CN205644131U

CN205644131U - STM32 control multichannel step motor synchronous operation's control system

Info

Publication number: CN205644131U
Application number: CN201620190683.6U
Authority: CN
Inventors: 韩防; 安昕; 张浠
Original assignee: FOSHAN CITY NANHAI DISTRICT OPTOMEDIC SCIENCE & TECHNOLOGY Co Ltd
Current assignee: Guangdong Oupu Mandi Technology Co.,Ltd.
Priority date: 2016-03-11
Filing date: 2016-03-11
Publication date: 2016-10-12
Anticipated expiration: 2026-03-11

Abstract

The utility model discloses a STM32 control multichannel step motor synchronous operation's control system, wherein, including a STM32 singlechip, step motor driver and multichannel step motor, the STM32 singlechip with step motor driver electricity is connected, step motor driver drive step motor, and single chip microcomputer control multichannel step motor synchronous operation adopts the utility model discloses CLK clock signal in the timer resource of the usable singlechip simulation FPGA breaks off when being similar to into one punctum (for low speed step motor ) of code execution time in the function to the timer, simulates FPGA's parallel execution effect, carries out synchro control to the multichannel motor, and control is nimble, and is with low costs.

Description

A kind of STM32 controls the control system of multi-path stepping motor synchronous operation

Technical field

This utility model relates to single-chip computer control system field, in particular a kind of STM32 monolithic Machine controls the control system of multi-path stepping motor synchronous operation.

Background technology

In embedded-type control field, motor is that the one in Industry Control commonly uses execution unit, There is the advantages such as control is flexible, price is low, thus be often used in many equipment and device.And it is right Multiple motors carry out Synchronization Control, and traditional embedded solution is to use FPGA or CPLD Deng chip.Although use fpga chip accurately multi-path stepping motor to be controlled simultaneously, but It is with high costs.Owing to the program in single-chip microcomputer is that a rule order performs, to multiple motors Control also can only be the most sequentially to carry out.To use chip microcontroller to N number of The Synchronization Control of motor, N+1 block single-chip microcomputer to be used；N block single-chip microcomputer therein is responsible for N is operated alone Individual motor, a piece additionally is responsible for entirety and is controlled, carried out other N number of motor by serial port command Control, so can also reach the purpose of Synchronization Control, but waste very much mcu resource.

Therefore, prior art has yet to be improved and developed.

Utility model content

The purpose of this utility model is to provide a kind of STM32 to control multi-path stepping motor synchronous operation Control system and control method, to solve Synchronization Control motor in prior art, there are the following problems:

1. although use the chips such as FPGA or CPLD accurately multichannel motor to be controlled simultaneously, but It is with high costs.

2. to use chip microcontroller Synchronization Control N+1 the to be used block single-chip microcomputer to N number of motor,

Waste very much mcu resource.

The technical solution of the utility model is as follows:

A kind of STM32 controls the control system of multi-path stepping motor synchronous operation, wherein, including a STM32 Single-chip microcomputer, stepper motor driver and multi-path stepping motor, described STM32 single-chip microcomputer and described stepping Motor driver connects, stepper motor driver drive stepping motor, Single-chip Controlling multichannel stepping electricity Machine runs simultaneously.

Described STM32 controls the control system of multi-path stepping motor synchronous operation, wherein, described often One tunnel stepper motor arrangement has one for the position sensor resetted.

Described STM32 controls the control system of multi-path stepping motor synchronous operation, wherein, described STM32 Single-chip microcomputer include least one set for recommending the GPIO of output, GPIO connects described stepper motor driver, Drive level signal exports on multi-path stepping motor after comparing amplification.

Described STM32 controls the control system of multi-path stepping motor synchronous operation, wherein, described STM32 Single-chip microcomputer also includes that external interrupt, described external interrupt are configured to pull-up input and described position sensing Device connects, and is used for receiving reset motor signal.

Described STM32 controls the control system of multi-path stepping motor synchronous operation, wherein, described STM32 Single-chip microcomputer also includes intervalometer, and described intervalometer, for producing the clock signal of a certain frequency, controls electricity The step number of machine operation and the speed of operation.

