EP0137093B1 - Procédé de mesure de la tension induite dans la bobine d'un moteur pas-à-pas par la rotation de son rotor - Google Patents

Procédé de mesure de la tension induite dans la bobine d'un moteur pas-à-pas par la rotation de son rotor Download PDF

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Publication number
EP0137093B1
EP0137093B1 EP84101561A EP84101561A EP0137093B1 EP 0137093 B1 EP0137093 B1 EP 0137093B1 EP 84101561 A EP84101561 A EP 84101561A EP 84101561 A EP84101561 A EP 84101561A EP 0137093 B1 EP0137093 B1 EP 0137093B1
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EP
European Patent Office
Prior art keywords
voltage
coil
producing
equal
moment
Prior art date
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
Application number
EP84101561A
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German (de)
English (en)
French (fr)
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EP0137093A3 (en
EP0137093A2 (fr
Inventor
Hans-Jürgen Remus
Luciano Marco Antognini
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Asulab AG
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Asulab AG
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Application filed by Asulab AG filed Critical Asulab AG
Publication of EP0137093A2 publication Critical patent/EP0137093A2/fr
Publication of EP0137093A3 publication Critical patent/EP0137093A3/fr
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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 a method for measuring the voltage induced in the coil of a stepping motor by the rotation of its rotor in response to the application to the coil of a supply voltage.
  • Stepper motors are used in many devices where a mechanical member has to be moved a determined amount in response to an electrical signal. They are used in particular in electronic timepieces. In these, the time display hands must be moved by a specified amount in response to very precise period pulses provided by a time base.
  • the duration of the driving pulses sent at regular intervals to the motor is fixed. This duration is chosen so as to guarantee the proper functioning of the motor even in the worst conditions, that is to say with a low battery voltage, during the drive of the calendar mechanism, in the presence of shock or field external magnetic, etc. As these bad conditions occur only rarely, the engine is most often supercharged.
  • the object of the present invention is to provide a method for measuring the voltage induced in the coil of a stepping motor by the rotation of its rotor in response to the application to this coil of a voltage of food.
  • FIG. 1 represents the equivalent electrical diagram of a stepping motor M.
  • the coil of this motor M is represented by a coil 1, of inductivity L and of zero resistance, and by a resistance 2, of value R equal to the resistance of the motor coil M.
  • the voltage source induced in the coil 1 by the rotation of the rotor, not shown, is symbolized by a voltage source 3.
  • the value of this induced voltage is designated by U r .
  • FIG. 2 gives the block diagram of a first example of a circuit 11 for measuring the voltage U r .
  • This circuit 11 like the other circuits which will be described later, is supplied by a voltage source, not shown.
  • This source delivers a positive voltage + U a and a negative voltage - U a with respect to a midpoint which is grounded to the circuit.
  • the voltage - Ua is intended, in particular, to supply the differential amplifiers used in these circuits.
  • This figure 2 shows the motor M connected, in a conventional manner, in a bridge of four MOS transistors 14, 15, 16 and 17.
  • the transistors 14 and 15, of type p have their sources connected to the positive pole + U a of the power source, not shown.
  • the n-type transistors 16 and 17 have their source connected to the ground of the circuit, through a measurement resistance 18, of low value, forming part of the measurement circuit 11.
  • the drains of the transistors 14 and 16 are connected to one of the terminals of the motor 10, and the drains of the transistors 15 and 17 to the other.
  • control electrodes of the four transistors 14 to 17 are connected to a logic circuit, which has not been shown because it can be arbitrary and that its constitution has nothing to do with the present invention, and which delivers the signals logic required to control these transistors.
  • the measurement circuit 11 comprises an amplifier 20 whose input is connected to the point 19 common to the sources of the transistors 16 and 17 and to the resistor 18.
  • the gain of this amplifier 20 is chosen so that its output voltage U20 is equal at the supply voltage + U a when the current i flowing in the motor coil is equal to U a / R.
  • the output of this amplifier 20 is connected to the input of a transmission gate 21, and to the inverting input of a differential amplifier 22.
  • the transmission gate 21 is controlled by a logic signal 21C which will be described later.
