EP0108711A1 - Verfahren und Vorrichtung zur Steuerung eines Schrittmotors - Google Patents

Verfahren und Vorrichtung zur Steuerung eines Schrittmotors Download PDF

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Publication number
EP0108711A1
EP0108711A1 EP83810453A EP83810453A EP0108711A1 EP 0108711 A1 EP0108711 A1 EP 0108711A1 EP 83810453 A EP83810453 A EP 83810453A EP 83810453 A EP83810453 A EP 83810453A EP 0108711 A1 EP0108711 A1 EP 0108711A1
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EP
European Patent Office
Prior art keywords
pulse
rotor
coil
circuit
output
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Granted
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EP83810453A
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English (en)
French (fr)
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EP0108711B1 (de
Inventor
Yves Guerin
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ETA SA Manufacture Horlogere Suisse
Ebauchesfabrik ETA AG
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Ebauchesfabrik ETA AG
Eta SA Fabriques dEbauches
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Publication of EP0108711A1 publication Critical patent/EP0108711A1/de
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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

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  • One of the objects of the present invention relates to a method of controlling a stepping motor having a coil, a rotor magnetically coupled to the coil and means for bringing or holding the rotor in at least one rest position determined in the absence of current in the coil, consisting in applying to the coil a driving impulse each time that the rotor must turn one step, to produce a detection signal if the rotor has not turned correctly in response to the driving pulse, and applying a catch-up pulse to the coil in response to the detection signal.
  • Another object of the present invention relates to a device for controlling a stepping motor having a coil, a rotor magnetically coupled to the coil and means for bringing or maintaining the rotor in at least one rest position determined in the absence of current in the coil, comprising means for applying a driving pulse to the coil each time the rotor must turn one step, means for producing a detection signal if the rotor has not turned correctly in response to the driving pulse, and means for applying a catch-up pulse to the coil in response to the detection signal.
  • the electrical energy required to drive the mechanical elements connected to a stepping motor which can be, for example, the elements for displaying the time information of a an electronic timepiece made up of needles and / or discs, it is generally supplied to it by a control circuit which delivers a driving impulse each time it has to advance one step.
  • a significant reduction in this electrical energy consumed by the motor can be obtained by providing in the control circuit a circuit which adjusts the energy of the driving pulses to the minimum corresponding to the actual mechanical load driven by the motor.
  • US Patent No. 4,212,156 for example, describes a control circuit in which the duration of each driving pulse is already determined before it begins.
  • a detector circuit measures the time which elapses between the end of each driving pulse and the appearance of the first minimum of the current induced in the coil by the oscillations of the rotor around its equilibrium position.
  • control circuit does not modify the duration of the following driving pulses, or, as the case may be, decreases this duration.
  • this time is long, this indicates that the load driven by the rotor was high, and that the rotor may not have rotated in response to this driving impulse.
  • the control circuit then sends a catch-up pulse of long duration and of the same polarity as the driving pulse which has just ended and increases the duration of the next motor pulse.
  • the detection of the rotation or of the non-rotation of the rotor is therefore carried out immediately, or almost, after each driving pulse.
  • US Patent No. 4,300,223 describes another kind of control circuit in which the duration of each driving pulse is predetermined.
  • a detector circuit measures the intensity of the current flowing in the motor coil about two milliseconds after the start of each driving pulse. If this intensity is less than a predetermined value, this indicates that the rotor is in the correct position to rotate in response to this driving pulse, and therefore that it has rotated in response to the previous driving pulse. If this intensity is greater than the predetermined value, this indicates that the rotor is not in the correct position, and therefore that it has not rotated in response to the previous driving pulse.
  • control circuit then interrupts the current driving pulse, sends the motor a catch-up pulse of the same polarity as the previous driving pulse, then sends the normal driving pulse again.
  • detection of the rotation or of the non-rotation of the rotor in response to a driving pulse is therefore carried out long after the end of this driving pulse.
