CN202026272U - Three-phase stepping motor driver - Google Patents
Three-phase stepping motor driver Download PDFInfo
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- CN202026272U CN202026272U CN2011201594102U CN201120159410U CN202026272U CN 202026272 U CN202026272 U CN 202026272U CN 2011201594102 U CN2011201594102 U CN 2011201594102U CN 201120159410 U CN201120159410 U CN 201120159410U CN 202026272 U CN202026272 U CN 202026272U
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Abstract
The utility model discloses a three-phase stepping motor driver which comprises a direct current power supply, an MOS (metal oxide semiconductor) tube, a three-phase motor, a power tube driving chip, comparators, a reverse phase adder, a PI regulator, an photon coupled isolator, a single chip computer, a triangular wave generator, a D/A (digital/analog) converter and a subdivision setter, wherein the direct current power supply is connected with the MOS tube which is connected with the three-phase motor and the power tube driving chip, the power tube driving chip is connected with at least three comparators, one comparator is connected with the reverse phase adder and the triangular wave generator, the other two comparators are both connected with the PI regulator, the photon coupled isolator is connected with the single chip computer which is connected with the subdivision setter and the D/A converter, and the D/A converter is connected with the PI regulator. By adopting subdivision driving technology, namely diminishing step angle, reducing dynamic error, increasing stability margin, enlarging starting torque and improving starting frequency when increasing operation beating, the running stability performance of a stepping motor can be effectively improved, and the oscillation and noise can be inhibited.
Description
Technical field
The utility model relates to a kind of three-phase stepper motor driver.
Background technology
Low-frequency oscillation
Stepping motor is prone to the low-frequency vibration phenomenon when low cruise.Vibration frequency is relevant with loading condition and drive performance, it is generally acknowledged that vibration frequency is half of empty load of motor starting frequency.Stepping motor is done continuous step run under extremely low frequency, promptly every change once electrification state, and rotor turns over a step angle.If damping is less, this motion is the oscillatory process of a decay, and rotor is just to decay to new equilbrium position several times and stop by free oscillation frequency vibration.Each pulse, rotor all obtain replenishing of primary energy from the transition of new torque curve, this energy is big more, and it is severe more to vibrate.Serious vibration can appear in motor when pulse frequency equals or approach the free oscillation frequency of motor, even step-out causes and can't work, the low-frequency resonance phenomenon of Here it is stepping motor.This low-frequency vibration phenomenon that operation principle determined by stepping motor is very unfavorable for the normal operation of machine.Step-out has multiple situation can produce step-out, surpasses the kick frequency such as starting or stop frequency, and the pulse frequency of motor high-speed cruising has surpassed maximum frequency of operation, and institute's bringing onto load torque has surpassed starting torque, resonance etc.By improving the performance of driver, can reduce the possibility of step-out in service.
The utility model content
The technical problem that the utility model solved is to provide a kind of three-phase stepper motor driver, to solve the shortcoming in the above-mentioned background technology.
The technical problem that the utility model solved realizes by the following technical solutions:
The three-phase stepper motor driver, comprise: DC power supply, metal-oxide-semiconductor, three phase electric machine, the power tube chip for driving, comparator, anti-phase adder, pi regulator, optical coupling isolator, single-chip microcomputer, the triangular wave maker, D/A converter, segmentation is provided with device, described DC power supply connects metal-oxide-semiconductor, metal-oxide-semiconductor connects three phase electric machine and power tube chip for driving, the power tube chip for driving connects at least three comparators, a comparator connects anti-phase adder and triangular wave maker, two other comparator all connects pi regulator, described optical coupling isolator connects single-chip microcomputer, single-chip microcomputer connects segmentation device and D/A converter is set, and described D/A converter connects pi regulator.
The native system power supply adopts DC power supply, and the reliability of DC power supply is very important, because Switching Power Supply is used for providing low-voltage DC to the power MOSFET driving circuit in single-chip microcomputer, amplifier and the inverter bridge in driving and the control circuit.Control circuit is a core with chip ATMEGA8, comprises current detection circuit, D/A converting circuit and control signal interface circuit, constitutes multiple functional digital three-phase hybrid stepping motor pulse segmentation drive system.
Native system is a closed-loop system that current feedback is arranged.System parameters is set by toggle switch, and control signal mainly contains pulse signal and direction signal.Pulse signal is mainly used in the motion of control step motor.According to the Stepping Motor Control characteristic, whenever receive the motion that external pulse produces a step angle, so the move distance of stepping motor is directly proportional with pulse number, the speed of service of stepping motor then is proportional to the frequency of pulse.Direction signal is used for rotating and reverse of control step motor.Signal is through judgment processing; the corresponding segmentation of output control data is to D/A converter; D/A converter is according to current setting value; output analogue step voltage V outA and VoutB are as the reference voltage signal; compare then and through the feedback signal of amplifying; error signal is regulated and is handled through PI, comes the drive motors operation by chip for driving, overcurrent protection, overtemperature protection, overvoltage protection, under-voltage protecting circuit etc. can be set simultaneously as required driver is detected protection.
