EP0087387B1 - Procédé et dispositif de commande d'un moteur pas à pas bidirectionnel - Google Patents

Procédé et dispositif de commande d'un moteur pas à pas bidirectionnel Download PDF

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Publication number
EP0087387B1
EP0087387B1 EP83810044A EP83810044A EP0087387B1 EP 0087387 B1 EP0087387 B1 EP 0087387B1 EP 83810044 A EP83810044 A EP 83810044A EP 83810044 A EP83810044 A EP 83810044A EP 0087387 B1 EP0087387 B1 EP 0087387B1
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EP
European Patent Office
Prior art keywords
pulse
winding
sense
current
pulses
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
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EP83810044A
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German (de)
English (en)
French (fr)
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EP0087387A1 (fr
Inventor
Rémy Grandjean
Yves Guerin
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ETA SA Manufacture Horlogere Suisse
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Eta SA Fabriques dEbauches
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    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C13/00—Driving mechanisms for clocks by master-clocks
    • G04C13/08—Slave-clocks actuated intermittently
    • G04C13/10—Slave-clocks actuated intermittently by electromechanical step advancing mechanisms
    • G04C13/11—Slave-clocks actuated intermittently by electromechanical step advancing mechanisms with rotating armature
    • 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

Definitions

  • the present invention relates to a method and a device for controlling a bidirectional stepping motor comprising a stator comprising a frame which has a first, a second and a third pole face delimiting between them a substantially cylindrical space and which comprises a first and a second magnetic circuit respectively connecting the first pole face to the second pole face and the first pole face to the third pole face, the stator further comprising a first and a second coil magnetically coupled to the first, respectively to the second circuit magnetic, and the motor further comprising a rotor comprising a permanent magnet rotatably mounted in said space.
  • a motor as defined above is described in German patent application No. DE-A-3 026 004. According to this patent application, it is controlled by current pulses which are sent simultaneously in the two coils each time the rotor must turn one step, i.e. 180 °. The polarity of the current flowing in one of the coils is reversed substantially in the middle of the driving pulse.
  • the motor control circuit comprises eight transistors forming, in a conventional manner, two bridges of four connected transistors, each, to one of the coils. These eight transistors, which must pass a fairly intense current, occupy a large area on the silicon wafer in which are integrated all the elements of the electronic circuit used to develop the driving pulses.
  • Bidirectional stepper motors comprising two coils magnetically coupled to a rotor comprising a permanent magnet, as well as their control methods, are already known.
  • patent application GB-A-1 451 359 describes a motor having a stator which has four pole faces surrounding a rotor.
  • This rotor comprises a magnet having two pairs of poles distributed regularly at its periphery. Two of the four pole faces are magnetically coupled to a first coil, and the other two pole faces are magnetically coupled to a second coil.
  • patent application WO-A-81/02207 describes a motor whose rotor is a disc magnetized axially so as to present on each of its faces a plurality of magnetic poles alternately north and south. Two coils are coupled to this rotor by independent magnetic circuits, each having an air gap through which the periphery of the disc forming the rotor passes.
  • the motor control method consists, for the two directions of rotation of the rotor, of applying pulses alternately to one and the other of the coils, two successive pulses on the same coil having opposite polarities from each other and the rotor rotating one step in response to each pulse.
  • the direction of rotation of the rotor from each of its stop positions depends on the polarity of the pulse applied to the coil which must be excited when the rotor is at this position.
  • the direction of rotation of the rotor depends on the coil to which the pulse is applied.
  • the purpose of the present invention is to provide a method and a device for controlling an engine such as that described in this patent application DE-A-3 026 004 which on the one hand make it possible to reduce the current consumption of the motor and, on the other hand, to use only six power transistors in the control circuit.
  • Figures 1 and 2 show an embodiment of the engine described in German patent application No. DE-OS 3.026.004 cited above.
  • the motor comprises a stator, the armature of which is formed of two pieces of soft magnetic material, one of which, designated by 1, has three branches designated by la, Ib and Ic, respectively, and whose l the other, designated by 2, has substantially the shape of a straight bar having three transverse projections, two of which, designated by 2a and 2b, are located at its ends, and the third of which, designated by 2c, is located in the middle.
