as claimed in claim 5 is characterized in that: described most group electric devices be following one of them: electric charge releasing member, resistance with and combination.
8. method as claimed in claim 7 is characterized in that: described electric charge releasing member is a Zener diode.
9. control the method that goes on foot rotating speed of motor for one kind, it is characterized in that this method comprises the following step at least:
Set up an electric device correspondence table according to this electromechanical dynamic characteristic, this electric device correspondence table is to be used for majority is organized the different rotating speeds that electric device corresponds to this stepping motor, and this majority group electric device is to be used for the reaction electromotive force that the change of this stepping motor component resistance is provided and removes this stepping motor; And
Select one group of electric device in this majority group electric device, should organize electric device electrical couplings to a drive unit, this group electric device is according to this electric device correspondence table, make this power supply see through this group electric device and electrical couplings to this drive unit, so that this stepping motor required electric power that turns round to be provided.
10. method as claimed in claim 9 is characterized in that: described most group electric devices be following one of them: electric charge releasing member, resistance with and combination.
11. method as claimed in claim 10 is characterized in that: described electric charge releasing member is Zener diode (Zener diode).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98104403A CN1069795C (en) | 1998-02-04 | 1998-02-04 | Method and device for controlling stepping electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98104403A CN1069795C (en) | 1998-02-04 | 1998-02-04 | Method and device for controlling stepping electric motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1225524A true CN1225524A (en) | 1999-08-11 |
| CN1069795C CN1069795C (en) | 2001-08-15 |
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ID=5218235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN98104403A Expired - Fee Related CN1069795C (en) | 1998-02-04 | 1998-02-04 | Method and device for controlling stepping electric motor |
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| Country | Link |
|---|---|
| CN (1) | CN1069795C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1333519C (en) * | 2004-10-20 | 2007-08-22 | 宇东电浆科技股份有限公司 | Step motor accelerating system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100316280B1 (en) * | 1995-03-10 | 2002-04-24 | 무라타 기카이 가부시키가이샤 | Step motor control method |
-
1998
- 1998-02-04 CN CN98104403A patent/CN1069795C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1333519C (en) * | 2004-10-20 | 2007-08-22 | 宇东电浆科技股份有限公司 | Step motor accelerating system |
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| Publication number | Publication date |
|---|---|
| CN1069795C (en) | 2001-08-15 |
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