Described STM32 controls the control system of multi-path stepping motor synchronous operation, wherein, described STM32 Single-chip microcomputer also includes the RS232 serial ports of one and extraneous communication.

The beneficial effects of the utility model: this utility model utilizes the timer resource of single-chip microcomputer to simulate CLK clock signal in FPGA, is approximated to one the code execution time in timer interruption function Moment point (relative to the motor of low speed), simulates the executed in parallel effect of FPGA, to multichannel Motor carries out Synchronization Control, controls flexibly, low cost.

Accompanying drawing explanation

Fig. 1 is the control system electricity that in this utility model, STM32 controls multi-path stepping motor synchronous operation Lu Tu.

Fig. 2 is the main program flow chart of single-chip microcomputer in this utility model.

Fig. 3 is that in this utility model, in single-chip microcomputer, serial ports interrupts flow chart.

Fig. 4 is the interrupt function flow chart of intervalometer in this utility model.

Detailed description of the invention

For making the purpose of this utility model, technical scheme and advantage clearer, clear and definite, referring to Accompanying drawing develops simultaneously embodiment to this utility model further description.

Refering to Fig. 1, this utility model provides a kind of STM32 to control the control of multi-path stepping motor synchronous operation System processed, wherein, including a STM32 single-chip microcomputer 1, stepper motor driver 2 and multi-path stepping motor 3, described STM32 single-chip microcomputer 1 and described stepper motor driver 2 connect, and stepper motor driver drives Dynamic motor 3, Single-chip Controlling multi-path stepping motor 3 runs simultaneously.

Further, described each road motor 3 is configured with one for the position sensor resetted 31.In this utility model, motor is used for photographing unit or the camera lens of other imaging devices, fuselage Auto-focusing, electronic zoom, position sensor 31 is for accurately detecting the accurate position of motor 3 Put so that motor 3 accurately resets.

Further, described STM32 single-chip microcomputer 1 includes some GPIO 11, GPIO for recommending output 11 connect described stepper motor driver 2, and drive level signal exports multichannel after comparing amplification and walks Enter on motor 3.

Further, described STM32 single-chip microcomputer also includes that external interrupt 12, described external interrupt 12 are joined It is set to pull-up input and connects with described position sensor 31, for receiving the reset letter of motor 3 Number.

Further, described STM32 single-chip microcomputer 1 also includes that intervalometer 13, described intervalometer 13 are used for Control the step number that motor runs.Motor 3 receives a pulse, needs time delay about 250 Microsecond could be run, if the pulse frequency that motor 3 receives is too fast, can cause motor 3 Can not start.In the present embodiment, intervalometer 13 frequency setting is 40K, and timer interruption function is every Will be called once every 25 microseconds.

Further, described STM32 single-chip microcomputer 1 also includes the RS232 serial ports of and extraneous communication 14。

Singlechip main program flow chart refering to Fig. 2, Fig. 2, single-chip microcomputer start after powering on to serial ports, GPIO, Intervalometer and external interrupt initialize.Initialization complete after reset motor 3, if stepping Motor 3 is not detected by position sensor 31 program and will halt and point out error message, otherwise journey Sequence enters into a major cycle.In this circulation, program disappearing in 5 milliseconds of acquisition message queues Breath, if message queue is empty, there is no order, then continues after waiting 5 milliseconds to obtain；If obtained The message got is not for sky, the then corresponding order of execution.If order runs succeeded, wait 5 milliseconds After continue to repeat to operate as above；If order performs failure, again attempt to perform, if the attempt to 3 times After all failed, abandon this order and point out error message.

Fig. 3 is serial ports interrupt function flow chart, and serial ports 14 has initialized rear serial ports interrupt function and just may be used Response external event.After serial ports 14 receives order, first order is resolved by interrupt function, resolves After order be stored in message queue notice principal function read, then branch in principal function.

Refering to Fig. 4, the control work of this utility model STM32 Single-chip Controlling multichannel motor synchronous operation Flow process is as follows:

Step a: single-chip microcomputer principal function actuating motor initialization function, initializes motor, According to specifically being used for setting the frequency of intervalometer, in the present embodiment, due to motor operation Altofrequency is 4K, and therefore arranging timer frequency is 40K, leaves regulation remaining of power supply machine acceleration and deceleration Ground；

Step b: according to user's request, the motor calling user's request runs function, will corresponding electricity The operational factor of machine is delivered in timer interruption function by global variable, arranges in interrupt function The parameters such as the corresponding switch of motor, motor speed；

Step c: be called if there being motor to run function, then trigger timer interruption function, perform step D operates, and otherwise performs the operation of step m.