  • a circular hole 4 is formed in the part 1, in line with the birth of the branch 1c, median, of the latter, thus providing three thinned parts 1d, 1e and 1f, in the form of isthmus, connecting to each other the three pole faces formed one by the branch 1 c and the other two by the portions of the body of the part 1 even located between the thinning 1 d and 1e, and 1e and 1f respectively.
  • the motor rotor comprises a shaft 5 which pivots for example between two elements 6 and 7 of the frame of the apparatus which is equipped with the present motor.
  • the shaft 5 carries a permanent magnet 8, bipolar, whose poles, diametrically opposite, have been indicated by N and S in FIG. 1.
  • the stator of the motor comprises two coaxial coils 9 and 10 wound on the two straight parts 2d of part 2 of the frame located one between the projection 2a and the projection 2c of part 2 and the other between the projection 2b and the projection 2c thereof.
  • the magnetic field generated by each of these coils in space 4 and in magnet 8 when they are traversed by a current has been schematically represented in FIG. 1 where it is designated by C9, respectively C10.
  • the rotor in the absence of current in the coils 9 and 10, the rotor is subjected to a positioning torque which tends to keep it in one or the other of two rest positions.
  • One of these positions is that shown in FIG. 1, the other is that which the rotor occupies after having turned 180 °.
  • the variation in this positioning torque as a function of the angle of rotation of the rotor is such that the rotor returns to the position it occupied if it is left free after being moved, in one direction or the other, by an angle less than approximately 90 °, and that it rotates to the other rest position if it is left free after being moved by an angle greater than approximately 90 °.
  • the directions of the fields C9 and C10 form angles of approximately 45 ° with the direction of the magnetization axis N - S of the magnet 8. In practice, these angles can be between 30 ° and 60 ° approximately, depending on the shape given to the different parts of the stator.
  • the table in FIG. 3 illustrates the method according to the invention for controlling this motor.
  • the signs + or - in the columns designated by 19 and 110 indicate that a positive, respectively negative current is sent to the coil 9, respectively 10, in the case illustrated by the line where they are located.
  • the arrows in the columns designated by C9 and C10 indicate the direction of the field created by these currents.
  • the arrows in the last three columns designated by Ra, Rb and Rc respectively indicate the starting position of the rotor, the position it would reach under the influence of the field created by the coils 9 or 10 if the current were maintained in these coils , and the position it reaches under the influence of the positioning torque when this current is interrupted.
  • These various positions are indicated by arrows going from the south pole of magnet 8 to its north pole.
  • Line A in the table in Figure 3 illustrates how to control the motor so that the rotor turns one step, i.e. 180 °, in the positive direction from the position it occupies in FIG. 1. This position is recalled in the column Ra of this line A.
  • a positive current pulse is sent to the coil 10.
  • the field which results from this pulse has substantially the direction and the direction of the arrow C10 of the figure 1.
  • No current is sent to the coil 9.
  • the rotor is subjected to a torque such that, if the intensity of the current is sufficient, it turns in the positive direction until it reaches a position where the direction of the magnet 8 field is parallel to the direction of the arrow C10 (column Rb).
  • Line B of the table in FIG. 3 illustrates the way of controlling the motor so that the rotor turns again one step in the positive direction from the position it has reached following this first step.
  • This position is symbolized in the column Ra of this line 8.
  • a current pulse of the same intensity as that of line A of the table is sent to the coil 10, but in the negative direction.
  • the resulting magnetic field therefore has the same direction as that of arrow C10, but the opposite direction.
  • the torque exerted on the rotor therefore has the same direction as in the previous case, and the rotor turns again in the positive direction until the field of the magnet 8 has a direction parallel to that of the field. created by the current flowing in the coil 10 (column Rb). Again, when this current is interrupted, the rotor ends its pitch under the influence of the positioning torque. It is found in the position it occupies in Figure 1, after having made a full turn in the positive direction (column Rc).
  • Line C of this table illustrates how to control the motor so that its rotor turns one step in the negative direction from the position it occupies in Figure 1 (column Ra).
  • a positive current pulse is sent to the coil 9, and no current is sent to the coil 10.
  • the field which results from this pulse has substantially the direction and the direction of the arrow C9.
  • the rotor is subjected to a torque such that it rotates in the negative direction until the direction of the field of the magnet 8 becomes parallel to the direction of the arrow C9 (column Rb).
