CN208836041U - A kind of Closed-Loop Control of Stepping Motor system - Google Patents
A kind of Closed-Loop Control of Stepping Motor system Download PDFInfo
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- CN208836041U CN208836041U CN201821309153.4U CN201821309153U CN208836041U CN 208836041 U CN208836041 U CN 208836041U CN 201821309153 U CN201821309153 U CN 201821309153U CN 208836041 U CN208836041 U CN 208836041U
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- stepper motor
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- Control Of Stepping Motors (AREA)
Abstract
The utility model discloses a kind of Closed-Loop Control of Stepping Motor systems, belong to camera control technical field.The system comprises: single-chip microcontroller, motor-drive circuit, sample circuit and stepper motor containing sampling resistor, single-chip microcontroller, motor-drive circuit, sample circuit and stepper motor are sequentially connected, and one end of sampling resistor is connected with single-chip microcontroller and stepper motor respectively, the other end ground connection of sampling resistor.System in the utility model effectively realizes the closed-loop control of stepper motor；Meanwhile the system in the utility model is only sampling resistor of having connected in sample circuit with stepper motor coil, and do not increase other such as position sensor equipment, it is not only at low cost, and structure design is simple；Secondly, the system in the utility model, even if the control to stepper motor equally may be implemented, not only reduce power consumption, and the user experience is improved when stall occurs for stepper motor.
Description
Technical field
The utility model relates to camera apparatus field more particularly to a kind of Closed-Loop Control of Stepping Motor systems.
Background technique
Currently, the control mode of the stepper motor of mainstream usually has the following two kinds: turning first, directly driving stepper motor
It is dynamic, and operated without limit；Second, using position detection in structure, by position-detection sensor, the position of equipment is believed
Breath feedback is to master chip and carries out real-time control.However in the first control mode, generation stall will lead to, thus cause power consumption
Increase, the experience to user is bad；In second of control mode, then equipment cost is increased because using position sensor, and
And increase structure design difficulty.As it can be seen that how effectively to be controlled stepper motor, it is still one and needs what is solved to ask
Topic.
Utility model content
The purpose of this utility model is achieved through the following technical solutions.
The utility model proposes a kind of Closed-Loop Control of Stepping Motor systems, comprising: single-chip microcontroller, contains motor-drive circuit
The sample circuit and stepper motor of sampling resistor, the single-chip microcontroller, the motor-drive circuit, the sample circuit and the step
It is sequentially connected into motor, and one end of the sampling resistor is connected with the single-chip microcontroller and the stepper motor respectively, it is described to adopt
The other end of sample resistance is grounded.
Optionally, the motor-drive circuit includes: motor drive ic and motor drive ic peripheral circuit.
Optionally, the coil of the sampling resistor and the stepper motor is connected in series.
Optionally, the power consumption when maximum power dissipation of the sampling resistor is greater than stepper motor normal work and stall.
Optionally, the single-chip microcontroller includes: the first signal output end and the first sampling end；The motor-drive circuit packet
It includes: second signal input terminal and second signal output end；The sample circuit includes: third signal input part, the second sampling end
With stepper motor connecting pin；
First signal output end is connected with the second signal input terminal；
The second signal output end is connected with the third signal input part；
First sampling end is connected with second sampling end；
The stepper motor connecting pin is connected with the stepper motor.
Optionally, the sample circuit includes: the first pin (022), second pin (023), third pin (024),
Four pins (025), the 5th pin (027), the 6th pin (028) and exit (029)；
First pin (022), second pin (023), third pin (024), the 4th pin (025) respectively with institute
Motor-drive circuit is stated to be connected；
One end of the sampling resistor pass through respectively the 5th pin (027) and the 6th pin (028) with it is described
Stepper motor is connected, is connected by the exit (029) with the single-chip microcontroller, the other end ground connection of the sampling resistor.
Optionally, system further include: main control chip；
The main control chip is connected with the single-chip microcontroller.
Optionally, the main control chip includes: I2C interface, and the single-chip microcontroller includes the first signal input part；The I2C
Interface is connected with first signal input part.
