CN2559167Y - Multi-subdivision high-voltage two-phase step-by-step motor driver - Google Patents

Abstract

The utility model discloses a novel multi-subdivision high voltage two phase stepping motor drive circuit, which comprises a high frequency switching power circuit, a pulse counting circuit, a EPROM circuit, a D / A converter circuit, a constant current chopper circuit, a double H bridge drive circuit, a double H bridge circuit, and an overvoltage and overcurrent protection circuit which are connected in sequence, and also comprises a rapid charge, rapid discharge and continuous current way constant current chopper circuit. The rapid charge, rapid discharge and continuous current way constant current chopper circuit consists of a comparison circuit, a delay circuit, and a pulse sharing circuit. The utility model adopts the unique rapid charge, rapid discharge and continuous current chopping way, thus the current ripple is reduced, the ideal motor current control result is attained, the subdivision amount reaches 128 subdivisions, the motor operation is steadier, and the noise is lower.

Description

A kind of novel many segmentation high voltage two-phase stepping motor drivers

Technical field

The utility model relates to a kind of novel many segmentation high voltage two-phase stepping motor drivers.

Background technology

At present, the driver of the two-phase stepping motor on the market mainly contains three kinds by the voltage branch.First kind is 40～50VDC, and second kind is 80VDC, and the third is 100VAC～120VAC.First kind and second kind of drive circuit be because voltage is low, the difficult stepping motor that drives high pulling torque, and the scope of application has very big restriction.The third drive circuit is easy to drive the stepping motor of high pulling torque, thereby has been subjected to very big welcome owing to its voltage height.But because the voltage height, the current of electric rate of change is big, and current of electric control has then become maximum difficult point.Therefore, the mode that the drive circuit of existing 100VAC～120VAC two-phase stepping motor or half step of employing application-specific integrated circuit drive on the market, or adopt Single-chip Controlling to segment type of drive; This dual mode is on the constant current chopper mode as adopt traditional quick charge-afterflow mode, and then current of electric control is undesirable; As adopt quick charge-repid discharge mode, and then noise of motor is big, and heating is big.Simultaneously, adopt the not high shortcoming of control precision in addition that partly goes on foot type of drive; Adopt Single-chip Controlling, the segmentation type of drive also has high-speed response speed slow, and high torque is little, the shortcoming that high speed performance is bad.

Goal of the invention

The purpose of this utility model provides that a kind of noise is little, heating less, the accurate novel many segmentation high voltage two-phase stepping motor drivers in stepping motor location.

The utility model realizes that the scheme of above-mentioned purpose is: it comprises the hf switching power supply 1 to the control circuit power supply that links to each other successively; produce the pulse-scaling circuit 2 of EPROM address; the EPROM circuit 3 of Memory Reference ripple and phase data; D/A converter circuit 4; produce the dual H-bridge drive circuit 6 of dual H-bridge drive signal; the dual H-bridge circuit 7 of drive stepping motor; over-voltage over-current protection circuit 8; also include the constant current chopper circuit of quick charge-repid discharge-afterflow mode; wherein; the current sampling output of the output of D/A converter circuit 4 and dual H-bridge circuit 7 links to each other with the input of constant current chopper circuit, and the output of constant current chopper circuit links to each other with the input of dual H-bridge drive circuit 6.

The constant current chopper circuit of described quick charge-repid discharge-afterflow mode is by the comparison circuit 5 that produces pulse width modulated wave, set the delay circuit 9 of minimum repid discharge time, form with pulse distributor 10, the output of comparison circuit 5 links to each other with the input of delay circuit 9, and the output of delay circuit 9 links to each other with the input of pulse distributor 10.

The delay circuit 9 of setting the minimum repid discharge time adopts the RC charging modes to realize the delay time adjusting.

Pulse distributor 10 adopts the d type flip flop circuit, realizes the dual H-bridge pulse distribution with circuit and NOR circuit.

The d type flip flop circuit is made of U10, and wherein, the 11st pin of U10 links to each other with square-wave signal, and the 3rd pin of U10 links to each other with the reverse signal of square-wave signal.

The dual H-bridge circuit 7 of D/A converter circuit 4 and drive stepping motor adopts operational amplifier to realize the amplification of reference wave and sample rate current.

Setting the delay circuit 9 of minimum repid discharge time is made up of R54, R55, R56, R57, C33, C34, wherein, R54, R56, C34 link to each other successively, R55, R57, C33 link to each other successively, the link of R56, C34 links to each other with the input of Si Mite shaping reverser U11, and the link of R57, C33 links to each other with the input of Si Mite shaping reverser U11.