  • the duration of the driving pulses is generally less than the time taken by the rotor to perform its not.
  • the electric energy supplied to the motor by each driving pulse is, in principle, sufficient for the rotor to end its step thanks to the kinetic energy which it has accumulated and to a positioning torque which tends to bring it back or to maintain it , in the absence of current in the coil, in a rest, or equilibrium, stable and determined position.
  • This positioning torque is created by a particular shape given to the pole pieces which surround the rotor of the motor, or by one or more positioning magnets.
  • Curve 1 in FIG. 1 schematically illustrates the variation of this positioning torque as a function of the angle of rotation of the rotor, between two positions of stable equilibrium corresponding to points A and B.
  • this torque When this torque is positive, it tends rotating the rotor in the increasing direction of the angle a and, when it is negative, it tends to rotate it in the decreasing direction of this angle a.
  • the rotor rotates in 180 degree steps, which means that it has two stable equilibrium positions per revolution.
  • the rotor pitch corresponds to a rotation of 360 degrees, which means that the rotor has only a stable equilibrium position.
  • the period of the positioning torque is equal to the angle which separates two successive stable equilibrium positions of the rotor. There is therefore a position of the rotor, represented by point C of FIG. 1, and which corresponds approximately to a rotation of half a step, for which this couple is canceled and changes sign. This point C therefore corresponds to an unstable equilibrium position of the rotor.
  • the mechanical load driven by the motor is made up for a large part by the resistant torque due to the inevitable friction of the pivots of the rotor and the toothed wheels which it drives in their bearings, as well as by the friction of the teeth of these wheels between them.
  • This friction torque is represented diagrammatically by curves 2 and 3 in FIG. 1.
  • the rotor If the energy supplied to the rotor by a driving pulse is sufficient for the rotor to reach point D but is not sufficient for it to reach and exceed point E, the rotor therefore remains locked in an intermediate position which can be located anywhere between these points D and E.
  • FIG. 2 schematically illustrates an engine of the type most commonly used in electronic timepieces in the situation where its rotor is locked in such an intermediate position.
  • This figure 2 shows the coil 11, two pole pieces 12 and 13 which are part of the stator of the motor, and the magnet 14 of the rotor.
  • the magnetization axis of this magnet 14 is represented by the arrow 15 which is directed from its south pole towards its north pole.
  • the positioning torque of the rotor is created, in this example, by the notches 16 and 17 formed respectively in the pole pieces 12 and 13.
  • the motor control circuit In normal operation, the motor control circuit, not shown in this FIG. 2, delivers driving pulses to the coil 11 in response to control pulses supplied, for example, by a time base circuit each time the rotor must take a step forward.
  • point A in FIG. 1 corresponds to the position of the rotor where the magnetization axis of its magnet is represented by the arrow 15 'drawn in dotted lines in FIG. 2, and that the rotor has been brought to the position represented by the arrow 15 by a driving impulse designated by the reference 18 in FIG. 3 and applied to the coil 11 so that the pole piece 12 plays the role of a south magnetic pole and that the pole piece 13 plays the role of a north magnetic pole.
  • the energy supplied to the motor by this pulse was sufficient for the rotor to reach a position situated beyond point D in FIG. 1, but, for some reason, it was insufficient for this rotor to exceed the position corresponding to the point E.
  • the rotor therefore remained locked in the intermediate position shown in FIG. 2.
  • this control circuit sends the motor a catch-up pulse as soon as it detects that the rotor has not finished its pitch.
  • This catch-up pulse which is designated by the reference 19 in FIG. 3, has the same polarity as the driving pulse 18 and a determined duration for turning the rotor by a full step, from point A to point B.
  • this catch-up pulse is not yet finished when the rotor reaches a point B 'which is the positioning point or torque and the torque created by the current in the coil s 'cancel.