Utility model has the advantages that
In the system of the utility model, single-chip microcontroller carries out motor-drive circuit after receiving the order of main control chip
Control；Motor-drive circuit drives stepper motor rotation under the control of single-chip microcontroller, through sample circuit；Meanwhile single-chip microcontroller pair
Sampling resistor in sample circuit carries out voltage acquisition, to continue through motor-drive circuit according to the voltage of acquisition and adopt
Sample circuit drives stepper motor, to achieve the purpose that control stepper motor rotation；As it can be seen that the system in the utility model, effectively
The closed-loop control for realizing stepper motor；Meanwhile the system in the utility model is only electric with stepping in sample circuit
Machine coil connected a sampling resistor, and do not increase other such as position sensor equipment, it is not only at low cost, but also structure
Design is simple；Secondly, the system in the utility model, even if equally may be implemented when stall occurs for stepper motor to stepping
The control of motor not only reduces power consumption, and the user experience is improved.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as practical to this
Novel limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Attached drawing 1 is a kind of Closed-Loop Control of Stepping Motor system block diagram according to the utility model embodiment；
Attached drawing 2 is the refinement figure according to a kind of Closed-Loop Control of Stepping Motor system of the utility model embodiment；
Attached drawing 3 is the schematic diagram according to the single-chip microcontroller of the utility model embodiment；
Attached drawing 4 is the schematic diagram according to the motor-drive circuit of the utility model embodiment；
Attached drawing 5 is the schematic diagram according to the Acquisition Circuit of the utility model embodiment；
Attached drawing 6 is the Closed-Loop Control of Stepping Motor method flow diagram according to the utility model embodiment.
Specific embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened is fully disclosed to those skilled in the art.
Embodiment according to the present utility model proposes a kind of Closed-Loop Control of Stepping Motor system, as shown in Figure 1, comprising:
Single-chip microcontroller, motor-drive circuit, sample circuit and stepper motor containing sampling resistor；Wherein, single-chip microcontroller, motor driven electricity
Road, sample circuit and stepper motor are sequentially connected, and one end of sampling resistor is connected with single-chip microcontroller and stepper motor respectively, sampling
The other end of resistance is grounded.
Embodiment according to the present utility model, as shown in Fig. 2, the system further include: main control chip, main control chip and list
Piece machine is connected；
Specifically, main control chip includes I2C interface, main control chip is connected by I2C interface with single-chip microcontroller.
Embodiment according to the present utility model, as shown in figure 3, single-chip microcontroller U1 includes: pin 1 to pin 48；Wherein,
Pin 10 is the first sampling end of single-chip microcontroller, and pin 25, pin 26, pin 27, the first signal that pin 28 is single-chip microcontroller export
End, pin 42 and pin 43 are the first signal input part of single-chip microcontroller；
Preferably, in the utility model, the model STM32 of single-chip microcontroller.
Embodiment according to the present utility model, as shown in figure 4, motor-drive circuit include: motor drive ic U2 and
Motor drive ic peripheral circuit.
Specifically, motor drive ic U2 includes pin 01 to pin 018, wherein pin 05, pin 06, pin 07, draw
Foot 08 is the second signal input terminal of motor-drive circuit, and pin 011, pin 012, pin 013, pin 014 are motor driven
The second signal output end of circuit；Motor drive ic peripheral circuit includes capacitor C21, capacitor C22, resistance R3, resistance R4, electricity
Hinder R5 and resistance R6 etc..
Preferably, in the utility model, the model ULN2803 of motor drive ic.
Embodiment according to the present utility model, as shown in figure 5, sample circuit includes: sampling resistor Rs, sampling resistor Rs
It is connected in series with the coil L (not shown) of stepper motor, and the maximum power dissipation of sampling resistor Rs is being greater than stepper motor just
Power consumption when often work and stall.
In the utility model, as shown in figure 5, sample circuit further include: stepper motor connecting pin JP4, stepper motor connection
End JP4 includes pin 021 to pin 028, wherein the first pin 022, second pin 023, third pin 024 and the 4th pin
025 is the third signal input part of sample circuit, and the exit 029 of the 5th pin 027 and the 6th pin 028 is sample circuit
Second sampling end.
