CN209516853U - A kind of driving device for step-by-step - Google Patents
A kind of driving device for step-by-step Download PDFInfo
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- CN209516853U CN209516853U CN201822103748.0U CN201822103748U CN209516853U CN 209516853 U CN209516853 U CN 209516853U CN 201822103748 U CN201822103748 U CN 201822103748U CN 209516853 U CN209516853 U CN 209516853U
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- stepper motor
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- electric current
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Abstract
The utility model relates to a kind of driving device for step-by-step, it include: stepper motor and driver, the driver is mounted on stepper motor tail portion, the stepper motor side wall midline is fixed with magnet, the magnet is located at stepper motor side wall tail edge, the angular transducer for induced magnet is equipped in the driver, stepper motor is connected with motor lines on caudal side wall, and motor lines are connected with driver.Its method are as follows: after choosing fixed stepper motor, driver driving parameter is transferred to and is matched with stepper motor, then according to selected stepper motor, the corresponding different electric current of driver output is adjusted under different rotating speeds, so that the electric current of driver and the revolving speed of stepper motor match, the driver under a kind of a kind of electric current of stepper motor Corresponding matching of parameter is finally realized.Advantage is the utility model compared with prior art: structurally reasonable, size one, encoder and driving motor parameter one.
Description
Technical field
The utility model relates to motor driver technical field, in particular to a kind of driving device for step-by-step.
Background technique
The driving of stepper motor: it is that electric current is passed to certain logic by each phase winding to stepper motor, realizes stepping electricity
Machine internal magnetic field compound direction changes rotate stepper motor.Each phase winding current electrifying logic variation is primary, motor
Advance a step angle.
Stepper motor driving method is divided into voltage driving and constant current driving, and voltage driving is divided into univoltage constant pressure driving and high
Low-voltage driving, univoltage carry out driving and refer in the stepper motor progress winding course of work, passed through with a direction and opened
After opening triode, supply voltage is powered winding, turns off triode winding by diode and discharges circuit for winding
Electric current becomes zero, and realizes the charging and discharging of a winding.Multiple windings carry out certain logic and carry out offer voltage, realize winding
Current transformation.Each winding is powered, and variation is primary, and stepper motor walks a step angle.This kind of mode is a kind of than more ancient electricity
Machine driving method, is out of use substantially now.
Advantage: circuit is simple, and element is few, control is also simple, than compared with simple and convenient if implementing；
Disadvantage: the triode of sufficiently large electric current must be provided to carry out switch process, the running speed ratio of stepper motor
Compared with low speed, motor vibration is bigger, and fever is big.
High-low pressure driving in order to when enabling to be powered winding reach setting electric current rapidly, winding current decays to rapidly when shutdown
Zero, while efficiency with higher again, there is high-low pressure driving method.The principle of high-low pressure driving is arrived in motor movement
High voltage control is used when synchronizing, low voltage control is used when moving to half step, and when stopping is also to be controlled using low pressure
System.
Advantage: high-low pressure, which controls, improves vibration and noise in degree on one point, proposes micro-stepping control stepping electricity for the first time
The concept of machine, while the operating mode that electric current halves when also proposed stopping.
Disadvantage: circuit drives complexity with respect to constant voltage, improves to triode high frequency characteristics requirement, and motor low speed still shakes
It is bigger, it generates heat still bigger, now substantially without using this drive mode.
Note: subdivision is exactly by the charging and discharging process of a coil, and substep is realized, how many subdivisions are expressed as how many
Step.
Constant current driving is divided into the constant current chopper of analogue technique and segments and digital technology constant current, the improvement mesh of voltage driving
, it is exactly that the electric current of winding is smooth as far as possible in the process being switched on and off, to reduce noise.In order to which electric current is smooth, tentatively
Using divided method.
Stepper motor has a phase current parameters, and constant current driving principle is exactly to open electric current (charging) in machine winding and close
During closing current discharge, at the time of corresponding, one corresponding constant current of coil is given.
Principle of Fine Dividing, it is unsmooth in order to reduce winding electric current during charging and discharging, winding is charged and put
Electric process is divided into several steps to complete.For stepper motor in the case where two coils have a constant current, motor shaft can be by two electricity
Flow vector is parked in some position among a step angle, and in theory, subdivision technology is subdivided into after N, and stepper motor is able to achieve N
Equal part step pitch Angle Position.
Note: the frequency of an external input pulse is corresponded to a step after stepper angle fraction, pulse by stepper motor driving
Rotational angle is mapped after the corresponding subdivision of number.