  • this current is interrupted, the rotor ends its pitch under the influence of the positioning torque (column Rc). He therefore turned half a turn in the negative direction.
  • the rotor then made a full turn in the negative direction. If a positive current is again sent to the coil 9, the rotor repeats a step as in the case of line C.
  • the current must be interrupted at the latest when the rotor reaches the position illustrated by the column Rb of the table in FIG. 3, or even before.
  • the duration of the current pulses sent into the coil 10 or into the coil 9 is chosen as a function of the characteristics of the motor and / or of the load which it drives.
  • first current pulses are applied alternately in one direction and in the other only to one of the coils to cause the rotor to rotate in one direction
  • second current pulses are applied alternately in one direction and in the other only to the other coil to cause the rotor to rotate in the other direction.
  • Figure 4a illustrates the current pulses sent to the coil 10 to rotate the rotor in the positive direction
  • Figure 4b illustrates the pulses sent to the coil 9 to rotate the rotor in the negative direction.
  • the rotor In order for the rotor to turn half a step in response to one of these pulses, it must be in the desired position, that is, it must be in the position it occupies in FIG. 1, at the moment when a positive current pulse is sent to the coil 9 or to the coil 10 and that it must be in its other rest position at the time when a negative current pulse is sent to the either of these coils.
  • this condition is not fulfilled, that is to say that the rotor is in the position of FIG. 1 and that a negative pulse is sent to one of the coils, or that it is in its other rest position and that a positive pulse is sent to this coil, the rotor begins to rotate in the opposite direction to that which corresponds to the coil in which the current is sent. However, it only turns at a small angle, less than the angle corresponding to half a step. The positioning torque to which it is subjected therefore does not change sign and the rotor returns to its starting position at the end of the pulse.
  • the next pulse will therefore have the correct polarity to rotate it one step in the desired direction.
  • the direction of rotation is therefore not inverted when the rotor does not have the position it should have when a pulse is sent to one of the coils.
  • FIG. 5 shows the diagram of an example of a circuit for implementing the method according to the invention
  • FIGS. 6a and 6b illustrate some signals measured at various points of this circuit.
  • the motor is used in an electronic watch to drive the hands for displaying the hour, minute and second, not shown, using of a gear train also not shown. It is obvious that these examples are not limiting and that the invention can be used whatever the device or the apparatus in which the motor is incorporated.
  • the coils 9 and 10 of the motor are connected in a double bridge formed by six MOS transistors designated by T1 to T6.
  • Transistors T1, T3 and T5 are p-type and have their source connected to the positive pole of the power source.
  • the transistors T2, T4 and T6 are of type n and have their source connected to the negative pole of the power source.
  • the drains of the transistors T1 and T2, T3 and T4, T5 and T6 are respectively connected to a first terminal of the coil 10, to the second terminal of the coil 10 and to a first terminal of the coil 9, and to the second terminal coil 9.
  • the gates G1 to G6 of the transistors T1 to T6 are connected to a logic circuit formed by six AND gates 21 to 26, two OR gates 27 and 28, four inverters 29 to 32 and two D-type flip-flops 33 and 34, connected to each other in the manner shown.
  • This logic circuit will not be described in more detail here, since its operation, which is illustrated by the diagrams in FIGS. 6a and 6b, is easy to understand.
  • This logic circuit receives two periodic signals having respective frequencies of 1 Hz and 64 Hz supplied by outputs 35a and 35b of a frequency divider 35.
  • This divider 35 receives from a quartz oscillator 36 a signal having a frequency of , for example, 32768 Hz. It also delivers on outputs designated 35c, 35d and 35e other periodic signals having frequencies of 128, 256 and 2048 Hz respectively which will be used in circuits described below.
  • the logic circuit also receives a signal AR for determining the direction of rotation of the motor, which is supplied, for example, by a time-setting circuit 38 which can be any one and which will not be described here.
  • this signal AR is in the logic state "0" when the rotor must turn in the positive direction, and in the logic state "1" when the rotor must turn in the negative direction.
  • the output Q of the flip-flop 33 delivers control pulses which are in the state "1" for approximately 7.8 milliseconds, with a period of one second. Between these control pulses, the gates of transistors T1, T3 and T5 are in logic state “1" and the gates of transistors T2, T4 and T6 are in logic state "0". As these states “1” and “0” are represented respectively by the voltage of the positive terminal and by the voltage of the negative terminal of the power source, the six transistors T1 to T6 are blocked.