Embodiment according to the present utility model, the I2C interface phase of the first signal input part and main control chip of single-chip microcontroller
Even, the first signal output end of single-chip microcontroller is connected with the second signal input terminal of motor-drive circuit, the first sampling of single-chip microcontroller
End is connected with the second sampling end of sample circuit；
Embodiment according to the present utility model, the second signal input terminal of motor-drive circuit and the first letter of single-chip microcontroller
Number output end is connected, and the second signal output end of motor-drive circuit is connected with the third signal input part of sample circuit；
The second of embodiment according to the present utility model, the third signal input part of sample circuit and motor-drive circuit
Signal output end is connected, and the second sampling end of sample circuit is connected with the first sampling end of single-chip microcontroller, the stepping electricity of sample circuit
Machine connecting pin is connected with stepper motor.
More specifically, the pin 42 of single-chip microcontroller U1 and pin 43 are connected with the I2C interface of main control chip, receive master control core
The order that piece is sent；Pin 25, pin 26, pin 27, the pin 28 of single-chip microcontroller U1 passes through motor drive ic periphery electricity respectively
Pin 08, pin 07, the pin 06, pin of resistance R6, resistance R5, resistance R4, resistance R3 and motor drive ic U2 in road
05 is connected, respectively pin 08, the pin of output control signal OUT1D, OUT1C, OUT1B, OUT1A to motor drive ic U2
07, pin 06, pin 05；The pin 10 of single-chip microcontroller U1 is connected with the exit 029 of stepper motor connecting pin JP4, acquisition sampling
The voltage of resistance Rs；
More specifically, the pin 08 of motor drive ic U2, pin 07, pin 06, pin 05 are driven by motor respectively
Pin 25, the pin 26, pin of resistance R6, resistance R5, resistance R4, resistance R3 and single-chip microcontroller U1 in dynamic chip periphery circuit
27, pin 28 is connected, and receives the control signal that pin 25, pin 26, pin 27, the pin 28 of single-chip microcontroller U1 export respectively
OUT1D,OUT1C,OUT1B,OUT1A；The pin 011 of motor drive ic U2, pin 012, pin 013, pin 014 respectively with
The 4th pin 025, third pin 024, second pin 023, the first pin 022 of stepper motor connecting pin JP4 is connected, and output is driven
The 4th pin 025 of dynamic signal PD, PC, PB, PA to stepper motor connecting pin JP4, third pin 024, second pin 023, the
One pin 022；
More specifically, the 4th pin 025 of stepper motor connecting pin JP4, third pin 024, second pin 023,
One pin 022 is connected with the pin 011 of motor drive ic U2, pin 012, pin 013, pin 14 respectively, receives electricity respectively
Driving signal PD, PC, PB, PA that pin 011, pin 012, pin 013, the pin 014 of machine driving chip U2 exports；Stepping electricity
The exit 029 of machine connecting pin JP4 is connected with the pin 10 of single-chip microcontroller U1, for the voltage of single-chip microcontroller acquisition sampling resistor Rs；Step
It is connected into motor connecting pin JP4 with stepper motor, is drawn by the 4th pin 025, third pin 024, second pin 023, first
Foot 022 exports driving signal PD, PC, PB, PA for receiving to stepper motor, drives stepper motor rotation.
More specifically, one end of sampling resistor Rs passes through the exit 029 and list of stepper motor connecting pin JP4 respectively
The pin 10 of piece machine U1 is connected, passes through the 6th pin 028 of stepper motor connecting pin JP4 and the 5th pin 027 and stepper motor
It is connected, the other end ground connection of sampling resistor Rs.
It is noted that Fig. 3, into Fig. 5, unmentioned pin is expansible pin, or to realize that other function is made
Pin, to not introduced in this utility model.