  • This transmission gate 21 is connected to the point 23 of junction of a resistor 24 having a value R24, and of a capacitor 25 having a capacitance C25. Point 23 is also connected, through an amplifier 26, to the non-inverting input of the differential amplifier 22.
  • the sole purpose of the amplifier 26 is to reduce the load that the input of the amplifier 22 would constitute for the R-C circuit 24-25.
  • the gain of this amplifier 26 is chosen to be equal to 1.
  • the circuit formed by the resistor 24 and the capacitor 25 is connected between the terminal + U a of the power source and the ground.
  • the value R24 of the resistor 24 and the capacitance C25 of the capacitor 25 are chosen so that where L and R are, as above, the inductivity and resistance of the motor coil M.
  • the transmission gate 21 When the signal 21C is in the "0" state, the transmission gate 21 is in its blocking state.
  • the voltage at point 23 is equal to the output voltage of the amplifier 20.
  • FIG. 3 illustrates the operating principle of this circuit.
  • the curve 27 represents the variation, during a driving pulse, of the output voltage U20 of the amplifier 20.
  • This curve 27 is an image of the current i which flows in the coil of the motor M.
  • the voltage U23 at point 23 follows the same curve 27.
  • the voltage U22 at the output of the differential amplifier 22 therefore remains zero. If, at any time t x , the gate 21 becomes blocking, the voltage U20 continues to follow the curve 27.
  • This curve 28 is exactly the same as that which the voltage U20 would follow if, at time t x , the rotor was suddenly blocked, which would cancel the voltage U r . It is therefore the image of the current i 'which would flow, under these conditions, in the coil of the motor M.
  • the voltage U20 is proportional to the current i which flows in the coil during a driving pulse.
  • this current i can be expressed by the relation which is easily deduced from the circuit of FIG. 1 in the case where the voltage + U a is applied to the motor M by its control circuit, not shown in this FIG. 1.
  • this slope is given by: where U rx and i x are respectively the values of U r and i at point X.
  • U rx is equal to the length of the segment Z '- Y' of figure 3, where Y 'and Z' are the points of the tangents 29 and 30 located at the abscissa (t x + T ).
  • the ordinate of point Z ' is equal to U a / R which is the asymptotic value of the exponential 28.
  • Figures 4a and 4b illustrate the operation of the circuit of Figure 2 when the transmission gate 21 is controlled by a signal 21C such as that shown in Figure 4c.
  • the transmission gate 21 is conductive when the signal 21C is in the logic state "1", and blocked when this signal 21C is in the logic state "0".
  • the control signal 21C is constituted, for example, by pulses having a period of approximately 250 micro-seconds which are in the logical state "1" for a few micro-seconds, and in state "0" the rest of the time.
  • the transmission door 21 therefore becomes conductive for a few micro-seconds every 250 micro-seconds, and it is blocking the rest of the time.
  • the circuit producing this signal 21C has not been shown since its production is within the reach of those skilled in the art.
  • the curve 31 again represents the voltage U20, which is an image of the current i in the coil.
  • the sawtooth curve 32 which is superposed on it represents the voltage U23. Indeed, each time the transmission gate 21 becomes conductive, that is to say when the signal 21 C is in the state "1", the voltage U23 becomes equal to the voltage U20.
  • the transmission door 21 is blocking, that is to say when the signal 21C is in the "0" state, the voltage U23 varies according to a curve such as the exponential curve 28 shown in FIG. 3.
  • the sawtooth curve 33 of FIG. 4b represents, on a scale different from that of FIG. 4a, the output voltage U22 of the differential amplifier 22.
  • This voltage U22 is equal to zero each time the transmission gate 21 is conductive, and it is equal to the difference of the voltages U23 and U20 when the transmission door 21 is blocked.
  • the curve 34 which is the envelope of the curve 33, is an image of the voltage U r induced in the coil of the motor M by the rotor rotation.
  • This envelope 34 could be obtained by filtering the voltage U22 in a low-pass filter.
  • the output signal of this filter could be amplified in an amplifier, the gain of which would be chosen taking into account all the proportionality factors introduced into the circuit of FIG. 2 by the choice of the measurement resistance 18, of the gain of the amplifier 20 and the period of the control signal 21C.
  • the output signal from this amplifier would then be equal to the induced voltage U r .
  • this filtering and this amplification are not always necessary, in particular when the circuit of FIG. 2 is associated with a circuit for adjusting the duration of the driving pulse applied to the motor M such as that described in the request for Patent EP-A-0 060 806. In such a case, the voltage U22 itself can be directly used as a voltage representative of the induced voltage U r .
