CN205232085U - Step motor closed loop driver - Google Patents
Step motor closed loop driver Download PDFInfo
- Publication number
- CN205232085U CN205232085U CN201521105873.5U CN201521105873U CN205232085U CN 205232085 U CN205232085 U CN 205232085U CN 201521105873 U CN201521105873 U CN 201521105873U CN 205232085 U CN205232085 U CN 205232085U
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- motor
- stepping motor
- driving controller
- loop
- current
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Abstract
The utility model discloses a step motor closed loop driver, wherein, the three phase current value that driving motor was treated to motor three -phase ferroelectric phase current sample device is gathered and is acquireed current three phase current value, and the output is connected with AD analog to digital conversion circuit's input, and stepper motor drive controller's output and electric current loop duty cycle regulator are connected, through the adjustment to the duty cycle, treat driving motor's electric current loop and adjust. Thereby solved current step motor positioning accuracy and influenced by electric current segmentation degree, had the problem of the inhomogeneous phenomenon in stride angle. Thereby the speed of realization closed -loop control, rotary speed control control accuracy reach the same precision of the synchronous servo motor of alternating -current permanent -magnet, also can set up to position control the mode for control lathe feed shaft. Consequently, the biggest performance driver performance is added the encoder and is made step motor positioning accuracy bring up to the servo motor level, and control load torsion is adjusted output phase electric current amplitude and has been improved current efficiency, reduces motor heating.
Description
Technical field
The utility model relates to motor and Motor Control Field technical field, particularly relates to stepping motor closed-loop drive.
Background technology
Stepping motor is opened loop control unit stepping motor part electric impulse signal being changed into angular displacement or displacement of the lines.When non-overload, the rotating speed of motor, the position of stopping only depending on frequency and the umber of pulse of pulse signal, and not by the impact of load variations, when step actuator receives a pulse signal, it rotates a fixing angle with regard to Driving Stepping Motor by the direction of setting, be called " step angle ", its rotation runs step by step with fixing angle.Pilot angle displacement can be carried out by control impuls number, thus reach the object of accurately location; Speed and the acceleration of electric machine rotation can be controlled simultaneously by control impuls frequency, thus reach the object of speed governing.Stepping motor is a kind of induction machine, its operation principle utilizes electronic circuit, direct current become time sharing power supply, heterogeneous sequencing control electric current, be that stepping motor is powered with this electric current, stepping motor could normally work, and driver is stepping motor time sharing power supply, heterogeneous time schedule controller.Common for driving the driver control electric machine phase current of three-phase hybrid stepping motor to adopt analog circuit, by the command value of three tunnel analog quantitys as three-phase current, use operational amplifier to build pi regulator, use Hall current sensor by phase current feedback to pi regulator.Adopt Analogical Circuit Technique in key link in prior art, be easily disturbed, debug difficulties, pi regulator parameter is determined by resistor and capacitor parameters value, and amendment pi regulator parameter needs to change resistor and capacitor, and this can not complete after product export.
Utility model content
For above-mentioned defect of the prior art, the purpose of this utility model is to provide a kind of stepping motor closed-loop drive.Thus solve existing stepping motor positioning precision and affect by electric current segmentation degree, have the problem of step angle non-uniform phenomenon.
In order to achieve the above object, the utility model provides following technical scheme:
Stepping motor closed-loop drive, wherein, comprising: driving controller of stepping motor, motor three-phase electricity phase current sampling device, A/D analog to digital conversion circuit and electric current loop duty cycle adjustment device; The three-phase electricity flow valuve that described motor three-phase electricity phase current sampling device treats drive motors is carried out collection and is obtained current three-phase electricity flow valuve, output is connected with the input of, A/D analog to digital conversion circuit, output that is described, A/D modulus analog to digital conversion circuit is connected with the input of described driving controller of stepping motor, the output of described driving controller of stepping motor is connected with described electric current loop duty cycle adjustment device, and described electric current loop duty cycle adjustment device is connected with the electric current loop of motor to be driven; Described driving controller of stepping motor judges whether described current three-phase electricity flow valuve falls in the phase current interval value of setting, if do not fall in described phase current interval value, then drive described electric current loop duty cycle adjustment device improve dutyfactor value or reduce dutyfactor value, the electric current loop of described motor to be driven is regulated.
In a preferred embodiment, setting position ring count generator in described driving controller of stepping motor; The output of described position ring count generator is connected with the input of the position ring driving controller of stepping motor of motor to be driven.
In a preferred embodiment, one end of described motor to be driven arranges motor encoder, gathers the position of magnetic pole of current motor to be driven, motor corner and rotary speed information.
In a preferred embodiment, the output of described motor encoder is connected with the input of described driving controller of stepping motor, and the output of described driving controller of stepping motor is connected with the input of the speed ring driving controller of stepping motor of motor to be driven.
