CN2215160Y

CN2215160Y - High-speed run control card of stepping motor

Info

Publication number: CN2215160Y
Application number: CN 94223287
Authority: CN
Inventors: 李印岭; 韩己汇
Original assignee: Individual
Current assignee: Individual
Priority date: 1994-10-08
Filing date: 1994-10-08
Publication date: 1995-12-13
Anticipated expiration: 2004-10-08

Abstract

The utility model relates to a high-speed run control card of a stepping motor, which is composed of a computer inserting card, a computer interface on the card, an output interface and a control circuit. The control circuit is free of a single chip computer, and comprises a range ability prewired circuit, a running frequency prewired circuit, a reversible counter, a data memory, a D/A converter, a V/F converter, a control circuit, etc. Elevating frequency curvatures are separated as a frequency node sequence according to time intervals order, and is stored in the data memory as the binary data form. The utility model can control the elevating frequency and high speed running of the stepping motor by any node frequency, and can make the speed controlling and the running trajectory of the stepping motor stable, smooth and idealized.

Description

High-speed run control card of stepping motor

The utility model relates to a kind of operating control device of stepping motor, exactly, relates to a kind of high-speed cruising control card of stepping motor, belongs to numerical control device actuating mechanism controls device technique field.

Stepping motor is a motor of controlling its rotor angular displacement with pulse signal, and its linear velocity or rotating speed are proportional to pulse frequency, can come speed governing by pulse frequency in the scope of broadness.So, in position control system, stepping motor occupies crucial position, especially constantly perfect along with the stepping motor manufacturing technology, running frequency is more and more higher, therefore, requires the Stepping Motor Control device can produce sequence of high frequency pulses, and, this sequence of high frequency pulses can according to the square of motor frequently characteristic smoothly the control step motor carry out lifting frequency.

Most controllor for step-by-step motor of selling on the market all exists lifting frequency frequency hopping excessive at interval problem, especially high frequency output now, and its frequency hopping is bigger, can not export the lifting frequency pulse smoothly, so that cause the stepping motor step-out.For example, the computer card formula controller that Taiwan company produces is to adopt the central processing unit of single-chip microcomputer as controller inside, uses the formation curve of the internal processes calculated rate of single-chip microcomputer, and output is controlled to frequency simultaneously.The frequency of this controller output is directly to be produced by programmable counter, is about to programmable counter and is set to frequency generation working method, directly produces output frequency by programmable counter.Its shortcoming is exactly that frequency hopping is big in the lifting frequency process; The frequency hopping value all arrives several KHz at the hundreds of hertz each time.So, sort controller can only make stepping motor successfully raising frequency can not to tens higher KHz, move by raising frequency to the running frequency work of several KHz, otherwise can cause the step-out and the overshoot of stepping motor; Examine, set single-chip microcomputer in the control card, the CPU matching coordinative problem of itself and main frame is highlighted, make control complicated, cost improves.

The purpose of this utility model provides a kind of computer card that need not set single-chip microcomputer---stepping motor high-speed cruising control card.

The utility model is realized like this: it is by the computer interface on computer grafting card clamp and the plug-in card plate, output interface and control circuit are formed, wherein computer interface is by the data/address bus that adapts to the requirement of computer bus slot, address bus and control bus three parts constitute, output interface then is the cable socket that a kind of and controlled stepper motor driver is connected, it is characterized in that: wherein control circuit is by the range ability prewired circuit, the running frequency prewired circuit, the frequency of distance control circuit, motor lifting frequency curve is separated into the frequency sequence node by time interval order, and with this sequence node with binary data form storage non-volatile data memory wherein, can realize the forward-backward counter of saltus step addressing to the address of non-volatile data memory, D/A converter, V/F transducer and function control circuit constitute.Wherein range ability prewired circuit and running frequency prewired circuit are to adopt programmable count/timer integrated circuit chip to realize.Wherein non-volatile data memory adopts rom chip to constitute, and also can adopt following programming device: GAL, PAL, EPROM, EEPROM, PROM chip to form.The utility model is that to adopt model be programmable count/timer circuit of 8253 as range ability prewired circuit and running frequency prewired circuit.Wherein D/A converter can adopt 8 AD7111 chip, also can adopt 12 AD7531 chip.

