CN202586855U - Automatically rotary dining-table actuating device based on singlechip control - Google Patents
Automatically rotary dining-table actuating device based on singlechip control Download PDFInfo
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- CN202586855U CN202586855U CN 201220236442 CN201220236442U CN202586855U CN 202586855 U CN202586855 U CN 202586855U CN 201220236442 CN201220236442 CN 201220236442 CN 201220236442 U CN201220236442 U CN 201220236442U CN 202586855 U CN202586855 U CN 202586855U
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Abstract
The utility model discloses an automatically rotary dining-table actuating device based on singlechip control. The automatically rotary dining-table actuating device based on the singlechip control is characterized by comprising a three-phase hybrid stepping motor connected with a dining-table. The three-phase hybrid stepping motor is connected with an actuator, and the actuator is connected with a power source and a pulse generation controller. When the actuator receives a pulse signal from a pulse generation control unit, the actuator actuates the three-phase hybrid stepping motor to rotate a fixed angle (a stepping angle) according to a set direction. The pulse generation control unit can control angular displacement amount by controlling the number of pulses and achieve the purpose of accurately positioning. Meanwhile, the pulse generation control unit can control rotational speed and directions of a motor by controlling pulse frequency and achieve the purposes of starting, speed regulating, braking, positively rotating and inversely rotating of the motor.
Description
Technical field
The utility model invention belongs to field of electric control.The accessory drive that relates to a kind of automatic rotating table, particularly a kind of based on monolithic processor controlled automatic rotating table device.
Background technology
Along with the development of society, various Electronic Control "smart" products enter into common people house day by day.Wherein the dining table of rotation can improve the class in dining room automatically, also can provide convenience to the eater.In order to realize the service of hommization more, satisfy the demand of having a dinner that improves day by day, need reasonably control the rotating speed of Lazy Susan, so that motor deceleration device just becomes is most important.In all kinds of Mechatronic Systems, because having moment, stepping motor starts and the advantageous characteristic that stops rapidly, and precision height and rotating speed are controlled easily simultaneously, and its range of application is very extensively.
Along with the development of power electronic technology, driving system of stepping motor has that the open loop control precision is high, drive form simple, be easy to realize characteristics such as Digital Control, in digital control system, obtains increasingly extensive application.But stepping motor is owing to receive the restriction of itself structure, and it is very little that step angle can not be done.Thereby the output torque is obviously fluctuateed when operation; When low frequency operation, can produce covibration; Easy step-out during high frequency, and noise of motor is comparatively obvious, and these defectives all have a strong impact on the application of stepping motor in this project.Because the runnability of stepping motor not only depends on the electromechanical properties of motor itself, and also depends on the performance of its drive circuit to a great extent.Adopt PWM segmentation constant-current drive technology can improve the step pitch resolution of stepping motor greatly, reduce torque ripple, avoid low-frequency resonance and reduce running noises.
Summary of the invention
The purpose of the utility model is, provides a kind of automatic rotating table to use motor control assembly, and this device adopts Single-chip Controlling, and entire circuit is simple in structure, and reliability is high, convenient operating maintenance, and the rotating speed of motor precision can reach higher level.
In order to realize above-mentioned task, the utility model is taked following technical solution:
A kind of based on monolithic processor controlled automatic rotating table drive unit; It is characterized in that comprise the three-phase hybrid stepping motor that is connected with dining table, the three-phase hybrid stepping motor is connected with driver; Be connected with power supply on the driver, driver is connected with the pulse generation controller.
Some other characteristics of the utility model are:
Described pulse generation controller is selected the MC9S12DG128B single-chip microcomputer for use.
The model of described three-phase hybrid stepping motor is 86BYG350BL-0601.
The model of described stepping motor driver is SH-30806.
The automatic rotating table of the utility model is used motor control assembly, adopts pulse generation controller paired pulses frequency and two parameters of rotating speed to handle in real time, has realized the PWM control of stepping motor, and being in operation has obtained good low frequency characteristic.Because systemic price ratio is high, and is simple in structure, has practical value and dissemination.
The automatic rotating table of the utility model has the following advantages with motor control assembly:
(1) simple in structure, practical, volume is little, is fit to the control of medium and small micro-step motor.
(2) microprocessor technology is advanced, stable performance, and reliability is high.
(3) the main circuit circuit is simple, and the power device that needs is few, and efficient is high, and is low in energy consumption.
(4) switching frequency is high, and electric current is continuous easily, and harmonic wave is few, and the loss of electric machine is little.
(5) adopt PWM constant current sub-driver circuit, the entire circuit precision is high, response speed is fast, stationarity good, power loss is low.
(6) band system band is wide, and dynamic response is fast, and antijamming capability is strong.
(7) experimental result shows, the automatic rotating table of the utility model is used the motor driving controling circuit stable and reliable operation, and the motor speed governing response is fast, can practical requirement, good application prospects is arranged.
Description of drawings
Fig. 1 is that the automatic rotating table of the utility model is used the motor control assembly connection layout;
Fig. 2 is driver principles figure;
Fig. 3 is armature voltage " duty ratio " and average voltage graph of a relation;
Below in conjunction with accompanying drawing the utility model is done further to specify.
Embodiment
Referring to Fig. 1; Present embodiment provides a kind of automatic rotating table and uses motor control assembly; Comprise the three-phase hybrid stepping motor that is connected with dining table; The three-phase hybrid stepping motor is connected with driver, is connected with power supply (24V ~ 70V direct current) on the driver, and driver is connected with the pulse generation controller.
It must add the three-phase hybrid stepping motor driving and just can turn round, and drive signal is necessary for pulse signal, when not having pulse; Stepping motor is static; If add suitable pulse signal, will be with certain angular turn, the speed of rotation and the frequency of pulse are directly proportional.Stepping motor is the unit rotation with " step ", and numerical characteristic is apparent in view, and control is convenient.Its overload property is good, and rotating speed does not receive the influence of load size.When stepping motor uses speed and position all there is strict demand.Traditional mechanical speed and level control structure more complicated, the adjustment difficulty behind the use stepping motor, makes overall structure become simple and compact.
1. master-plan
The MC9S12DG128B single-chip microcomputer is the core of device; Utilize the PWM module in the MC9S12DG128B single-chip microcomputer that driver is carried out corresponding control; Driver is controlled the rotation of three-phase hybrid motor then; The three-phase hybrid motor is fixed on the dining table, and the rotation of three-phase hybrid motor can realize the automatic rotation of dining table.
Consider that the slow-speed of revolution to the automatic rotating table rotating disk requires and the rotating speed characteristics of conventional dc and alternating current machine, select three-phase hybrid stepping motor comparatively suitable as PTO.Start and stop and counter-rotating response that three-phase hybrid stepping motor is outstanding; The range of speeds of broad, only with load be directly connected to also can be extremely low in the rotating shaft of motor the synchronization rotation, the more important thing is; It is easy to utilize chip microcontroller accurately to control practical requirement.Stepping motor needs special stepper motor driver just can work.Utilize single-chip microcomputer to produce a stepping pulse signal as electronic control unit, driver receives this signal can drive the three-phase hybrid stepping motor by a direction rotation fixing angle (step angle) of setting.The MC9S12DG128B single-chip microcomputer can come the pilot angle displacement through the number of control impuls, thereby reaches the purpose of accurate location; The velocity of rotation that simultaneously can control the three-phase hybrid motor through the control impuls frequency with turn to, thereby reach the purpose of motor start and stop, rotating and speed governing.
1.1 stepping motor type selecting
In the present embodiment, the 86BYG350BL-0601 type three-phase hybrid stepping motor that three-phase hybrid stepping motor selects for use the Beijing Helishi Electrical Machinery Technology Co., Ltd to make, it is a kind of actuator that electric impulse signal is converted into angular displacement or displacement of the lines.Because three-phase hybrid stepping motor can not directly be received on industrial frequency AC or the DC power supply and work, and must use special driver, this driver is made up of pulse generation control unit, power drive unit and protected location etc.After driver receives a pulse signal from the pulse generation control unit, drive the three-phase hybrid stepping motor and rotate a fixing angle (step angle) by the direction of setting, its rotation is to move step by step with fixing angle.The pulse generation control unit can come the pilot angle displacement through the number of control impuls, thereby reaches the purpose of accurate location; Can control speed and the acceleration that motor rotates through the control impuls frequency simultaneously, thereby reach the purpose of speed governing.Consider that the automatic rotating table rotating disk is many to rotate than the slow-speed of revolution, the three-phase hybrid stepping motor that characteristic is good and precision is high of selecting to slowly run is comparatively suitable.
1.2 driver type selecting
The driver SH-30806 that driver selects for use the Beijing Helishi Electrical Machinery Technology Co., Ltd to make realizes start and stop, rotating and the speed governing of three-phase hybrid stepping motor, thereby makes the state rotation of dining table according to expectation.
Referring to Fig. 2, this driver SH-30806 mainly is made up of ring distributor, signal processor, pusher, driving stage and protective circuit etc.This driver SH-30806 removes to control winding in each phase winding conduction period with pwm signal and obtains average voltage level; Make mean value with the linear variation of the frequency of CP pulse, promptly each phase winding of stepping motor mean value of bearing supply voltage is directly proportional with the pwm signal pulse duration.Ring distributor accepts the CP pulse of self-controller; And produce by the sequence of states of stepping motor state transition table requirement and respectively to be conducted and the pulse signal that ends; This CP pulse is also sent into the signal processing level in order to produce final pwm signal; Also accept the direction signal of self-controller simultaneously, thereby determine that the state exchange of its output is by positive sequence or inverted sequence, determine turning to of stepping motor thus; The CP pulse of self-controller in the future of signal processing level is sent into the pwm signal generator to produce pwm signal; Simultaneously ring distributor is exported signal and carry out voltage amplification and electric current amplification; Realize the synthetic of pwm pulse signal and three phase winding pulse distribution signals by signal synthesis circuit again; Promptly produce the pwm signal of each phase thus, and the width of having realized exporting pulse is along with the linear variation of the frequency of CP pulse; Comprised the promotion level in the driving stage, and inserted each phase winding of stepping motor, the driving stage circuit structure of each phase is identical; Be provided with the overcurrent protection link in the protective circuit.
The driver of SH-30806 model adopts the segmentation constant current drive mode.The operation principle that the three-phase hybrid stepping motor stepper angle fraction drives does; When each input pulse switches; Not that winding current is all fed or excision; But only change a part specified in the corresponding windings, then per step motion of three-phase hybrid rotor also has only the part of step angle.Winding current is pressed staircase waveform and is changed, and rated current is the input or the excision of step, and the number that electric current is divided into number of steps is identical with the number of revolutions that rotor turns over a step angle.Becoming some type of drive to be called segmentation a stepper angle fraction like this drives.The characteristics that segmentation drives are under the situation that does not change three-phase hybrid electric machine structure parameter, step angle is reduced, and then three-phase hybrid stepping motor is operated steadily, and improve at the uniform velocity property, and can weaken or solve the problem of low speed vibration.
1.3 pulse generation design of Controller
In the present embodiment, pulse generation controller electricity adopts MC9S12DG128B type single-chip microcomputer, and it is a kind of in 16 single-chip microcomputers of the M68HC12 of motorola inc series; Its internal structure mainly contains the single-chip microcomputer essential part and the CAN functional block is partly formed, and basic structure comprises: a central processor unit HCS12 (CPU), 2 asynchronous serial communication mouth SCI; 2 synchronous serial communication mouth SPI; 8 passages input capture/output is timer relatively, and 18 passage pulse width modulation module and 49 independent digit I/O mouths (wherein 20 have external interrupt and arousal function) also have the Flash ROM of 128KB in sheet; The RAM of 8KB, the EEPROM of 2KB.
