CN1819437A - Stepping motor driving circuit - Google Patents
Stepping motor driving circuit Download PDFInfo
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- CN1819437A CN1819437A CNA2005100239259A CN200510023925A CN1819437A CN 1819437 A CN1819437 A CN 1819437A CN A2005100239259 A CNA2005100239259 A CN A2005100239259A CN 200510023925 A CN200510023925 A CN 200510023925A CN 1819437 A CN1819437 A CN 1819437A
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Abstract
The invention includes a single-chip control system, a main control circuit of drive connected to the single-chip control system, a photoelectrical buffer circuit and a subdividing magnification selector. The single chip control system comprises a current halfing circuit, step by step impulse generating circuit, input pulse interval testing circuit, multi D/A converters and an automatically subdividing control circuit. Under the control of single-chip control system, the switching between full step mode and subdividing mode can be seamlessly completed, and the subdivision automatically switching can implemented in interior.
Description
Technical field
The present invention relates to a kind of stepper motor driving circuit, especially refer to its external control signal and common synchronizing or partly go on foot driver be as good as, but the frequency of the outside input of its inner energy intelligent distinguishing control impuls, inside is provided with automatic segmentation, and the sub-divided pulse multiplying power automaticallyes switch.The high-speed driving circuit that this stepper motor driving circuit is specially adapted to have relatively high expectations.
Background technology
Existing stepping motor exists intrinsic oscillatory occurences in some low-frequency range, its reason is to do accelerated motion when rotor under the effect of magnetic field force, when rotor forwarded new balance point to, its speed made rotor break through balance point still than higher, produce overshoot, because the existence of magnetic field moment makes rotor retract balance point again, form anti-overshoot, last rotor is stabilized on the new balance point through damped vibration under the effect of load machinery frictional resistance.If but the commutation frequency of input is during near the characteristic frequency of rotor (or n doubly), promptly enter resonance region, then rotor not necessarily is stabilized on the new balance point through damped vibration, and might recoil overbalance point the time, its energy is enough big, turn back to original balance point again and settle out, at this moment just produced step-out.Especially the performance when the user will improve stepping motor at high frequency increases output torque and when adopting high-voltage great-current to drive, has more increased the probability of low-frequency oscillation.
When stepping motor operated in high band, because commutating period is very short, the electric current in the winding did not also reach stationary value, and next driving pulse has just come, and the stator field that rotor is rotated is all the time leading, so there is not overshoot, also can not produce oscillatory occurences.
The user will make motor avoid this step-out that is caused by vibration, a kind of method is to make the running frequency of stepping motor avoid these oscillation points, but the frequency of oscillation of stepping motor point is the moving employed electric current and voltage value of device of the inherent characteristic, body along with motor itself and the motor load-carrying difference of institute and different, so the user selects the running frequency of the motor very difficulty that just seems in this way.
Another reasonable method is to adopt the electric current segmentation damped method that more and more is widely used in recent years.This method is that the nominal drive current of winding is divided into several ladders, when whenever advancing a small step, changes a current level.Also be that the rotating magnetic field of stator is segmented the step in essence, thereby the step angle of stepping motor got littler, make the stepping process steadily freely suitable.This method has fundamentally been eliminated the condition of motor oscillates, has greatly improved the low frequency driveability of stepping motor.But sub-circuit brings benefit can not for the high frequency running of motor, when the high frequency running of motor, the electric current climbing speed of motor windings has not caught up with the segmentation frequency of input, at this moment segmentation has lost adjusts actual effect, and because the electric current commutation point of sub-circuit is narrower, too high as operating frequency, the afterflow effect of motor windings will cause adverse effect to power component.
Fig. 1 is the current drives waveform of the two-phase electric machine of giving an example, and the first half is to go on foot with 32 of 4 segmentations to be the drive waveforms of one-period, and 1,17,33 residing positions are the change of current point of A phase among the figure.The latter half partly goes on foot drive waveforms for 8 steps of not segmentation for one-period.
Stepper motor driver divides two types at present: the firstth, and basic model (synchronizing or half step), phase current is changeless, imports a pulse, walks a step angle; The secondth, fixedly segmentation type of external pulse relies on the gradual change of phase current to obtain thinner step angle, walks complete synchronizing or half step, needs to import several fixedly sub-divided pulse.
Above-mentioned two kinds of type of drive all have their intrinsic defectives: the synchronizing or the driving in half step, low frequency performance is relatively poor, easily produces low-frequency oscillation, running noise is bigger, though and the driving of fixing segmentation can significantly improve the low frequency driveability, can't realize high-speed driving.