Characteristics of the present utility model are: do not adopt single-chip microcomputer to control in this control plug-in card, do not need main control computer that control procedure is intervened yet, but will according to the motor square frequently the lifting frequency curve data that designs of characteristic and actual operating characteristic convert binary data to and directly be stored in the built-in non-volatile data memory of control plug-in card, allow this memory directly link to each other again, produce the operation control frequency of stepping motor with D/A converter, V/F transducer order.Like this, main control computer only needs to send simple operating instruction to the utility model, just can start the whole service control procedure, automatically finish the level and smooth High-speed Control of the lifting frequency control curve of stepping motor, even when many lifting frequency curves with different qualities were switched, main control computer also needn't be monitored work of the present utility model at any time.The utility model can be used the operation of nodal frequency control step motor arbitrarily in lifting frequency control, all be to finish in the Optimum Increasing mode that presets thereby can make the pulse frequency of output in the data storage; Can also realize interpolation output to arbitrary frequency, promptly adopt two adjacent node frequencies to come interpolation to generate frequency to be exported, make the frequency error of this output frequency and setting very little, thereby make the speed control of stepping motor and movement locus control more steadily smooth and idealized.On circuit structure, the utility model is to adopt forward-backward counter to realize the address saltus step of non-volatile data memory, can control the lifting frequency operation with hardware logic like this.In addition, it also has other functions such as single step run, outside time-out, emergency processing, operating frequency generation, can satisfy the control requirement of stepping motor high-speed cruising fully.In a word, the utility model is a kind of design philosophy novelty, uniqueness, and circuit structure is simple, ingenious, and practical application is convenient, a kind of stepping motor high-speed cruising control card flexibly.

Fig. 1 is a circuit block diagram of the present utility model.

Fig. 2 is an embodiment electrical schematic diagram of the present utility model.

Introduce operation principle of the present utility model with reference to Fig. 1.

At first will be according to the square frequency characteristic and its application conditions of each stepping motor, design its Optimum Increasing curve data, even motor can be under out-of-step free prerequisite, running frequency is raised to assigned frequency with the shortest time, again this lifting frequency curve is separated into the frequency sequence node by time interval order, and it is represented with the binary data form and follow in the device 37 by non-volatile the depositing that specific format writes in the utility model type in regular turn, make each address location of memory corresponding, thereby finish presetting of optimum lifting frequency data with a frequency node data.Can deposit simultaneously in the data storage 37 and follow many lifting frequency data and curves, can select by 33 pairs of lifting frequency curves of function control circuit according to different motors and different use occasions.

Then, carry out data initialization and initialization by 1 pair of control circuit 3 of the present utility model of its interface, include: write pulse number to be exported to distance prewired circuit 31 with computer; Select the frequency occurring mode: promptly in nodal frequency output of the present utility model or interpolation frequency output two states, select one of them; The time (being the time interval) that each nodal frequency continued is also write in the time interval generator of being made up of programmable counter (also claiming the frequency preset circuit) 32, or the like.The output of this time interval generator makes forward-backward counter 36 automatic saltus steps behind frequency of distance control circuit 35, thereby the address that makes the nonvolatile memory 37 that has the lifting frequency data changes the output of next node frequency over to 1 step change.The data of data storage 37 outputs make the D/A converter 38 that directly links to each other with it work, and export an aanalogvoltage, and this output voltage produces a frequency through output interface 2 outputs through V/F converter 39.Thus, each data of data storage 37 all will make correspondent frequency of V/F converter 39 outputs, finish the output of a nodal frequency.

During raising frequency, time interval generator 32 in the utility model control circuit recurs time interval pulse, distance, frequency control circuit 35 constantly add 1 through the address of forward-backward counter 36 control data memories 37, the data that make it to export are also from low to high corresponding, drive D/A converter 38 and V/F converter 39 and carry out frequency output.When output frequency reached assigned frequency, the logical controlling circuit no longer changed storage address, and remain on and finish the raising frequency process on the stationary value, and from output interface 2 output constant frequency pulses.Simultaneously, pulse by 31 pairs of setpoint frequency outputs of distance prewired circuit is counted, when meter is expired the pulse number of setting, after just finishing the operation of distance to a declared goal, to reopen distance, frequency control circuit 35 apart from prewired circuit 31, and make its by time interval of setting, the address by 36 pairs of memories 37 of forward-backward counter subtracts 1 counting, make output frequency more and more lower, promptly carry out the frequency reducing process.Behind the pulse number of the full frequency reducing process of meter, distance, frequency control circuit 35 are just closed frequency output automatically, finish a course of work.

