CN2865133Y - Sine-wave subdivision drive for three-phase mixed stepping motor - Google Patents

Abstract

The utility model discloses a sinusoidal sub-dividing drive device for three-phase composite stepmotor, comprising a sinusoidal sub-dividing distributor 1, an under-voltage and overheat protection relay 2, a current regulating unit 3, an AC voltage rectifying unit 4, a power drive circuit 5, a current detection and processing circuit 6, a logic synthesizer unit 7, and a startup time delay 8. The utility model is a new sinusoidal sub-dividing drive device for three phase composite stepmotor and employs sinusoidal sub-dividing drive technique; therefore, the utility model not only improves greatly the resolution of the composite stepmotor, but also enhances the low-frequency oscillation suppression capability and improves dynamic characteristics of the system. The utility model employs a programmable logic device CPLD to implement the integrated sinusoidal sub-dividing distributor design, and thereby simplifies the control circuit. The system has the advantages of high sub-dividing accuracy, normal and reverse rotation control, variable sub-dividing factor, and adjustable winding current, etc. In addition, the utility model is also designed with a complete set of protection circuits, which can protect the system against under-voltage, overheat, and other failures.

Description

Three-phase hybrid stepping motor sine-wave subdivision driver

Technical field:

The utility model relates to a kind of novel stepping motor segmentation drive unit, specifically the sine-wave subdivision driver that the given segmentation of winding current is cut.

Technical background:

Need not the detection rotor position during stepping motor open loop operation, can realize speed governing, start-stop fast, rotating control etc., have and realize advantages such as simple, with low cost by the frequency that changes input pulse.Yet from application point of view, the problem that the restriction stepping motor is used is vibrated and step-out exactly.

Summary of the invention:

The purpose of this utility model is open three-phase hybrid stepping motor sine-wave subdivision driver.By adopting sine-wave subdivision control technology design three-phase hybrid stepping motor driver, problems such as low-frequency oscillation when suppressing hybrid type stepping motor open loop operation effectively and step-out.By adopting the sine-wave subdivision control mode, not only improve the resolution of hybrid type stepping motor greatly, and improved the ability of system's inhibition low-frequency oscillation, improved its dynamic characteristic.Adopt programmable logic device (CPLD) to realize sine-wave subdivision operation dispenser designs, thereby control circuit is simplified.System has high subdivision accuracy, rotating control, the segmentation number is variable and function such as the given scalable of winding current.Also designed a cover complete protection circuit simultaneously, can have been protected in time the faults such as under-voltage, excess temperature of system.

Its composition of the utility model comprises that its composition comprises: sinusoidal subdividing running distributor (1), under-voltage and overheat protector relay (2), current regulation unit (3), ac voltage rectifier unit (4), power driving circuit (5), current detecting and treatment circuit (6), logic synthesis unit (7), start time-delay relay (8); Exchange input and reach the current-limiting resistance R that links to each other with ac voltage rectifier unit (4) through ac voltage rectifier unit (4), filter capacitor C, start time-delay relay input power drive circuit (5), power driving circuit (5) connects stepping motor, the CP step-by-step impulse (9) of outside input, the rotating control level that direction instruction (10) provides, the reset signal of logical circuit (11) and two-way segmentation mode select signal to import sinusoidal subdividing running distributor (1), sinusoidal subdividing running distributor (1) is by programmable logic device ispLSI1032E, 12 D/A converter AD7541, operational amplifier LF353 totally three parts forms, grading current value digital quantity when each phase winding that sinusoidal subdividing running distributor provides is switched on divides two groups of outputs, one group of I/O mouth by CPLD exports logic synthesis unit (7) to, second group is input to logic synthesis unit (7) through current regulation unit, logic synthesis unit (7) is isolated through photoelectricity and is connected power driving circuit (5), is connected in current detecting and treatment circuit (6) input current regulon (3) between power driving circuit (5) and the stepping motor.

The utility model can also comprise:

1, the composition of described current feedback and treatment circuit (6) comprises three-phase winding current feedback current Hall element, after current Hall detects winding current Ib, the voltage signal U input absolute value circuit of the feedback current that obtains through sample resistance R9 with the proportional little current i b of Ib that sends, output voltage U f=1U gives current regulation unit (3), absolute value circuit is by resistance R 2, R3, R4, R5, R6, operational amplifier LF353, diode D1, D2 link formation.