Further, close-loop control mode of the Closed-Loop Control of Stepping Motor system to stepper motor, packet in the utility model
Include: single-chip microcontroller U1 receives the order that main control chip is sent using I2C communication mode by pin 42 and pin 43, and passes through pin
25, pin 26, pin 27, pin 28 export corresponding control signal OUT1D, OUT1C, OUT1B, OUT1A to motor drive respectively
Pin 08, pin 07, pin 06, the pin 05 of dynamic chip U2；When motor drive ic U2 receives order, pass through pin
011, pin 012, pin 013, pin 014 distinguish output drive signal PD, PC, PB, PA to stepper motor connecting pin JP4's
4th pin 025, third pin 024, second pin 023, the first pin 022, to drive stepper motor to start and start to transport
Turn, the ADC (Analog-to-Digital Converte, analog-digital converter) of single-chip microcontroller passes through the acquisition sampling of pin 10 at this time
Voltage of the voltage ADCIN as stepper motor on resistance Rs, and according to the voltage ADCIN calculating current of acquisition, according to electric current
Stepper motor is controlled.
Further, single-chip microcontroller collection voltages ADCIN, and according to the voltage ADCIN calculating current of acquisition, according to electric current
To the process that stepper motor is controlled, as shown in fig. 6, specifically including:
Step 1: simultaneously reference current is arranged in starting stepper motor；
Wherein, start the process of stepper motor as described above, details are not described herein；
Preferably, setting reference current Iref is 2.6A.
Step 2: single-chip microcontroller acquires the voltage of stepper motor, and the electric current of stepper motor is calculated according to the voltage of acquisition；
Specifically, the voltage ADCIN of single-chip microcontroller acquisition sampling resistor Rs and the voltage as stepper motor, according to acquisition
The resistance value (being denoted as R) of voltage ADCIN and sampling resistor Rs calculates the electric current of sampling resistor Rs and the electric current I as stepper motor,
Wherein I=ADCIN/R.
It should be noted that the resistance value and packaged type of sampling resistor Rs can be according to precision of the ADC of single-chip microcontroller etc. certainly
Row setting.
For example, the precision of the ADC of single-chip microcontroller is 3.3/212=0.0008V, selecting resistance value is 0.1 ohm of sampling resistor
Rs, and sampling resistor Rs is encapsulated according to 0805 size, then having the maximum power dissipation of sampling resistor Rs is 0.125W；Work as stepper motor
When normal work, pressure drop V1=Iref*R=0.26*0.1=0.026V, corresponding power consumption P1=Iref*V1=0.26*0.026
=0.00676W is less than 0.125W；When stepper motor stall, pressure drop V2=I`*R=0.29*0.1=0.029V is corresponding
Power consumption P2=I`*V2=0.29*0.029=0.00841W is less than 0.125W；That is, sampling resistor Rs can work normally, together
When, the precision of the ADC of single-chip microcontroller is 0.0008V, can satisfy the demand of detection 0.026V and 0.029V.
Step 3: single-chip microcontroller judges whether the electric current calculated is greater than the reference current of setting, is to then follow the steps 4；Otherwise it walks
It is continued to rotate into motor, after single-chip microcontroller stops prefixed time interval, return step 2；
Step 4: single-chip microcontroller, which is sent, drops low-frequency control signal to motor drive ic, and motor drive ic, which is sent, to be increased
To stepper motor, stepper motor increases rotating torque and continues to rotate the driving signal of rotating torque, executes step 5；
Step 5: the voltage of single-chip microcontroller timing acquiring stepper motor, and the current of stepper motor is calculated according to the voltage of acquisition
Electric current, judges whether current flow is greater than reference current, is, stops the low-frequency control signal of transmission drop and gives motor driven core
Piece, stepper motor stop operating；Otherwise return step 4.
It is noted that illustrate that stall occurs for stepper motor when the current flow of calculating is equal to the reference current of setting,
Then return step 4 so that its power consumption be avoided to increase, and are promoted by control signal controling stepping motor to eliminate blocking phenomenon
User experience.
