CN210518152U - Full closed loop stepping driver - Google Patents
Full closed loop stepping driver Download PDFInfo
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- CN210518152U CN210518152U CN201921243333.1U CN201921243333U CN210518152U CN 210518152 U CN210518152 U CN 210518152U CN 201921243333 U CN201921243333 U CN 201921243333U CN 210518152 U CN210518152 U CN 210518152U
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- 238000005070 sampling Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 16
- 238000002955 isolation Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a full closed loop stepping motor driving system, which comprises a stepping motor, a stepping driver, a position feedback device and a PC control end; the stepping motor is electrically connected with the stepping driver, and the position feedback device and the PC control end are respectively and electrically connected with the stepping motor through the stepping driver. The utility model has the advantages of simple structure, good dynamic response effect and strong anti-interference capability.
Description
Technical Field
The utility model relates to a step motor field especially relates to a full cut-off ring step motor actuating system.
Background
In the current market, there are some controllers which adopt a stepping motor to cooperate with a grating to form a full closed-loop control, and the controllers process a position given instruction and a feedback instruction, then make compensation and output the pulse number to be compensated to a common stepping driver. The method needs to be composed of a full closed-loop controller and a stepping motor driving two control parts, the system is complex, and simultaneously, because the position compensation is realized by sending physical pulses by the controller, the possibility of interference exists; the stepping motor driving system is also an independent part, and the current cannot be adjusted according to the load condition, so that the dynamic response cannot be optimally played.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: a stepping motor driving system, in particular to a full closed loop stepping motor driving system is provided.
The technical scheme of the utility model as follows: a full closed loop stepping motor driving system comprises a stepping motor, a stepping driver, a position feedback device and a PC control end; the stepping motor is electrically connected with the stepping driver, and the position feedback device and the PC control end are respectively and electrically connected with the stepping motor through the stepping driver.
Preferably, the stepping driver comprises an MCU, a pulse input interface circuit, a serial communication interface, a dial switch, an H-bridge driving circuit, a current sampling circuit and a position feedback orthogonal decoding circuit; the pulse input interface circuit, the serial port communication interface, the dial switch, the H-bridge drive circuit, the current sampling circuit and the position feedback orthogonal decoding circuit are electrically connected with the MCU; the stepping motor is electrically connected with the MCU through the H-bridge driving circuit and the current sampling circuit; the position feedback device is electrically connected with the MCU through the position feedback orthogonal decoding circuit; and the PC control end is electrically connected with the MCU through the serial port communication interface.
Preferably, the position feedback device is a grating ruler or a magnetic grating ruler, preferably a grating ruler.
Preferably, the MCU model is XMC 1402.
Preferably, the pulse input interface circuit comprises an HCPL0631 chip and two groups of first RC filter circuits; the two groups of first RC filter circuits are respectively and electrically connected with pins of the HCPL0631 chip; the input end of the HCPL0631 chip is electrically connected with the external signal output end, and the output ends of the two groups of first RC filter circuits are electrically connected with the MCU.
Preferably, the serial port communication interface is an RS232 or RS485 communication interface.
Preferably, the H-bridge drive circuit comprises four series-connected half-bridge circuits; the input end of the H-bridge driving circuit is electrically connected with the MCU, and the output end of the H-bridge driving circuit is electrically connected with the stepping motor.
Preferably, the current sampling circuit comprises an operational amplifier and a second RC filter circuit; the second RC filter circuit is electrically connected with the operational amplifier, the input end of the second RC filter circuit is electrically connected with the MCU, and the output end of the operational amplifier is electrically connected with the stepping motor.
Preferably, the MCU is further electrically connected to an external display through a position feedback quadrature decoding circuit; the position feedback quadrature decoding circuit comprises a 26LS32 chip and two groups of third RC low-pass filter circuits; the two groups of third RC low-pass filter circuits are respectively and electrically connected with pins of the 26LS32 chip; the input ends of the two groups of third RC low-pass filter circuits are electrically connected with a position feedback device, and the output end of the 26LS32 chip is electrically connected with the MCU.
Preferably, an isolation circuit is further disposed between the position feedback quadrature decoding circuit and an external display; the isolation circuit comprises an HCPL0631 chip and two groups of fourth RC filter circuits; the two groups of fourth RC filter circuits are respectively and electrically connected with pins of the HCPL0631 chip; the input end of the HCPL0631 chip is electrically connected with the output end of the quadrature decoding circuit, and the output ends of the two groups of fourth RC filter circuits are electrically connected with an external display.
Adopt above-mentioned scheme, the utility model discloses beneficial effect is:
the utility model adopts the stepping motor as the driving body, integrates the stepping driving controller, the stepping motor driver and the position compensation circuit functional module, optimizes and perfects the structure of the stepping motor full closed-loop control system, and operates and adjusts in the stepping motor driver according to the position information fed back by the position feedback device, thereby ensuring the control precision of the position and having good dynamic response effect; by arranging the isolation circuit, the anti-interference capability of the output signal is effectively improved, and a reliable interface is provided for data output.