2, described current regulation unit comprises pulse width modulating chip TL494 and the oscillator of the chip internal of being made up of R19, C11 that is attached thereto, constitute bleeder circuit by R22, R21, through the current feedback signal Uf after accurate full-wave rectification, the low-pass filtering treatment, after R16, C9 filtering input+IN1 pin, the given signal Ug of sine ladder wave by sine-wave subdivision operation distributor produces is input to-the IN1 pin; R10, R11, R12, R17, C8 constitute the PWM chopping signal of current PI adjuster generation and are exported by 8 pin.

The utility model driver is made of programmable logic device (CPLD) and motor special integrated chip etc., and detail circuits illustrates referring to system introduction.This controller adopts IGBT Intelligent Power Module (IPM) as main switch element, has perfect defencive function.Adopt special-purpose pulse width modulating chip TL494 control motor windings electric current.Operation result shows that the dynamic characteristic of system is good for a long time, has cost characteristics low, easy to use simultaneously.

In native system, adopt programmable logic device (CPLD) to make up sine-wave subdivision operation distributor.This ring distributor also produces the input of 12 sinusoidal wave ladder outputs as 12 D/A converters except the power-up sequence that determines each winding.And software modes such as employing single-chip microcomputer, because its executive mode is non-parallel, each signal be subjected to certain influence synchronously, reliability is not high, therefore CPLD (ispLSI1032E) chip that adopts Lattice company to produce makes up sine-wave subdivision operation distributor, and has obtained satisfied effect.

In the output of native system in order when abnormal conditions occurring, can in time to detect fault-signal and can in time to block system; cut off the power supply of major loop; system is quit work; be not damaged with the guaranteed output device, we adopt switch elements such as relay to design protective circuits such as complete under-voltage, excess temperature.The lock mode that this protective circuit adopts hardware, software to combine is protected power device, has simple, reliable advantage.

Description of drawings

Fig. 1 is the utility model system block diagram;

Fig. 2 is the general structure of the utility model system;

Fig. 3 is the utility model embodiment sine-wave subdivision operation allotter circuit figure;

Fig. 4 is the mutually sinusoidal subdividing running distributor of a utility model embodiment A output waveform figure;

Fig. 5 is the utility model embodiment current feedback and treatment circuit figure;

Fig. 6 is the utility model embodiment current regulation unit circuit diagram;

Fig. 7 is the utility model embodiment logic synthesis unit circuit diagram;

Fig. 8 is the utility model embodiment protective circuit figure;

Fig. 9 is the utility model embodiment module frame chart.

Embodiment:

Three-phase hybrid stepping motor sine-wave subdivision type of drive;

Hybrid type stepping motor is controlled the conducting of each phase stator winding by the type of drive of ring distributor decision and is ended, and makes motor produce synthetic rotating magnetic field, drags rotor and makes step motion.The amplitude of resultant magnetic field vector has determined the size of motor turning moment, corner dimension between the adjacent two resultant magnetic field vectors has determined the size of step angle, best segmentation mode is a uniform subdivision, promptly wait step angle, etc. the segmentation of moment, suppose in three phase windings electric current respectively as shown in the formula:

ia＝ImSinθ

ib＝ImSin(θ-2π/3) (1)

ic＝ImSin(θ+2π/3)

With ia is reference coordinate, and then He Cheng current phasor i is:

I＝ia+ib+ic＝3/2ImE- ^Jθ (2)

This is one is that amplitude, " θ " are the vector that is rotated counterclockwise of argument with 3/2Im.When according to formula (1) A, B and C phase winding electric current being controlled, when parameter θ changed, then the rotor of hybrid type stepping motor turned over an electrical degree with corresponding.After this sine-wave subdivision driver is handled the current value discretization in the formula (1), form staged sine-wave current set-point, flow into three phase windings respectively by fixed time sequence, the corresponding motor commentaries on classics of its each ladder moves a step, change motor speed by changing the ladder wave frequency, and the angle that the definite motor down of the ladder number of output turns over.