  • the rotor oscillates around this point B ', and at the moment when the catch-up pulse ends, it is very possible that it has a speed and a direction of rotation such that it starts again in the direction of point A and repeat a complete step in reverse.
  • FIG. 3 This case is illustrated in FIG. 3 where the references 18 and 19 respectively designate the driving pulse which brought the rotor into the position of FIG. 2 and the catch-up pulse, and where the curve 20 schematically represents the angular position of the rotor as a function of time.
  • the catch-up pulse does not reach its goal, which is to replace a previous driving pulse whose energy was insufficient to turn the rotor correctly.
  • the detector circuit may not provide its detection signal if the rotor has locked in a position intermediate close to position B.
  • the driving impulse which follows that during which the rotor is locked is not interrupted, and the rotor returns to its starting position.
  • the control circuit sends a catch-up pulse, the effect of which can be the same as in the cases described above.
  • the known control circuits comprising a circuit for detecting the non-rotation of the rotor do not guarantee perfect operation of the motor in all cases.
  • An object of the present invention is to provide a method of controlling a stepping motor which does not have this serious drawback.
  • Another object of the present invention is to provide a device for controlling a stepping motor for the implementation of this method.
  • FIG. 4 is a block diagram of an electronic timepiece taken as a nonlimiting example of a device in which the method according to the invention is implemented.
  • This timepiece comprises a stepping motor 101 which drives the hands for displaying the hour, the minute and the second, not shown, by means of a gear train also not shown.
  • FIG. 4 shows a control circuit according to the invention designated by the reference 102, which supplies driving pulses to the motor 101 in response to a control signal delivered by a time base circuit 103 each time that the rotor of the motor has to turn one step, i.e. every second in this example.
  • the time base circuit 103 conventionally comprises an oscillator circuit and a frequency divider circuit which are not shown.
  • the control circuit 102 consists, in this example, of a formatter circuit 104, a detector circuit 105 and a pulse generator 106.
  • the detector circuit 105 is connected to the motor 101 and provides at its output a detection signal if the rotor has not rotated in response to the previous driving pulse.
  • the training circuit 104 uses this detection signal in particular to determine the amount of electrical energy supplied to the motor by each driving pulse.
  • the pulse generator 106 supplies the forming circuit 104 with pulses which are transmitted to the motor 101 to unlock its rotor if necessary.
  • Figure 5a illustrates the operation of the circuit of Figure 4 in the case where the detector circuit 105- is of the same kind as that described in US Patent No. 4,212,156 mentioned above, that is to say a circuit with immediate detection.
  • the trainer circuit 104 delivers to the motor 101 a driving pulse of predetermined duration.
  • the detector circuit 105 only delivers a signal if the rotor of the motor 101 does not correctly complete its rotation in response to one of these driving pulses.
  • the trainer circuit 104 supplies the motor 101 with driving pulses of alternating polarities and of predetermined and equal durations.
  • the generator 106 which in this case is connected to the measurement circuit 105 by the link 107 drawn in dotted lines in FIG. 4, does not deliver a pulse either. This situation, which is the normal situation, is not illustrated.
  • FIG. 5a illustrates a case where the rotor does not correctly end its rotation in response to a driving pulse designated by the reference 111, having a duration which is, for example, the minimum duration that these driving pulses can take.
  • the detector circuit 105 delivers a signal 112 which indicates that the rotor has not finished its pitch.
  • This signal 112 causes the generator 106 to form a pulse 113.
  • This pulse 113 is transmitted by the forming circuit 104 to the motor 101 in the form of a pulse 114 having the opposite polarity to that of the driving impulse 111.
  • the signal 112 also causes the formation by the control circuit 104, after the pulse 114, of a pulse 115 having a duration greater than the duration of the pulse 111, and the same polarity as this pulse 111.
  • the pulse 114 unlocks it and causes it to return to its starting position.
  • the rotor is thus in a well-determined position when the forming circuit 104 delivers the pulse 115 intended to make it catch up with the step it has just missed.
