JPH04217899A - Method for driving pentagon chopper of five-phase stepping motor - Google Patents

Abstract

PURPOSE:To realize the 4-5 driving of a five-phase stepping motor. CONSTITUTION:The 4-5 driving of a five-phase stepping motor can be realized by pentagonally connecting five excitation windings (1), (2), (3), (4), and (5) in the order of (2), (4), (1), (3) and (5) so that a short-circuited non-excitation phase can be generated at every other one-phase excitation winding and selecting the flowing-in output point of an excitation current at each excitation step so that an electric current can flow to two sets of two-phase excitation windings connected in series on both sides of a non-excitation phase when the non-excitation phase is generated and to two and three windings respectively connected in series when no non-excitation phase is generated.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for driving a pentagon chopper using a five-phase stepping motor.

0002

[Prior Art] As a method for driving a five-phase stepping motor consisting of a stator wound with five excitation windings (hereinafter referred to as windings) and a rotor equipped with permanent magnet poles, a conventional pentagon chopper driving method has been used. It is used. As shown in Figure 1, this driving method connects the ends of five windings (1) and (2) to each other, and connects the beginnings of windings (2) and (3) indicated by "●" to each other. Then, connect the ends of windings (3) and (4), connect the beginnings of windings (4) and (5), and connect the end of winding (5) and winding (1). The windings are connected to each other at the beginning of the windings, and the windings are connected in series in the order of (1), (2), (3), (4), and (5). Then, these windings are subjected to the excitation sequence shown in FIG. 2 using 10 transistor switching elements Tr1 to Tr10, and each winding is subjected to one cycle of FIGS. 3(a) to (j) for each excitation step. They are driven by passing excitation currents through them. That is, when rotating the rotor in the CW direction in FIG. 2, firstly, as shown in FIG. By turning on the switching elements Tr2 and Tr6 connected to the negative polarity terminal (-), the "〇" point shown in FIG.
Four windings (2
) (3), (4), and (5), apply a current in the direction of the arrow in the figure. Next, switching elements Tr9, Tr3, Tr8, Tr6,
Turn on Tr2 and turn on four windings (1) (3) (4) (5
), a current is applied in the direction of the arrow in FIG. 3(b). Next, the winding (1
) (2), (4), and (5) in the direction of the arrow shown in Fig. 3(c), and in the windings (1), (2), (3), and (5) a current in the direction of the arrow in Fig. 3(d). , after passing the current in the order shown in Figure 3(e) → (q) →..., the switching element Tr in Figure 1 is finally connected.
7.Turn on Tr3, Tr10, Tr6, and Tr2, and apply current in the direction of the arrow shown in Figure 3(j) to four windings (1
), (2), (3), and (4), and the potential relationships at the current inflow and outflow points A, B, C, D, and E are summarized as shown in Table 1.

[Table 1] In this pentagon drive system, the maximum output is always exerted because it is four-phase excitation in which current is always passed through the windings of four of the five phases, that is, 4-4φ full-step excitation. Moreover, as shown in Fig. 3, the current inflow point (marked with "〇" in the figure) is present at each excitation step.
point) or the current outflow point (point "●" in the figure) is always located at both ends of a different one of the five phases. Therefore, for example, as shown in Figure 3(a), current inflow points are created at both ends.
In the winding (1) indicated by “×”, the switching element T
When r7 and Tr9 are turned on, a short circuit occurs, or when a current outflow point is created as shown in Figure 3(b), both ends of the winding (2) are short-circuited, and the winding does not occur in one cycle. The wires (1), (2), (3), (4), and (5) become short-circuited in this order. For this reason, due to the short circuit of the induced voltage generated in the windings at this time, a current flows in a direction to control the rotor, thereby performing well-known dynamic braking. Therefore, there is an excellent advantage of applying excellent damping to the rotor and effectively eliminating the resonance phenomenon without performing feedback control. In addition to this, in the case of other drive systems, such as the standard drive system, 20 control transistor switching elements are required in principle as shown in FIG.
This provides an excellent advantage in terms of circuit configuration that only 10 parts of 2 are required.

0003

[Problem to be Solved by the Invention] However, on the other hand, as mentioned above, even though there are five input/output points of the power supply, in each excitation step, both ends of the windings of different phases are always short-circuited with the same potential. 4- from making the state
It has the disadvantage that it is limited to 4φ excitation and cannot perform so-called 4-5φ excitation for half excitation as in the standard method. In addition, when such a driving method is adopted, for example, as shown in (a) in Figure 3, there are two points (A, B, and E in the figure) where current for two phases flows, and points (A, B, and E in the figure) where only one phase current flows. C, D) in the figure, and two phases or one
The points at which phase currents flow change one after another during the excitation process, as shown in FIGS. 3(a) to (j). For this reason, the configuration of the control circuit becomes complicated and at the same time it requires a large power supply capacity, which is economically disadvantageous compared to other drive systems. In addition, when looking at the changes in potential at the current inflow and outflow points along the excitation sequence, the control transistor switching element has a rapid potential change of H-L-H-L with an off time as shown in Table 1 above. Transistors are used under harsh conditions because they are subjected to frequent repeated exposure without any damage. Therefore, it is necessary to take measures to avoid damage to the transistors, which, together with the complication of the circuit for supplying the current, significantly complicates the circuit configuration. For this reason, although it is clear that this drive method is superior to other drive methods depending on the conditions of use, it is currently hardly put into practical use. The present invention has been made for the purpose of providing a pentagon driving method capable of driving 4-5φ.