The general structure of system

The general structure of system as the time 2 shown in, adopt the soft-start mode of current-limiting resistance R control capacitance charging current, winding current during the control starting, control the resistance R short circuit by the starting time-delay relay when treating normally to move, alternating voltage all is added on the filter capacitor c through rectification, simultaneously move reset level upset in a flash, thereby system is brought into operation at time-delay relay; Power driving circuit is made of IGBT Intelligent Power Module (IPM); Sinusoidal subdividing running distributor is made of the programmable logic device ispLSI1032E that Lattice company produces, and it is given to obtain the three-phase sine-wave winding current through 12 D/A converter AD7541 and operational amplifier LF353; Current feedback adopts the current Hall sensor and obtains after processing such as accurate full-wave rectification, low-pass filtering; Current regulation unit adopts separated exciting PWM working method control winding current, is realized by special-purpose pulse width modulating chip TL494; System has the complete protection function, and under-voltage and overheat protector relay contact is connected in series with resistance R, and the break-make of control DC bus-bar voltage is cut off DC bus-bar voltage immediately, thereby protected power device not to be damaged under the situation that fault takes place.The long-play result shows that the defencive function of system is safe and reliable.

The circuit structure of sinusoidal subdividing running distributor as shown in Figure 3.

This link is an important component part in the stepper motor driver, by programmable logic device ispLSI1032E, 12 D/A converter AD7541, operational amplifier LF353 totally three parts form.The each several part operation principle is as follows:

(1) application of programmable logic device ispLSI1032E

IspLSI1032E is a kind of in the ISP series online programmable device produced of Lattice company.Adopting a slice ispSI1032E chip in the native system is that core constitutes sine-wave subdivision operation distributor.At first will guarantee the energising order of each phase winding according to functional requirement CPLD, the current value digital quantity during each phase winding energising is also by with a slice CPLD output, can realize easily like this between each signal synchronously.Wherein sinusoidal wave can be counted by binary numeral on the occasion of data, and the negative value data need to use complement code in digital computer.Obviously for a system that does not have CPU, it is inappropriate using complement code, and for fear of this problem, we can be decomposed into sine wave two half-waves, cooperate the Continuity signal of six phases, and the negative value data only need be represented just passable with its absolute value.Therefore CPLD mainly contains two groups of outputs, at first be the grading current set-point of three phase windings, 360 degree electrical degrees be divided into N part, i.e. the corresponding 360/N degree of each ladder electrical degree, calculate each grading current set-point by formula (1) again, its binary numeral is by the I/O mouth output of CPLD.When N got different value, the segmentation number also changed thereupon, by simple programmed method, has realized N=72,36,18,9 four kind of segmentation mode in this driver.In order to improve the given resolution of grading current, it is given to adopt 12 D/A converters to obtain electric current.Second group of output is the same brachium pontis synchronizing switch controlling signal of pipe up and down, and synchronous with the given formation of electric current of each phase, each has two synchronizing signals (as A+ and A-) mutually, totally six tunnel outputs, so CPLD total 12*3+2*3=42 road output.And input control signal comprises five, and step-by-step impulse, rotating control level, reset signal and the two-way segmentation mode of outside input are selected signal.Step-by-step impulse of every reception, motor will rotate a step.Rotating control level control motor positive and inverse.Reset signal is that high level is effective, is used for low level is put in all output, thereby has blocked all power tubes, and the segmentation mode selects signal to select above-mentioned four kinds of segmentation modes by the various combination of two paths of signals.CPLD has 42 tunnel outputs like this, 5 tunnel inputs, and ispLSI1032E is enough to satisfy this designing requirement.Input signal is input CPLD after photoelectricity is isolated all.

(2) the given generation of winding current

A, B, C three-phase winding current are given to convert the analog voltage signal of sinusoidal ladder to through 12 D/A converter AD7541, operational amplifier LF353, and this signal is the given signal of winding current.As shown in Figure 3, R1, C1 play the effect of filtering, and 17 pin of AD7541 meet reference voltage-5V, change this reference voltage and can regulate the given amplitude of sine ladder wave, thereby realize winding current adjustable size function.

In three-phase bridge circuit, enough Dead Times must be set for the straight-through of switching tube about avoiding same brachium pontis.According to the characteristics of the sinusoidal given staircase waveform of native system winding, in software, designed a kind of The dead time method of novelty.With the mutually sinusoidal subdividing running distributor of A is example, is that step of 0 is set at the Dead Time that pipe up and down all turn-offs and gets final product as shown in Figure 4 with the electric current set-point, promptly removes the electric current set-point and be that step of zero in the synchronizing control signal of six switching tubes.The Dead Time long enough of She Zhiing like this, and do not influence winding current control again is because be that pipe should all turn-off up and down in time of zero at the electric current set-point.

Three-phase winding current feedback adopts the current Hall sensor also to obtain after processing such as accurate full-wave rectification, low-pass filtering, wherein a road see Fig. 5.After current Hall detects winding current Ib, send one with the proportional little current i b of Ib, ib=Ib/200 here, ib obtains the voltage signal U of feedback current through sample resistance R9.Owing to do not wish that the negative value data appear in U, the negative value data are by its absolute value representation, so U input absolute value circuit.The resistance of R2, R3, R4, R5, R6 is all got 10k in the absolute value circuit, and R7 gets 20k, and operational amplifier adopts LF353, and D1, D2 are the FR107 fast recovery diode, thereby obtain output voltage U f=|U|.Resistance R 8 constitutes low-pass filter circuit with capacitor C 2.

The current regulation unit of this driver has adopted separated exciting PWM working method control winding current, realizes that by special-purpose pulse width modulating chip TL494 its characteristics are as follows: (1) chopping frequency is fixed, and reduces switching noise.(2) adopt traditional PI control method.(3) duty ratio of output PWM ripple can from 0% to 100%.Its detailed circuit structure is seen Fig. 6.Its Current Regulation principle is given and current feedback analog signal of generation after PI regulates with the sine ladder wave electric current, comparing with the triangular carrier of a fixed frequency produces the PWM chopping signal again, thereby the make-and-break time of the switching tube in the control main circuit is regulated the winding current of motor.Wherein the oscillator of R19, C11 chip internal generation frequency is the carrier signal of 15kHz.R22, R21 constitute bleeder circuit, and the level that produces one-0.4V makes the duty ratio of output PWM ripple can reach 0%-100% to eliminate dead band control.Uf is the current feedback signal after accurate full-wave rectification, low-pass filtering treatment, and input+IN1 pin after R16, C9 filtering, Ug are the given signal of sine ladder wave that is produced by sine-wave subdivision operation distributor, are input to-the IN1 pin.R10, R11, R12, R17, C8 constitute the current PI adjuster.The output of this pi regulator and triangular wave compare the back and produce the PWM chopping signal, are exported by 8 pin.Because output adopts the open collector way of output, therefore need add and draw resistance R 18.Shu Chu copped wave control signal synchronizing control signal the turning on and off of sending thus with CPLD through the direct power controlling pipe of logic synthesis unit.When current feedback is given regularly greater than electric current, thereby the duty ratio that reduces drive signal reduces actual winding current, otherwise then increases actual current, thereby makes the winding current sinusoidal grading current of tracing preset at any time.

The copped wave control signal of 6 road synchronizing signals that the logic synthesis unit sends CPLD and current regulation unit output synthesizes 6 tunnel drive signals that the driving power pipe is opened shutoff, thereby the control winding current is followed given sine ladder wave signal in time and changed.Wherein the logic synthesis circuit of a phase as shown in Figure 7, A+, A-are respectively the synchronizing control signal of A phase upper and lower bridge arm, the copped wave control signal of TL494 through reverser and synchronizing control signal with obtain U ,/U two-way drive signal, reverser, NAND gate are selected 74HC04,74HC00 chip respectively for use.

Power driving circuit is made of the IGBT intelligent object device 1RAMS06UP60A that IR company produces.This device is the prime power switch element with IGBT, constitutes three-phase bridge type converter adapting to the needs of motor frequency change speed regulating device, and integrated special-purpose integrated drive chips based on bootstrap technique, makes it can be used for high-pressure system.The withstand voltage 600V of this module, maximum current 12A, the highest switching frequency 20kHz.

The protective circuit circuit structure is seen Fig. 8.The effect of protective circuit is that the guaranteed output switching device can move in normal working conditions; the output that when abnormal conditions appear in system, can detect fault-signal in time and block system; cut off the power supply of major loop, system is quit work, be not damaged with the guaranteed output device.Native system has main circuit charging time-delay, under-voltage protection, hardware excess temperature self-lock protection, the software blocked defencive function of drive signal.The operation principle of each several part is as follows:

(1) under-voltage protection

Native system has the function of under-voltage protection.The purpose of under-voltage protection is to avoid power switch component IGBT under-voltage driving to occur.Under-voltage driving be Switching Power Supply under under-voltage condition, control circuit cisco unity malfunction, and applied DC bus-bar voltage on the power switch component very easily burns power switch component.Therefore necessary halt system work when line under-voltage; the under-voltage protection of native system is opened two by one two and is closed relay and peripheral circuit constitutes; make system before the Switching Power Supply operate as normal, not cut DC bus-bar voltage together in conjunction with the main circuit delay circuit; after Switching Power Supply begins operate as normal; apply DC bus-bar voltage by main circuit charging delay circuit, make system begin operate as normal.As shown in Figure 7, J2 is the relay with two cover contact J2-1, J2-2, and its coil is serially connected in Switching Power Supply+5V output after the R25 dividing potential drop, and R26 is the coil inductance discharge.J2 coil electricity when Switching Power Supply is working properly, the normally opened contact adhesive of J2-1, it is the C charging that R inserts main circuit, and DC bus-bar voltage begins to rise gradually, and system enters the delayed startup process.Simultaneously the normally opened contact of J2-2 is also closed, and R31, C4 add+and 15V voltage begins charging, and the control section of main circuit time-delay charge relay is started working, the time-delay beginning.When Switching Power Supply is in under-voltage condition, J2 coil no power, not adhesive of contact, the normally opened contact of J2-1, J2-2 all disconnects main circuit time-delay charging resistor R is not inserted in the charge circuit, and the control relay of time-delay charging simultaneously J1 can not adhesive, and the J1-1 normally opened contact also disconnects, the main circuit DC bus-bar voltage is disconnected like this, thereby thoroughly stop to go up system works, R24 is filter capacitor C discharge by normally-closed contact simultaneously, and R32 is capacitor C 4 discharges by normally-closed contact.

(2) overheat protector

Any electronic component and power device all have a working range, the too high operate as normal that can influence system of temperature.The overheat protector of native system has auto-lock function, in case promptly there is the appearance of excess temperature failure condition in system then halt system work, even temperature is recovered normal system and is not also reruned afterwards, and must restarting systems can operate as normal after the commissioning staff detects.Thereby general auto-lock function all is by the output of latches excess temperature signal by software blocked drive signal; and native system has designed a kind of white collar protective circuit of uniqueness; auto-lock function is realized by a relay, makes the reliable and realization easily of overheat protector.The thermal-shutdown circuit operation principle is as follows: as shown in Figure 7, temperature detection is often opened temperature switch T by a contact and is realized, temperature is in case after surpassing the value of temperature switch restriction, the contact of temperature switch T becomes closure by disconnection.Auto-lock function is realized by relay J 3, normally opened contact is in parallel with T, normally-closed contact is serially connected between the coil and ground of J2, the J3 coil is serially connected in Switching Power Supply+5V output after the T closure after the R27 dividing potential drop, then its contact J3-1 adhesive, thereby normally opened contact short circuit temperature switch T is self-locking in attracting state with J3, normally-closed contact disconnects the coil power supply that cuts off J2, J2 coil blackout working condition of system when under-voltage is identical, system quits work, necessary restarting systems ability operate as normal, LED lights and shows the excess temperature fault simultaneously.

(3) main circuit charging delay circuit

Native system starts, and requires directly to feed alternating current 220V voltage, then will produce great rush of current on the filter capacitor C, thereby system is caused damage.For reducing this infringement, added main circuit charging delay circuit, specific practice adds a charging resistor exactly before filter capacitor, when system start-up DC bus-bar voltage is progressively added, and has avoided starting the impact of big electric current.Concrete implementation method is as follows: add one one and open one and close relay J 1 as time-delay relay, J2-2 normally opened contact closure after relay J 2 adhesives, delayed charging circuit is started working, its delay time is R31, the C4 control of charging by+15V, NPN type triode conducting after being charged to certain hour, the conducting of J1 coil, thus the adhesive of J1-1 normally opened contact is with R and J2-1 short circuit, system enters normal operating conditions, and wherein R33 is the J1 coil discharge.

(4) the software blocked protection of drive signal

System also has the software protection function in hardware protection; promptly when excess temperature, the appearance of under-voltage failure condition or system delay charging also do not finish; system works is undesired, then can not add drive signal to power switch component, and need by software blocked all drive signals this moment.The protection priority of native system is excess temperature, under-voltage, charging time-delay; promptly main circuit time-delay charging just begins when not having excess temperature, under-voltage fault; therefore whether software blocked needs detection of drive signal charging delay circuit is finished and is got final product; drive signal should be in blocked styate always before not finishing the charging time-delay; in case charging finishes relay J 1 adhesive then system begins operate as normal, begin normally to send drive signal this moment.In the physical circuit with the NPN type transistor collector of control relay J1 coil electricity by on draw diode D and pull-up resistor R30 be connected to control circuit+the 5V power supply, when not conducting of triode, reseting controling signal is high, and the reset pin that this reseting controling signal is sent into CPLD after by suitable logical circuit blocks drive signal.After the triode conducting, coil electricity, reseting controling signal is dragged down, and system enters normal operating conditions.A whole set of protective circuit is applied in the real system, is quick on the draw, reliably.

The Programming Design of programmable logic device ispLSI1032E of the present invention.

The Programming Design of the programmable logic device ispLSI1032E of native system adopts hybrid input mode, i.e. the method for schematic diagram and ABEL language hybrid programming.The ispDesignExpertsystem that develops software and adopt Lattice company to provide, this software operation is easy, flexible, supports multiple programmed methods such as VHDL, ABEL and mixing input.Schematic diagram is made up of counter module and memory module two parts as shown in Figure 9.Counter module is realized the forward-backward counter function, and CW, EN are direction and reset signal, and M1, M0 are segmentation number selector switch.Under the effect of input clock CP and direction control level, counter output valve DATA=[Q0-Q5] constantly increase or reduce.The output of memory module changes with the DATA value and changes, and the DATA value corresponding different output valve different according to the binary coding table of three-phase discrete sine staircase waveform electric current set-point changes step values then.Will judge simultaneously the level height of EN in the rolling counters forward process, when EN was the active homing level, Q6 puts 1 made memory module output be 0, thereby reaches the effect of blocking all drive signals.The various combination of M1, M0 has determined the figure place of forward-backward counter, 00 corresponding 36 system counters, 01 corresponding 18 system counters, 10 corresponding 9 system counters.Wherein the corresponding 180 degree electrical degrees of 36 system counters will walk for 36 steps, corresponding 72 steps of 360 degree electrical degrees, i.e. stepping motor 12 segmentations, totally three kinds of different segmentation numbers by that analogy.Counter module and memory module all adopt the ABEL Programming with Pascal Language.

Claims (3)

1, a kind of three-phase hybrid stepping motor sine-wave subdivision driver, its composition comprises: sinusoidal subdividing running distributor (1), under-voltage and overheat protector relay (2), current regulation unit (3), ac voltage rectifier unit (4), power driving circuit (5), current detecting and treatment circuit (6), logic synthesis unit (7), start time-delay relay (8); It is characterized in that: exchange input and reach the current-limiting resistance R that links to each other with ac voltage rectifier unit (4) through ac voltage rectifier unit (4), filter capacitor C, start time-delay relay input power drive circuit (5), power driving circuit (5) connects stepping motor, the CP step-by-step impulse (9) of outside input, the rotating control level that direction instruction (10) provides, the reset signal of logical circuit (11) and two-way segmentation mode select signal to import sinusoidal subdividing running distributor (1), sinusoidal subdividing running distributor (1) is by programmable logic device ispLSI1032E, 12 D/A converter AD7541, operational amplifier LF353 totally three parts forms, grading current value digital quantity when each phase winding that sinusoidal subdividing running distributor provides is switched on divides two groups of outputs, one group of I/O mouth by CPLD exports logic synthesis unit (7) to, second group is input to logic synthesis unit (7) through current regulation unit, logic synthesis unit (7) is isolated through photoelectricity and is connected power driving circuit (5), is connected in current detecting and treatment circuit (6) input current regulon (3) between power driving circuit (5) and the stepping motor.

2, three-phase hybrid stepping motor sine-wave subdivision driver according to claim 1, it is characterized in that: the composition of described current feedback and treatment circuit (6) comprises three-phase winding current feedback current Hall element, after current Hall detects winding current Ib, the voltage signal U input absolute value circuit of the feedback current that obtains through sample resistance R9 with the proportional little current i b of Ib that sends, output voltage U f=1U gives current regulation unit (3), absolute value circuit is by resistance R 2, R3, R4, R5, R6, operational amplifier LF353, diode D1, D2 links formation.

3, three-phase hybrid stepping motor sine-wave subdivision driver according to claim 1, it is characterized in that: described current regulation unit comprises pulse width modulating chip TL494 and the oscillator of the chip internal of being made up of R19, C11 that is attached thereto, constitute bleeder circuit by R22, R21, through the current feedback signal Uf after accurate full-wave rectification, the low-pass filtering treatment, after R16, C9 filtering input+IN1 pin, the given signal Ug of sine ladder wave by sine-wave subdivision operation distributor produces is input to-the IN1 pin; R10, R11, R12, R17, C8 constitute the PWM chopping signal of current PI adjuster generation and are exported by 8 pin.

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