The constant current chopper of analog circuit and subdivision claim: constant current chopper is Vehicles Collected from Market mainstream technology.At home and abroad absolutely mostly
Several users makes stepper motor driver by oneself by this method and drives producer for product, or by special stepper motor
This function is made into a relatively general module and is supplied to enterprise's use on product.Almost external well-known chip factory
, there are the integrated chip of this technology, such as TI in family, ST, Toshiba, micochip, Allegro etc., the country has to open in recent years
There is similar integrated chip producer in beginning, and such as middle section is micro-.
Constant current chopper is powered using more high than the common voltage of motor times of supply voltage, tubular using 4 power
It is driven at bridge, forward and reverse charging and discharging is realized to coil.By controlling the duty ratio of chopper, can produce and common electricity
Electromechanics presses the average voltage and electric current equal with electric current.Chopper is usually set by constant flow regulation, current constant control can by opening or
The output electric current turned off on coil obtains.It is completed by the peak point current in a current viewing resistor detection coil, electric current
Sensitive resistance is effectively connected on the coil of motor.When a current increases, the voltage on sensitive resistance increases therewith, and anti-
It is fed in comparator.Under the predetermined voltage given by reference input, comparator exports a series of square waves again, thus control 4
The switch of a power tube makes triode be opened again to obtain square-wave signal until clock crystal oscillator triggers one.
Constant current chopper controls advantage: no matter how supply voltage changes, and can accurately control machine winding current.And
The short electric current of the most probable of offer increases and turnaround time.Power supply, which dissipates, reaches minimum with offer electric current.Noise greatly reduces, and turns
Speed improves to a certain extent, and performance improves a lot than first two
Disadvantage: it is relatively high to circuit design requirements, it is relatively high to circuit anti-interference requirement, high frequency is easily caused, drive is burnt out
Dynamic element, relatively high to element function requirement, this is also some reference conditions that driving chip is selected.When low speed, very
It is easy to promote winding current to predetermined value, i.e., after stepper motor turns to move a step, the demand of next step arrives not yet, coil
Electric current is in a steady state value, and calorific value is big, then arrives after next step operating instruction, and the variation of entire electric current is discontinuous, from
And generate biggish noise and vibration.The some parameters being charged and discharged to winding are substantially stationary.
Constant current chopper, effect is poor when motor low speed.One existing certain parameter of chip is fixed to be applicable in difference
The motor of parameter is also taken into account less than can also be vector controlled so there is digital constant current technology.The stepping of digital constant current technology
Motor driver is Vehicles Collected from Market mainstream technology as constant current chopper, and market is essentially both drivers.
Digital constant current technology, it is digital by AD detection machine winding current and DA or PWM etc. when realizing constant current
Output electric current is arranged in mode, can more accurately control electric current, can realize a current closed-loop according to unknown parameter motor.Electricity
Stream closed loop regulation scheme is adjusted using PID substantially.Simultaneously when low speed, automatic interpolation can also be segmented, so that low speed
Curent change is more steady, reduces noise.High current and large volume can be used in used power tube, when middling speed,
Some winding charging time can be lengthened automatically by PID adjusting, to provide the torque output of high speed.
Domestic manufacturer, it is thunderous to fill in, show one's high ideals.There are many well-known producers in foreign countries, uses digital constant current, such as Germany TMC, Korea Spro
The Autonic of state, Japanese mountain society motor etc., more there is external AMC, and it is automatic suitable to calculate to calibrate the parameter of electric machine automatically
Answer PID parameter required for the different parameters of electric machine.Status foreign technology is more preferable than domestic performance, more mature.
Advantage: the characteristics of motion control analog sine, performance is greatly improved, movement velocity and noise are all smaller, can
To use relatively high subdivision, it is control method currently popular, has largely adapted to different parameters motor.
Disadvantage: circuit is more complicated, is difficult to control to the interference in circuit and theory calls match, be easy to produce and tremble
It is dynamic, form the wave crest and trough of sine wave in control, be easy to cause High-frequency Interference, and then cause driving element generate heat or due to
Frequency is excessively high and aging, this be also many drivers using more than 1 year when the main reason for being easy to appear protection.
Utility model content
For above-mentioned deficiency in the prior art, the utility model provides a kind of driving device for step-by-step, structure
Rationally, size one, encoder and driving motor parameter one.
In order to reach above-mentioned purpose of utility model, the technical solution adopted in the utility model are as follows: a kind of stepper motor driving
Device, comprising: stepper motor and driver, the driver are mounted on stepper motor tail portion, the stepper motor side wall middle line
Place is fixed with magnet, and the magnet is located at stepper motor side wall tail edge, is equipped in the driver and is used for induced magnet
Angular transducer, the stepper motor is connected with motor lines on the caudal side wall, and the motor lines are connected with driver.