  • the voltage U22 is independent of the supply voltage U a , since the voltages U23 and U20 are both proportional to this voltage U a .
  • Equation (7) can therefore be written:
  • Figure 5 shows the block diagram of a measurement circuit providing a voltage U mi proportional to U rx on the basis of equation (8) above.
  • the resistor 18 for measuring the current flowing in the motor (not shown in this FIG. 5) and the amplifier 20 whose output voltage is an image of this current are identical to the resistor 18 and to the amplifier 20 of FIG. 2.
  • the output of amplifier 20 is connected, via a transmission gate 61 to a first terminal of a capacitor 62 of capacity C62, and to the non-inverting input of a differential amplifier 63.
  • the second terminal of the capacitor 62 is connected to the ground of the circuit.
  • the output of amplifier 63 is connected to its inverting input.
  • the gain of this amplifier is therefore equal to one. Its output is also connected, through two transmission doors 64 and 65, to the first terminals of two capacitors 66 and 67, of capacity C66 and C67.
  • the second terminal of the capacitor 66 is connected through a transmission gate 68 to the terminal + U a of the power source and the second terminal of the capacitor 67 is connected to the output of the amplifier 20 by a transmission gate 69 .
  • the first terminal of the capacitor 66 and the second terminal of the capacitor 67 are connected to a first output terminal of the circuit, designated by B1, by transmission gates 70, respectively 71.
  • the second terminal of the capacitor 66 and the first terminal of the capacitor 67 are connected to a second output terminal of the circuit, designated by B2, by transmission doors 72, 73 respectively.
  • the transmission doors 61 and 70 to 73 are controlled together by a signal designated by C1, and the transmission doors 64, 65, 68 and 69 are controlled, also together, by a signal designated by C2.
  • signals C1 and C2 which are represented in FIG. 6 have identical periods of 0.5 millisecond for example and equally identical durations, weak compared to their period, of 30 microseconds for example. Each of them appears in the middle of the other's period.
  • the circuit producing the signals C1 and C2 has not been shown since its production is within the reach of those skilled in the art.
  • FIG. 3 can also be used to understand the operation of the circuit of FIG. 5.
  • the signal C2 makes the transmission doors 64, 65, 68 and 69 conductive.
  • the voltage U x memorized by the capacitor 62 and the amplifier 63 is therefore applied to the first terminal of the capacitor 66 and of the capacitor 67.
  • the voltage U a is applied to the second terminal of the capacitor 66 and a proportional voltage to the current flowing at this instant ty in the motor coil is applied to the second terminal of the capacitor 67.
  • this voltage can be considered to be the voltage Uy of the FIG. 3.
  • the following pulse C1 makes the transmission doors 70 to 73 conductive.
  • the capacitors 66 and 67 are therefore connected in parallel with the output terminals B1 and B2 of the circuit.
  • the voltage U ml which then appears at these terminals is equal to:
  • either of the output terminals B1 and B2 can be grounded to the circuit without the operation of the latter being modified.
  • the accuracy of the measured value depends directly on the accuracy of the value of the resistor 24 and of the capacitor 25. It is well known that it is difficult, in mass production, to obtain high precision for such elements.
  • the circuit of Figure 5 does not have this disadvantage.
  • the precision of the measurement depends in fact only on the ratio of the capacities of the capacitors 66 and 67. However, even in mass production, this ratio can be guaranteed with very good precision.
  • the output terminal B1 of the circuit of FIG. 7 is connected to the inverting input of a differential amplifier 74.
  • the non-inverting input of this amplifier 74 is connected to ground.
  • the output of this amplifier 74 is connected to its inverting input by a capacitor 75 connected in parallel with a transmission gate 76.
  • the output of the amplifier 74 is further connected, through a transmission gate 77, to the input non-inverting of a differential amplifier 78.
  • a capacitor 79 and a transmission gate 80 are connected in parallel between this non-inverting input of amplifier 78 and ground.
  • the output of amplifier 78 constitutes the output of the circuit for measuring the induced voltage U r .
  • This output is connected to the inverting input of the amplifier 78 by a resistor 81 and to the circuit ground by a resistor 82.
  • the non-inverting input of the amplifier 78 is further connected by a transmission gate 83 to the non-inverting input of a differential amplifier 84.
  • a capacitor 85 and a transmission gate 86 are connected in parallel between this input of the amplifier 84 and the ground.
  • the output of amplifier 84 is connected to its inverting input.