Summary of the invention
The objective of the invention is to collect the excellent of above-mentioned both type of drive, a kind of stepper motor driving circuit of function admirable is provided.
A kind of stepper motor driving circuit provided by the present invention, it is characterized in that: it comprises a single-chip computer control system, the driver major loop that links to each other with this single-chip computer control system respectively, photoelectric isolating circuit and segmentation mode multiplying power selector, this single-chip computer control system comprises the electric current treatment circuit that reduces by half, step-by-step impulse produces circuit, input pulse is testing circuit at interval, several D/A signal conversion module and automatic segmentation controlled processing unit, wherein: segment automatically controlled processing unit respectively with the electric current treatment circuit that reduces by half, step-by-step impulse produces circuit, input pulse testing circuit at interval links to each other with several D/A signal conversion module, the electric current treatment circuit that reduces by half links to each other with several D/A signal conversion module respectively, again: segmentation mode multiplying power selector, select in order to segmentation mode multiplying power, decision segmentation mode is outside sub-divided pulse input, still produce automatically by inside, also determine the subdivided multiplying value in addition, and selection result is sent into automatic segmentation controlled processing unit handle; Photoelectric isolating circuit, carry out exporting described input pulse testing circuit at interval to as interrupt signal after photoelectricity is isolated in order to step-by-step impulse to the outside input, and to the direction signal of outside input with allow signal to carry out directly exporting automatic segmentation controlled processing unit to after photoelectricity isolates; Input pulse is testing circuit at interval, detects the output testing result in order to the interrupt signal of photoelectric isolating circuit output is carried out the interval; Automatically segment controlled processing unit, in order to the testing result of input pulse interval testing circuit output is handled, but producing circuit to step-by-step impulse provides the contragradience serial vein of segmentation towards signal, provide the respective value of segmentation grading current to several D/A signal conversion module, and according to the numerical value decision of current pulse spacing whether to the starting current treatment circuit output switching value that reduces by half; The electric current treatment circuit that reduces by half is accepted the switching signal of segmentation controlled processing unit output automatically, in order to the processing that reduces by half of the analog quantity of controlling several D/A signal conversion module outputs; Step-by-step impulse produces circuit, moves the stepped voltage pulse that power amplifier is complementary according to the information of automatic segmentation controlled processing unit output in order to produce with body; Several D/A signal conversion module in order to the reduce by half switching value of treatment circuit output of the digital quantity of accepting to segment automatically controlled processing unit output and electric current, after the D/A conversion, are exported step-like reference current signal to power amplifier respectively; The driver major loop, produce the motor stepping pulse voltage signal that circuit produces, the required several grading current signal of stepping motor that several D/A signal conversion module produce in order to receive step-by-step impulse, after power amplification to finish the effect of drive stepping motor.
Adopted above-mentioned technical solution, under the control of single-chip computer control system, synchronizing realizes seamless link with segmentation, and this segmentation automatically switches to and innerly realize automatically, does not need outside input pulse.When low-frequency start, adopt inside segmentation automatically, realize seamlessly transitting, internal drive is cancelled the segmentation function automatically during high frequency, directly is converted to synchronizing or the driving of half step.The present invention has improved motor-driven performance, and the motor running noises is reduced greatly, and has extremely good high speed performance.
Description of drawings
Fig. 1 is the current drives oscillogram of existing two-phase stepper motor;
Fig. 2 is the theory diagram of the embodiment (two-phase stepper motor) of stepper motor driving circuit of the present invention.
Embodiment
As shown in Figure 2, the embodiment of stepper motor driving circuit of the present invention, with the two-phase stepper motor is example, its core is a single-chip computer control system, this single-chip computer control system is connected with the driver major loop 8 of stepping motor, accept the output signal of exterior light electric isolating circuit 1 and segmentation mode multiplying power selector 9, handle.This single-chip computer control system comprises that reduce by half treatment circuit 4, step-by-step impulse of automatic segmentation controlled processing unit 3, electric current produces circuit 7, input pulse testing circuit 2, A phase D/A (numeral/simulation) signal conversion module 5 and B D/A signal conversion module 6 mutually at interval.
Segmentation mode multiplying power selector 9 is that the segmentation mode multiplying power of outer setting is selected, and its decision segmentation mode is outside sub-divided pulse input, is still produced automatically by inside, and also determine subdivided multiplying to study carefully in addition competing is 2,4,20,100 or other.These information are sent into automatic segmentation controlled processing unit 3 and are handled.