  • the signal 112 also acts on the forming circuit 104 so that the latter increases the duration of the driving pulses which it then delivers.
  • a pulse of duration greater than the duration of the pulse 111, is shown in FIG. 5a with the reference 111 '. It obviously has the opposite polarity to that of pulse 111.
  • the detector circuit 105 delivers a signal such as the signal 112 each time the rotor does not finish its pitch correctly.
  • Each signal 112 causes the formation of an unblocking pulse such as pulse 114 and a catch-up pulse such as pulse 115.
  • the forming circuit 104 delivers at least a predetermined number of driving pulses of the same duration as the pulse 111 '. When this number is reached, the forming circuit 104 reduces the duration of the driving pulses to that of the pulse 111.
  • FIG. 5b illustrates the operation of the circuit of FIG. 4 in the case where the detector circuit 105 is of the same kind as that described in US Pat. No. 4,300,223 mentioned above, that is to say a circuit with delayed detection.
  • the trainer circuit 104 delivers to the motor 101 a driving pulse of predetermined duration designated by the reference 116 in FIG. 5b each time the time base circuit 103 supplies a control signal. If the rotor of the motor 101 has turned correctly in response to the preceding driving pulse, the detector circuit 105 does not deliver a signal.
  • the generator 106 which in this case is connected to the forming circuit 104 by the link 107 ', also shown in dotted lines in FIG. 4, delivers a short pulse designated by the reference 117 after each driving pulse.
  • the forming circuit 104 transmits this pulse 117 to the motor 101 in the form of an unblocking pulse 118 having the opposite polarity to that of the driving pulse which it has just delivered. If the rotor of the motor 101 has rotated correctly in response to the driving pulse 116, this unlocking pulse 118 has no effect. If, on the other hand, the rotor has remained blocked in the position illustrated in FIG. 2, which is the case in this FIG. 5b, this pulse 118 causes it to be released and to return to the position it had before the driving pulse 116.
  • the detector circuit 105 suddenly supplies the detection signal designated by the reference 120.
  • the forming circuit 104 interrupts the driving pulse 119 in response to this detection signal 120 and triggers a catch-up pulse 121.
  • This catch-up pulse 121 which has the same polarity as the pulse 116 and a longer duration than the normal driving pulses, causes the rotor of the motor 101 to execute the rotation which it had not completed in response to the pulse driving 116.
  • the forming circuit 104 then applies a new driving pulse 122, intended to cause the rotor to execute the rotation which it should have executed in response to the driving pulse 119 which has been interrupted.
  • the generator 106 delivers a short pulse 117 'which the formatter circuit 104 transmits to the motor 101 in the form of an unlocking pulse 118' . If the rotor is again blocked in an intermediate position in response to the driving pulse 122, this pulse 118 'unlocks it and returns it to its starting position. The same process then begins again when the circuit 104 triggers the next driving pulse, not shown.
  • Curve 4 in FIG. 1 schematically represents the torque created by an unlocking pulse having the same polarity as the driving pulse which brought the rotor into the position where it is locked, between points D and E. This couple decreases during the rotation it causes in the direction of point B and becomes less than the friction torque represented by curve 3. It could therefore happen that this pulse does not fully unlock the rotor.
  • the torque created by an unlocking pulse having the opposite polarity to that of the driving pulse in response to which the rotor is blocked which is represented diagrammatically by curve 5, increases during the rotation which it causes. in the direction of point A. This pulse therefore safely releases the rotor.
  • FIG. 6 illustrates an example of a control circuit of a stepping motor according to the invention, in which the detection of the rotation or of the non-rotation of the rotor takes place immediately after each driving pulse, as in circuit which is described in US Patent No. 4,212,156 already cited.
  • Figures 7a and 7b show signals measured at some points of the circuit of Figure 6 in two cases of operation of this circuit. Each diagram of these FIGS. 7a and 7b is designated by the reference of the point of FIG. 6 where the signal which it represents is measured, and the diagram designated by the reference 11 represents the voltage measured at the terminals of the motor coil.