In the system of the utility model, single-chip microcontroller carries out motor-drive circuit after receiving the order of main control chip
Control；Motor-drive circuit drives stepper motor rotation under the control of single-chip microcontroller, through sample circuit；Meanwhile single-chip microcontroller pair
Sampling resistor in sample circuit carries out voltage sample, to continue through motor-drive circuit according to the voltage of acquisition and adopt
Sample circuit drives stepper motor, to achieve the purpose that control stepper motor rotation；As it can be seen that the system in the utility model, effectively
The closed-loop control for realizing stepper motor；Meanwhile the system in the utility model is only electric with stepping in sample circuit
The coil of machine has been connected a sampling resistor, and does not increase other such as position sensor equipment, not only at low cost, but also structure
Design is simple；Secondly, the system in the utility model, even if equally may be implemented when stall occurs for stepper motor to stepping
The control of motor not only reduces power consumption, and the user experience is improved.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with
Subject to the scope of protection of the claims.
Claims (8)
1. a kind of Closed-Loop Control of Stepping Motor system characterized by comprising single-chip microcontroller, contains sampling electricity at motor-drive circuit
The sample circuit and stepper motor of resistance, the single-chip microcontroller, the motor-drive circuit, the sample circuit and the stepper motor
It is sequentially connected, and one end of the sampling resistor is connected with the single-chip microcontroller and the stepper motor respectively, the sampling resistor
The other end ground connection.
2. system according to claim 1, which is characterized in that the motor-drive circuit include: motor drive ic and
Motor drive ic peripheral circuit.
3. system according to claim 1, which is characterized in that the sampling resistor is connected with the coil of the stepper motor
Connection.
4. system according to claim 1, which is characterized in that the maximum power dissipation of the sampling resistor is greater than the stepping electricity
Power consumption when machine normal work and stall.
5. system according to claim 1, which is characterized in that the single-chip microcontroller includes: the first signal output end and first
Sampling end；The motor-drive circuit includes: second signal input terminal and second signal output end；The sample circuit includes:
Third signal input part, the second sampling end and stepper motor connecting pin；
First signal output end is connected with the second signal input terminal；
The second signal output end is connected with the third signal input part；
First sampling end is connected with second sampling end；
The stepper motor connecting pin is connected with the stepper motor.
6. system according to claim 1, which is characterized in that the sample circuit includes: the first pin (022), second
Pin (023), third pin (024), the 4th pin (025), the 5th pin (027), the 6th pin (028) and exit
(029)；
First pin (022), second pin (023), third pin (024), the 4th pin (025) respectively with the motor
Driving circuit is connected；
One end of the sampling resistor passes through the 5th pin (027) and the pin (028) and the stepper motor respectively
It is connected, is connected by the exit (029) with the single-chip microcontroller, the other end ground connection of the sampling resistor.
7. system according to claim 1, which is characterized in that system further include: main control chip；
The main control chip is connected with the single-chip microcontroller.
8. system according to claim 7, which is characterized in that the main control chip includes: I2C interface, the single-chip microcontroller
Including the first signal input part；
The I2C interface is connected with first signal input part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821309153.4U CN208836041U (en) | 2018-08-14 | 2018-08-14 | A kind of Closed-Loop Control of Stepping Motor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821309153.4U CN208836041U (en) | 2018-08-14 | 2018-08-14 | A kind of Closed-Loop Control of Stepping Motor system |
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| Publication Number | Publication Date |
|---|---|
| CN208836041U true CN208836041U (en) | 2019-05-07 |
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ID=66309321
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| CN201821309153.4U Expired - Fee Related CN208836041U (en) | 2018-08-14 | 2018-08-14 | A kind of Closed-Loop Control of Stepping Motor system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115499573A (en) * | 2022-09-19 | 2022-12-20 | 杭州海康威视数字技术股份有限公司 | Video camera |
-
2018
- 2018-08-14 CN CN201821309153.4U patent/CN208836041U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115499573A (en) * | 2022-09-19 | 2022-12-20 | 杭州海康威视数字技术股份有限公司 | Video camera |
| CN115499573B (en) * | 2022-09-19 | 2024-07-26 | 杭州海康威视数字技术股份有限公司 | Video camera |
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Granted publication date: 20190507 |