The step-by-step impulse CL of the outside input of drive circuit, through photoelectric isolating circuit 1 photoelectricity isolate the back as the single-chip microcomputer external interrupt signal enter input pulse at interval testing circuit 2 carry out input pulse and detect at interval for segmentation controlled processing unit 3 processing automatically.The direction signal DR of outside input and permission signal EA then after photoelectric isolating circuit 1 photoelectricity is isolated, directly enter automatic segmentation controlled processing unit 3 and handle.
Automatically segment controlled processing unit 3, under the effective prerequisite of input signal EA, in case there is outside CL pulse to arrive, just will starting automatically, segmentation controlled processing unit 3 produces a series of actions, at first it must determine the frequency of own inner segmentation, the interval t0=of its internal pulses (Ti+ Δ t)/n, and wherein Ti is the interval of last input CL adjacent pulse, if stepping motor is just from static startup, then Ti is by inner setting.Δ t is the difference that goes up the secondary input pulse time interval, slows down on the occasion of representative, and the negative value representative is quickened.N is the multiplying power of inner segmentation, and its value is less than or equal to the multiplying power of outer setting, reduces along with the increase of outside incoming frequency.After comprehensive these factors, it just produces circuit 7 to step-by-step impulse and sends the required stepping sub-divided pulse of stepping motor and send digital signal to A phase D/A signal conversion module 5 with B D/A signal conversion module 6 mutually, carries out A phase and B D/A numeral simulation conversion of signals mutually respectively.
Automatically segmentation controlled processing unit 3 also will having or not according to input pulse CL, (routine 0.1S) makes and starting or the close current treatment circuit 4 electric currents treatment circuit that reduces by half that reduces by half at short notice, the power consumption of driver when reducing static state, and keep the certain latching force of driver.
Driver major loop 8 is power amplifiers of pwm pulse width modulated type, it receives step-by-step impulse and produces the Va that circuit 7 produces, Va-, Vb, the two road required grading current signals of two-phase electric machine that Vb-two-phase electric machine stepping pulse signal, A phase D/A signal conversion module 5 and B D/A signal conversion module 6 mutually produces, after power amplification to finish the function of drive stepping motor M.
Operation principle of the present invention is: when first driving pulse input of drive circuit, computer segments number automatically and low-limit frequency is segmented (need not outsidely import sub-divided pulse), then segment the cycle since second pulse and change (difference of a last pulse and last pulse) calculating to add expection when actual measurement cycle of prepulse by a last pulse, when the input pulse frequency was worth greater than certain, cancellation is segmentation automatically.
The present invention has improved motor-driven performance widely, is applicable to the transformation of two-phase, three-phase, four phases, five phase step motor driver.
The present invention is because it is with the synchronizing or the basic model driver external control signal in half step with segmentation is not compatible fully, can directly replace generic drive, and great raising is arranged on the performance: start mild, avoided mechanical impact, reduced noise, thoroughly eliminated the natural oscillation of driver when low frequency drives, it is the upgraded product of common stepper motor driver.Can be widely used on the accurate automatic control equipments of high speed such as robot, lathe.