  • the motor coil 11 is conventionally connected in a bridge formed by 4 MOS transistors 21 to 24.
  • An oscillator 34 is connected to the input of a frequency divider 51 whose outputs 51a to 51e deliver for example signals having frequencies of 0.5 Hz, 1 Hz, 8 Hz, 16 Hz and 1'024 Hz respectively
  • All these signals are applied to the inputs of a circuit. 52 which includes doors, flip-flops and counters whose arrangement is described in detail in US Patent No. 4,212,156 already cited. Some of these doors use the signals supplied in particular by the outputs 51f of the divider 51 to form pulses having various durations.
  • the circuit 52 delivers a pulse on its output 52a or on its output 52b depending on whether the output 51a of the divider 51 is in the "0" state or in the "1" state. This pulse is selected from among the pulses of different durations mentioned above according to the state of an input 52e of circuit 52.
  • This input 52e is connected to the output of a circuit detecting the rotation of the rotor which will be described below.
  • Each pulse delivered by the output 52a of the circuit 52 is transmitted to the gates of the transistors 21 and 23 via an OR gate 53.
  • the coil 11 therefore receives a driving pulse which causes the passage, in this coil 11, of a current in the direction of the arrow 39.
  • each pulse delivered by the output 52b is transmitted to the gates of the transistors 22 and 24 via an OR gate 54, which causes the application to the coil 11 of a pulse motor having the reverse polarity of the previous one and the passage through this coil 11 of a current in the opposite direction to that of arrow 39.
  • the input 52e of the circuit 52 is in the logic state "0", and the pulses delivered by the outputs 52a or 52b have a short duration, of 5.1 milliseconds for example.
  • the output of the rotation detector, and therefore the input 52e of the circuit 52 pass to the state "1" about ten milliseconds after the start of this pulse motor.
  • the output 51c of the divider 51 passes to the state "1", that is to say 62.5 milliseconds after the start of the driving pulse
  • the output 52a or 52b which delivered the last pulse delivers a new pulse, with a duration of, for example, 7.8 milliseconds.
  • This pulse called the catch-up pulse, is intended to cause the rotor to execute the step it has just missed.
  • the duration of the pulses delivered alternately by the outputs 52a and 52b in response to the transition to the state "1" of the signal at 1 Hz is increased to, for example, 7, 8 milliseconds. If the input 52e remains in the state "0" for all the predetermined time, that is to say if the rotor has rotated correctly, the duration of the pulses delivered by the outputs 52a and 52b is reduced to 5.1 milliseconds.
  • the circuit 52 also includes two outputs 52c and 52d which each deliver a pulse each time the output 52a or the output 52b delivers a normal pulse.
  • the pulse delivered by the output 52c has a duration of approximately ten milliseconds, and the pulse delivered by the output 52d has a duration equal to that of the pulses delivered by the output 52a or 52b.
  • the terminals of the coil 11 are connected to the inputs 55a and 55b of a circuit 55, which is also described in US Patent No. 4,212,156.
  • This circuit 55 includes a differentiator circuit and transmission gates controlled by the signal at 0.5 Hz which is applied to an input 55c. According to the state of this signal at 0.5 Hz, the differentiator circuit is connected to one or the other of the terminals of the coil 11. This differentiator circuit is arranged so as to supply a pulse to the output 55d each time . that the current in the coil 11 passes through a minimum.
  • This pulse is applied to a first input of an AND gate 56, a second and a third input of which are respectively connected to output 52c and, via an inverter 57, to output 52d of the control circuit 52.
  • the output of gate 56 is connected to the clock input Cl of a type T flip-flop 58.
  • the output Q of the flip-flop 58 is connected to a first input of an AND gate 59, the second input of which is connected to the output 52c of the circuit 52 by means of an inverter 60.