In a preferred embodiment, described driving controller of stepping motor is digital signal processor.
In a preferred embodiment, also comprise: motor driver; The power supply of described motor driver is Switching Power Supply.
In a preferred embodiment, the power driver module in described motor driver is Intelligent Power Module.
In a preferred embodiment, also comprise: man-machine interaction input and display unit; Described man-machine interaction input and display unit are connected with the input of described driving controller of stepping motor, show described current three-phase electricity flow valuve, carry out input setting to the phase current interval value of described setting.
In a preferred embodiment, described driving controller of stepping motor also comprises: radio communication device; Described man-machine interaction input and display unit are connected with described driving controller of stepping motor by described radio communication device.
In a preferred embodiment, described human-machine interaction input device is touch screen or keyboard; Described man-machine interaction display unit is display.
Beneficial effect of the present utility model is: the utility model scheme makes step actuator sampling full-digital circuit, by force anti-interference, simple circuit, reliability, cost is low, and parameter can flexible, maximum performance drive performance, adding encoder makes stepping motor positioning precision bring up to servomotor level, and monitoring load torsion regulation output phase current magnitude improves current efficiency, and the motor feels hot in minimizing.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is in a kind of execution mode of the utility model, the control composition schematic diagram of stepping motor closed-loop drive;
Fig. 2 is in the another kind of execution mode of the utility model, the control composition schematic diagram of stepping motor closed-loop drive;
Fig. 3 is in another execution mode of the utility model, the control composition schematic diagram of stepping motor closed-loop drive.
Embodiment
Below in conjunction with accompanying drawing of the present utility model, be clearly and completely described the technical solution of the utility model, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
In a kind of execution mode of the present utility model, provide stepping motor closed-loop drive, comprising: driving controller of stepping motor 10, motor three-phase electricity phase current sampling device 20, A/D analog to digital conversion circuit 70 and electric current loop duty ratio IP adjusting device 30.The three-phase electricity flow valuve that motor three-phase electricity phase current sampling device 20 treats drive motors is carried out collection and is obtained current three-phase electricity flow valuve, output is connected with the input of A/D analog to digital conversion circuit 70, output that is described, A/D modulus analog to digital conversion circuit 70 is connected with the input of described driving controller of stepping motor, the output of driving controller of stepping motor 10 is connected with electric current loop duty ratio IP adjuster, and electric current loop duty ratio IP adjuster is connected with the electric current loop of motor to be driven; Driving controller of stepping motor 10 judges whether current three-phase electricity flow valuve falls in the phase current interval value of setting, if do not fall in phase current interval value, then drive current ring duty ratio IP adjusting device 30 improves dutyfactor value or reduces dutyfactor value, and the electric current loop treating drive motors regulates.This is adjusted to: if current three-phase electricity flow valuve is greater than phase current interval value, then duty ratio tuned up, current value is reduced.If current three-phase electricity flow valuve is less than phase current interval value, then duty ratio is turned down, make current value increase.Thus realize regulating the closed loop feedback of phase current.Rising driving controller of stepping motor 10 is DSP.
In a kind of execution mode of the present utility model, setting position ring count generator in driving controller of stepping motor 10; The output of position ring count generator is connected with the input of the position ring driving controller of stepping motor of motor to be driven.Thus the drived control realized position ring.
In a kind of execution mode of the present utility model, one end of motor to be driven arranges motor encoder 40, gathers the position of magnetic pole of current motor to be driven, motor corner and rotary speed information.As shown in Figure 2, the output of motor encoder 40 is connected with the input of driving controller of stepping motor 10, and the output of driving controller of stepping motor 10 is connected with the input of the speed ring driving controller of stepping motor 10 of motor to be driven.
In a kind of execution mode of the present utility model, also comprise: motor driver; The power supply of motor driver is Switching Power Supply.Power driver module in motor driver is Intelligent Power Module.
In a kind of execution mode of the present utility model, as shown in Figure 3, also comprise: human-machine interaction input device 50 and display unit 60.Human-machine interaction input device 50 and display unit 60 are connected with the input of driving controller of stepping motor 10, show current three-phase electricity flow valuve, carry out input setting to the phase current interval value of setting.Driving controller of stepping motor 10 also comprises: radio communication device; Human-machine interaction input device 50 and display unit 60 are connected with driving controller of stepping motor 10 by radio communication device.
Above-mentioned human-machine interaction input device 50 device is touch screen or keyboard; Man-machine interaction display unit 60 is display.
Stepping motor closed-loop drive in a kind of embodiment of the present utility model: driver is made up of power amplifier board, control board, operation panel.
Drive plate critical piece: Switching Power Supply, rectifier bridge, filter capacitor source, IPM power model, optical coupling isolator, optical isolation amplifier.Each component function: Switching Power Supply part provides+5V, + 15V power supply, rectifier bridge, filter capacitor provide 530V DC bus-bar voltage for IPM power model, IPM power model produces three-phase alternating-current supply drive motors winding, optical coupling isolator is to signal transmission electrical isolation between control board and power amplifier board, and optical isolation amplifier is to electric machine phase current isolation sampling.
