CN201639535U - Intelligent driver of multi-task stepper motors - Google Patents
Intelligent driver of multi-task stepper motors Download PDFInfo
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- CN201639535U CN201639535U CN2010200223543U CN201020022354U CN201639535U CN 201639535 U CN201639535 U CN 201639535U CN 2010200223543 U CN2010200223543 U CN 2010200223543U CN 201020022354 U CN201020022354 U CN 201020022354U CN 201639535 U CN201639535 U CN 201639535U
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Abstract
The utility model discloses an intelligent driver of multi-task stepper motors, which has the circuit structure: a serial communicating module is connected with an MCU (Micro Controller Unit) module by a serial line; the MCU module is connected with a current control module, a toggle switch and an indicator light module by I/O (Input/Output); the current control module is connected with a power driving module by a voltage output pin; voltage of a sampling resistor is used as an output signal by the power driving module and is connected with a voltage input pin of a voltage amplifying module; a voltage output pin of the voltage amplifying module is connected with a sampling voltage pin of the current control module; and a power supply module is respectively connected with the serial communicating module, the MCU module, the current control module, the voltage amplifying module and the power driving module by the voltage output pin. The intelligent driver has the advantages of simple operation, high integration, compact structure and low manufacturing cost and use cost. When a plurality of stepper motors are controlled to cooperate, all the motors have a common time base, thereby ensuring the accuracy and the high precision of sequential actions.
Description
Technical field
The utility model relates to a kind of stepping motor intelligent driver, belongs to the Electromechanical Control field.
Technical background
Existing driving system of stepping motor can be divided into two big classes according to its composition form.One class mainly is made up of controller and driver, and being arranged on the controller of parameter finished, owing to adopted the mode that parameter manually is set, operation is comparatively complicated, and the user is had higher specification requirement; More advanced be to increase communication module at the controller front end to be connected to PC, realize the setting of controller parameter by the mode of PC serial communication.Complex structure, cost height, installing space are big, the technical need height is the obvious deficiency of such drive system.Another kind of drive system is made of control section and driver, control section is similar to host computer (being mainly PC, industrial computer etc. in the reality), driver is connected with it by certain way (as control card, serial ports etc.), provides the required various control signals of driver (as pulse signal, direction signal, off line signal etc.) by control section.This type of drive system also needs to carry out comparatively complicated software development because employing has the control section that is similar to host computer, and its cost is higher, has certain system resource occupation rate during multitask.
In addition, above-mentioned two quasi-drivers all need pass through pulse signal-line, rotating holding wire, off line holding wire and link to each other with other parts, and actual installation connects comparatively complicated; External controller costs an arm and a leg, and cost is more considerable under many motor-driven occasion, and is difficult to obtain common time-base signal during the mutual co-ordination of many motors, and there is certain error in sequentially-operating.
The utility model content
The purpose of this utility model is to provide a kind of stepping motor intelligent driver of multitask, solves the above-mentioned problems in the prior art.
The stepping motor intelligent driver of a kind of multitask of the utility model, comprise MCU (MicroController Unit, micro-control unit) module, serial communication modular, power module, voltage amplification module, current control module, power driver module and toggle switch and indicating lamp module.Annexation is as follows between each module: serial communication modular connects the MCU module by the RS232 Serial Port Line, the MCU module is by I/O and current control module, toggle switch and indicating lamp module link to each other, current control module connects power driver module by the voltage output pin, and power driver module will be wherein the voltage of sampling resistor as output signal, be connected to the voltage input pin of voltage amplification module, voltage output pin in the voltage amplification module links to each other with sampled voltage pin in the current control module, power module is connected to serial communication modular by the voltage output pin, the MCU module, current control module, voltage amplification module and power driver module are respectively each module required voltage are provided.
The operation principle of the stepping motor intelligent driver of a kind of multitask of the utility model is as follows: at first by toggle switch segmentation number and operating current state are set, power on for then the stepping motor intelligent driver of multitask, control system is carried out initialization (comprising the initialization of system clock, cross bar switch, I/O mouth, external interrupt etc.), opens all interruptions, is read the I/O mouth (promptly reading the toggle switch value of setting), simultaneously, the MCU module is judged the I/O value that reads, and obtains corresponding current value and segmentation number.Host computer sends one or more groups parameter of parameter (wherein every group of parameter comprises the numbering of rotating signal, pulse signal, delay time and motor) by the serial communication modular reserved to the MCU module, the MCU module receives parameter by calling the serial communication subprogram, after all parameters receive, preserve and return reception done state sign; Carry out the detection of motor numbering then, if this machine then prepares to accept the " RUN " order of back, otherwise otherwise.Receive the " RUN " order of host computer transmission when the MCU module after, the control motor carries out the action of single task (one group of parameter) or multitask (organizing parameter) more by parameter.After being separated from host computer, the operation button that the stepping motor intelligent driver of multitask can carry by itself is controlled, according to being stored in inner parameter control step motor action.
The MCU module mainly is responsible for accepting host computer by serial communication modular running parameter that sends and the relevant parameter (as pulse signal and reference voltage are provided for current control module) that provides other parts to need; Simultaneously, realization is read and judgment processing external signal (selecting signal, current value to select signal etc. as finely divided state), to carry out corresponding operation.
Serial communication modular is used for the transmission of parameter between host computer and the MCU module.
Power module offers three kinds of required voltages of system.
The function of voltage amplification module is that the voltage amplification of sampling resistor in the power driver module is sent into current control module after enough big.
The reference voltage of current control module and the output of MCU module and the sampled voltage cooperating after the voltage amplification module is amplified according to difference segmentation current value constantly, are realized the segmentation control and the chopping wave constant current control of stepping motor.
Power driver module carries out power amplification to the signal of current control module output, with drive stepping motor; It also has the defencive function of undervoltage warning and under-voltage blockade simultaneously.
Toggle switch in toggle switch and the indicating lamp module is mainly used in finely divided state selection signal and current value selection signal is set, and reads for the MCU module; Wherein indicator light partly comprises three power supply indicators, relay indicating light and alarm lamps, and after energising, three power supply indicators are bright respectively to show that system obtains operating voltage, when relay indicating light is bright, expression stepping motor operate as normal, when overcurrent appearred in system, alarm lamp was bright.
The utility model has the following advantages with respect to prior art:
1, simple to operate.Only need circumscripted power line and each phase line of stepping motor, reduced wiring; Running parameter comes from the Parameter File that host computer sends, and need not to be provided with one by one under many motors multitask situation, has simplified operation.
2, integrated level height, compact conformation.Control section and drive part are integrated in one, and the stepping motor intelligent driver of multitask represents with the form of an intact device, the integrated level height; Peripheral components is few, and external interface is few, compact conformation.
3, cost is low.Need not external controller, do not take the system resource of main control system, manufacturing cost and use cost are low.
4, applicability is wide.The voltage transitions chip that adopts is a scalable positive voltage pressurizer, makes the driver supply power voltage have relative broad range, can drive the stepping motor of 39 models to 86 model scopes.
5, base when common is arranged.The utility model can send starting command by the microcomputer of working site when a plurality of stepping motor coordinate operation of control, make all motors that common time base be arranged, and has guaranteed the correctness and the high accuracy of sequentially-operating.
Description of drawings
Fig. 1 is the stepping motor intelligent driver circuit block diagram of a kind of multitask of the utility model;
Fig. 2 is the PC control software block diagram of the stepping motor intelligent driver of a kind of multitask of control the utility model;
Fig. 3 is embedded in Control Software (slave computer software) block diagram of MCU module for the stepping motor intelligent driver of a kind of multitask of the utility model;
Fig. 4 is a serial communication subprogram block diagram of the present utility model;
Fig. 5 is an external interrupt subroutine flow chart of the present utility model;
Fig. 6 is the stepping motor intelligent driver circuit theory diagrams of a kind of multitask of the utility model;
Fig. 7 is stepping motor running status figure.Wherein: Fig. 7-the 1st, A motor operating state figure, Fig. 7-the 2nd, B motor operating state figure.Among the figure, high expression motor is in running status, and low expression motor is in halted state.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further details.
