EP0361209A1 - Procédé et dispositif de détection de l'instant de passage du rotor d'un moteur pas à pas par une position prédéterminée et procédé de commande de ce moteur - Google Patents

Procédé et dispositif de détection de l'instant de passage du rotor d'un moteur pas à pas par une position prédéterminée et procédé de commande de ce moteur Download PDF

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Publication number
EP0361209A1
EP0361209A1 EP89116922A EP89116922A EP0361209A1 EP 0361209 A1 EP0361209 A1 EP 0361209A1 EP 89116922 A EP89116922 A EP 89116922A EP 89116922 A EP89116922 A EP 89116922A EP 0361209 A1 EP0361209 A1 EP 0361209A1
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EP
European Patent Office
Prior art keywords
rotor
instant
coil
flux
voltage
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.)
Withdrawn
Application number
EP89116922A
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German (de)
English (en)
French (fr)
Inventor
Taghezout Daho
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Asulab AG
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Asulab AG
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Filing date
Publication date
Application filed by Asulab AG filed Critical Asulab AG
Publication of EP0361209A1 publication Critical patent/EP0361209A1/fr
Withdrawn legal-status Critical Current

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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

Definitions

  • the present invention relates to a method for detecting the instant of passage of the rotor of a stepping motor through a predetermined position, the rotor comprising a permanent magnet and having at least one position of stable static equilibrium, and the motor comprising a coil magnetically coupled to the permanent magnet. It also relates to a device for the implementation of this detection method, and a method of controlling this engine.
  • An object of the present invention is to overcome this drawback by proposing a very precise method for detecting the instant of passage of the rotor of a stepping motor through any predetermined position.
  • Another object of the present invention is to provide a device for the implementation of this detection method.
  • Another object of the invention is to propose a method of controlling a stepping motor making it possible to rotate the rotor thereof more efficiently than the known methods.
  • FIG. 1 a stepping motor for a watch.
  • This well-known Lavet type motor comprises a stator 1, a rotor not shown in detail and comprising a permanent magnet 2, and a coil 3.
  • the stator 1, which forms the magnetic circuit of the motor comprises a main body in which is formed a circular opening 4 with center 0, this opening 4 serving as a housing for the permanent magnet 2, and a rectilinear auxiliary branch 5 around which is wound the wire forming the coil 3.
  • the stator 1 has two high reluctance zones 1a and 1b located on the same diameter of the opening 4.
  • the permanent magnet 2 is cylindrical and pivots with the rotor around the center 0. It has in this example a pair of North- South defining a magnetization axis 2a.
  • the opening 4 also has two diametrically opposite notches 6 and 7, the presence of which has the effect, in a well known manner, of causing the positioning torque C to be applied to the rotor.
  • This positioning torque C tends to maintain or return the rotor to one or the other of two stable equilibrium positions in which the magnetization axis 2a of the magnet 2 is substantially perpendicular to the diameter of the opening 4 joining the notches 6 and 7.
  • the axis of rotation of the rotor which will coincide with the magnetization axis 2a of the magnet 2 will be taken arbitrarily as the origin of the rotor angle when the rotor occupies one of these stable equilibrium positions. This axis will be designated by 0x and this angle of rotation by X.
  • the positioning torque C is zero when the angle X is 0 ° (or 360 °) and 180 °, that is to say when the rotor occupies one or the other. from its stable equilibrium positions.
  • the magnet 2 creates in the branch 5 an induction field, which in turn produces a magnetic flux F in the coil 3.
  • the flux F depends on the angular position X of the rotor, and its variation as a function of this angle X is of course periodic, and generally almost sinusoidal.
  • the maximum absolute value, or extremum, of this flux F, designated by Fm, is reached when the motor rotor occupies one or the other of the two angular positions where the axis 2a magnetization of the magnet 2 is parallel to an axis Oy substantially perpendicular to the diameter joining the areas 1a and 1b. If we designate by A the smallest of the angles formed by the axes Ox and Oy, we see that the extremes of the flow F are reached when the angle X is worth - A (or 360 ° - A) and 180 ° - A .
  • FIG. 2 represents the variations of F and C as a function of the angle X of the rotor.
  • the magnet 2 has only one pair of poles, the flux F performs one period, and the torque C two periods, for each complete revolution of the rotor.
  • a control circuit for a stepping motor will now be described, an embodiment of which is shown in FIG. 3, it being understood that the predetermined position to be sought is, in this example, one of the positions of stable rotor balance. We will see later that the determination of other positions can be done very easily using this same control circuit.
  • the reference 10 designates in this FIG. 3 a control circuit supplying the coil 3 of the motor of FIG. 1 with the driving pulses Io, I1, ... In necessary to rotate its rotor continuously. It will be assumed that, in the present example, the output impedance of this circuit 10 is made practically infinite between the pulses to prevent the rotor from being braked.
  • Each driving pulse is triggered by a brief pulse, denoted So, S1, ... Sn, of a signal S applied to an input E of this circuit 10 in a manner which will be described later.
  • the duration and polarity of these motor pulses are determined in any of the various ways which are well known to those skilled in the art and which will not be described here.
  • each position Xj of the rotor corresponds to an instant noted t (Xj) on a time axis t.
  • t time axis
  • the circuit 11 receives on its input the induced movement voltage Ui and it supplies, at its output, a signal T shown in FIG. 4.