  • the gain of this amplifier 84 is therefore equal to one. Its output is also connected, by a transmission gate 87, to a first terminal of a capacitor 88. The other terminal of this capacitor 88 is connected to ground. Finally, the first terminal of the capacitor 88 is connected by a transmission gate 89 to the inverting input of the amplifier 74.
  • the transmission doors 77 and 89 are controlled by the signal C1 described above, at the same time as the transmission doors 61, 70, 71 and 73.
  • the transmission doors 76 and 87 are controlled by the signal C2 also described here above, like the transmission doors 64, 65 and 69.
  • the transmission doors 80 and 86 are controlled by a signal C3 which can be, for example, delivered by the control circuit of the motor M, not shown, and which is in state "0" during the driving pulses and in state "1 the rest of the time.
  • the doors 80 and 86 are therefore conductive between the driving pulses and blocked during these driving pulses.
  • the transmission gate 83 is controlled by a signal C4 which is normally at “0” and which passes to the state “1” for a few microseconds approximately one millisecond after the start of the driving pulse.
  • the signals C3 and C4 are also represented in FIG. 6.
  • the operation of the circuit composed of elements 74 to 89 is as follows: Between the driving pulses, the signal C3 is at "1". The capacitors 79 and 85 are therefore short-circuited by the transmission doors 80 and 86 which are conductive. The output of amplifier 78, which and the output of the measurement circuit, and the output of amplifier 84 are at ground potential.
  • the capacitor 88 is discharged since the output of the amplifier 84, which is grounded, is connected to it at each pulse C2 by the transmission gate 87.
  • the capacitor 75 is also discharged through the transmission door 76 which short-circuits it. Immediately after each of these pulses C2, the output of the amplifier 74 is therefore also at ground potential.
  • a pulse C1 makes the transmission gates 70, 71, 73, 77 and 89 conductive.
  • the sums of the charges contained at this time in the capacitors 66, 67 and 88 is therefore transferred to the capacitor 75.
  • the voltage U75 at the terminals of this capacitor would then be: if the transmission door 80 was not conductive.
  • the sign - which appears in this equation results from the fact that terminal B1 is connected to the inverting input of amplifier 74.
  • this voltage U75 remains zero as long as the signal C3 is in the state "1 " and the charges Q66 and Q67 are transmitted to ground by this transmission gate 80.
  • the charge Q88 of the capacitor 88 is in any case zero The output of amplifier 78 therefore remains at ground potential.
  • the signal C3 goes to the state "0" and stays there.
  • the transmission doors 80 and 86 are therefore blocked.
  • this voltage U75 has the value where U xD and Uyo are the values of U x and Uy at this instant D.
  • the C4 pulse is produced approximately one millisecond after the start of the driving pulse, at a time when the rotor is still stationary.
  • This pulse C4 briefly opens the transmission gate 83.
  • the capacitor 85 is therefore charged at this voltage U75 o which also appears at the output of the amplifier 84.
  • the pulse C2 following this pulse C4 opens the transmission gate 87 and the capacitor 88 therefore also charges at voltage U75 D.
  • the electrical charge Q88 of the capacitor 88 therefore becomes equal to:
  • the capacitor 85 remains practically charged at the voltage U75 ⁇ as long as the transmission gate 86 remains blocked, if the input resistance of the amplifier 84 is large, which is the case. Subsequent changes in the output voltage of amplifier 74 no longer have any influence on this voltage since the transmission gate 83 is permanently blocked again.
  • This voltage U75 is independent of the voltage U a , or of the voltage Ua '. In addition, it is proportional to the voltage U rx induced in the motor coil at time t x by the rotation of the rotor. Indeed, at time D defined above, the voltage U m2 given by equation (11) is written:
  • the capacitors 66, 67 and 88 completely discharge in the capacitor 75 at each pulse C1.
  • this capacitor 75 is short-circuited by the transmission gate 76 and the voltage U75 calculated above drops to zero.
  • the capacitor 79 which is charged at this voltage U75 at each pulse C1 ensures the storage of this voltage between two successive pulses C1.
  • the voltage U75 memorized by the capacitor 79 is amplified by the amplifier 78 by a factor which can be freely set by choosing the ratio of the values of the resistors 81 and 82.
  • the output voltage U78 of the amplifier 78 is also proportional at the voltage U rx .
EP84101561A 1981-03-18 1982-01-21 Procédé de mesure de la tension induite dans la bobine d'un moteur pas-à-pas par la rotation de son rotor Expired EP0137093B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH182681A CH644989GA3 (un) 1981-03-18 1981-03-18
CH1826/81 1981-03-18