  • gate 59 is connected to the clock input C1 of a flip-flop 61, also of type-T, the output Q of which is connected to the input 52e of circuit 52.
  • the reset inputs R of the flip-flops 58 and 61 are connected to the output 51b of the divider 51 by means of an inverter 62.
  • the rotor does not turn correctly in response to a driving impulse, due to too high a mechanical load, the minimum of the current induced in the coil 11 by the oscillations of the rotor occurs more than ten milliseconds after the start. of the motor impulse.
  • the flip-flop 58 is therefore still in its quiescent state when the output 52c of the circuit 52 returns to the state "0". This change to state "0" causes the flip-flop 61 to topple over through the inverter 60 and the gate 59.
  • the input 52e of the circuit 52 which is connected to the output Q of the flip- flop 61, therefore goes to state "1", with the consequences described above.
  • the flip-flop 58 or the flip-flop 61 which has rocked as described above is returned to its rest state by the state "1" which is applied to its input R by the inverter 62 when the signal at 1 Hz returns to state "0".
  • the circuit of FIG. 6 comprises an AND gate 71 having two inputs connected respectively to the output Q of the flip-flop 61 and to the output 51d of the divider 51.
  • the output of this gate 71 is connected to the clock input Cl of a flip-flop 72, of type T.
  • the clock input Cl of a flip-fl-op 73, of type D is connected to the output 51e of the divider 51, and its input D is connected to the output Q of the flip-flop 72.
  • the output Q of the flip-flop 73 is connected to the first inputs of two AND gates 74 and 75
  • the output 51a of the divider 51 is connected to the second input of the door 74 and, via an inverter 76, to the second input of the door 75.
  • the outputs of these doors 74 and 75 are connected respectively to the second entrances to doors 53 and 54.
  • the input R for resetting the flip-flop 72 to zero is connected to the output of an AND gate 77, a first input of which is connected to the output of the flip-flop 73 and a second input of which is connected to the output 51e of the divider 51 by means of an inverter 78.
  • the pulse delivered by output Q of flip-flop 73 is transmitted to the gates of the transistors 22 and 24 through the gates 75 and 54. This case is illustrated by FIG. 7b.
  • the pulse delivered by the output Q of the flip-flop 73 is transmitted to the gates of the transistors 21 and 23 through the gates 74 and 53.
  • this pulse delivered by the output Q of the flip-flop 73 causes the passage through the coil 11 of a current pulse in the opposite direction to that of the driving pulse which has failed to rotate. the rotor correctly.
  • this pulse of about a millisecond causes the rotor to be released and rotated in the direction which brings it back to its starting position.
  • the circuit 52 delivers the catch-up pulse described above, the rotor is in the position where this catch-up pulse causes it to advance with a single step, with safety.
  • FIG. 8 illustrates another example of a control circuit of a stepping motor according to the invention, in which the detection of the rotation or of the non-rotation of the rotor in response to a driving pulse takes place at the start of the following driving impulse, as in US Patent No. 4,300,223 already cited.
  • FIG. 9 shows signals measured at a few points of the circuit of FIG. 8. Each diagram of this FIG. 9 is designated by the reference of the point of FIG. 8 where the signal which it represents is measured, and the diagram designated by the reference 11 represents the voltage across the motor coil.
  • this coil 11 is connected in a bridge formed by the four MOS transistors 21 to 24 identical to the transistors bearing the same references in FIG. 6.
  • the sources of the transistors 23 and 24 are connected to the negative pole of the power source via a measurement resistor 81.
  • the sources of the transistors 23 and 24 are also connected to an input 82a of a detector circuit 82 which comprises a reference voltage source and a voltage comparator, the arrangement of which is described in US Pat. No. 4,300,223 already cited.
  • a training circuit 83 receives from a time base circuit formed by an oscillator 84 and a frequency divider 85 signals having various frequencies.
  • the frequency divider 85 notably delivers on its outputs 85a, 85b and 85c signals having a frequency of 1 Hz, 16 Hz, and 256 Hz respectively.