Claims (1)
1. stepper motor driving circuit, it is characterized in that: it comprises a single-chip computer control system, the driver major loop that links to each other with this single-chip computer control system respectively, photoelectric isolating circuit and segmentation mode multiplying power selector, this single-chip computer control system comprises the electric current treatment circuit that reduces by half, step-by-step impulse produces circuit, input pulse is testing circuit at interval, several D/A signal conversion module and automatic segmentation controlled processing unit, wherein: segment automatically controlled processing unit respectively with the electric current treatment circuit that reduces by half, step-by-step impulse produces circuit, input pulse testing circuit at interval links to each other with several D/A signal conversion module, the electric current treatment circuit that reduces by half links to each other with several D/A signal conversion module respectively, again:
Segmentation mode multiplying power selector is selected in order to segmentation mode multiplying power, and decision segmentation mode is outside sub-divided pulse input, is still produced automatically by inside, also determines the subdivided multiplying value in addition, and selection result is sent into automatic segmentation controlled processing unit handle;
Photoelectric isolating circuit, carry out exporting described input pulse testing circuit at interval to as interrupt signal after photoelectricity is isolated in order to step-by-step impulse to the outside input, and to the direction signal of outside input with allow signal to carry out directly exporting automatic segmentation controlled processing unit to after photoelectricity isolates;
Input pulse is testing circuit at interval, detects the output testing result in order to the interrupt signal of photoelectric isolating circuit output is carried out the interval;
Automatically segment controlled processing unit, in order to the testing result of input pulse interval testing circuit output is handled, but producing circuit to step-by-step impulse provides the contragradience serial vein of segmentation towards signal, provide the respective value of segmentation grading current to several D/A signal conversion module, and according to the numerical value decision of current pulse spacing whether to the starting current treatment circuit output switching value that reduces by half;
The electric current treatment circuit that reduces by half is accepted the switching signal of segmentation controlled processing unit output automatically, in order to the processing that reduces by half of the analog quantity of controlling several D/A signal conversion module outputs;
Step-by-step impulse produces circuit, moves the stepped voltage pulse that power amplifier is complementary according to the information of automatic segmentation controlled processing unit output in order to produce with body;
Several D/A signal conversion module in order to the reduce by half switching value of treatment circuit output of the digital quantity of accepting to segment automatically controlled processing unit output and electric current, after the D/A conversion, are exported step-like reference current signal to power amplifier respectively;
The driver major loop, produce the motor stepping pulse voltage signal that circuit produces, the required several grading current signal of stepping motor that several D/A signal conversion module produce in order to receive step-by-step impulse, after power amplification to finish the effect of drive stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100239259A CN100380801C (en) | 2005-02-07 | 2005-02-07 | Stepping motor driving circuit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100239259A CN100380801C (en) | 2005-02-07 | 2005-02-07 | Stepping motor driving circuit |
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| CN1819437A true CN1819437A (en) | 2006-08-16 |
| CN100380801C CN100380801C (en) | 2008-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100239259A Expired - Fee Related CN100380801C (en) | 2005-02-07 | 2005-02-07 | Stepping motor driving circuit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102223124A (en) * | 2011-06-24 | 2011-10-19 | 天津市亚安科技电子有限公司 | Device for controlling stepping motor |
| CN107370425A (en) * | 2016-05-13 | 2017-11-21 | 深圳市智创电机有限公司 | The control method and device of motor |
| CN108544044A (en) * | 2018-06-26 | 2018-09-18 | 宁波科路机械设备有限公司 | A kind of special composite stepper motor driver of wire cutting machine tool |
| CN113078859A (en) * | 2021-04-22 | 2021-07-06 | 浙江沪龙科技股份有限公司 | Step motor system subdivision adaptive interpolation method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1044655C (en) * | 1996-06-06 | 1999-08-11 | 中国人民解放军第二炮兵工程学院 | High-precision fine stepping method and control system for step motor |
| JPH11215895A (en) * | 1998-01-21 | 1999-08-06 | Fuji Xerox Co Ltd | Drive control device for stepping motor and sheet conveyer using the same |
| CA2302171A1 (en) * | 1999-04-23 | 2000-10-23 | Eta Sa Fabriques D'ebauches | Method for controlling a stepping motor and device for implementing such method |
| JP2004015896A (en) * | 2002-06-05 | 2004-01-15 | Canon Inc | Stepping motor controller |
-
2005
- 2005-02-07 CN CNB2005100239259A patent/CN100380801C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102223124A (en) * | 2011-06-24 | 2011-10-19 | 天津市亚安科技电子有限公司 | Device for controlling stepping motor |
| CN102223124B (en) * | 2011-06-24 | 2014-08-06 | 天津市亚安科技股份有限公司 | Device for controlling stepping motor |
| CN107370425A (en) * | 2016-05-13 | 2017-11-21 | 深圳市智创电机有限公司 | The control method and device of motor |
| CN107370425B (en) * | 2016-05-13 | 2019-12-03 | 深圳市智创电机有限公司 | The control method and device of motor |
| CN108544044A (en) * | 2018-06-26 | 2018-09-18 | 宁波科路机械设备有限公司 | A kind of special composite stepper motor driver of wire cutting machine tool |
| CN113078859A (en) * | 2021-04-22 | 2021-07-06 | 浙江沪龙科技股份有限公司 | Step motor system subdivision adaptive interpolation method |
| CN113078859B (en) * | 2021-04-22 | 2022-04-29 | 浙江沪龙科技股份有限公司 | Step motor system subdivision adaptive interpolation method |
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| CN100380801C (en) | 2008-04-09 |
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Granted publication date: 20080409 Termination date: 20140207 |