  • This signal is formed by a series of brief pulses To, ... Tn, each pulse being produced at the moment when the voltage Ui changes sign passing through zero, that is to say when the rotor passes through the positions Zo, ... Zn to which the instants t (Zo), respectively correspond. . t (Zn).
  • the voltage Ui cannot be measured in a simple manner during the driving pulses Io, ... In but, as will be made clear later on in this description, it is not necessary to know its value during these driving pulses.
  • the circuit 11 comprises a high gain differential amplifier 15, an EXCLUSIVE OR gate 16, and two inverters 17 and 18.
  • the induced voltage Ui is applied to the input of the amplifier 15 which provides at its output a signal S15.
  • This signal thanks to the high gain of this amplifier 15, can be assimilated to a logic signal, the transition of this logic signal from one level to the other taking place when the voltage Ui goes through zero.
  • the signal S15 is applied to an input of the gate 16 and to the input of the inverter 17 whose output is connected to the input of the inverter 18.
  • the output of the latter provides a logic signal S18 to the other door entrance 16.
  • the output of this gate which constitutes the output of circuit 11, provides the signal T.
  • the operation of the circuit 11 is as follows. As long as the voltage Ui is different from zero, the signals S15 and S18 are at the same logic level, high or low depending on the sign of Ui. The output of the EXCLUSIVE OR gate 16 is, under these conditions, at the low logic level. On the other hand, when the voltage Ui is canceled, the signal S15 changes logic level while the signal S18 follows the same transition only with a slight delay resulting from the propagation time of the signal S15 through the inverters 17 and 18. Thus, at each passage of Ui through zero, the signals S15 and S18 are found for a short time at different logic levels, which causes the appearance at the output of the gate 16 of brief positive signals corresponding to the pulses To,. Tn of the signal T, these pulses determining the positions Zo, ... Zn at which the flow F passes through an extremum Fm.
  • the unknown instant is written under these conditions t (Ri), and it is determined by the circuit 12 which for this purpose includes an integrator circuit 20, a comparator circuit 21, and, advantageously, a pulse forming circuit 26.
  • the circuit 20 is an analog integrator of known type, receiving at its input the induced voltage of movement Ui and supplying at its output a voltage v (t) which is a function of time, and representative of the value of the integral.
  • the circuit 20 also includes a reset input R to which the signal T produced by the circuit 11 is applied, so that the pulse Ti initializes the integrator circuit at the instant t (Zi) by canceling the value previously determined.
  • the voltage V (t) reaches, at a given instant, a value equal to that of a reference voltage Vr representative of the variation in the flux Fm - Fo. It is obvious that this instant corresponds to the instant t (Ri) sought for the passage of the rotor through the stable equilibrium position Ri.
  • V (t) reaches the value Vr
  • the comparator circuit 21 of the circuit 12 which comprises, for this purpose, a voltage source SVr supplying the reference voltage Vr, two differential gain amplifiers 22, 23 high, an amplifier 24 with a gain of - 1, and an OR gate 25 with two inputs.
  • the inverting inputs of amplifiers 22 and 23 of circuit 21 are connected to source SVr, while the outputs of these amplifiers are each connected to an input of gate 25.
  • Voltage V (t) is applied to the non-inverting input of amplifier 22 and on the input of amplifier 24, the output of which is connected to the non-inverting input of amplifier 23. It is assumed that the gain of amplifiers 22 and 23 is high enough for the signals that 'they provide can be considered as logical signals which can only be found at a low level or at a high level.
  • V (t) If the voltage V (t) is positive but less than Vr, the outputs of amplifiers 22 and 23 are at low logic level, as is the output of OR gate 25. At the time when V (t) reaches Vr , the output of amplifier 22, and that of gate 25, go to the high logic level. This transition determines the instant t (Ri) sought. If the voltage V (t) was negative, it is the amplifier 23, thanks to the amplifier 24, which would have determined this instant.
  • the output of gate 25 goes from low logic level to high logic level at time t (Ri) where the absolute value of the voltage V (t) reaches the reference voltage Vr.
  • Gate 25 can also advantageously be connected to a pulse forming circuit 26, for example a monostable flip-flop, producing, in response to this change in logic level, a brief pulse Si, this pulse forming part of the signal S supplied by the circuit 12 to circuit 10 to activate the driving pulse Ii.
  • a pulse forming circuit 26 for example a monostable flip-flop, producing, in response to this change in logic level, a brief pulse Si, this pulse forming part of the signal S supplied by the circuit 12 to circuit 10 to activate the driving pulse Ii.
  • the predetermined position which, in the example described, is that of a stable equilibrium position Ri of the rotor, can be chosen at will.
  • Vr reference voltage
  • the value of the reference voltage Vr (FIG. 3) so that it is representative of the variation of the flux F in the coil 3 resulting from the passage of the rotor from the position Zi, where the induced voltage of movement Ui is canceled, at the new predetermined position.
  • another position of the rotor chosen arbitrarily, could also be taken as the starting position for the measurement of the variation of the flux F. This supposes, of course, that this position can be detected with precision by appropriate means, for example using a contact fixed on the motor shaft.
  • the detection of the passage of the rotor through the predetermined position is used, still in the example described, to trigger a driving pulse. It is however obvious that this detection can be used for any other purpose, for example for indirectly detecting the passage of a movable member driven by the stepping motor through a particular position.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
  • Electromechanical Clocks (AREA)
EP89116922A 1988-09-23 1989-09-13 Procédé et dispositif de détection de l'instant de passage du rotor d'un moteur pas à pas par une position prédéterminée et procédé de commande de ce moteur Withdrawn EP0361209A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH3556/88 1988-09-23
CH3556/88A CH673750B5 (enrdf_load_stackoverflow) 1988-09-23 1988-09-23