Adopt the beneficial effect of above scheme: owing to adopt comparison circuit, delay circuit, constant current chopper circuit with the pulse distributor composition, realized the constant current chopper mode of unique quick charge-repid discharge-afterflow, reached desirable current of electric control, solve the Current Control difficult point of high voltage stepping motor, reduced stepping motor noise and heating; Adopt the segmentation Current Control Technology of band discharge circuit, solved the accurate orientation problem of motor, improved the high-speed cruising problem and the stationarity problem of stepping motor greatly; Adopt EPROM to add the project organization of Digital Logic circuit, improved high-speed response speed, strengthened the high torque of stepping motor, thereby the high speed performance of stepping motor is better, can reach 3000 rev/mins, and conventional design only is 2000 rev/mins.

Also in conjunction with the accompanying drawings the utility model is described in further detail below by specific embodiment.

Fig. 1 is a structured flowchart of the present utility model.

Fig. 2, Fig. 3, Fig. 4 are the concrete schematic diagrames of embodiment of the present utility model.

See Fig. 1; shown in novel many segmentation high voltage two-phase stepping motor drivers; comprise the hf switching power supply 1 that links to each other successively; pulse-scaling circuit 2, EPROM circuit 3, D/A converter circuit 4; dual H-bridge drive circuit 6; dual H-bridge circuit 7, over-voltage over-current protection circuit 8 also includes the constant current chopper circuit of quick charge-repid discharge-afterflow mode.The constant current chopper circuit of described quick charge-repid discharge-afterflow mode is by comparison circuit 5, delay circuit 9, and pulse distributor 10 is formed.The output termination EPROM circuit 3 of described pulse-scaling circuit 2; the reference wave data output end of EPROM circuit 3 connects D/A converter circuit 4; the phase place output of the output of D/A converter circuit 4 and EPROM circuit 3 and the current sampling of dual H-bridge circuit 7 output termination comparison circuit 5; the output termination delay circuit 9 of comparison circuit 5; the output termination pulse distributor 10 of delay circuit 9; the output termination dual H-bridge drive circuit 6 of pulse distributor 10; the output of dual H-bridge drive circuit 6 directly drives dual H-bridge circuit 7; the output control dual H-bridge drive circuit 6 of over-voltage over-current protection circuit 8; enable input control constant current chopper circuit 5, hf switching power supply 1 provides power supply for each circuit link

Wherein: the pulse of outside input/direction control signal produces the pulse/direction signal of isolating through after the pulse-scaling circuit 2, and the count results that produces after counting is used for determining the address of EPROM, again by EPROM output reference wave datum and phase signal; The current of electric configuration switch is used for determining the address of EPROM by setting different logical combinations, changes EPROM output reference wave datum and phase signal, and then setting current of electric valid value range is 2～6Amp; The segmentation configuration switch is used for determining the address of EPROM by setting different logical combinations, changes EPROM output reference wave datum and phase signal, and then sets motor operation step pitch; The enable signal of outside input can turn-off constant current chopper circuit 5, makes motor be in free state, makes things convenient for position adjustments; Power supply 30～the 120VAC of outside input by rectifying and wave-filtering after a part connect the dual H-bridge circuit, for stepping motor provides power supply, a part is controlled voltage by hf switching power supply 1 generations+5V/+12V, for each link provides operating voltage; The dual H-bridge circuit directly connects two windings of two-phase stepping motor, and winding is driven, and constitutes the output signal of this drive circuit.

The operation principle of entire circuit is summarized as follows: the pulse of outside input/direction control signal is through after the pulse-scaling circuit 2, produce the pulse/direction signal of isolating, the logical combination value that count results that this pulse/direction signal produces after counting and segmentation configuration switch set is determined the address of EPROM, by EPROM output reference wave datum and phase signal; The magnitude of voltage that the current of electric configuration switch sets is as the reference value of D/A conversion; The reference wave data are just obtaining/the cosine reference wave behind D/A converter circuit 4; The current sampling signal of the phase signal of this reference wave and EPROM output and 7 outputs of dual H-bridge circuit obtains 8 road dual H-bridge drive signals behind constant current chopper circuit 5; This 8 tunnel drive signal drives dual H-bridge circuit 7 by dual H-bridge drive circuit 6, is driven by two windings of dual H-bridge circuit to two-phase stepping motor again, reaches the purpose of two-phase stepping motor being carried out speed/direction control.