  • other outputs designated together by the reference 85d deliver signals having d other frequencies which will not be described here.
  • the training circuit 83 uses these various signals to deliver at its output 83b a pulse of predetermined duration in response to each transition to the logic state "1" from the output 85a of the divider 85. Each of these pulses toggles a flip-flop 86 of type T, the clock input Cl of which is connected to the output 83b of the circuit 83. The outputs Q and Q of this flip-flop 86 therefore alternately take one the logic state "0" and the other logic state "1" for one second.
  • the pulse provided by the output 83b of the circuit 83 is transmitted to the gates of the transistors 21 and 23 via an AND gate 87 and an OR gate 88, or to the gates of the transistors 22 and 24 via an AND gate 89 and an OR gate 90.
  • a current therefore flows through the coil 11 in the direction of the arrow 39 or in reverse.
  • the circuit 82 is arranged so as to compare the value of the measurement voltage which it receives from the resistor 81 on its input 82a with the value of the reference voltage, in response to a signal which it receives from the circuit 83, by a link not shown, approximately two milliseconds after the start of each driving pulse. If the value of this measurement voltage is less than the value of the reference voltage at the time of comparison, this indicates that the motor rotor has turned correctly in response to the previous driving pulse. The circuit 82 then does not deliver a detection signal to the circuit 83, and the latter then leaves the pulse which it delivers at its output 83b to terminate normally after having lasted 5.1 milliseconds for example. Such an impulse is represented in FIG. 9 with the reference 131.
  • the control circuit of FIG. 8 also includes a pulse generator formed by two flip-flops 91 and 92 of type T.
  • the clock input C1 of the flip-flop 91 is connected to the output 85a of the frequency divider 85, and its reset input R is connected to the output 85b of this divider 85.
  • the output Q of this flip-flop 91 therefore goes to state “0" each time the output 85a of the divider 85 passes at state "1", that is to say at the beginning of each driving pulse, and remains there for about 30 milliseconds, that is, until the output 85b of the divider 85 changes to state "1".
  • the clock input Cl of the flip-flop 92 is connected to the output Q of the flip-flop 91, and its reset input R is connected to the output 85c of the divider 85.
  • the output Q of this flip-flop 92 therefore passes to state "1" approximately thirty milliseconds after the start of each driving pulse and remains approximately two milliseconds in this state.
  • This output Q of the flip-flop 92 is connected to the first inputs of two AND gates 93 and 94.
  • the second inputs of gates 93 and 94 are connected respectively to the Q output and to the Q output of the flip-flop 86.
  • the output of door 93 is connected to the second input of door 90, and the output of door 94 is connected to the second input of door 88.
  • the unblocking pulse is therefore always applied to the motor with the reverse polarity of the previous driving pulse.
  • the unlocking pulse which follows the driving pulse 131 is designated by the reference 132. It will be assumed for the remainder of this description that the rotor has remained blocked in response to this driving pulse 131. L the unlocking pulse 132 therefore brings it back to the position it had before the start of this pulse 131.
  • the formatter circuit 83 begins to deliver a pulse. This switches the flip-flop 86, and a driving pulse, designated by the reference 133, begins to be applied to the coil 11. However, as the motor rotor is not in the position it should have , the current in the coil 11 increases too quickly.
  • the detector circuit 82 finds that the measurement voltage is greater than the reference voltage, and it delivers at its output 82b a detection signal designated by the reference 134.
  • This signal 134 causes the pulse present at the output 83b of the formatter circuit 83 to be interrupted, and therefore the driving pulse 133 to be interrupted.
  • the forming circuit 83 then delivers a pulse 135 of, for example, 7.8 milliseconds of duration.
  • This pulse 135 causes a new tilting of the flip-flop 86.
  • the coil 11 therefore receives a catch-up pulse 136 having a duration of 7.8 milliseconds and the same polarity as the driving pulse 131 which failed to rotate the rotor correctly.
