CN2041868U - Driving system of stepmotor with dynamic regulating - Google Patents
Driving system of stepmotor with dynamic regulating Download PDFInfo
- Publication number
- CN2041868U CN2041868U CN 88216532 CN88216532U CN2041868U CN 2041868 U CN2041868 U CN 2041868U CN 88216532 CN88216532 CN 88216532 CN 88216532 U CN88216532 U CN 88216532U CN 2041868 U CN2041868 U CN 2041868U
- Authority
- CN
- China
- Prior art keywords
- stepmotor
- driving system
- current
- dynamic regulating
- width modulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Abstract
The utility model discloses a driving system of stepmotor with dynamic regulating, which is a control flow pattern reaction type driving system of stepmotor which is feed power at high frequency pulse-width modulation, and the driving system of stepmotor with dynamic regulating can proceed a non-grade or numerical control regulating to drive current according to the different running state of the motor. The driving system of stepmotor with dynamic regulating has the advantages of low power consumption, small size and light weight, and the driving system of stepmotor with dynamic regulating use single supply wide voltage range for power supply, having the functions of short-circuit protection and self-recovery. Same drivers have favorable downward compatibility to motors of various specifications. The driving system of stepmotor with dynamic regulating makes up for the defects of prior art in many ways.
Description
The utility model is a kind of control flow pattern reaction stepping motor driver of high-frequency pulsed width modulation power supply.
As everyone knows, the size of stepping motor rotating torque directly with flow through the current related of phase winding, motor is under different service conditionss, all there is definite optimal selection in the control for this electric current during as starting and static, acceleration and deceleration, underloading and heavy service.The current compensation type stepper motor driving circuit such as high-low pressure power supply of available technology adopting (seeing that Tsing-Hua University edits out 331～337 pages of " Electric Machine Control " books of publication); Utilize the current-limiting drive circuit (seeing Chinese patent CN 86202716) of inductance magnetic saturation characteristic; Self-excitation chopped mode constant-current drive circuit (seeing Chinese patent CN 86202585) that adopts level and smooth controller etc. all can't satisfy above-mentioned requirements, and it is bigger that prior art also exists the circuit own loss respectively, to the power reguirements height, the steady-state current fluctuation is big, shortcomings such as poor compatibility.
The utility model is for overcoming a kind of low-loss stepper motor driver of powering and having drive current dynamic adjustments characteristic with high-frequency pulsed width modulation that deficiency of the prior art designs.
Principle of the present utility model is to drive in the loop in motor windings a little current sampling resistor R only to be set, the sampled signal of winding current and predefined voltage reference V
0After comparing and enlarging (1), act on high-frequency pulsed width modulation device (2), and control, the energy in loop is supplied with thereby limit to being serially connected in the ON time that drives circuit switching device (3).Because the energy storage characteristic of motor phase windings inductance L and the afterflow effect of parallel diode (4), making the high-frequency pulse voltage Conversion of energy that is applied to the inductance two ends is that stable current forms is flowed through self, thereby provides rotating torque stably for motor.Winding drive current I depends on the voltage setting value V of current-limiting resistance R and comparison amplifier input
0, and satisfy relations I=V
0/ R changes V
0Can carry out step-less adjustment to phase current, can realize V by digital to analog converter
0Digital quantity control.Utilize same current sampling signal, by another voltage comparator (5) voltage V corresponding with current-limiting protection point
1Compare, stopcock device immediately when electric current exceeds reaches short circuit and overcurrent protection purpose (see figure 1).
The utility model compared with prior art has following advantage:
1. because comparison amplifier has very high voltage gain, so sample resistance R value is very little, always works on off state owing to limit the switching device of energy supply again, thereby make circuit have very low power loss, radiator structure is simplified, and volume weight reduces thereupon; Simultaneously, the total internal resistance in little loop is compared with big internal resistance, and under the same power supplies voltage conditions, the climbing speed of electric current enlarges markedly in the winding, has improved motor square characteristic frequently.
2. the motor windings drive current can be easily by changing voltage setting value V
0Control, this is particularly useful for the dynamic adjustments of motor under different running statuses.
3. because therefore the steady-state value and the independent of power voltage of motor-driven loop current can satisfy big mains fluctuations scope.
4. same driver can connect the plurality of specifications motor under the condition that satisfies different motor maximum phase currents and maximum current climbing speed, have good downward compatibility.
5. have short circuit and overcurrent protection and automatic recovery property.
The drawing of accompanying drawing is described as follows:
Fig. 1 is a principle schematic of the present utility model.(1) is the feedback signal comparison amplifier among the figure, and (2) are the high-frequency pulsed width modulation devices, and (3) are to drive the circuit switching device, and (4) are fly-wheel diodes, and (5) are the guard signal comparators, and symbol R is the phase current sample resistance among the figure, V
0Be corresponding winding current and the magnitude of voltage set, L is the phase winding inductance, V
1Be the magnitude of voltage of corresponding protection point current settings, E is a supply voltage circuit.