Owing to have many lifting frequency curves in the data storage 37, decoding circuit 34 that the utility model can be by wherein and function control circuit 33 select wherein a lifting frequency curve to finish the most Utopian high-speed cruising control of stepping motor.

The utility model can also be worked according to interpolation frequency occurring mode, when promptly if the output frequency of She Dinging is not nodal frequency, can find out two the most close with it nodal frequencies, calculate these two shared time ratios of side frequency by command adapted thereto again and realize the output of interpolation frequency, realize output thus, guarantee stepping motor smoothly lifting frequency and high-speed cruising arbitrary frequency.

What Fig. 2 showed is an embodiment electrical schematic diagram.Shown in figure, the utility model is by computer interface 1:DB, AB and CB, and output interface 2 and control circuit constitute.Wherein control circuit includes: range ability prewired circuit 31, running frequency prewired circuit 32, frequency of distance control circuit 35, forward-backward counter 36, non-volatile data memory 37, D/A converter 38, V/F transducer 39 and function control circuit 33, decoding circuit 34 are formed.Wherein range ability prewired circuit 31 and running frequency prewired circuit are that to adopt model be that programmable count/timer circuit of 8253 is realized; Non-volatile data memory 37 is to adopt EPROM2732 to constitute, wherein store the curve data of 16 kinds of lifting frequency modes altogether by sequence of addresses, also can adopt other programming devices, as compositions such as ROM, GAL, PAL, EEPROM, PROM, adopt mass storage can make the data content of lifting frequency curve more substantial, enrich.D/A converter is to adopt 8 AD7111 chips, as adopts high-order chip, can make frequency hopping littler at interval.Its middle distance, frequency control circuit a plurality ofly are made up of with devices such as door, NOR gate, inverter, triple gate, triggers illustrated.The output Q0-Q3 of function control circuit 33 is the data of exportable 16 kinds of different conditions altogether, set the high address of memory 2732 thus and it is divided into 16 sections by 256 byte/sections, are used for selecting a kind of of 16 kinds of lifting frequency curves.Its A2 output is the motor positive and inverse direction signal; A3 output is the software inhibit pulse, is used for initialization; A4A5 then is used for the control of frequency occurring mode.

Claims

1, a kind of high-speed cruising control card of stepping motor, be by the computer interface on computer grafting card clamp and the plug-in card plate, output interface and control circuit are formed, wherein computer interface is by the data/address bus that adapts to the requirement of computer bus slot, address bus and control bus three parts constitute, output interface then is the cable socket that a kind of and controlled stepper motor driver is connected, it is characterized in that: wherein control circuit is by the range ability prewired circuit, the running frequency prewired circuit, the frequency of distance control circuit, motor lifting frequency curve is separated into the frequency sequence node by time interval order, and with this sequence node with binary data form storage non-volatile data memory wherein, can realize the forward-backward counter of saltus step addressing to the address of non-volatile data memory, D/A converter, V/F transducer and function control circuit constitute.

2, stepping motor high-speed cruising control card as claimed in claim 1 is characterized in that: wherein range ability prewired circuit and running frequency prewired circuit are to adopt programmable count/timer integrated circuit chip to realize.

3, stepping motor high-speed cruising control card as claimed in claim 1 is characterized in that: wherein non-volatile data memory adopts rom chip to constitute and can adopt following programming device: GAL, PAL, EPROM, EEPROM, PROM chip composition.

4, stepping motor high-speed cruising control card as claimed in claim 1 or 2 is characterized in that: can adopt model is that programmable count/timer circuit of 8253 is as range ability prewired circuit and running frequency prewired circuit.

5, stepping motor high-speed cruising control card as claimed in claim 1, it is characterized in that: wherein D/A converter can adopt 8 AD7111 chip, also can adopt 12 AD7531 chip.