  • the flip-flop 34 changes state. Its output Q therefore remains alternately in state “0" and in state "1" for one second.
  • the AR signal is at "0" (figure 6a).
  • a control pulse delivered by the output Q of the flip-flop 33 passes the gate 21 and reaches the gate G1 of the transistor T1 through the gate 23 and the inverter 30, and the gate G4 of the transistor T4 through gate 28.
  • the gate G4 therefore passes to "1” and the gate G1 passes to "0".
  • the transistors T1 and T4 therefore become conductive, and a current pulse crosses the coil 10 in the direction indicated by the arrow 36a. If the direction of the winding of the wire forming the coil 10 is chosen correctly, this pulse creates a magnetic field in the direction of arrow C10 in FIG. 1. This case therefore corresponds to the case of line A in the table in FIG. 3. If, in addition, the rotor is, before the start of the pulse, in the position shown in FIG. 1, it turns half a turn in the positive direction.
  • the end of the control pulse delivered by the Q output of the flip-flop 33 causes the flip-flop 34 to switch, the Q output of which goes to state "1".
  • the output Q of the flip-flop 33 delivers a new control pulse which also passes through the gate 21 and this time reaches the gate G2 of the transistor T2 through the gate 24, and the gate G3 of the transistor T3 through the door 27 and the inverter 31.
  • These two transistors therefore become conductive, and a current pulse crosses the coil 10 in the opposite direction to that of the arrow 36a.
  • the rotor therefore turns again one step in the positive direction. This case corresponds to that of line B in the table in Figure 3.
  • G pulse delivered one second later by output Q of flip-flop 33, also passes through gate 22.
  • this pulse passes through gate 25 and reaches gate G6 of transistor T6.
  • This pulse also reaches the gate G3 of the transistor T3 through the gate 27 and the inverter 31.
  • These transistors T3 and T6 therefore become conductive and a current pulse crosses the coil 9 in the opposite direction to that of arrow 37. This case corresponds to that of the fourth line of the table in FIG. 3, and the rotor therefore turns again one step in the negative direction.
  • the device applies, in response to a control signal, a first current pulse to a first coil, alternately in one direction and in the other, when the signal for determining the direction of rotation of the rotor is in its first state, and a second current pulse to the second coil, alternately in one direction and in the other, when the signal for determining the direction of rotation of the rotor is in its second state.
  • the control signal consists of the pulses supplied by the output Q of the flip-flop 33.
  • the torque provided by the motor when controlled by the method described above is sufficient in most cases. It is however possible to increase this torque, if necessary, by using a variant of this method.
  • the table in FIG. 7 summarizes this first variant of the method according to the invention.
  • a positive current pulse is first applied to the coil 10, as in the method described above (see line A1 of the table in Figure 7). No current is sent to the coil 9.
  • the field C10 created by this current brings the rotor to the position indicated in column Rb1 of this line A1.
  • a current pulse of positive direction is sent to the coil 9.
  • a current pulse of also positive direction is then sent in the coil 10 and, finally, the positioning torque brings the rotor into its second rest position.
  • the lines C1 and C2 in the table in FIG. 7 indicate these different currents, the resulting fields and the positions reached by the rotor in response to these fields and under the influence of the positioning torque.
  • first current pulses are applied to a first coil alternately in a first direction and in the second direction to cause the rotation of the rotor in a first direction
  • second Current pulses are applied to the second coil alternately in the first and in the second direction to cause the rotor to rotate in the second direction
  • a third pulse is applied to the second coil after each first pulse
  • a fourth pulse is applied to the first coil after each second pulse.
  • the direction of the third or fourth pulse is the same as that of the first or, respectively, of the second immediately preceding pulse.
  • FIG. 8 shows the diagram of an example of a circuit intended to implement this variant of the method according to the invention and FIGS. 9a and 9b are diagrams representing signals measured at a few points of this circuit.
  • the circuit of this figure 8 comprises a type D flip-flop 41, the output Q of which changes to "1" each time that the output 35a of the frequency divider 35, not shown in this figure, changes to the state "1 ".
  • the reset input R of this flip-flop 41 is connected to the output 35c of the frequency divider 35, not shown, which supplies a signal at a frequency of 128 Hz.