Drawings
Fig. 1 is a functional structure block diagram of the present invention;
fig. 2 is a pulse input interface circuit of the present invention;
fig. 3 is an H-bridge driving circuit of the present invention;
fig. 4 is a current sampling circuit of the present invention;
fig. 5 is a position feedback quadrature decoding circuit of the present invention;
fig. 6 shows an isolation circuit according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments;
as shown in fig. 1 to 6: the present embodiment provides a full closed-loop stepping motor 1 driving system,
the device comprises a stepping motor 1, a stepping driver 2, a position feedback device 3 and a PC control end 4; the stepping motor 1 is electrically connected with the stepping driver 2, and the position feedback device 3 and the PC control end 4 are respectively electrically connected with the stepping motor 1 through the stepping driver 2.
The stepping driver 2 comprises an MCU21, a pulse input interface circuit 22, a serial communication interface 23, a dial switch 24, an H-bridge driving circuit 25, a current sampling circuit 26 and a position feedback orthogonal decoding circuit 27; the pulse input interface circuit 22, the serial port communication interface 23, the dial switch 24, the H-bridge driving circuit 25, the current sampling circuit 26 and the position feedback orthogonal decoding circuit 27 are all electrically connected with the MCU 21; the stepping motor 1 is electrically connected with the MCU21 through the H-bridge driving circuit 25 and the current sampling circuit 26; the position feedback device 3 is electrically connected with the MCU21 through the position feedback orthogonal decoding circuit 27; the PC control terminal 4 is electrically connected with the MCU21 through the serial port communication interface 23.
The position feedback device 3 is a grating ruler or a magnetic grating ruler, preferably a grating ruler.
The MCU21 is XMC 1402.
The pulse input interface circuit 22 comprises an HCPL0631 chip 221 and two groups of first RC filter circuits 222; the two groups of first RC filter circuits 222 are respectively and electrically connected with pins of the HCPL0631 chip 221; the input end of the HCPL0631 chip 221 is electrically connected to an external signal output end, and the output ends of the two sets of first RC filter circuits 222 are electrically connected to the MCU 21.
The serial port communication interface 23 is an RS232 or RS485 communication interface.
The H-bridge drive circuit 25 includes four series-connected half-bridge circuits 251; the input end of the H-bridge driving circuit 25 is electrically connected with the MCU21, and the output end is electrically connected with the stepping motor 1.
The current sampling circuit 26 comprises an operational amplifier 261 and a second RC filter circuit 262; the output end of the second RC filter circuit 262 is electrically connected to the input end of the operational amplifier 261, the input end of the second RC filter circuit 262 is electrically connected to the MCU21, and the output end of the operational amplifier 261 is electrically connected to the stepping motor 1.
The MCU21 is also electrically connected with an external display through a position feedback orthogonal decoding circuit 27; the position feedback quadrature decoding circuit 27 comprises a 26LS32 chip 271 and two groups of third RC low-pass filter circuits 272; the output ends of the two groups of third RC low-pass filter circuits 272 are electrically connected with pins of the 26LS32 chip 271 respectively; the input ends of the two sets of third RC low-pass filter circuits 272 are electrically connected to the position feedback device 3, and the output end of the chip 271 of the 26LS32 is electrically connected to the MCU 21.
An isolation circuit 5 is also arranged between the position feedback orthogonal decoding circuit 27 and an external display; the isolation circuit 5 comprises an HCPL0631 chip 51 and two groups of fourth RC filter circuits 52; the input ends of the two groups of fourth RC filter circuits 52 are respectively and electrically connected with pins of the HCPL0631 chip 51; the input end of the HCPL0631 chip 51 is electrically connected with the output end of the quadrature decoding circuit 27, and the output ends of the two groups of fourth RC filter circuits 52 are electrically connected with an external display 6.
The working principle of the utility model is as follows:
an operator is connected with an external PC control terminal 4 through a serial port communication interface 23 and sets related parameters such as resolution, motor running direction, system voltage and the like fed back by the grating;
when the pulse input interface circuit 22 receives the pulse signal designation, the signal is processed by the pulse input interface circuit 22 and then transmitted to the MCU21, and the driving data of the stepping motor 1 is obtained by calculation processing of the MCU 21; the MCU21 transmits the relevant data signals to the H-bridge driving circuit 25 and the current sampling circuit 26, and the current sampling circuit 26 biases and amplifies the current signals therein, so that the current required by the running of the stepping motor 1 is obtained and output; meanwhile, the H-bridge driving circuit 25 drives the stepping motor 1 to work to drive the load to realize the target position instruction.