Specific embodiment such as Fig. 2, Fig. 3, shown in Figure 4, the link that title is identical among the figure links to each other, and operation principle is summarized as follows: the L of outside input power supply 36～120VAC among Fig. 4, and N is successively by thermistor NTC1, behind the fuse FUSE1, through electric capacity X1, Y1, Y2 filtering through rectifier bridge BRG1 rectification, obtains direct voltage, through electrochemical capacitor C1, after the C2 filtering, obtain voltage VIN again, connect the D utmost point of dual H-bridge circuit MOS1～MOS4, for stepping motor provides power supply.Simultaneously, VIN is by hf switching power supply generation+12V, and+12V is by three terminal regulator U1 (78L05) generation+5V.Wherein, U2 is PWM control IC (UC3843); R6, R7 are divider resistance, for U2 provides feedback voltage; R9 is a current sampling resistor, for U2 provides feedback current; D11 is used for the absorbing high-frequency spike; D9 is for paying square rectifier diode; After power work was normal ,+5V lighted LED1 by R88.

Behind the photoelectrical coupler OPTO1 (QTC2530) among Fig. 2 in the pulse PUL/ direction DIR control signal of the outside input process pulse-scaling circuit 2, produce the pulse PULSE/ direction DIRECTION signal of isolating, pulse signal through twice of U21 (74LS14) oppositely after, be used from step-by-step counting in the pulse-scaling circuit 2 with direction signal one.Wherein, R84, R83 is a pull-up resistor, C57～C59 is used for High frequency filter.

When the enable signal EN of outside input was high potential, photoelectrical coupler OPTO2 (P521) ENABLE signal is high, and was inoperative to the U10 in the constant current chopper circuit (74LS74), and simultaneously, the S.D. signal is high, and is inoperative to U14～U16; When being low-potential signal, the ENABLE signal is low, 8 tunnel drive signal ARL, and ARH, ALL, ALH, BRL, BRH, BLL, BLH will become electronegative potential, and motor is in free state, makes things convenient for position adjustments, and simultaneously, the S.D. signal is low, U14～U16 stop pulse counting.

A+ among Fig. 4, A-, B+, B-are this drive circuit output signal, directly connect two windings of two-phase stepping motor, reach the purpose of two-phase stepping motor being carried out speed/direction control.

8 toggle switch SW1 among Fig. 2 are used for the external setting-up of current of electric and segmentation.By dialling last the 6th～8 of dialling following SW1, obtain three 0/1 different logical combinations, form U17 (AT27C256R) respectively, the 13rd, 10, the 11 bit address signals of U18.By dial to go up dialling the 1st～5 of SW1 down, obtain different voltage score value VREFA, VREFB sends into current-mode d/a converter U19 (DAC08) respectively, the 2nd pin of U20, as U19, the reference voltage level of U20 D/A conversion.

Pulse PULSE/ direction DIRECTION signal through photoelectrical coupler OPTO1 generation, send into the 14th pin and the 5th pin of four bit synchronization counter U14～U16 simultaneously respectively, respectively as counting clock and add-subtract control position, A0～A9 as a result that counting produces is as U17 in the EPROM circuit 3, the 0th to the 9th bit address signal of U18.U14～U16 has constituted 12 binary counters.

U17, after the address signal of U18 is determined, difference output phase signal PHASE B, PHASE A and reference wave data-signal SIN1～SIN7, COS1～COS7.Phase signal PHASE A and PHASE B are used for constant current chopper circuit 5 and do constant current chopper control; Reference wave data-signal SIN1～SIN7, COS1～COS7 are used for D/A converter circuit 4 just to be done/the cosine reference wave.

Reference wave data-signal SIN1～SIN7, COS1～COS7 send into the D/A converter U19 in Fig. 2 D/A converter circuit 4, U20, output IOUT1D/A, IOUT2D/A.

U21 among Fig. 2 (NE555), R65, R66, C51～C53 constitutes the 23KHz square-wave generator, and this 23KHz square-wave generator is used in the constant current chopper circuit 5 as the copped wave clock frequency.

R63 among Fig. 2, R64, C54, C55, circuit takes place in D30～D32 formation-12V.When the 23KHz square wave was in high potential, this square wave was by R63/R64, and D30 charges to C54, and when the 23KHz square wave became electronegative potential by high potential, capacitor C 54 was by R63/R64, and D31 charges to C55, then on C55 formation-12V direct voltage.-12V direct voltage is used for to D/A converter U19, the U20 power supply.