  • This output Q of the flip-flop 41 therefore returns to "0" 3.9 milliseconds after going to "1".
  • a third type D flip-flop 44 switches at the end of each pulse supplied by the output Q of the flip-flop 42.
  • the output Q of this flip-flop 44 therefore remains alternately at state “0" and at state "1" for one second.
  • the two consecutive control pulses supplied each second by the outputs Q of the two flip-flops 41 and 42 are transmitted to the gates G1 to G6 of the transistors T1 to T6, identical to those of FIG. 5 and not shown in this FIG. 8, by a logic circuit comprising AND gates 45 to 52, OR gates 53 to 56 and inverters 57 to 60, connected to each other as shown.
  • This logic circuit will not be described in more detail here, since its operation, which is illustrated by the diagrams in FIGS. 9a and 9b, is easy to understand.
  • each first control pulse supplied by the output Q of the flip-flop 41 makes the transistors T1 and T4 conductive.
  • a current pulse therefore passes in the positive direction in the coil 10 (line A1, FIG. 7).
  • each second control pulse supplied by the output Q of the flip-flop 42 makes the transistors T4 and T5 conductive, which causes the passage of a current pulse in the coil 9, also in the positive direction ( line A2, figure 7).
  • each first control pulse supplied by the output Q of the flip-flop 41 returns the transistors T2 and T3 conductors. A current pulse therefore passes through the coil 10 in the negative direction (line B1, FIG. 7).
  • Each second control pulse supplied by the output Q of the flip-flop 42 makes the transistors T3 and T6 conductive. A current pulse therefore passes through the coil 9 also in the negative direction (line B2, FIG. 7).
  • each first control pulse supplied by the output Q of the flip-flop 41 causes the passage of a positive current pulse in the coil 9 (line C1, FIG. 7), and each second control pulse supplied by the output 9 of the flip-flop 42 causes the passage of an equally positive current pulse in coil 10 (line C2, Figure 7).
  • each first control pulse supplied by output Q of flip-flop 41 causes the passage of a negative current pulse in the coil 9 (line D1, figure 7), and each second control pulse supplied by the output 9 of the flip-flop 42 causes the passage of a current pulse, also negative, in coil 10 (line D2, Figure 7).
  • the device of FIG. 8 delivers to the coils of the motor, in response to a control signal, the same first and second pulses as the device of FIG. 5.
  • it applies a third current pulse to the second coil after each first pulse and a fourth current pulse to the first coil after each second pulse.
  • the third and the fourth pulse is t the same direction as the first, respectively the second immediately preceding pulse.
  • control signal consists of the pulses supplied by the outputs Q of the flip-flops 41 and 42.
  • control pulses delivered by the outputs Q of the flip-flops 41 and 42 follow each other without interval and they have durations equal, each one, to half of the duration of the pulses supplied by the output Q of the flip-flop 33 in the case of FIG. 5.
  • This is not however compulsory, and it is possible to choose for these control pulses different durations, to adapt them to the characteristics of the motor and / or of the load. that it entails. It is also possible to leave a small gap between them.
  • the table in FIG. 10 summarizes a second variant of the method according to the invention.
  • the current in the coil 9 is interrupted, and a current pulse of positive direction is applied to the coil 10 (line A2 in the table of FIG. 10). No current is sent to the coil 9.
  • the field C10 resulting from this pulse brings the rotor to the position indicated in column Rb2.
  • the positioning torque brings the rotor to the position indicated in column Rc of line A2.
  • a current pulse of positive direction is applied to the coil 9
  • a current pulse of negative direction is sent to the coil 10.
  • Lines 81 and 82 of the table of FIG. 10 indicate these different currents, the resulting fields and the positions reached by the rotor in response to these fields and under the influence of the positioning torque.
  • first current pulses are applied to a first coil, alternately in a first direction and in the second direction to cause the rotation of the rotor in a first direction
  • second current pulses are applied to the second coil, alternately in the first and in the second direction to cause the rotor to rotate in the second direction
  • a third pulse is applied to the second coil after each first pulse
  • a fourth pulse is applied to the first coil after each second pulse.
  • the coil to which the first pulses are applied is that to which the second pulses are applied in the process and in the first variant, and vice versa.
  • the direction of the current which must be applied to cause the rotation of the rotor in a determined direction from a determined position is each time the inverse of the direction of the current which is applied under the same conditions in the process and in its first variant.