  • the forming circuit delivers a new pulse, designated by 137, which again switches the flip-flop 86 and causes the formation of a driving pulse 138 intended to bring the rotor to the position it would have to take it in response to the driving pulse 133 if this rotor had turned correctly in response to the pulse 131.
  • the pulse generator formed by the flip-flops 91 and 92 then delivers a pulse of about two milliseconds, designated by the reference 139.
  • This pulse causes the formation of a release pulse 140 which, as above, has the opposite polarity to that of the immediately preceding driving pulse 138.
  • This unlocking pulse 140 has no effect if the rotor has rotated correctly in response to the driving pulse 138.
  • the driving pulse unlocking 140 brings it back to its starting position. The process described above then begins again at the start of the next driving pulse, not shown.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
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EP83810453A 1982-10-13 1983-10-05 Verfahren und Vorrichtung zur Steuerung eines Schrittmotors Expired EP0108711B1 (de)

Applications Claiming Priority (2)

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CH5974/82 1982-10-13
CH597482A CH649187GA3 (de) 1982-10-13 1982-10-13

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EP0108711A1 true EP0108711A1 (de) 1984-05-16
EP0108711B1 EP0108711B1 (de) 1987-06-10

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US (1) US4507599A (de)
EP (1) EP0108711B1 (de)
JP (1) JPS5989596A (de)
CH (1) CH649187GA3 (de)
DE (1) DE3372022D1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4598240A (en) * 1984-08-29 1986-07-01 Eaton Corporation Self synchronous motor sensor switching arrangement
FR2668866B1 (fr) * 1990-11-07 1992-12-31 Ebauchesfabrik Eta Ag Procede de commande d'un moteur pas a pas et dispositif pour la mise en óoeuvre de ce procede.
JP3256342B2 (ja) * 1993-08-04 2002-02-12 ティーアールダブリュ オートモーティブ ジャパン株式会社 ステッピングモータの脱調検出装置
KR20110002204A (ko) * 2009-07-01 2011-01-07 삼성전자주식회사 모터 제어 장치 및 그 모터 제어 방법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2402340A1 (fr) * 1977-09-02 1979-03-30 Ebauches Sa Dispositif moteur, notamment pour l'horlogerie
FR2410843A1 (fr) * 1977-12-02 1979-06-29 Seiko Instr & Electronics Montre electronique
FR2450527A1 (fr) * 1979-03-01 1980-09-26 Suisse Horlogerie Moteur pas a pas non reversible
EP0062273A1 (de) * 1981-03-31 1982-10-13 Omega SA Verfahren zur Steuerung eines Schrittmotors

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2461399A1 (fr) * 1979-07-09 1981-01-30 Suisse Horlogerie Detecteur de position d'un moteur pas a pas
FR2464478A1 (fr) * 1979-09-04 1981-03-06 Suisse Horlogerie Detecteur d'avance d'un moteur pas a pas
CH646301GA3 (de) * 1981-12-23 1984-11-30

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2402340A1 (fr) * 1977-09-02 1979-03-30 Ebauches Sa Dispositif moteur, notamment pour l'horlogerie
FR2410843A1 (fr) * 1977-12-02 1979-06-29 Seiko Instr & Electronics Montre electronique
FR2450527A1 (fr) * 1979-03-01 1980-09-26 Suisse Horlogerie Moteur pas a pas non reversible
EP0062273A1 (de) * 1981-03-31 1982-10-13 Omega SA Verfahren zur Steuerung eines Schrittmotors

Also Published As

Publication number Publication date
JPH0116119B2 (de) 1989-03-22
CH649187GA3 (de) 1985-05-15
DE3372022D1 (en) 1987-07-16
US4507599A (en) 1985-03-26
JPS5989596A (ja) 1984-05-23
EP0108711B1 (de) 1987-06-10

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