Publications (1)

Publication Number Publication Date
EP0361209A1 true EP0361209A1 (fr) 1990-04-04

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ID=4258536

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89116922A Withdrawn EP0361209A1 (fr) 1988-09-23 1989-09-13 Procédé et dispositif de détection de l'instant de passage du rotor d'un moteur pas à pas par une position prédéterminée et procédé de commande de ce moteur

Country Status (3)

Country Link
EP (1) EP0361209A1 (enrdf_load_stackoverflow)
JP (1) JPH02124000A (enrdf_load_stackoverflow)
CH (1) CH673750B5 (enrdf_load_stackoverflow)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0744825A4 (en) * 1994-12-08 1998-03-04 Citizen Watch Co Ltd MOTOR CONTROL DEVICE
WO2006029648A1 (en) 2004-09-17 2006-03-23 Airbus Deutschland Gmbh Counter electro-motoric force based functional status detection of an electro-motor

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0024737A1 (fr) * 1979-09-04 1981-03-11 Societe Suisse Pour L'industrie Horlogere Management Services S.A. Détecteur d'avance d'un moteur pas à pas
GB2082806A (en) * 1980-08-25 1982-03-10 Ebauchesfabrik Eta Ag A method of reducing the power consumption of the stepping motor of an electronic timepiece
US4550279A (en) * 1982-09-10 1985-10-29 Fabriques D'horlogerie De Fontainemelon S.A. Step-by-step motor unit

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0024737A1 (fr) * 1979-09-04 1981-03-11 Societe Suisse Pour L'industrie Horlogere Management Services S.A. Détecteur d'avance d'un moteur pas à pas
GB2082806A (en) * 1980-08-25 1982-03-10 Ebauchesfabrik Eta Ag A method of reducing the power consumption of the stepping motor of an electronic timepiece
US4550279A (en) * 1982-09-10 1985-10-29 Fabriques D'horlogerie De Fontainemelon S.A. Step-by-step motor unit

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0744825A4 (en) * 1994-12-08 1998-03-04 Citizen Watch Co Ltd MOTOR CONTROL DEVICE
WO2006029648A1 (en) 2004-09-17 2006-03-23 Airbus Deutschland Gmbh Counter electro-motoric force based functional status detection of an electro-motor
US8013549B2 (en) 2004-09-17 2011-09-06 Airbus Deutschland Gmbh Counter electro-motoric force based functional status detection of an electro-motor
US8525452B2 (en) 2004-09-17 2013-09-03 Airbus Operations Gmbh Counter electro-motoric force based functional status detection of an electro-motor

Also Published As

Publication number Publication date
JPH02124000A (ja) 1990-05-11
CH673750GA3 (enrdf_load_stackoverflow) 1990-04-12
CH673750B5 (enrdf_load_stackoverflow) 1990-10-15

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