  • the direction of this third and of this fourth pulse is each time the opposite direction of the direction of the first or, respectively, of the second immediately preceding pulse.
  • FIG. 11 illustrates an example of a circuit allowing the implementation of this variant of the method
  • FIGS. 12a and 12b are diagrams representing signals measured at some points of this circuit when the rotor turns respectively in the positive direction and in the negative sense.
  • the flip-flops 41, 42 and 44 and the reverser 43 represented in FIG. 11 are exactly the same and operate in the same way as those in FIG. 8.
  • the two control pulses supplied by the outputs of the flip-flops 41 and 42 are transmitted to the gates G1 to G6 of the transistors T1 to T6, identical to those of FIG. 5 and not shown in this FIG. 11, by a logic circuit comprising the AND gates 71 to 82, OR gates 83 to 88, and inverters 89 to 92, connected to each other as shown.
  • the control of the motor according to a third variant of the method makes it possible to increase the torque supplied by this motor, compared to that which it provides when it is controlled according to the second variant, without increasing its consumption to a great extent.
  • the table in Figure 13 summarizes this third variant.
  • the lines A1, A2, B1, B2, C1, C2, D1 and D2 in this table are identical to the corresponding lines in the table in Figure 10.
  • a positive current pulse is sent to the coil 9
  • a negative direction pulse is sent to the coil 10 (lines B1 and B2 of Figure 13).
  • the first, second, third and fourth current pulses are applied as in the second variant.
  • a fifth current pulse is applied to the first coil after the start of each third pulse and a sixth current pulse is applied to the second coil after the start of each fourth pulse, without this third or fourth pulse being interrupted.
  • the direction of the fifth or sixth current pulse is the opposite direction to the direction of the immediately preceding first or second pulse.
  • FIG. 14 illustrates an example of a circuit allowing the implementation of this third variant of the method
  • FIG. 15 is a diagram representing signals measured at a few points of this circuit.
  • the circuit of FIG. 14 comprises a D-type flip-flop 101 whose clock input Ck receives the signal having a frequency of 1 Hz from the output 35a of the divider 35, not shown in this figure (see fig. 5).
  • the output Q of this flip-flop 101 is connected to its input D, so that its output Q goes to state "1" each time the signal having a frequency of 1 Hz itself goes to state "1".
  • the reset input R of the flip-flop 101 receives from the output 35d of the divider 35 a signal having a frequency of 256 Hz.
  • the output Q of the flip-flop 101 therefore returns to the state "0" approximately 1, 9 milliseconds after entering state "1".
  • the output Q of a flip-flop 102 also of type D, the input Ck of which is connected to the output ⁇ of the flip-flop 101, changes to state "1".
  • the reset input R of this flip-flop 102 receives, through an inverter 103, the signal having a frequency of 256 Hz supplied by the output 35d of the divider 35, the output Q of this flip-flop 102 returns in state "0" about 1.9 milliseconds after going to state "1".
  • the output Q of a flip-flop 104 also of type D, the input Ck of which is connected to the output Q of the flip-flop 102, changes to state "1".
  • the input R of this flip-flop 104 also receiving the signal having a frequency of 256 Hz, its output Q returns to the state "0” also about 1.9 milliseconds after having passed to the state "1".
  • the outputs Q of the flip-flops 101, 102 and 104 therefore deliver each second three successive pulses.
  • the three control pulses supplied respectively by the outputs Q of the flip-flops 101, 102 and 104 are transmitted to the gates G1 to G6 of the transistors T1 to T6, identical to those of FIG. 5 and not represented in this FIG. 14, by a logic circuit comprising AND gates 106 to 117, OR gates 118 to 125 and inverters 126 to 129, connected to each other as shown.
  • the third control pulses supplied by the output Q of the flip-flop 104 maintain the third or the fourth current pulses, and at the same time cause the passage of the fifth current pulses in the coil 9, in the opposite direction of that of the first immediately preceding pulse, or the passage of the sixth current pulses in the coil 10, in the opposite direction to that of the immediately preceding second pulse.
  • a current flows in the two coils of the motor during the fifth or sixth pulses.
  • the power source of the device must therefore supply, during these fifth or sixth pulses, twice as much current as during the other pulses. This can lead to a momentary decrease in the voltage of this source, with all the drawbacks which are linked to such a decrease.