Comprise that in order to improve the performance of drive system at present a lot of to the control method of various driving powers and control circuit, commonly used have following several measure:
(1) improves the driving power performance
Mainly be the edge, front and back of partly improving each phase winding current waveform rise and fall in power drive, reach each phase current and when low-and high-frequency, can both keep rated value, the torque angle displacement characteristic when improving the stepping motor operation.
(2) adopt closed-loop control system
One of major advantage of stepping motor is to work in open cycle system, this operational mode is because control circuit economy is simple, do not need feedback coder and corresponding circuit, so in a lot of positions and rotating speed control, be used widely in precision and the not high occasion of stability requirement.90% stepper drive all is to belong to open loop control in the market.But stepping motor is worked under open loop approach, and its performance usually is subjected to some restrictions, and the open loop operation can bring the risk of step-out, thereby causes that the location is inaccurate.Increase feedback closed loop and control these restrictions that can avoid traditional stepping motor, correction of deviation realizes accurately location.Feedback needs to detect, and for example detects deviation with encoder, compensates by controller.Though but still there are some problems in the precision that adopts closed loop can overcome some shortcoming checkout gears in theory and have brought some extra costs, whether the cost of increase is worth also will be according to the requirement of concrete system to control performance.
(3) adopt the segmentation Driving technique
The micro-stepping driving of stepping motor technology that development in recent years is got up is exactly the motor stepper angle fraction by driver.Owing to can reduce the step angle of stepping motor significantly, and step angle is more little, it is easy more to enter the stability region, so just increased the stepping motor traveling comfort, can also weaken even eliminate the low-frequency oscillation and the noise of stepping motor, improve starting frequency and torque down at a high speed, also can improve motorized feed resolution and precision simultaneously.
Beneficial effect
The utility model adopts the segmentation Driving technique, when promptly increasing the operation umber of beats, step angle diminishes, and dynamic error diminishes, and stability margin increases, starting torque increases, starting frequency improves, and can effectively improve the stable performance of stepping motor, suppresses vibration and noise, when the operation umber of beats is enough big, can effectively avoid the low-frequency oscillation district.
Description of drawings
Fig. 1 is the utility model three-phase stepper motor activation configuration schematic diagram.
Embodiment
Referring to Fig. 1, the three-phase stepper motor driver, comprise: DC power supply, metal-oxide-semiconductor, three phase electric machine, the power tube chip for driving, comparator, anti-phase adder, pi regulator, optical coupling isolator, single-chip microcomputer, the triangular wave maker, D/A converter, segmentation is provided with device, it is characterized in that, described DC power supply connects metal-oxide-semiconductor, metal-oxide-semiconductor connects three phase electric machine and power tube chip for driving, the power tube chip for driving connects at least three comparators, a comparator connects anti-phase adder and triangular wave maker, two other comparator all connects pi regulator, described optical coupling isolator connects single-chip microcomputer, single-chip microcomputer connects segmentation device and D/A converter is set, and described D/A converter connects pi regulator.
More than show and described basic principle of the present utility model and principal character and advantage of the present utility model; the technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications; these changes and improvements all fall in claimed the utility model scope, and the claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (1)
1. three-phase stepper motor driver, comprise: DC power supply, metal-oxide-semiconductor, three phase electric machine, the power tube chip for driving, comparator, anti-phase adder, pi regulator, optical coupling isolator, single-chip microcomputer, the triangular wave maker, D/A converter, segmentation is provided with device, it is characterized in that, described DC power supply connects metal-oxide-semiconductor, metal-oxide-semiconductor connects three phase electric machine and power tube chip for driving, the power tube chip for driving connects at least three comparators, a comparator connects anti-phase adder and triangular wave maker, two other comparator all connects pi regulator, described optical coupling isolator connects single-chip microcomputer, single-chip microcomputer connects segmentation device and D/A converter is set, and described D/A converter connects pi regulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201594102U CN202026272U (en) | 2011-05-19 | 2011-05-19 | Three-phase stepping motor driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201594102U CN202026272U (en) | 2011-05-19 | 2011-05-19 | Three-phase stepping motor driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202026272U true CN202026272U (en) | 2011-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201594102U Expired - Fee Related CN202026272U (en) | 2011-05-19 | 2011-05-19 | Three-phase stepping motor driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202026272U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105264762A (en) * | 2013-06-06 | 2016-01-20 | Thk株式会社 | Stepping-motor control device and control method |
| CN111987947A (en) * | 2020-07-13 | 2020-11-24 | 深圳市兆威机电股份有限公司 | Stepping motor, starting control method and device thereof, and computer readable storage medium |
-
2011
- 2011-05-19 CN CN2011201594102U patent/CN202026272U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105264762A (en) * | 2013-06-06 | 2016-01-20 | Thk株式会社 | Stepping-motor control device and control method |
| US9859827B2 (en) | 2013-06-06 | 2018-01-02 | Thk Co., Ltd. | Stepping-motor control device and control method |
| CN105264762B (en) * | 2013-06-06 | 2018-01-19 | Thk株式会社 | The control device and control method of stepper motor |
| CN111987947A (en) * | 2020-07-13 | 2020-11-24 | 深圳市兆威机电股份有限公司 | Stepping motor, starting control method and device thereof, and computer readable storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111102 Termination date: 20120519 |