As Fig. 1 and shown in Figure 6, power module is C8051F020 one-chip computer module, serial communication modular, current control module, voltage amplification module and power driver module power supply; MAX232 is a serial communication modular, realizes and being connected of host computer (as the notebook computer of PC, industrial computer, band serial ports etc.), and carries out the data transmission.
That single-chip microcomputer U2 adopts in the MCU module is the high-speed microprocessor C8051F020 that U.S. Silicon Laboratories company produces, and it is a kind of fully-integrated mixed signal SOC (system on a chip) type MCU chip, the integrated level height, and antijamming capability is strong; Peripheral components is few, and function is strong, can the simplified driving circuit structure.
The P5 mouth output of single-chip microcomputer C8051F020 is as current control module U9 input signal, and two-way D/A output is connected to the pin 17,16 of U9, and the RX0 on it links to each other with serial ports level transferring chip U1 with TX0.
Power module is made of U4, U3, U10, and that wherein U4 adopts is scalable positive voltage pressurizer TL783, this chip have broad input voltage range (21.5 ~ 150V) and output voltage range be (1.25V ~ 125V), be set at output 12V in this example; That U3 adopts is LM317, converts 12V to 5V; That U10 adopts is LD1117-3.3V, to obtain 3.3V voltage.
(IR2110 of U5 ~ U8) constitutes power driver module, and every has comprised that logic input circuit, level shifting circuit and low, high-pressure side drive output circuit by 4.The logic input circuit can be accepted two-way (linking to each other with LIN with HIN) and independently import or drive with compensation and preset the TTL or the CMOS level of the single input of Dead Time.The line of power driver module and function are (is example with U5): HIN, LIN are provided by the two-way in the current control module output signal, and pin 9 and 13 is respectively logic power VDD and VSS, adopt independent 5V power supply power supply.When pin 11 input ports are logic low, blocked the whole output of chip, played protective effect.Pin 5 links to each other with the source electrode of Q10, and pin 7 links to each other with the grid of Q10.If add an insulating power supply for VB and VS, HO output will change with the HIN input.Because the grid of Q10 is the capacitive input characteristics, so insulating power supply has electric capacity replacement, i.e. a bootstrap capacitor C15.Under the bootstrap capacitor effect, HO then exports at the rising edge or the trailing edge of HIN signal with the burst pulse form, and is resetting or the set flip-flop locking of reference potential with the floating potential.VCC charges to C15 through D4, C15, load, Q10, with guarantee Q10 close, when Q9 opens, the grid of Q9 is gone up enough energy storage by C15 and is driven, thereby realizes that bootstrap type drives.
(Q9 ~ Q12) IRF640 forms the brachium pontis of H bridge to four transistors, and the collector electrode of high-voltage tube connects high voltage source, and the emitter of low-voltage tube altogether.When input signal Q10, Q11 are high level, power tube Q10, Q11 conducting, Q9, Q12 end, and electric current is through Q11, the stepping motor winding, Q10 is to ground.。When input signal Q9, Q12 are high level, power tube Q9, Q12 conducting, Q10, Q11 end, and electric current is through Q9, the stepping motor winding, Q12 is to ground.It is two antipodal directions that electric current flows in winding.Promote the level signal logic and should make the conducting simultaneously of two diagonal transistors, in order to avoid the height pressure pipe is straight-through.Straight-through result can make very big short circuit current flow through transistor.
To produce bigger back-emf in order preventing to turn-off the stepping motor winding, all go here and there a Schottky triode on the grid of each power tube, promptly Q1 ~ Q8 is as the intermittent current effect of power pass.
Between the lower end of power bridge and ground, the connect resistance of 0.25 an Europe/2W, the magnitude of voltage in the winding that is used for sampling.The magnitude of voltage that two-way sampling is obtained is connected to the pin 15,10 of current control module U9 after voltage amplification module LM358 (U11) amplifies, with single-chip microcomputer two-way D/A output signal relatively, thereby the unlatching of power controlling pipe is turn-offed.
Shown in Fig. 2,3,4 and 5, software section of the present utility model mainly is made of PC control software and two parts of slave computer software.
The initialization of the partly main realization host computer of upper computer software working interface, Parameter File (depositing the parameter of required setting) choice of location, the data of carrying out in the interface show, carry out functions such as parameter transmission, the correct demonstration of parameter transmission and slave computer work startup to slave computer, and its program flow diagram is referring to Fig. 2.After host computer finished the parameter transmission, slave computer (MCU module) can break away from host computer and work alone, and does not take any resource of host computer.
The slave computer software part is called interrupt service routine, serial communication program and other supplementary subroutine by main program and is constituted, wherein various ways (function parameter transmission, global variable, static variable) is adopted in the transmission of parameter, finally satisfies lower computer hardware (being hardware of the present invention) requirements of one's work.
Wherein, the concrete function finished of main program has (Fig. 3): system is carried out initialization; Open all interruptions; Read hardware components toggle switch value of setting and carry out judgment processing, to obtain corresponding current value and segmentation number; By calling the serial communication subprogram, receive the data that host computer sends, and judge whether to be this machine operational factor; Receive the startup action command that host computer sends; Call the external interrupt subprogram, the control motor is by the parameter operation.
The function that the serial communication subprogram is mainly finished (referring to Fig. 4): the parameter that receives host computer; State information to the reception of host computer feedback parameter.The function that the external interrupt subprogram is mainly finished (referring to Fig. 5): according to the segmentation number of selecting and the rotating signal of reception, read the segmentation table and obtain the segmentation value, thus the operation of control step motor.
The form of parameter protocol is in the software section: * T*D*R*Z, and wherein first * represents motor numbering (indicating with letter); Delay time after second * represents to start (unit is second), the 3rd * represents direction of motor rotation (numeral 1 expression is just being changeed, and numeral 0 expression is reversed), and the 4th * represents the motor operation number of turns, and Z represents the end mark of one group of parameter.
This example with drive 2 stepping motors respectively unloaded operation be example at 5 kinds of states, motor numbering is made as A and B, the work fundamental frequency is 1600Hz.Its course of work is as follows: after powering on, power supply indicator D1, D2, D3 are bright, and the segmentation parameter that the A motor is set by toggle switch S1 is 0011 (corresponding 16 segmentations), and current parameters is 0001 (corresponding 0.5A electric current); The segmentation parameter that the B motor is set is 0010 (corresponding 8 segmentations), and current parameters is 0010 (corresponding 1A electric current).5 kinds of parameters that 2 motors will be moved write file, in order to transmitting.5 kinds of parameters are as follows:
AT1D1R3Z AT4D0R5Z BT4D1R6Z BT4D0R6Z
AT2D0R2Z AT2D1R4Z BT3D1R2Z Q (all parameter end marks)
AT3D1R1Z BT2D0R2Z BT1D0R8Z
Host computer is read this Parameter File, and data are sent to slave computer.After slave computer receives whole parameters, preserve each autoregressive parameter, and send reception end mark " END " to host computer; After host computer received " END ", " startup " button was effective.After pressing " startup " motor order button, single-chip microcomputer output control signal, 2 stepping motors can be according to the parameter coordination operation that is provided with, until 5 kinds of state end of runs.