  • the circuit of FIG. 16 which is a complement to the circuit of FIG. 14, makes it possible to carry out this interruption of the current alternately in one and in the other coil during these fifths, respectively sixth pulses.
  • This circuit comprises four AND gates 131 to 134 each having a first input connected, respectively, to the output of one of the gates 120 to 123 of FIG. 14. The outputs of these gates 131 to 134 are connected respectively to the input of the inverter 127, at the gate G2, at the input of the inverter 129, and at the gate G6.
  • An AND gate 135 has its first input connected to the output Q of the flip-flop 104 of FIG. 14, and its second input connected to the output 35e of the divider 35 of FIG. 5, not shown in this FIG. 16. This output delivers a signal having a frequency of, for example, 2048 Hz.
  • the output of gate 135 is connected, through an inverter 136, to the second inputs of gates 131 and 132.
  • Another AND gate 137 has its first input also connected to the output Q of the flip-flop 104 and its second input connected, by the intermediary of an inverter 138, to the output 35e of the divider 35.
  • the output of the door 137 is connected, by means of an inverter 139, at the second inputs of doors 133 and 134. The rest of the circuit of FIG. 14 is not modified.
  • FIG. 16 shows that, in this case, the gate G5 of the transistor T5 is only put in the state "0" when the signal at 2048 Hz is in the state "1". Likewise, the gate G1 of the transistor T1 is only set to the "0" state when this signal at 2048 Hz is in the "0" state. The transistor T1 is therefore blocked when the transistor T5 is conductive, vice versa. The transistor T4, on the other hand, remains permanently conductive. It follows that the two coils are traversed alternately by the current.
  • the transistor T3 on the other hand, remains conductive at all times. As a result, the two coils are also traversed alternately by a current.
  • the durations of the various pulses are predetermined. It is of course possible to adjust the duration of these pulses to the magnitude of the load actually driven by the motor, to reduce as much as possible the electrical energy consumption of the system.
  • the circuits making this adjustment generally measure the value of an electrical quantity dependent on the current flowing in the coil, compare this measured value with a reference value and use the result of this comparison to control the duration of the driving pulses to the load driven by the motor.
  • These circuits generally include a resistor connected in series with the motor coil.
  • the voltage drop across this resistor which is proportional to the current flowing in the coil, is used as the input variable to the servo circuit.
  • the presence of this resistance causes a reduction in the voltage applied to the motor and an increase in the consumption of the system.
  • This feature allows the duration of the first, second, third and fourth pulses of current to be enslaved to the load driven by the motor without having to connect a resistor in series with the coils. It suffices for this, for example, to measure during each current pulse applied to one of the coils the voltage induced in the other coil, which is not traversed by the current. This measurement can be used to adjust the duration of the current pulses.
  • FIG. 17 illustrates an example of a circuit implementing this servo-control method, applied to the case of FIG. 5.
  • the circuit of FIG. 17 includes a measurement circuit 141 which can be of any type and which will not be described in detail here.
  • the circuit of FIG. 17 further comprises six transmission doors 142 to 147 and an OR gate 148.
  • the output of this gate 148 is connected to the reset input R of the flip-flop 33.
  • One of the inputs of the door 148 is connected to the output 35b of the divider 35, not shown, and the other of its inputs is connected to the output of the circuit 141.
  • the first terminals of the transmission doors 142 and 143 are connected, together, to the drain transistors T1 and T2, and therefore at one of the terminals of the coil 10.
  • the first terminals of the transmission gates 144 and 145 are connected, together, to the drain of the transistors T3 and T4, that is to say to the other terminal of the coil 10 and to one of the terminals of the coil 9.
  • the first terminals of the transmission doors 146 and 147 are connected, together, to the drain of the transistors T5 and T6, that is to say to the other terminal of the coil 9.
  • the second terminals of the doors 142, 144 and 146 are connected, together, to one of the inputs of the measurement circuit 141 and the second terminals of the doors 143, 145 and 147 are connected together to the other input of this measurement circuit 141.
  • the control electrodes of the transmission doors 142 to 147 are connected, respectively, to the outputs of doors 26, 25, 27, 28, 23 and 24.
  • the doors of transmission 145 and 146 are conductive, and the measurement circuit 141 is connected to the terminals of the coil 9.