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP82810024.8 Division 1982-01-21

Publications (3)

Publication Number Publication Date
EP0137093A2 EP0137093A2 (fr) 1985-04-17
EP0137093A3 EP0137093A3 (en) 1985-05-29
EP0137093B1 true EP0137093B1 (fr) 1988-06-01

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ID=4219497

Family Applications (2)

Application Number Title Priority Date Filing Date
EP82810024A Expired EP0060806B1 (fr) 1981-03-18 1982-01-21 Procédé pour réduire la consommation d'un moteur pas-à-pas et dispositif pour la mise en oeuvre de ce procédé
EP84101561A Expired EP0137093B1 (fr) 1981-03-18 1982-01-21 Procédé de mesure de la tension induite dans la bobine d'un moteur pas-à-pas par la rotation de son rotor

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP82810024A Expired EP0060806B1 (fr) 1981-03-18 1982-01-21 Procédé pour réduire la consommation d'un moteur pas-à-pas et dispositif pour la mise en oeuvre de ce procédé

Country Status (5)

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US (2) US4446413A (un)
EP (2) EP0060806B1 (un)
JP (2) JPS57153599A (un)
CH (1) CH644989GA3 (un)
DE (1) DE3276268D1 (un)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH646575GA3 (un) * 1981-10-02 1984-12-14
US4556836A (en) * 1983-05-24 1985-12-03 Societe Industrielle De Sonceboz S.A. Multiphase motor damping method and circuit arrangement
CH653850GA3 (un) * 1983-08-12 1986-01-31
CH653206GA3 (un) * 1983-09-16 1985-12-31
CH663701A5 (de) * 1984-04-10 1987-12-31 Sodeco Compteurs De Geneve Verfahren und einrichtung zur steuerung eines von einer gleichspannung gespeisten schrittmotors.
JPS6225894A (ja) * 1985-07-25 1987-02-03 Silver Seiko Ltd ステツピングモ−タの駆動装置
JPS6292799A (ja) * 1985-10-17 1987-04-28 Silver Seiko Ltd ステツピングモ−タの駆動装置
DE3772477D1 (de) * 1986-07-02 1991-10-02 Asulab Sa Verfahren und vorrichtung zur kontrolle eines schrittmotors.
US4791343A (en) * 1987-08-31 1988-12-13 Allied-Signal Inc. Stepper motor shaft position sensor
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.
DE4339553C1 (de) * 1993-11-19 1995-06-22 Sgs Thomson Microelectronics Treiberschaltung für einen Schrittmotor
EP3663870B1 (en) * 2018-12-06 2021-08-11 The Swatch Group Research and Development Ltd Dc electric motor with asymmetrical stator inductors

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH1372372A4 (un) * 1972-09-20 1976-09-15
JPS6024680B2 (ja) * 1973-03-07 1985-06-14 セイコーインスツルメンツ株式会社 時計用ステツプモ−タの駆動回路
JPS5292560A (en) * 1976-01-29 1977-08-04 Seiko Instr & Electronics Ltd Switch box drive pulse width control circuit for electronic clocks
US4158287A (en) * 1976-08-12 1979-06-19 Citizen Watch Company Limited Driver circuit for electro-mechanical transducer
JPS5370874A (en) * 1976-12-07 1978-06-23 Seiko Epson Corp Electronic wristwatch
JPS5372112A (en) * 1976-12-08 1978-06-27 Seiko Instr & Electronics Ltd Drive circuit for step motor
CH635973B (fr) * 1977-01-19 Suwa Seikosha Kk Circuit de commande pour un transducteur electromecanique d'une montre, notamment d'une montre-bracelet electronique.
JPS5412777A (en) * 1977-06-29 1979-01-30 Citizen Watch Co Ltd Pulse motor driving circuit for watches
CH616819GA3 (en) * 1977-08-05 1980-04-30 Electronic watch including a corrector circuit
JPS5619473A (en) * 1979-07-27 1981-02-24 Citizen Watch Co Ltd Electronic timepiece
DE2944872C2 (de) * 1979-11-07 1981-11-19 Gebrüder Junghans GmbH, 7230 Schramberg Anordnung zur Steuerung eines Schrittmotors für batteriebetriebene Geräte
CH640999B (fr) * 1980-08-25 Ebauchesfabrik Eta Ag Procede et dispositif de commande d'une moteur pas a pas de piece d'horlogerie electronique.

Also Published As

Publication number Publication date
CH644989GA3 (un) 1984-09-14
EP0137093A3 (en) 1985-05-29
EP0137093A2 (fr) 1985-04-17
EP0060806B1 (fr) 1987-05-06
JPS57153599A (en) 1982-09-22
US4568867A (en) 1986-02-04
US4446413A (en) 1984-05-01
JPS6096198A (ja) 1985-05-29
JPS6363000B2 (un) 1988-12-06
DE3276268D1 (en) 1987-06-11
EP0060806A1 (fr) 1982-09-22

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