Adopt the pulse generation controller of MC9S12DG128B type single-chip microcomputer, produce and the corresponding step-by-step impulse of rotating speed, and distribute to each phase winding of stepping motor, make stepping motor turn to correct position by correct direction by correct sequential as driver.Directly producing step-by-step impulse through MC9S12DG128B type single-chip microcomputer can be real to Stepping Motor Control; Be that MC9S12DG128B type single-chip microcomputer directly is connected with driver; The generation of step-by-step impulse is directly controlled by MC9S12DG128B type single-chip microcomputer with distribution, and each phase step mode and function conversion all can be controlled through reprogramming.
PWM in the MC9S12DG128B type single-chip microcomputer is the DC power supply switch frequency through the control fixed voltage, thereby changes the voltage at load two ends, and then reaches a kind of voltage adjusting method that control requires.In the Adjustment System of PWM drive controlling, switch on and off power supply by a fixing frequency, and change the length of one-period interior " connection " and " disconnection " time as required.Change the size of average voltage through " duty ratio " that changes voltage on the direct current machine armature, thereby control the rotating speed of motor.Therefore, PWM be otherwise known as " driving mechanism for switch ".As shown in Figure 3, under impulse action, when electrical power, speed increases; During the motor outage, speed reduces gradually.As long as according to certain rules, change the time of switching electricity, can let motor speed controlled.If during energized, motor speed is V to the maximum to motor all the time
Max, establishing duty ratio is D=t/T, then the average speed of motor is:
V
d＝V
max*D （1）
In the formula, V
d---the average speed of motor;
V
Max---the speed (maximum) when motor is fully energized;
D=t/T---duty ratio.
Visible by formula (1), when changing duty ratio D=t/T, just can obtain different motor average speed, thereby reach the purpose of speed governing.Say that strictly average speed and duty ratio D are not strict linear relationship, in general application, can see it linear approx.
The MC9S12DG128B single-chip microcomputer need be realized following control task:
(1) realizes the control that stepping motor turns to through pulse distribution
The input signal of the driver of SH-30806 model has two the tunnel, and they are: stepping pulse signal CP, direction level signal DIR, single-chip microcomputer sends stepping pulse signal, direction level signal control signal through P1 mouth pin PI.0, P1.1.When driver sends stepping pulse signal, only need the P1.0 pin level to be put height and put low getting final product by operating frequency, single-chip microcomputer just can the control step machine operation like this.When the P1.1 pin was high level, stepping motor turned clockwise; Stepping motor is rotated counterclockwise during P1.1 pin low level.Adopt pulsqe distributor, the MC9S12DG128B single-chip microcomputer only need provide step-by-step impulse, carries out rotating speed control and turns to control, and pulse distribution control is accomplished by pulsqe distributor.
(2) realize the control of stepping motor rotating speed through the regulating impulse frequency
The speed control of three-phase hybrid stepping motor is to realize through the step-by-step impulse frequency that control MC9S12DG128B type single-chip microcomputer sends.In interrupt service subroutine, carry out the pulse output function, the timing constant of adjustment timer can change the frequency of step-by-step impulse, and then changes the rotating speed realization speed governing of stepping motor.With single-chip microcomputer stepping motor being carried out acceleration and deceleration control, in fact is exactly the time interval that changes the output clock pulse.Make during raising speed pulse train encrypt gradually, sparse gradually when slowing down: in fact single-chip microcomputer adopts timer interrupt mode control electrical motor gearshift is exactly constantly the size of change timer loading value.In order to reduce the time of per step calculating loading value, can be solidificated in the required loading value of the speed of each discrete point among the EPROM of system during system design, when moving, system finds required loading value, to improve system response time with look-up table.