Step d: if first via motor function calls, performs the operation of step e, otherwise performs I operates.

Step e: in intervalometer, opens the switch of corresponding motor, further according to the speed ginseng of corresponding motor Numerical value arranges the timer clock number needing to wait；

Step f: in the case of not being triggered to level sensor, performs the operation of step g；Otherwise redirect Operation is performed to step h.

Step g: motor elder generation Accelerating running, starts to travel at the uniform speed after reaching the speed specified, last pre- Do retarded motion in the step number of meter, finally stop on predetermined position, then jump to step i and hold Row operation.

Step h: after decelerating through motor to user preset value, the more certain step number of inverted running.

Step i: program enters the execution function entrance of next motor.

Step j: if No. second motor function calls, performs the operation of step e-h；Otherwise perform step Rapid i operation.

Step k: if No. threeth motor function calls, performs the operation of step e-h；Otherwise perform step Rapid i operation.

Step l: until last N road motor function is called, process repeats steps e-h operates；No Then perform the operation of step m.

Step m: exit timer interruption function, returns mastery routine and performs.

Although substantially single-chip microcomputer is the most proper sends the pulse to multi-path stepping motor 3 simultaneously, But according to sequencing, each road motor 3 sent pulse, but owing to single-chip microcomputer performs a finger Making a few to tens of nanoseconds of time about ten, relative to the motor of low cruise, (interpulse time delay is extremely Need 250 microseconds less) for, all codes in whole interrupt function are it is believed that at synchronization Complete, add interrupt function and perform once every 25 microseconds, it is possible to equivalence becomes FPGA's Parallel effect.When this utility model utilizes the CLK in the timer resource simulation FPGA of single-chip microcomputer to synchronize Clock signal, in timer interruption function code perform the time be approximated to a moment point (relative to The motor of low speed), simulate the executed in parallel effect of FPGA, carry out multichannel motor synchronizing control System, controls flexibly, low cost.

Certainly, the control system of this utility model control multi-path stepping motor synchronous operation is not only applied In STM32 single-chip microcomputer, this utility model can be applied equally to the single-chip microcomputer of other models.

It should be appreciated that application of the present utility model is not limited to above-mentioned citing, common to this area For technical staff, can be improved according to the above description or be converted, all these modifications and variations All should belong to the protection domain of this utility model claims.

Claims

1. a STM32 controls the control system that multi-path stepping motor runs simultaneously, it is characterised in that Including a STM32 single-chip microcomputer, stepper motor driver and multi-path stepping motor, described STM32 monolithic Machine and described stepper motor driver connect, stepper motor driver drive stepping motor, single-chip microcomputer control Multi-path stepping motor processed runs simultaneously.

STM32 the most according to claim 1 controls the control system of multi-path stepping motor synchronous operation System, it is characterised in that described each road stepper motor arrangement has one for the position sensor resetted.

STM32 the most according to claim 2 controls the control system of multi-path stepping motor synchronous operation System, it is characterised in that described STM32 single-chip microcomputer include least one set for recommending the GPIO of output, GPIO connects described stepper motor driver, and drive level signal exports multichannel after comparing amplification and walks Enter on motor.

STM32 the most according to claim 3 controls the control system of multi-path stepping motor synchronous operation System, it is characterised in that described STM32 single-chip microcomputer also includes external interrupt, described external interrupt configures For pull-up input and connect with described position sensor, be used for receiving reset motor signal.

STM32 the most according to claim 1 controls the control system of multi-path stepping motor synchronous operation System, it is characterised in that described STM32 single-chip microcomputer also includes that intervalometer, described intervalometer are used for producing The clock signal of a certain frequency, controls step number and the speed of operation that motor runs.

STM32 the most according to claim 1 controls the control system of multi-path stepping motor synchronous operation System, it is characterised in that described STM32 single-chip microcomputer also includes the RS232 serial ports of one and extraneous communication.