  • the transmission gates 144 and 147 are conductive, and the measurement circuit 141 is also connected to the terminals of the coil 9, but in the opposite direction to the previous direction.
  • the polarity of the signal applied to the inputs of circuit 141 is therefore the same in both cases.
  • the output of circuit 114 delivers a signal "1" when, for example, the voltage applied to its inputs exceeds a determined value. This signal resets the output Q of the flip-flop 33 to "0", which interrupts the current flowing in the coil used.
  • circuits could be provided, in particular a circuit in which the measurement of the voltage induced in the coil not traversed by the current would not be carried out during each pulse, but at longer intervals. This measurement would be used to determine a pulse duration which would then be memorized and which would be used for the following pulses.
  • the circuit 141 could also be produced in the form of a circuit detecting only the rotation or the non-rotation of the rotor.
  • the current pulses would normally all have the same duration.
  • a catch-up pulse of greater duration than the normal duration, would then be sent to the motor by its control circuit.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
EP83810044A 1982-02-15 1983-02-03 Procédé et dispositif de commande d'un moteur pas à pas bidirectionnel Expired EP0087387B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH918/82 1982-02-15
CH91882A CH647128GA3 (ar) 1982-02-15 1982-02-15

Publications (2)

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EP0087387A1 EP0087387A1 (fr) 1983-08-31
EP0087387B1 true EP0087387B1 (fr) 1986-09-03

Family

ID=4198198

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Application Number Title Priority Date Filing Date
EP83810044A Expired EP0087387B1 (fr) 1982-02-15 1983-02-03 Procédé et dispositif de commande d'un moteur pas à pas bidirectionnel

Country Status (6)

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US (1) US4514676A (ar)
EP (1) EP0087387B1 (ar)
JP (1) JPS58151899A (ar)
CH (1) CH647128GA3 (ar)
DE (1) DE3365760D1 (ar)
HK (1) HK49488A (ar)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH650125GA3 (ar) * 1983-06-29 1985-07-15
CH654974GA3 (ar) * 1984-05-04 1986-03-27
FR2585901A3 (fr) * 1985-02-28 1987-02-06 Ebauchesfabrik Eta Ag Procede et dispositif de commande d'un moteur a deux bobines
JPS6222583U (ar) * 1985-07-24 1987-02-10
CH661835GA3 (ar) * 1985-09-11 1987-08-31
CH673751B5 (ar) * 1988-05-11 1990-10-15 Asulab Sa
WO1996027233A1 (en) * 1995-03-01 1996-09-06 Philips Electronics N.V. Circuit for controlling an electric motor depending on the rotor position
US6731093B1 (en) * 2002-02-28 2004-05-04 Timex Group B.V. 2-step bi-directional stepping motor
JP4619081B2 (ja) * 2004-09-29 2011-01-26 シチズンホールディングス株式会社 可逆ステッピングモータ
JP2015061467A (ja) * 2013-09-20 2015-03-30 カシオ計算機株式会社 ステッピングモータ及び時計

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3005941A (en) * 1960-04-15 1961-10-24 Bendix Corp Stepper motor control
JPS507017A (ar) * 1973-05-23 1975-01-24
GB1451359A (en) * 1973-11-30 1976-09-29 Citizen Watch Co Ltd Pulse motor driven circuit
CH625646A5 (en) * 1979-07-06 1981-09-30 Ebauches Sa Electromagnetic motor with two directions of rotation
GB2054978B (en) * 1979-07-06 1984-06-13 Ebauches Sa Electromagnetic motor rotatable in either direction
WO1981001205A1 (en) * 1979-10-18 1981-04-30 Portescap Step by step micromotor for a clockwork
EP0030611B1 (de) * 1979-12-12 1985-07-03 Braun Aktiengesellschaft Verfahren und Anordnung zur Steuerung und Regelung eines Motors mit permanentmagnetischem Läufer
JPS57500045A (ar) * 1980-01-30 1982-01-07

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Publication number Publication date
US4514676A (en) 1985-04-30
DE3365760D1 (en) 1986-10-09
HK49488A (en) 1988-07-15
JPS58151899A (ja) 1983-09-09
CH647128GA3 (ar) 1985-01-15
EP0087387A1 (fr) 1983-08-31

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