D/A converter U19, the IOUT1D/A of U20 output, IOUT2D/A sends into operational amplifier U9 (LF347), after signal amplifies, output just/cosine reference voltage REF1, among the comparator U8 (LM339) of REF2 in the constant current chopper circuit 5.Wherein, R44/C28, R45/C29 are used to regulate multiplication factor.The current of electric sampled signal ISA of dual H-bridge circuit 7 outputs, ISB, also send into and do the signal amplification among the U9 after R43/C27 does simple RC filtering by R42/C26, output among the U8.Wherein, R464/R47, R48/R49 are used to regulate multiplication factor.Reference voltage REF1, REF2 with amplify after current sampling signal compare after, by the 1st pin of U8, the 2nd pin output two-way copped wave PWM.This two-way PWM after U11 shaping oppositely, with PHASE A/PHASE B mutually or non-, obtain 2 tunnel drive signal ARH, BRH; This two-way PWM through U11 once more oppositely after, with PHASE A/PHASE B with, obtain 2 tunnel drive signal ALH, BLH; Be input to U10 simultaneously, through after the logical action, the output of the 5th pin and the 9th pin and PHASE A/PHASE B with, obtain 2 tunnel drive signal ARL, BRL; The output of the 6th pin and the 8th pin and PHASE A/PHASE B mutually or non-obtain 2 tunnel drive signal ALL, BLL.R54～R57, C33, C34 are used to produce the repid discharge time delay interval.

This is that example is resolved herein logical relation (REF2 also can in like manner push away it mutually) mutually with REF1: as reference voltage REF1 during greater than the current sampling signal after amplifying, the 1st pin output high potential of U8, if this moment, PHASE A was a high potential, then: U11 the 2nd pin is an electronegative potential, ARH is an electronegative potential, and ALL is an electronegative potential, and U11 the 4th pin is a high potential, U10 the 5th pin is a high potential, ALH is a high potential, and ARL is a high potential, so MOS3, MOS5 is open-minded simultaneously, VIN passes through MOS3 successively, motor windings, and MOS5 is to the motor windings quick charge, motor windings electric current fast rise is the quick charge stage; Current sampling signal after being charged to amplification is during greater than reference voltage REF1, and the output of the 1st pin of U8 becomes electronegative potential, at this moment, ARH, ALL keeps electronegative potential, and U10 the 5th pin is an electronegative potential, ALH is an electronegative potential, and ARL is an electronegative potential, so MOS3, MOS5 turn-offs simultaneously, and the electric current on the motor windings passes through D1, VIN successively, C1/C2, the D6 repid discharge feeds back to power supply, and the motor windings electric current descends fast, is the repid discharge stage; Current sampling signal after discharging into amplification is during less than reference voltage REF1, the 1st pin output the becoming high potential of U8, because R54, there is time-delay T in charging to R56 to C34, ALH, ARL will keep electronegative potential in the time period at T, be charged to the threshold voltage of U11 up to the voltage on the C34 after, the 4th pin of U11 is just exported high potential, so ALH is a high potential, and U10 the 5th pin keeps electronegative potential to receive the next pulse upper edge up to U10 the 3rd pin, so begin to receive the end of next pulse upper edge that ALH is a high potential at the 4th pin output high potential, and ARL is an electronegative potential to U10 the 3rd pin by U11; Therefore, MOS3 is open-minded, and MOS5 turn-offs, and the electric current on the motor windings passes through D2 successively, VIN, and MOS3 gets back to winding, carries out afterflow at a slow speed, and the motor windings electric current slowly descends, and is the afterflow stage.Wherein, R54～R57, C33, C34 are used to adjust the minimum repid discharge time.The said process circulation is carried out, and forms the chopping way of unique quick charge-repid discharge-afterflow.

Traditional quick charge-afterflow mode, because discharge rate is slow, motor current waveform is followed undesirable, thereby the control effect is bad, though noise is little, can only be applicable to the slow-speed of revolution; Quick charge-repid discharge mode, its current ripples is very big, thereby noise of motor is big, and it is very serious to generate heat, the useful life that directly threatens stepping motor.Adopt the chopping way of above-mentioned quick charge-repid discharge-afterflow, combine the advantage of preceding dual mode, and avoided their shortcoming, motor current waveform is followed ideal, and current ripples is again little, thereby noise of motor is little, and heating is few, controls effective.

U3 among Fig. 4 (IR2110), U4, U5, the U6 circuit has constituted dual H-bridge drive circuit 6.Wherein: C7～C10 is used for high-side driver voltage and promotes; R20～R23, D13, D15, D17, D19 are used to high-side driver that booster tension is provided; R16～R19, R28～R31 are used for driven MOS 1～MOS8; R12～R15, R24～R27, D20～D23, D12, D14, D16, D18 are used to turn-off the G utmost point discharge of MOS1～MOS8 to MOSFET, reach the purpose of quick shutoff.