Fig. 7 is the encoder test result of two stepping motors motion in the present embodiment, and its sequential and the course of work are correct.Main components and parts inventory:
| U1 | MAX232 | The RS232 serial port communication chip |
| U2 | C8051F020 | Single-chip microcomputer |
| U3 | LM317 | 12V changes the 5V power supply chip |
| U1 | MAX232 | The RS232 serial port communication chip |
| U4 | TL783 | Scalable positive voltage voltage stabilizing chip |
| U5~U8 | IR2110 | The integrated power chip |
| U9 | L6506 | The Current Control chip |
| U10 | LD1117-3.3 |
5V changes the 3.3V power supply chip |
| U11 | LM358 | The voltage amplification chip |
| D4~D11 | UF2G | Fast recovery diode |
| Q1~Q8 | MMBT5551 | The Schottky triode |
| Q9~Q16 | IRF640 | Power field effect pipe |
Claims (1)
1. the stepping motor intelligent driver of a multitask comprises MCU module, serial communication modular, power module, voltage amplification module, current control module, power driver module and toggle switch and indicating lamp module; It is characterized in that: serial communication modular connects the MCU module by Serial Port Line, the MCU module is by I/O and current control module, toggle switch and indicating lamp module link to each other, current control module connects power driver module by the voltage output pin, and power driver module will be wherein the voltage of sampling resistor as output signal, be connected to the voltage input pin of voltage amplification module, voltage output pin in the voltage amplification module links to each other with sampled voltage pin in the current control module, and power module is connected respectively to serial communication modular by the voltage output pin, the MCU module, current control module, voltage amplification module and power driver module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010200223543U CN201639535U (en) | 2010-01-21 | 2010-01-21 | Intelligent driver of multi-task stepper motors |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010200223543U CN201639535U (en) | 2010-01-21 | 2010-01-21 | Intelligent driver of multi-task stepper motors |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102611372A (en) * | 2012-03-09 | 2012-07-25 | 北京经纬恒润科技有限公司 | Method and system for acquiring feedback current of driver of stepping motor |
| CN103684150A (en) * | 2013-12-23 | 2014-03-26 | 杭州电子科技大学 | Control method and control system for reducing power consumption of stepping motor |
| CN103944145A (en) * | 2014-05-12 | 2014-07-23 | 湖南主导科技发展有限公司 | Electric water pump intelligent protector with setting parameter presetting device |
| CN109343590A (en) * | 2018-11-09 | 2019-02-15 | 蒋明光 | Motion control driver |
| CN110829911A (en) * | 2018-08-09 | 2020-02-21 | 航天信息股份有限公司 | Driving method and driving equipment for stepping motor |
-
2010
- 2010-01-21 CN CN2010200223543U patent/CN201639535U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102611372A (en) * | 2012-03-09 | 2012-07-25 | 北京经纬恒润科技有限公司 | Method and system for acquiring feedback current of driver of stepping motor |
| CN102611372B (en) * | 2012-03-09 | 2014-12-24 | 北京经纬恒润科技有限公司 | Method and system for acquiring feedback current of driver of stepping motor |
| CN103684150A (en) * | 2013-12-23 | 2014-03-26 | 杭州电子科技大学 | Control method and control system for reducing power consumption of stepping motor |
| CN103684150B (en) * | 2013-12-23 | 2016-03-16 | 杭州电子科技大学 | A kind of stepping motor reducing power consumption control method |
| CN103944145A (en) * | 2014-05-12 | 2014-07-23 | 湖南主导科技发展有限公司 | Electric water pump intelligent protector with setting parameter presetting device |
| CN110829911A (en) * | 2018-08-09 | 2020-02-21 | 航天信息股份有限公司 | Driving method and driving equipment for stepping motor |
| CN110829911B (en) * | 2018-08-09 | 2021-08-24 | 航天信息股份有限公司 | Driving method and driving equipment for stepping motor |
| CN109343590A (en) * | 2018-11-09 | 2019-02-15 | 蒋明光 | Motion control driver |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101117 Termination date: 20130121 |
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| CF01 | Termination of patent right due to non-payment of annual fee |