After the target instruction is completed, the grating ruler feeds back the actual position of the load in the form of a pulse signal, the grating feedback orthogonal decoding circuit 27 processes the obtained pulse signal and then transmits the processed pulse signal back to the MCU21, the MCU21 calculates the deviation between the actual position of the load and the instruction position, the MCU21 calculates the current data fed back by the current sampling circuit 26 and the data for driving the stepping motor 1 to operate last time, and sends corresponding driving instructions to the H-bridge driving circuit 25 and the current sampling circuit 26 to drive the stepping motor 1, so that the target position instruction is completed, and the position deviation is covered.
The output end of the position feedback orthogonal decoding circuit 27 can be connected with an external display 6, and the isolation circuit 5 is arranged between the position feedback orthogonal decoding circuit 27 and the external display 6, so that the grating signals are prevented from being interfered, and the anti-interference capability of the output signals is improved.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The utility model provides a full closed loop stepper motor actuating system which characterized in that: the device comprises a stepping motor, a stepping driver, a position feedback device and a PC control end; the position feedback device and the PC control end are respectively and electrically connected with the stepping motor through the stepping driver; the stepping driver comprises an MCU, a pulse input interface circuit, a serial communication interface, a dial switch, an H-bridge driving circuit, a current sampling circuit and a position feedback orthogonal decoding circuit; the pulse input interface circuit, the serial port communication interface, the dial switch, the H-bridge drive circuit, the current sampling circuit and the position feedback orthogonal decoding circuit are electrically connected with the MCU; the stepping motor is electrically connected with the MCU through the H-bridge driving circuit and the current sampling circuit; the position feedback device is electrically connected with the MCU through a position feedback orthogonal decoding circuit; and the PC control end is electrically connected with the MCU through a serial port communication interface.
2. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: the position feedback device is a grating ruler or a magnetic grating ruler.
3. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: the MCU model is XMC 1402.
4. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: the pulse input interface circuit comprises an HCPL0631 chip and two groups of first RC filter circuits; the two groups of first RC filter circuits are respectively and electrically connected with pins of the HCPL0631 chip; the input end of the HCPL0631 chip is electrically connected with an external signal output end, and the output end of the first RC filter circuit is electrically connected with the MCU.
5. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: the serial port communication interface is an RS232 or RS485 communication interface.
6. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: the H-bridge driving circuit comprises four half-bridge circuits connected in series; the input end of the H-bridge driving circuit is electrically connected with the MCU, and the output end of the H-bridge driving circuit is electrically connected with the stepping motor.
7. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: the current sampling circuit comprises an operational amplifier and a second RC filter circuit; the second RC filter circuit is electrically connected with the operational amplifier, the input end of the second RC filter circuit is electrically connected with the MCU, and the output end of the operational amplifier is electrically connected with the stepping motor.
8. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: the MCU is also electrically connected with an external display through the position feedback orthogonal decoding circuit; the position feedback quadrature decoding circuit comprises a 26LS32 chip and two groups of third RC low-pass filter circuits; the two groups of third RC low-pass filter circuits are respectively and electrically connected with corresponding pins of the 26LS32 chip; the input ends of the two groups of third RC low-pass filter circuits are electrically connected with a position feedback device, and the output end of the 26LS32 chip is electrically connected with the MCU.
9. A fully closed-loop stepper motor drive system as defined in claim 1, wherein: an isolation circuit is also arranged between the position feedback orthogonal decoding circuit and an external display; the isolation circuit comprises an HCPL0631 chip and two groups of fourth RC filter circuits; the two groups of fourth RC filter circuits are respectively and electrically connected with corresponding pins of the HCPL0631 chip; the input end of the HCPL0631 chip is electrically connected with the output end of the quadrature decoding circuit, and the output ends of the two groups of fourth RC filter circuits are electrically connected with an external display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921243333.1U CN210518152U (en) | 2019-07-31 | 2019-07-31 | Full closed loop stepping driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921243333.1U CN210518152U (en) | 2019-07-31 | 2019-07-31 | Full closed loop stepping driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210518152U true CN210518152U (en) | 2020-05-12 |
Family
ID=70587252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921243333.1U Active CN210518152U (en) | 2019-07-31 | 2019-07-31 | Full closed loop stepping driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210518152U (en) |
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2019
- 2019-07-31 CN CN201921243333.1U patent/CN210518152U/en active Active
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Address after: Room 502, Building A, Ruite Science and Technology Park, No. 23 Xingyu Road, Nanchang Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong Province, 518000 Patentee after: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region after: China Address before: Factory building B301, zhuangbian Industrial Park, Hangcheng Avenue, Sanwei community, Hangcheng street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region before: China |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000, 2nd and 6th floors, Building A, Ruite Science and Technology Park, No. 23 Xingyu Road, Nanchang Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong Province Patentee after: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region after: China Address before: Room 502, Building A, Ruite Science and Technology Park, No. 23 Xingyu Road, Nanchang Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong Province, 518000 Patentee before: SHENZHEN RUITECH MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Country or region before: China |
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| CP03 | Change of name, title or address |