MOS1～MOS8 circuit, D1～D8 circuit has constituted dual H-bridge circuit 7.Wherein: R86, R87 are current sampling resistor; D1～D8 is a fly-wheel diode, R89, the C1 that releases when R90 is used to shut down, the residual charge on the C2.

With current of electric sampled signal OCA, OCB sends into the 6th pin of U7 among Fig. 3 (LM339), and the 8th pin is made comparisons with VS, and input voltage sampled signal OV sends into the 4th pin of U7, makes comparisons with VS, and wherein VS is the standard comparative voltage.Under the normal condition, the 1st pin of U7, the 2nd pin, the 14th pin 4 output high potentials, thereby the OVER signal is high potential, and the 14th pin output high potential of U8, LED2 does not light, and the PROTECTION signal is low, U3～U6 operate as normal; When any situation of overcurrent or overvoltage takes place, the 1st pin of U7, the 2nd pin, the output electronegative potential is arranged in the 14th pin, make the upset of OVER signal be high potential, thereby the 14th pin of U8 output electronegative potential, LED2 lights warning, and the 9th pin current potential with U8 is pulled low to-12V+VF (LED2) simultaneously, make the OVER signal voltage be higher than the 9th pin current potential of U8 always, open MOS10 simultaneously,, turn-off U3～U6 so the PROTECTION signal is high, MOS1～MOS8 all turn-offs, entire circuit is in not responsive state, removes up to phenomenon of the failure, and circuit re-powers.

Claims (7)

1; a kind of novel many segmentation high voltage two-phase stepping motor drivers; comprise the hf switching power supply (1) that links to each other successively to the control circuit power supply; produce the pulse-scaling circuit (2) of EPROM address; the EPROM circuit (3) of Memory Reference wave datum and phase data; D/A converter circuit (4); produce the dual H-bridge drive circuit (6) of dual H-bridge drive signal; the dual H-bridge circuit (7) of drive stepping motor; over-voltage over-current protection circuit (8); it is characterized in that: the constant current chopper circuit that also includes quick charge-repid discharge-afterflow mode; wherein; the current sampling output of the output of D/A converter circuit (4) and dual H-bridge circuit (7) links to each other with the input of constant current chopper circuit, and the output of constant current chopper circuit links to each other with the input of dual H-bridge drive circuit (6).

2, novel many segmentation high voltage two-phase stepping motor drivers as claimed in claim 1, it is characterized in that: the constant current chopper circuit of described quick charge-repid discharge-afterflow mode is by the comparison circuit (5) that produces pulse width modulated wave, set the delay circuit (9) of minimum repid discharge time, and pulse distributor (10) is formed, the output of comparison circuit (5) links to each other with the input of delay circuit (9), and the output of delay circuit (9) links to each other with the input of pulse distributor (10).

3, novel many segmentation high voltage two-phase stepping motor drivers as claimed in claim 2, it is characterized in that: the delay circuit (9) of setting the minimum repid discharge time adopts the RC charging modes to realize the delay time adjusting.

4, novel many segmentation high voltage two-phase stepping motor drivers as claimed in claim 2, it is characterized in that: pulse distributor (10) adopts the d type flip flop circuit, realizes the dual H-bridge pulse distribution with circuit and NOR circuit.

5, novel many segmentation high voltage two-phase stepping motor drivers as claimed in claim 4, it is characterized in that: described d type flip flop circuit is made of U10, wherein, the 11st pin of U10 links to each other with square-wave signal, and the 3rd pin of U10 links to each other with the reverse signal of square-wave signal.

6, novel many segmentation high voltage two-phase stepping motor drivers as claimed in claim 1, it is characterized in that: the dual H-bridge circuit (7) of D/A converter circuit (4) and drive stepping motor adopts operational amplifier to realize the amplification of reference wave and sample rate current.

7, novel many segmentation high voltage two-phase stepping motor drivers as claimed in claim 3, it is characterized in that: the delay circuit (9) of setting the minimum repid discharge time is made up of R54, R55, R56, R57, C33, C34, wherein, R54, R56, C34 link to each other successively, R55, R57, C33 link to each other successively, the link of R56, C34 links to each other with the input of Si Mite shaping reverser U11, and the link of R57, C33 links to each other with the input of Si Mite shaping reverser U11.