As improvement: the stepper motor is having a size of 56mm × 56mm × 76mm.
As improvement: the driver size is 56mm × 56mm × 15.5mm.
As improvement: the driver two sides are mutually fixed by the two sides of bolt and stepper motor.
Driving method are as follows: after choosing fixed stepper motor, driver driving parameter is transferred to and is matched with stepper motor, so
Afterwards according to selected stepping electricity
Machine adjusts the corresponding different electric current of driver output under different rotating speeds, so that the electric current of driver and stepping electricity
The revolving speed of machine matches, most
The driver under a kind of a kind of electric current of stepper motor Corresponding matching of parameter is realized eventually
Advantage is the utility model compared with prior art: structure is simple, and driver is identical with stepper motor size, shape
At an entirety, while the feedback of encoder is integrated, in addition, the resistance of driver, inductance, electric current lamp parameter are identical as motor,
Motor can be more protected in this way, increase electrical machinery life.
Detailed description of the invention
Fig. 1 is a kind of driving device for step-by-step structural schematic diagram of the utility model；
The appended drawing reference table of comparisons:
1- stepper motor, 2- driver, 3- magnet, 4- angular transducer, 5- motor lines.
Specific embodiment
Further illustrate specific embodiment of the present utility model with reference to the accompanying drawing.
As shown in Figure 1, a kind of driving device for step-by-step, comprising: stepper motor 1 and driver 2, the driver installation
In 1 tail portion of stepper motor, the 1 side wall midline of stepper motor is fixed with magnet 3, and the magnet 3 is located at 1 side of stepper motor
Wall tail edge, the interior angular transducer 4 being equipped with for induced magnet 3 of the driver 2, the stepper motor 1 lean on caudad
Side wall on be connected with motor lines 5, the motor lines 5 are connected with driver 2, stepper motor 1 having a size of 56mm × 56mm ×
76mm, for driver 2 having a size of 56mm × 56mm × 15.5mm, 2 two sides of driver are mutually solid by the two sides of bolt and stepper motor 1
It is fixed, and pass through the mutual induction of angular transducer 4 and magnet 3, driver 2 to be installed in correct position, driving method is,
After choosing fixed stepper motor, driver driving parameter is transferred to and is matched with stepper motor, then according to selected stepper motor,
The corresponding different electric current of driver output is adjusted under different rotating speeds, so that the revolving speed phase of the electric current of driver and stepper motor
Match, finally realizes the driver under a kind of a kind of electric current of stepper motor Corresponding matching of parameter.
The foregoing is merely the preferred embodiment of the utility model patent, it is not intended to limit the utility model specially
Benefit, all made any modifications, equivalent replacements, and improvements etc. within the spirit and principle of the utility model patent should all include
Within the protection scope of the utility model patent.
Claims (4)
1. a kind of driving device for step-by-step, comprising: stepper motor (1) and driver (2), it is characterised in that: the driver
It is mounted on stepper motor (1) tail portion, stepper motor (1) the side wall midline is fixed with magnet (3), magnet (3) position
In stepper motor (1) side wall tail edge, the driver (2) is interior to be equipped with the angular transducer (4) for being used for induced magnet (3),
The stepper motor (1) is connected with motor lines (5) on caudal side wall, and the motor lines (5) are connected with driver (2).
2. a kind of driving device for step-by-step according to claim 1, it is characterised in that: stepper motor (1) size
For 56mm × 56mm × 76mm.
3. a kind of driving device for step-by-step according to claim 2, it is characterised in that: the driver size is 56mm
×56mm×15.5mm。
4. a kind of driving device for step-by-step according to claim 1, it is characterised in that: driver (2) two sides are logical
The two sides for crossing bolt and stepper motor (1) are mutually fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822103748.0U CN209516853U (en) | 2018-12-14 | 2018-12-14 | A kind of driving device for step-by-step |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822103748.0U CN209516853U (en) | 2018-12-14 | 2018-12-14 | A kind of driving device for step-by-step |
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| Publication Number | Publication Date |
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| CN209516853U true CN209516853U (en) | 2019-10-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347266A (en) * | 2018-12-14 | 2019-02-15 | 北京七特科技有限公司 | A kind of driving device for step-by-step and its driving method |
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2018
- 2018-12-14 CN CN201822103748.0U patent/CN209516853U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347266A (en) * | 2018-12-14 | 2019-02-15 | 北京七特科技有限公司 | A kind of driving device for step-by-step and its driving method |
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