Control board critical piece: driver master control dsp chip (TMS320F28335), encoder interfaces chip, voltage stabilizing chip.Functions: voltage stabilizing chip provides 3.3V power supply, driver master control dsp chip is responsible for driver current ring, speed ring, position ring control.The inner TIM1 of DSP is configured to PWM and generates timer, produces 6 road SVPWM signals and drives IPM power model.Isolated amplifier is converted to digital quantity to the inner ADC analog to digital converter of electric machine phase current sampled signal input DSP and calculates for electric current loop pi regulator feedback.The inner TIM3 of DSP is set to the step-by-step counting that increasing/down counter sends step actuator host computer, count value inputs as position ring instruction, the inner TIM2 of DSP is set to orthogonal count mode to motor encoder signal quadruple counting, and count value is fed back as position ring and calculated motor speed as loop feedback.Encoder interfaces chip is for connecting motor encoder.
Operation panel critical piece: LED charactron, button.Operation panel function: man-machine interaction, drive parameter is checked, revise, and Drive Status is monitored.
The above; be only embodiment of the present utility model; but protection range of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; change can be expected easily or replace, all should be encompassed within protection range of the present utility model.Therefore, protection range of the present utility model should described be as the criterion with the protection range of claim.
Claims (10)
1. stepping motor closed-loop drive, is characterized in that, comprising: driving controller of stepping motor, motor three-phase electricity phase current sampling device, A/D analog to digital conversion circuit and electric current loop duty cycle adjustment device; The three-phase electricity flow valuve that described motor three-phase electricity phase current sampling device treats drive motors is carried out collection and is obtained current three-phase electricity flow valuve, output is connected with the input of A/D analog to digital conversion circuit, the output of described A/D modulus analog to digital conversion circuit is connected with the input of described driving controller of stepping motor, the output of described driving controller of stepping motor is connected with described electric current loop duty cycle adjustment device, and described electric current loop duty cycle adjustment device is connected with the electric current loop of motor to be driven; Described driving controller of stepping motor judges whether described current three-phase electricity flow valuve falls in the phase current interval value of setting, if do not fall in described phase current interval value, then drive described electric current loop duty cycle adjustment device improve dutyfactor value or reduce dutyfactor value, the electric current loop of described motor to be driven is regulated.
2. stepping motor closed-loop drive according to claim 1, is characterized in that, setting position ring count generator in described driving controller of stepping motor; The output of described position ring count generator is connected with the input of the position ring driving controller of stepping motor of motor to be driven.
3. stepping motor closed-loop drive according to claim 1 and 2, is characterized in that, one end of described motor to be driven arranges motor encoder, gathers the position of magnetic pole of current motor to be driven, motor corner and rotary speed information.
4. stepping motor closed-loop drive according to claim 3, it is characterized in that, the output of described motor encoder is connected with the input of described driving controller of stepping motor, and the output of described driving controller of stepping motor is connected with the input of the speed ring driving controller of stepping motor of motor to be driven.
5. stepping motor closed-loop drive according to claim 4, is characterized in that, described driving controller of stepping motor is digital signal processor.
6. the stepping motor closed-loop drive according to claim 1 or 4, is characterized in that, also comprise: motor driver; The power supply of described motor driver is Switching Power Supply.
7. stepping motor closed-loop drive according to claim 6, is characterized in that, the power driver module in described motor driver is Intelligent Power Module.
8. stepping motor closed-loop drive according to claim 6, is characterized in that, also comprise: man-machine interaction input and display unit; Described man-machine interaction input and display unit are connected with the input of described driving controller of stepping motor, show described current three-phase electricity flow valuve, carry out input setting to the phase current interval value of described setting.
9. stepping motor closed-loop drive according to claim 8, is characterized in that, described driving controller of stepping motor also comprises: radio communication device; Described man-machine interaction input and display unit are connected with described driving controller of stepping motor by described radio communication device.
10. stepping motor closed-loop drive according to claim 8 or claim 9, it is characterized in that, described human-machine interaction input device is touch screen or keyboard; Described man-machine interaction display unit is display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521105873.5U CN205232085U (en) | 2015-12-25 | 2015-12-25 | Step motor closed loop driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521105873.5U CN205232085U (en) | 2015-12-25 | 2015-12-25 | Step motor closed loop driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205232085U true CN205232085U (en) | 2016-05-11 |
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ID=55907127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521105873.5U Expired - Fee Related CN205232085U (en) | 2015-12-25 | 2015-12-25 | Step motor closed loop driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205232085U (en) |
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2015
- 2015-12-25 CN CN201521105873.5U patent/CN205232085U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20160511 Termination date: 20191225 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |