JP2000350496A - Volatile remote operation method with two directly coupled stepping motors - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a simple volatile remote operation method that does not require external power supplies or electronic control circuits, and converts various mechanical displacement to an electrical signal by one stepping motor for directly controlling the other. SOLUTION: The stator coil windings of stepping motors 1 and 2 are connected directly to each other by an electric wire, and the rotation of a rotor 4 of the stepping motor 2 is controlled merely by electromotive force that is generated when a rotor 3 of the stepping motor 1 is rotated by external force.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention does not require an external power supply or an electronic control circuit for driving.
The present invention relates to a method in which a rotor of a motor is rotated by an external force and the other stepping motor is directly controlled in accordance with the rotation, and can be applied in a wide field as a simple remote control method.

[0002]

2. Description of the Related Art It has been known that two DC motors can be directly connected to each other by an electric wire and one motor can be rotated only by an electromotive force generated when the other motor is rotated by an external force. However, this alone cannot be used for control. For use in control, the rotation speed, rotation angle, rotation direction, and the like must be arbitrarily and accurately determined. Although the stepping motor satisfies this condition, there is no example in which stepping motors are directly connected to each other and applied to control. This is because the control of the stepping motor is more complicated than the control of other types of motors, and it has been considered that it is impossible to realize the control by directly connecting two stepping motors.

[0003]

SUMMARY OF THE INVENTION Two stepping machines
Connect the motor directly with an electric wire to
When the rotor of the motor is rotated, if the other stepping motor can be rotated accordingly, there is no need for an electronic control circuit for driving and no external power supply,
Remote control becomes very easy. It is an object of the present invention to propose specific conditions under which such control can be realized based on experimental results.

[0004]

When a rotor of a stepping motor using a permanent magnet is rotated by an external force, an intermittent electromotive force is generated in the stator winding of each phase. When this waveform is observed with an oscilloscope, the waveform becomes complicated at low speed, but becomes closer to a sine wave as the speed increases. When this pseudo sine wave is compared between the stator windings of each phase, it can be seen that the phases are shifted from each other, that is, a pseudo sine wave is shifted in time. On the other hand, when the stepping motor is bipolar-energized by using the electronic circuit for driving the stepping motor, the electronic circuit supplies time-shifted positive and negative rectangular wave currents to the stator windings of each phase. However, the waveform of the current that actually flows through the stator winding is affected by the inductance and resistance of the stator winding,
Due to the influence of the generation of the back electromotive force due to the rotation of the rotor, it is not always a regular rectangular wave. That is, to actually drive the stepping motor, it is not always necessary to use an ideal rectangular wave. What is more important is the timing of supplying the current to each stator winding rather than the waveform.However, the time difference between the stator windings of each phase of the pseudo sine wave generated by external force and the time of the square wave generated by the control circuit Comparing with the target deviation, it is understood that they are basically the same. Therefore, if the electromotive force generated in the stator winding of each phase is supplied to the stator winding of another stepping motor, it is possible to control the electronic control circuit as in the case of bipolar conduction. In this case, one stepper motor acts as a transducer that converts the mechanical displacement into an electrical signal, while at the same time controlling the other stepper motor.
It will also work as a drive control circuit. Also, if the electromotive force generated when the rotor is rotated by an external force is sufficient to drive the other one, either stepping motor can control the other stepping motor. Remote operation becomes possible. As a result of an experiment in which various stepping motors were actually combined, the followings were confirmed. 1. The number of steps for both stepper motors may be the same or different. 2. The type of both stepper motors can be the same or different. That is, a combination of the same type, such as between the hybrid type and the claw-pole permanent magnet type, or a combination of different types, such as a combination of the hybrid type and the claw-pole permanent magnet type, may be used. 3. The number of phases of both stepper motors may be different. That is, two-phase ones or four-phase ones may be used, or a combination of four-phase ones and two-phase ones with different numbers of phases may be used if the wiring is devised. 4. The energization method of both stepping motors may be different. That is, the stator winding may be for unipolar energization or for bipolar energization.
Since the electromotive force generated when the rotor of the stepping motor is rotated by external force is a positive or negative voltage,
When this electromotive force is supplied to another stepping motor, bipolar conduction is performed regardless of the method of the stator winding of the supplied stepping motor.
It does not depend on the type of stator winding. However, even if the above combination conditions are satisfied, remote control is not always possible. In some stepping motors, the electromotive force is so small that another stepping motor cannot be driven. The combination of two stepper motors has to be checked experimentally in each case.

[0005]

[Action] Experiments have shown the following actions. 1. The number of phases of both stepper motors is equal,
When the number of steps is equal, when the rotor of one stepping motor is rotated by an external force, the rotor of the other stepping motor rotates by the same angle at the same number of steps. 2. The number of phases of both stepper motors is equal,
When the number of steps is different, if the rotor of one of the stepping motors is rotated by an external force, the other stepping motor rotates by the number of rotated steps, so that the rotation angles of both rotors are not equal. That is, by changing the combination of the number of steps of the two stepping motors, the rotation angle can be amplified or reduced. 3. Changing the rotation direction of the rotor of one stepping motor changes the rotation direction of the rotor of the other stepping motor accordingly. That is,
The direction of rotation can also be controlled correctly. 4. When the connection between the stator windings is changed, when the rotor of one stepping motor is rotated,
The rotation direction of the other stepping motor can be reversed. That is, the control direction can be changed by changing the wiring. 5. As long as the number of phases and the number of steps are the same, and if the electromotive force generated when the rotor is rotated by an external force is sufficient to drive the other, the stepping motor from either stepper can be used. Can control the stepping motor. That is, bidirectional remote control is possible. 6. Since only the electromotive force generated when the rotor of one stepping motor is rotated by an external force rotates the other stepping motor, it is difficult to obtain a large torque. If the rotor of one stepping motor is rotated very slowly by an external force, the generated electromotive force is low.
The motor may not be able to rotate.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described based on operating conditions confirmed by experiments and wiring diagrams 1 to 4. FIG.
FIG. 4 is a wiring diagram in the case where the rotation directions of the stepping motor 1 and the stepping motor 2 are the same in both phases. In FIG. 1, the stator winding 5 of the stepping motor 1 and the stator winding 9 of the stepping motor 2 are directly connected by electric wires, and the stator winding 6 of the stepping motor 1 and the stator winding 5 of the stepping motor 2 are connected. The stator winding 10 is directly connected by an electric wire. The two stepping motors are both for unipolar energization, but do not use the center terminal of each stator winding. This is to increase the electromotive force generated by the stepping motor 1 and to increase the electromagnetic force driving the stepping motor 2. In the wiring shown in FIG. 1, experiments were conducted by variously changing the combination of two stepping motors and the operation was confirmed.

FIG. 1 shows a two-phase stepping motor 1 and a stepping motor 2 which are two-phase hybrid type stepping motors each having two steps. In this case, The stepping motor 1 has 20 steps.
0, the drive voltage is 5.1 V, and the coil resistance is 5.
One ohm (103G774-0140 SANY
O DENKI), the stepping motor 2 has 200 steps, a driving voltage of 4 V, and a coil resistance of 3.3 ohms per phase (KHP42J2501OKI).
It is. When the rotor 3 of the stepping motor 1 is rotated by an external force, the rotor 4 of the stepping motor 2 rotates in the same direction by the same number of steps and the same angle.

Embodiment 2 An embodiment in which both types are two-phase, and the type and the number of steps are different. In FIG. 1, a stepping motor 1 is a two-phase claw-pole permanent magnet type stepping motor, having 48 steps and driving. Voltage 5V, coil resistance is 1 per phase
2 ohm (55SPM23D7 MARYSI
In A), the stepping motor 2 is of a two-phase hybrid type having 200 steps, a drive voltage of 5.1 V, and a coil resistance of 5.1 ohm per phase (103G774).
-0140 SANYO DENKI). When the rotor 3 of the stepping motor 1 is rotated by an external force, the rotor 4 of the stepping motor 2 rotates in the same direction by the same number of steps.

Embodiment 3 An embodiment in which both are two-phase and the same remote control is performed in both directions. In FIG. 1, the stepping motor 1 and the stepping motor 2 are the same product and both are two-phase hybrid type stepping motors. 103G774-0140 SANYO DENK motor with 200 steps, 5.1V drive voltage and 5.1 ohm coil resistance per phase
I). When the rotor 3 of the stepping motor 1 is rotated by an external force, the rotor 4 of the stepping motor 2 rotates by the same number of steps, by the same angle, and in the same direction.
When the rotor 4 is rotated by an external force, the rotor 3 of the stepping motor 1 rotates by the same number of steps, by the same angle, and in the same direction. That is, the same remote operation can be performed from both directions.

Embodiment 4 An embodiment in which both phases are two-phase and the rotation directions of two stepping motors are reversed. FIG. 2 shows that the rotation directions of the two-phase stepping motors 1 and 2 are both different. It is a wiring diagram in the case where it is reversed.
The connection between the stator winding 5 of the motor 1 and the stator winding 9 of the stepping motor 2 is reversed. Instead of connecting the stator winding 5 and the stator winding 9 of the stepping motor 1 in reverse, the same result can be obtained by reversing the connection between the stator winding 6 and the stator winding 10. When the two stepping motors used in the first to third embodiments are wired as shown in FIG. 2, when the rotor 3 of the stepping motor 1 is rotated by an external force, the stepping motors are rotated in the opposite direction by the same number of steps. The second rotor 4 rotates. When the two stepping motors used in the third embodiment are wired as shown in FIG. 2, when the rotor 3 of the stepping motor 1 is rotated by an external force, the same number of steps is obtained.
When the rotor 4 of the stepping motor 2 rotates by the same angle but in the opposite direction, and the rotor 4 of the stepping motor 2 is rotated by an external force, the stepping motor 1 is rotated by the same number of steps and in the opposite direction by the same angle. Rotor 3 rotates.

Embodiment 5 An embodiment in which stepping motors having different numbers of steps and different conduction methods for the stator windings are connected. FIG. 3 shows two stepping motors each having a two-phase stator winding having a different conduction method. -It is a wiring diagram at the time of connecting a motor. In FIG. 3, the stepping motor 1 is a two-phase hybrid type, has 200 steps, a drive voltage of 5.1 V, a coil resistance of 5.1 ohm per phase, and a unipolar energizing type (103G774-01).
40 SANYO DENKI), the stepping motor 2 is a two-phase hybrid type and has 40 steps.
0, drive voltage unknown, coil resistance 16 ohms per phase, for bipolar energization (103-4902-02
20 SANYO DENKI). 3, when the rotor 3 of the stepping motor 1 is rotated by an external force, the rotor 4 of the stepping motor 2 rotates by the same number of steps. That is, the stepping motor 2 rotates by half the angle of the stepping motor 1.

Embodiment 6 An embodiment in which a four-phase stepping motor and a two-phase stepping motor are connected. FIG. 4 shows a case in which a four-phase stepping motor and a two-phase stepping motor are connected. It is a wiring diagram.
In FIG. 4, the stator windings 5 and 6 of the stepping motor 1 are connected in parallel, connected to the stator winding 9 of the stepping motor 2, and the stator windings 7 and 8 of the stepping motor 1 are connected in parallel. Then, it is connected to the stator winding 10 of the stepping motor 2. In FIG. 4, the stepping motor 1 is a four-phase hybrid type having 400 steps and a driving voltage of 17 steps.
V, coil resistance is 80 ohms per phase, for bipolar energization (KY56LM1-010 JAPAN S
ERVO), the stepping motor 2 has 200 steps, a driving voltage of 5.1 V, a coil resistance of 5.1 ohm per phase, and a unipolar energizing one (103G).
774-0140 SANYO DENKI).
4, when the rotor 3 of the stepping motor 1 is rotated by an external force, the rotor 4 of the stepping motor 2 is rotated in the same direction by the same angle.
Rotates. That is, the stepping motor 2
The motor rotates by half the number of steps of the stepping motor 1.

The above-described first to sixth embodiments are merely examples of specific operating conditions, and the operating conditions should not be limited to these embodiments.

[0014]

[Experimental Apparatus] The configuration of an experimental apparatus used in the present invention will be described with reference to FIG. In FIG. 5, an experimental electronic control circuit 11 is for driving a stepping motor 12, and thereby the rotor 13 is rotated. The rotation speed of the rotor 13 is controlled by the electronic control circuit 1 for the experiment.
1 allows free adjustment from low speed to high speed. Rotor 1 of stepping motor 12
3 is connected to the rotor 3 of the stepping motor 1 by a metal joint 14, so that the rotor 3 can be rotated mechanically. stepping·
The stator winding of the motor 1 and the stator winding of the stepping motor 2 are connected by electric wires as shown in FIGS. When the rotor 3 of the stepping motor 1 rotates, an electromotive force is generated, and the electromotive force is supplied to the stepping motor 2 through an electric wire to rotate the rotor 4.

[0015]

According to the present invention, when two stepping motors are directly connected by electric wires, and the rotor of one of the stepping motors is rotated by an external force, the other stepping motor is rotated accordingly. There is no need for an electronic control circuit, making remote control easy.

[Brief description of the drawings]

FIG. 1 is a wiring diagram in the case where the rotation directions of a stepping motor 1 and a stepping motor 2 in two phases are the same.

FIG. 2 is a wiring diagram in the case where the rotation directions of a stepping motor 1 and a stepping motor 2 of two phases are opposite to each other.

FIG. 3 is a wiring diagram in the case where two stepping motors each having two phases and having stator windings of different conduction methods are connected.

FIG. 4 is a wiring diagram when a four-phase stepping motor 1 and a two-phase stepping motor 2 are connected.

FIG. 5 is a configuration diagram of an experimental apparatus used in the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Stepping motor 2 ... Stepping motor 3 ... Rotor 4 ... Rotor 5 ... Stator winding 6 ... Stator winding 7 ... Stator winding 8 ... Stator Winding 9 ... Stator winding 10 ... Stator winding 11 ... Electronic control circuit for experiment 12 ... Stepping motor 13 ... Rotor 14 ... Metal joint

Claims (3)

[Claims] In the stepping motor (1) and the stepping motor (2), a stepping motor is provided.
The stator winding of each phase of the motor (1) and the stator winding of each phase of the stepping motor (2) are connected by electric wires, and the rotor (3) of the stepping motor (1) is rotated by an external force. A remote control method without a power supply, in which two stepping motors are directly connected by remote control without a power supply by rotating a rotor (4) of a stepping motor (2) only by an electromotive force generated by rotation. 2. The method of claim 1, wherein the number of phases is equal.
In the motor (1) and the stepping motor (2), the stator winding of each phase of the stepping motor (1) and the stator winding of each phase of the stepping motor (2) respectively correspond to the same phase. As described above, the rotor (3) of the stepping motor (1) is rotated by an external force, and the rotor (4) of the stepping motor (2) is rotated only by the electromotive force generated by the rotation. , Remote operation without power supply, remote control method with no power supply directly connected to two stepping motors 3. In a stepping motor (1) and a stepping motor (2), wherein the number of phases and the number of steps are equal to each other, the stator winding of each phase of the stepping motor (1) and the stepping motor -When the stator winding of each phase of the motor (2) is connected by electric wires so as to correspond to the same phase, and the rotor (3) of the stepping motor (1) is rotated by an external force, the rotation is generated. When the rotor (4) of the stepping motor (2) is rotated only by the electromotive force and the rotor (4) of the stepping motor (2) is rotated by an external force, only the electromotive force generated by the rotation is obtained.
Non-powered remote operation method in which two stepping motors are directly connected by rotating the rotor (3) of the stepping motor (1) bidirectionally and without power.