The utility model based on monolithic processor controlled automatic rotating table drive unit; Owing to adopt the MC9S12DG128B single-chip microcomputer as the pulse generation controller; Can control operations such as the start and stop of realization three-phase hybrid motor, rotating, speed governing to three-phase hybrid rotating speed of motor and rotation direction accurately.
The utility model based on monolithic processor controlled automatic rotating table drive unit, have following characteristics:
(1) the MC9S12DG128B single-chip microcomputer of producing with Freescale company is as the pulse generation controller; With 86BYG350BL-0601 type three-phase hybrid stepping motor is carrier; Because Freescale company is bigger in the market share in automobile-used Single-chip Controlling field; Product quality is better relatively, and buying is changed easy and convenient.
(2) simple in structure, practical, volume is little, can realize the speed-regulating function of automatic rotating table with motor easily.
(3) microprocessor technology is advanced, stable performance, and reliability is high, technology priority.
(4) this control Driver Circuit can satisfy various stepping motor demands, and has quick, accurate, efficient, low-power consumption.
Claims (4)
1. one kind based on monolithic processor controlled automatic rotating table drive unit; It is characterized in that comprise the three-phase hybrid stepping motor that is connected with dining table, this three-phase hybrid stepping motor is connected with driver; Be connected with power supply on the driver, driver is connected with the pulse generation controller.
2. as claimed in claim 1ly it is characterized in that based on monolithic processor controlled automatic rotating table drive unit described pulse generation controller is selected the MC9S12DG128B single-chip microcomputer for use.
3. as claimed in claim 1ly it is characterized in that based on monolithic processor controlled automatic rotating table drive unit the model of described three-phase hybrid stepping motor is 86BYG350BL-0601.
4. as claimed in claim 1ly it is characterized in that based on monolithic processor controlled automatic rotating table drive unit the model of described driver is SH-30806.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220236442 CN202586855U (en) | 2012-05-24 | 2012-05-24 | Automatically rotary dining-table actuating device based on singlechip control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220236442 CN202586855U (en) | 2012-05-24 | 2012-05-24 | Automatically rotary dining-table actuating device based on singlechip control |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103211466A (en) * | 2013-04-26 | 2013-07-24 | 江南大学 | Dining table electric rotary disk based on driving of toroidal magnetic field |
| CN104378031A (en) * | 2014-11-27 | 2015-02-25 | 哈尔滨金都太阳能科技有限公司 | Stepping motor position controller based on CPLD |
| CN107676024A (en) * | 2017-10-17 | 2018-02-09 | 江苏建筑职业技术学院 | A kind of intelligent curtain |
| CN108092575A (en) * | 2018-01-03 | 2018-05-29 | 江西盈克电子科技有限公司 | A kind of bluetooth motor-driven dining table governor |
| CN110912475A (en) * | 2019-11-20 | 2020-03-24 | 中国航空工业集团公司西安航空计算技术研究所 | Stepping motor driving method and system |
-
2012
- 2012-05-24 CN CN 201220236442 patent/CN202586855U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103211466A (en) * | 2013-04-26 | 2013-07-24 | 江南大学 | Dining table electric rotary disk based on driving of toroidal magnetic field |
| CN104378031A (en) * | 2014-11-27 | 2015-02-25 | 哈尔滨金都太阳能科技有限公司 | Stepping motor position controller based on CPLD |
| CN107676024A (en) * | 2017-10-17 | 2018-02-09 | 江苏建筑职业技术学院 | A kind of intelligent curtain |
| CN108092575A (en) * | 2018-01-03 | 2018-05-29 | 江西盈克电子科技有限公司 | A kind of bluetooth motor-driven dining table governor |
| CN110912475A (en) * | 2019-11-20 | 2020-03-24 | 中国航空工业集团公司西安航空计算技术研究所 | Stepping motor driving method and system |
| CN110912475B (en) * | 2019-11-20 | 2022-03-08 | 中国航空工业集团公司西安航空计算技术研究所 | Stepping motor driving method and system |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20150524 |
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| EXPY | Termination of patent right or utility model |