Fig. 2 be the utility model for maximum phase current below 8A certain class stepping motor and the typical single-phase practical electrical schematic diagram that designs.Be described further below in conjunction with present embodiment:
This chip internal of integrated device " MC34060 " that this example has used a slice U.S. Motorola Inc to produce also includes except that pulse width modulator: two error amplifiers can be used for doing feedback comparison amplifier (1) and guard signal comparator (5) respectively; But have stable output+the 5V reference voltage source dividing potential drop point voltage V that is protected
1Duty ratio dead band control pin can be used to accept the phase pulse control signal, imports as the gating whether the decision pulse width modulator works; This chip has the output driving force of 200mA simultaneously, can directly promote high-power switch device (3) work.The utilization of integrated chip is greatly simplified the structure of control circuit.The operating frequency of pulse width modulator is by outer meeting resistance and electric capacity R
0, C
0Decision, frequency are selected to be greater than 10 times of the highest bat pulse frequency of motor phase windings usually, and will consider the minimum value of phase winding inductance value, and this example selects 40, and 000HZ is applicable to the motor phase windings inductance value greater than 1mH.Choosing of current sampling resistor R should be as far as possible little under the condition that satisfies comparison amplifier (1) input terminal voltage resolution, and to reduce ohmically power loss, this example is got 0.1 Ω.Sampled signal at first passes through capacitance-resistance filter network (R before entering comparison amplifier
1, C
1), effect is to eliminate the spike interference and make feedback signal that hysteresis be arranged slightly, produces little current over pulse when the phase winding electric current rises, and helps improving motor square characteristic frequently.When winding current surpassed the maximum current that limits because of certain reason, sampled signal discharged and recharged network (R by one
2, C
2, D, R
3) be applied to the in-phase end of guard signal comparator (5), and exceed anti-end protection point voltage V
1, discharge and recharge network fast to capacitor C
2Charging, thus the off switch device reaches the current limliting purpose rapidly, after this utilizes the acting in opposition of diode D to pass through R
3Slowly discharge, pulse width modulator will work on very little duty ratio like this, removes the back until the overcurrent reason and recovers normal automatically.Protection point setting voltage V
1Should satisfy and concern V
1=Imax/R-V
D, Imax is a protection point current value in the formula, V
DIt is the forward voltage drop of diode D.4 the 2 system D/A converting circuits (6) that constitute by the power resistance pressure-dividing network among Fig. 2, the driver maximum operating currenbt can be divided into 16 grades, and carry out numerical control by the Stepping Motor Control system, practicable step-less adjustment when K switch is allocated to the simulation control end is supplied with near perfect condition the energy of motor under different service conditionss.Drive the electric current rising rule formula E=Ir(l-e in the time of just to connect with reference to the inductor loop power supply of choosing of ring current voltage E
-rt/L)
-l, r is the total internal resistance in loop in the formula, t is the time that power connection rises, and the value of E is chosen between 1～3 times of aforementioned calculation value, helps improving motor square characteristic frequently, and adapts to wide range of application.
Claims (3)
1, a kind of low-loss stepper motor driver of powering and having drive current dynamic adjustments characteristic with high-frequency pulsed width modulation, it is characterized in that, string has sample resistance R in the motor windings current circuit, sampled signal is behind set point comparison amplifier (1), act on high-frequency pulsed width modulation device (2), ON time to circuit switching device (3) is controlled, thereby the energy supply is utilized the L of winding self inductance characteristic as energy storage unit with the high-frequency pulsed width modulation form, continuity electric current when using diode (4) to come maintained switch device (3) to turn-off simultaneously, and pass through sample resistance R and go up the FEEDBACK CONTROL of small voltage variation realization to electric current.
2, according to the stepper motor driver in the claim 1, the step-less adjustment that it is characterized in that the winding drive current is the voltage setting value V by comparison amplifier (1) input
0Realize, and can utilize digital to analog converter (6) to carry out numerical control.
3, according to the stepper motor driver in the claim 1,2, it is characterized in that, utilize the current sampling signal on the same sample resistance R, realize driving the short circuit and the overcurrent protection in loop by protection voltage comparator (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88216532 CN2041868U (en) | 1988-12-28 | 1988-12-28 | Driving system of stepmotor with dynamic regulating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88216532 CN2041868U (en) | 1988-12-28 | 1988-12-28 | Driving system of stepmotor with dynamic regulating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2041868U true CN2041868U (en) | 1989-07-26 |
Family
ID=4849142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 88216532 Withdrawn CN2041868U (en) | 1988-12-28 | 1988-12-28 | Driving system of stepmotor with dynamic regulating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2041868U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1293700C (en) * | 2004-12-14 | 2007-01-03 | 张建华 | Direct measuring and controlling method with DC motor |
| CN100350732C (en) * | 2002-01-24 | 2007-11-21 | 艾默生电气公司 | Detection method and apparatus for the current in instrument |
| CN100358232C (en) * | 2003-12-19 | 2007-12-26 | 松下电器产业株式会社 | Stepping motor drive device and method |
| CN104022697A (en) * | 2014-06-13 | 2014-09-03 | 四川亚美动力技术有限公司 | Constant current source driving module for stepping motor of engine |
-
1988
- 1988-12-28 CN CN 88216532 patent/CN2041868U/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100350732C (en) * | 2002-01-24 | 2007-11-21 | 艾默生电气公司 | Detection method and apparatus for the current in instrument |
| CN100358232C (en) * | 2003-12-19 | 2007-12-26 | 松下电器产业株式会社 | Stepping motor drive device and method |
| CN1293700C (en) * | 2004-12-14 | 2007-01-03 | 张建华 | Direct measuring and controlling method with DC motor |
| CN104022697A (en) * | 2014-06-13 | 2014-09-03 | 四川亚美动力技术有限公司 | Constant current source driving module for stepping motor of engine |
| CN104022697B (en) * | 2014-06-13 | 2016-06-08 | 四川亚美动力技术有限公司 | Engine stepper motor constant-current source driver module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |