EP0077293B1 - Procédé et dispositif de commande d'un moteur pas à pas d'une pièce d'horlogerie - Google Patents

Procédé et dispositif de commande d'un moteur pas à pas d'une pièce d'horlogerie Download PDF

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Publication number
EP0077293B1
EP0077293B1 EP82810397A EP82810397A EP0077293B1 EP 0077293 B1 EP0077293 B1 EP 0077293B1 EP 82810397 A EP82810397 A EP 82810397A EP 82810397 A EP82810397 A EP 82810397A EP 0077293 B1 EP0077293 B1 EP 0077293B1
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EP
European Patent Office
Prior art keywords
winding
instant
state
memorised
signal
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Expired
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EP82810397A
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German (de)
English (en)
French (fr)
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EP0077293A1 (fr
Inventor
Luciano Antognini
Hans-Jürgen Rémus
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Asulab AG
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Asulab AG
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    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C3/00—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means
    • G04C3/14—Electromechanical clocks or watches independent of other time-pieces and in which the movement is maintained by electric means incorporating a stepping motor
    • G04C3/143—Means to reduce power consumption by reducing pulse width or amplitude and related problems, e.g. detection of unwanted or missing step

Definitions

  • the present invention relates to timepieces having a stepping motor, and more particularly a method and a control device for applying to the terminals of the winding of the stepping motor a control signal comprising a sequence of pulses. motor, each of these pulses itself being formed from a series of elementary pulses during which these terminals of the winding are connected to a voltage source, these elementary pulses being separated from each other by periods of interruption during which these terminals are separated from the voltage source.
  • the current increases again, and the process described above begins again and continues until the end of the driving pulse.
  • the durations of the elementary pulses and of the interruption periods depend, among other things, on the speed of rotation of the rotor, they are therefore not constant during the duration of a driving pulse. Such a method keeps the current flowing in the motor winding at a substantially constant value.
  • Patent application GB-A-2 006 995 recommends chopping each drive pulse applied to the motor winding, using two distinct and predetermined values of the chopping rate, the highest value being used only when the motor must provide an abnormally high effort. To this end, this patent recommends using a device detecting the engine load.
  • This known control device also has the disadvantage of not taking into account fluctuations in the voltage supplied by the power source, fluctuations due to variations in the electromotive force and / or the internal resistance of this source.
  • the patent application GB-A-2,054,916 recommends supplying the winding of a stepping motor with driving pulses each formed from a series of elementary pulses whose width is determined in dependence on the value of the voltage which is supplied by the power source when the latter is connected to the terminals of resistors of known values. According to this prior art, it is determined, substantially every milliseconds, in which range of values this voltage is found and a motor signal form is chosen from among five predetermined signal forms.
  • the object of the present invention is to propose a method and a device for controlling a stepping motor of a timepiece making it possible to simply and substantially continuously adapt the power of each driving pulse to the value d 'at least one of the two characteristic quantities of the power source, that is to say the value of the electromotive force and / or that of the internal resistance of this source.
  • the motor control circuit is shown diagrammatically by a first switch 6 used to connect and disconnect the source 4, 5 and the motor winding, and by a second switch 7 used to switch this winding on. circuit or to remove this short circuit.
  • Figure 2 illustrates the manner in which the chopping rate of the driving pulses is determined.
  • the switch 6 is closed and the switch 7 is open.
  • the current i in the winding 1 begins to increase.
  • this current reaches a first predetermined value iM, the choice of which will be explained below, the switch 6 is open and the switch 7 is closed.
  • the winding 1, 2 is therefore disconnected from the power source 4, 5 and short-circuited.
  • the current i begins to decrease, and at an instant t2, it reaches a second predetermined value im, the choice of which will also be explained below.
  • the duration Tl m which separates the instants t1 and t2 depends on the electrical and magnetic characteristics of the motor.
  • the switch 6 is again closed and the switch 7 is again open.
  • the short circuit is therefore eliminated, and the source 4, 5 is again connected to the winding 1, 2.
  • the current i begins to increase again.
  • it reaches the value iM for the second time.
  • the duration T2m which separates the instants t2 and t3 depends on the electrical and magnetic characteristics of the motor as well as on the electromotive force V of the power source 4 and / or on the value R * of its internal resistance 5. If this electromotive force V decreases, and / or if this resistance R * increases, the time T2m increases.
  • the durations T1m and T2m are measured and stored. After the instant t3, and until the end of the driving pulse, the switches 6 and 7 are controlled so that the winding is alternately short-circuited and connected to the source 4, 5 for successive periods of duration T1 and T2 respectively equal to Ti m and T2m.
  • the first predetermined value iM can be chosen fairly freely without this choice appreciably influencing the operation of the engine. However, experience has shown that the value iM should preferably be chosen to be substantially equal to the value of the largest current for which the rotor is not yet rotating. If iM is chosen equal to or less than this value, the chopping rate Ha is independent of the load driven by the motor, which would not be the case if iM was chosen at a higher value.
  • the difference iM - im should not however be chosen too small, so that the durations T1 m and T2m can be measured with sufficient accuracy.
  • the value of im can be chosen from a range from around 80 to 90% of the value of iM.
  • Equation (2) above can therefore be written:
  • the driving pulse is formed of elementary pulses of duration T2 equal to the measured duration T2m, separated by periods of interruption of duration T1 equal to the measured duration T1 m.
  • the chopping rate Ha of this driving pulse, or the duty cycle of the elementary pulses which compose it, is therefore given by:
  • This hash rate Ha can be determined as described above at the start of each driving pulse.
  • the variations in the electromotive force of the power source and / or its internal resistance are however generally quite slow. This determination can therefore be made at longer intervals. In this case, several successive driving pulses are chopped with the same hash rate.
  • FIG. 3 shows, by way of example of a device for implementing the method described above, the block diagram of an electronic timepiece comprising a stepping motor 11, and FIG. 3a is a diagram showing signals measured at a few points in the diagram in FIG. 3.
  • This timepiece includes an oscillator circuit 8 generating a time standard signal H having a frequency equal, for example, to 32,768 Hz.
  • the output of the oscillator 8 is connected to the input of a frequency divider circuit 9 developing, from the time standard signal H, various periodic signals.
  • These signals include in particular a control signal J appearing each time the rotor must advance by one step, and a signal I having a period twice that of the signal J. In general, if the timepiece is provided with a second hand, the period of the control signal J is equal to one second.
  • the timepiece of Figure 3 further includes a pulse forming circuit 15, the output delivers a signal, designated by Z, formed of a series of pulses of the same polarity which pass to the state "1 each time that the signal J itself passes to the state" 1 ", that is to say ie every second.
  • the length of the pulses of the signal Z is determined by a servo circuit 16 which receives a measurement signal S representative, for example, of the current flowing in the motor.
  • the circuit 16 uses the signal S to deliver a signal N at an instant which depends on the mechanical load driven by the motor.
  • This circuit 16 will not be described in detail since it can be of the type of any one of the many known control circuits. Such a circuit is moreover not essential for the implementation of the method according to the invention, and it could be omitted.
  • the signal N could be replaced by a signal supplied, for example, by the divider 9.
  • the pulses of the signal Z would then have a constant and predetermined duration.
  • a drive circuit 12 delivers a driving pulse to the winding 11a of the motor 11.
  • the voltage across this winding is designated by the same reference 11a in the Figure 3a.
  • the energy supplied to the winding 11a during each driving pulse is raised by a power source 10 having, like the source shown in FIG. 1, an electromotive force of value V and an internal resistance of value R * .
  • the polarity of these driving pulses is determined by the logic state of signal I, which alternately takes the state "0 and the state" 1 for 1 second.
  • the drive circuit 12 is further arranged so that the driving pulses are chopped in response to a chopping signal M formed of pulses having a high frequency.
  • a chopping signal M formed of pulses having a high frequency.
  • the signal M is supplied by a circuit 13, an example of which will be described later.
  • the durations of each pulse of this signal M and of the time which separates them, and therefore the hash rate Ha, are determined by the circuit 13 from information which is contained in a memory 14.
  • the circuit 13 comprises in in addition to means for periodically correcting this information as a function of the measurement signal S supplied by the drive circuit 12.
  • the periodicity of this correction can be equal to or greater than the period of the motor impulses.
  • FIG. 4 represents an example of a diagram of the circuits 12 and 15 of FIG. 3.
  • the circuit 15 simply comprises, in this example, a flip-flop 39 of type T whose clock input T receives the signal J delivered by the divider of frequency 9 in FIG. 3 at a frequency of 1 Hz.
  • the reset input R of flip-flop 39 receives the signal N of the servo circuit 16 of FIG. 3.
  • the output Q of this flip-flop 39 therefore passes in state "1" when signal J changes to state "1", that is to say each time the rotor must turn one step, and returns to state "0" when the circuit 16 delivers the signal N at a determined time so that the duration of the signal Z, which is delivered by this output Q of the flip-flop 39, is equal to the optimum duration of the driving pulse.
  • circuit 16 could be omitted.
  • the input R of the flip-flop 39 would then be connected to an output, not shown, of the divider 9, chosen so that the duration of the signal Z is equal, for example, to 7.8 milli
  • the circuit 12 of FIG. 3 comprises, in this example, a combinatorial circuit 43 formed by four AND gates 431 to 434, two OR gates 435 and 436 and two reversers 437 and 438.
  • the winding 11 a of the motor is connected , conventionally, in a circuit formed by four transmission doors 44 to 47 connected between the + V terminal of the power source 10 and the ground.
  • Two other transmission doors 48 and 49 each connect one of the terminals of the winding 11a to a first terminal of a measurement resistor 17, the second terminal of which is connected to ground.
  • the voltage present on the first terminal of this resistor 17 constitutes the signal S mentioned above.
  • a transmission door 50 is connected in parallel with the resistor 17. It is controlled by a signal X supplied as the case may be by the circuit 15 or by the circuit 13.
  • the signal X can be supplied by the forming circuit 15 so that the gate 50 is blocked during the driving and conducting pulses between them.
  • the servo circuit 16 uses this signal S to adjust the length of the pulses Z, and therefore the length of the driving pulses, to the mechanical load driven by the rotor.
  • the signal X can be supplied by the circuit 13, so that the gate 50 is only blocked when this circuit 13 uses the signal S to modify the information contained in memory 14 and that this door 50 is conductive the rest of the time. This case will be described in more detail later.
  • the current which passes through the winding 11a also passes through the resistor 17.
  • the voltage produced by this current at this resistor 17 constitutes the signal S.
  • this combinatorial circuit 43 could be easily modified so that the doors 44 and 45, for example, are both conductive and that the winding is therefore short-circuited between the driving pulses. Such an arrangement is often used to quickly brake the oscillations of the rotor around its equilibrium position, at the end of a driving pulse.
  • FIG. 5 shows by way of example the diagram of an embodiment of the circuit 13 of FIG. 3.
  • This circuit comprises two counters 54 and 55, which together form the memory 14 of the circuit of FIG. 3.
  • the clock inputs CL of these counters 54 and 55 are connected respectively to the outputs of two AND gates 56 and 57.
  • These gates 56 and 57 each have a first input which receives the signal H from the output of the oscillator 8, not shown in this figure, a second input connected to the output Q of a flip-flop 59 of type T, and a third input connected to the exit Q of another rocker, 60, also of type T.
  • the doors 56 and 57 have a fourth input connected directly, respectively via an inverter 65, to the output 52f of a hysteresis circuit which will be described later.
  • This output 52f is also connected to the clock input T of the flip-flop 59 and to a first input of a NAND gate 71, a second input of which is connected to the output Q of the flip-flop 60.
  • the output Q of the flip-flop 59 is connected to the clock input T of the flip-flop 60.
  • the output Q of this flip-flop 60 is connected to the first inputs of a NAND gate 70 and an AND gate 522, as well as at the control input of the transmission door 50 (FIG. 4).
  • This output Q of the flip-flop 60 delivers the signal X mentioned above.
  • the reset inputs R for flip-flops 59 and 60 as well as counters 54 and 55 are connected to the output Q of a flip-flop 371, of type T, which forms a timer circuit 37 with a counter 372 whose input d the clock CL receives the signal J from the frequency divider 9 (FIG. 3).
  • the reset input R of flip-flop 371 as well as a second input of gate 522 also receive the signal H.
  • the outputs of the counters 54 and 55 which are designated together, for each counter, by the reference Si, are connected to the preselection inputs of two reversible counters 66 and 67, designated together, for each counter also, by the reference Pi.
  • U / D inputs for controlling the counting direction of these counters 66 and 67 permanently receive a logic signal “1 •, so that these counters operate continuously as down counters.
  • the clock inputs CL of these counters 66 and 67 are connected to the output of gate 522.
  • the PE preselection control input of the counter 67 is connected to the output of a NAND gate 69 whose inputs are connected respectively to the outputs of doors 70 and 71.
  • the PE preselection control input of the counter 66 is also connected to the output of door 69, but via an inverter 68.
  • the counters 66 and 67 each have an output C which delivers a short pulse when their content reaches the value zero. These outputs C are respectively connected to two inputs of an OR gate 73, a third input of which is connected to the output Q of the flip-flop 371.
  • the output of this gate 73 is connected to the clock input T of a flip-flop 710 of type T.
  • the output Q of this flip-flop 710 is connected to a second input of the gate 70, and its input R for resetting to zero is connected, via an inverter 711, to the output Q of flip-flop 39 (FIG. 4) which delivers the signal Z. This signal Z is also applied to a third input of gate 522.
  • the output of door 69 delivers the interrupt control signal M to the drive circuit 12 ( Figures 3 and 4).
  • the hysteresis circuit 52 comprises, in a conventional manner, a differential amplifier 52b, a reference voltage source 52c and a voltage divider formed by two resistors 52d and 52e.
  • This voltage divider is connected between the input 52a of the circuit 52, which receives the signal S from the measurement resistor 17 (FIG. 4), and the output of the amplifier 52b which constitutes the output 52f of the circuit 52.
  • the non-inverting input of this amplifier 52b is connected to the connection point of resistors 52d and 52e, and its inverting input is connected to the output of reference source 52c.
  • the gain of the amplifier 52b, the values of the resistors 52d and 52e as well as of the resistor 17, and the value of the reference voltage supplied by the source 52c are chosen so that when the transmission gate 50 (FIG. 4) is blocked and the current in the winding 11a increases, starting from its zero value for example, the output 52f of the circuit 52 goes to the state "1 at the moment when this current reaches the value iM defined above and that, when this current decreases from a value greater than or equal to this value iM, this output 52f of circuit 52 does not return to the state "0" only when this current reaches the value im also defined above.
  • the state of the outputs of the counter 54 corresponds to a number expressed in binary code, designated by N1 in FIG. 5a, which is equal to the quotient of the duration T1 m defined above (FIG. 2 ) divided by the frequency of the signal H.
  • the state of the outputs of the counter 55 corresponds to a number, also expressed in binary code, which is designated by N2 in FIG. 5a and which is equal to the quotient of the duration T2m defined above (figure 2) divided by the frequency of the signal H.
  • signal Z is in the state "0".
  • the gate 522 is therefore blocked, and the clock inputs CL of the counters 66 and 67 are in the "0" state.
  • the reset input R of flip-flop 710 is in state "1", and the output Q of this flip-flop 710 is therefore in state "0".
  • signal Z is in the state "1".
  • the input R of the flip-flop 710 is therefore in the "0" state, and the pulses of the signal H, having a frequency of 32,768 Hz, are transmitted to the clock inputs CL of the counters 66 and 67.
  • the counter preselection command input PE of the counter 67 is on the other hand in the state “0”, and this counter counts the pulses of the signal H from a corresponding state, as will be shown below, with the content N2 counter 55.
  • this counter 67 When the content of this counter 67 reaches the value zero, the output C of this counter 67 delivers a short pulse, which is applied to the input T of the flip-flop 710 via the gate 73. The output Q of this flip-flop 710 goes to state “1", and signal M therefore also goes to state "1".
  • the circuit 12 interrupts the current driving pulse in response to this state "1 of the signal M.
  • the preselection command input PE of the counter 67 changes to the state" 1 ", and the N2 content of counter 55 is transferred to counter 67, which remains blocked in this state.
  • the preselection command input PE of the counter 66 passes to the state “0”, and this counter begins to count the pulses of the signal H from the state which it has at this instant, it is ie the state corresponding to the content N1 of the counter 54.
  • the duration during which the signal M remains in the state "0", that is to say the duration T2 of each elementary pulse, is equal to the product of the period of the signal H by the number corresponding to the content of the counter 67 at the moment when the signal M goes to the state "0". As this number is equal to the number N2 corresponding to the content of the counter 55, this duration T2 is equal to the duration T2m defined above. Similar reasoning shows that the duration during which the signal M remains in the state "1", that is to say the duration T1 of each period of interruption of the driving pulse, is equal to the duration T1m defined above.
  • the signal Z also goes to state "1 at the instant when the output of counter 372 goes to state” 1 ".
  • the drive circuit 12 connects the power source to the winding 11a (FIG. 4).
  • the transmission door 50 (FIG. 4) being blocked by the signal X which is in the state “0”, the current which begins to circulate in the winding 11a also passes through the resistor 17.
  • the output 52f of the hysteresis circuit 52 and the output Q of the flip-flop 59 pass to the state "1".
  • Simultaneously the output of gate 71 goes to state "0", and signal M goes to state "1".
  • the drive circuit 12 therefore interrupts the connection between the power source 10 and the winding 11a, and short-circuits the latter.
  • the current flowing in this winding 11a and in the resistor 17 begins to decrease.
  • the gate 56 begins to let pass the pulses of the signal H, which are counted by the counter 54.
  • T1m which depends only on the electrical and magnetic characteristics of the motor
  • the current in the winding 11a reaches the im value.
  • the output 52f of the hysteresis circuit 52 goes to the state "0". The door 56 is therefore blocked.
  • the content of the counter 54 at this instant is equal to the product of the time T1 m and the frequency of the signal H.
  • the output of gate 71 returns to state "1", and signal M returns to state "0".
  • the drive circuit 12 therefore re-establishes the connection of the winding 11a with the power source 10, and the current in this winding 11a begins to increase again.
  • the gate 57 begins to allow the pulses of the signal H to pass, which are counted by the counter 55.
  • the preselection command input PE of the counter 66 changes to state “1”, and the content of counter 54 is transferred to this counter 66 which remains blocked in this state.
  • the output of gate 71 is set to state “1" by the state “0" of output Q of the flip-flop 60. From this instant, the signal M again becomes dependent on the state of output Q of the flip-flop 710, which is state "1" at this time.
  • the drive circuit 12 therefore interrupts the driving pulse.
  • the doors 56 and 57 are blocked by the state “0 of the output a of the flip-flop 60.
  • the transmission door 50 (FIG. 4) is however made conductive by the state“ 1 ”of the output Q of this flip-flop 60, and short-circuits the resistor 17. The signal S therefore becomes zero again.
  • the gate 522 allows the pulses of signal H to pass. These pulses are counted down by the counter 66 whose preselection command input PE is in the state " 0 ".
  • the signal M alternately takes the state "1 and the state" 0 during times T1 and T2 which are equal, respectively, to the times T1 m and T2m measured in the manner described above.
  • the time T2m depends directly on the voltage V of the power source 10 and / or its internal resistance R * , the chopping rate of the driving pulses also depends on these quantities.
  • the circuit of FIG. 5 therefore makes it possible to implement the method described above.
  • the frequency of the signal H which determines the precision with which the times T1 m and T2m are measured, could be chosen at a different value.
  • the counter 372 could be deleted.
  • the signal J would then be directly applied to the input T of the flip-flop 371.
  • the determination of the hash rate Ha would therefore be made in this case at the start of each driving pulse.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
  • Electromechanical Clocks (AREA)
EP82810397A 1981-10-02 1982-09-23 Procédé et dispositif de commande d'un moteur pas à pas d'une pièce d'horlogerie Expired EP0077293B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH6341/81 1981-10-02
CH634181A CH646576GA3 (en, 2012) 1981-10-02 1981-10-02

Publications (2)

Publication Number Publication Date
EP0077293A1 EP0077293A1 (fr) 1983-04-20
EP0077293B1 true EP0077293B1 (fr) 1987-04-15

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EP82810397A Expired EP0077293B1 (fr) 1981-10-02 1982-09-23 Procédé et dispositif de commande d'un moteur pas à pas d'une pièce d'horlogerie

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US (1) US4467256A (en, 2012)
EP (1) EP0077293B1 (en, 2012)
JP (1) JPS58144770A (en, 2012)
CH (1) CH646576GA3 (en, 2012)
DE (1) DE3276087D1 (en, 2012)

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CH653206GA3 (en, 2012) * 1983-09-16 1985-12-31
CH656776GA3 (en, 2012) * 1984-07-27 1986-07-31
JPS62237384A (ja) * 1986-04-08 1987-10-17 Seiko Instr & Electronics Ltd 充電機能付きアナログ電子時計
CH672572B5 (en, 2012) * 1988-06-01 1990-06-15 Detra Sa
US5247235A (en) * 1988-06-01 1993-09-21 Detra Sa Method of supplying power to a single phase step motor
JPH0332396A (ja) * 1989-06-28 1991-02-12 Sharp Corp ステッピングモータ駆動装置
US5105140A (en) * 1990-01-11 1992-04-14 Baxer International Inc. Peristaltic pump motor drive
US5457365A (en) * 1992-12-04 1995-10-10 Integral Peripherals, Inc. Disk drive power management system
IT1306069B1 (it) * 1998-11-20 2001-05-29 Zapi Spa Procedimento di alimentazione di motori asincroni con inverter,inparticolare per veicoli a batteria
JP6145274B2 (ja) * 2013-01-18 2017-06-07 日立オートモティブシステムズ株式会社 ブラシレスモータの駆動装置
US12255563B2 (en) * 2021-05-25 2025-03-18 Global Mixed-Mode Technology Inc. Motor controller
CN115411980A (zh) * 2021-05-27 2022-11-29 致新科技股份有限公司 马达控制器

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"Theory and Application of Step Motors" B.C. Kuo, West Publishing CO, 1974, p. 173-180 *
IBM TECHNICAL DISCLOSURE BULLETIN, vol.23, no.4, septembre 1980, New York (US) C.H. CRIDER et al.: "Current tracking chopper motor driver", pages 1303-1304 *

Also Published As

Publication number Publication date
CH646576GA3 (en, 2012) 1984-12-14
JPH0221757B2 (en, 2012) 1990-05-16
US4467256A (en) 1984-08-21
DE3276087D1 (en) 1987-05-21
EP0077293A1 (fr) 1983-04-20
JPS58144770A (ja) 1983-08-29

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