0004

[Means of the present invention for solving the problems] The present invention is as shown in FIG.
As is clear from the comparison diagrams of the conventional 4-4φ excitation system and the connection of the present invention shown in a) and (b), in the conventional system, the winding changes from (1) to (2) as shown in Fig. 5(a). )→(3)→
Connected in the order of (4) → (5), and windings (1) (2)
) are at the end of the volume (points that are not "●" points in the figure), (2) (3)
(3) and (4) are the ends of the winding, (4) and (5) are the beginnings of the winding, and (5) and (1) are the beginning of the winding and the end of the winding are in series. It is connected to the. On the other hand, in the present invention, as shown in FIG. 5(b), the winding is
→(4)→(1)→(3)→(5) or (1)→(3
) → (5) → (2) → (4), and windings (2) and (4) are connected at the beginning and end of winding, (4) and (1) are connected at the beginning of winding, and (1) ( 3) is the end of the winding and the beginning of the winding, (3) (5) is the end of the winding and the beginning of the winding, (5) (2) is the end of the winding and the end of the winding are connected to each other, and the excitation winding (2) (4) (1) (3) In addition to connecting the pentagons in the order of (5), a short-circuited non-excited phase occurs every other excitation winding of one phase, and when a non-excited phase occurs, the series windings of the two phases sandwich this. The control transistor switching element is controlled on and off so that the excitation current flows through the two sets, and when the non-excitation phase is absent, the excitation current flows through the two series windings and the series excitation windings of the three phases. This is characterized by selecting "〇" and the current outflow point "●".

[0005]

[Function/Effect] When the current flows from the end of the winding to the start of the winding, it is + (plus), when the current flows from the beginning of the winding to the end of the winding, it is - (minus), and the winding that generates torque is (1
) (3) (5) (2) (4) If the current inflow and outflow points are initially selected at points C, A, and E as shown in Figure 6 (a), (a) becomes (+2) ( +3) (+4) (+5), and the torque acts additively. Next, as shown in Figure 6 (a1), by selecting the current inflow point as point C and the current outflow point as point A, the series circuit of windings (5) and (3) and the winding (2
) (4) If a series circuit of (1) is formed and a current of the required excitation polarity is passed through all five phases, (a1 ) becomes (+2) (+3) (
+4) (+5) (-1), and the torque acts additively. Next, as shown in FIG. 6(b), if current flows through the four phases other than the short-circuited phase (2) at the current inflow and outflow points as in FIG. 6(b),
b) becomes (+3) (+4) (+5) (-1), and the torque acts additively. Next, as shown in Fig. 6 (b1), the current inflow and outflow points are selected as D and A, and the winding is performed. Forming a series circuit of wires (2), (5), and (3) and a series circuit of winding wires (4) and (1), 5
If current flows through all phases, (b1) becomes (+3) (+4)
(+5) (-1) (-2), and the torque acts additively. From Figure 7 (c) below, (c) is (+4) (+5
)(-1)(-2), (c1) is (+4)(+5)
(-1) (-2) (-3), (d) is (+5) (-1
)(-2)(-3), (d1) is (+5)(-1)(
-2) (-3) (-4), (e) is (-1) (-2)
(-3)(-4), (e1) is (-1)(-2)(
-3)(-4)(-5), and the five-phase winding is shown in Figure 5(b).
), it is possible to flow currents of required polarity in the order of 4φ→5φ→4φ→5φ, which always add torque. Therefore, 4-5φ excitation is possible and half drive can be realized. Also, the potential changes at the current inflow and outflow points at this time are as shown in Table 2, and as with 4-4φ excitation, H
Since there is always an off time between the level and the L level, the 4-5φ drive bipolar pentagon chopper driving method can be realized while obtaining the effects of the conventional motor, such as eliminating the need for a transistor protection circuit.

[Table 2]

[Brief explanation of the drawing]

FIG. 1 is a winding connection diagram of a conventional method.

FIG. 2 is an excitation sequence diagram of a conventional method.

FIG. 3 is an excitation state diagram for each step of the conventional method.

FIG. 4 is a standard type switch circuit diagram.

FIGS. 5(a) and 5(b) are comparison diagrams of winding connections in the prior art and in the present invention.

FIG. 6 is an excitation state diagram for each step in 4-5φ excitation according to the present invention.

[Explanation of symbols]

(1) Winding (2) Winding (3) Winding (4) Winding (5) Winding Tr1 to Tr10 Control transistor switching elements A, B, C, D, E Current inflow or outflow point.

Claims (1)

[Claims] Claim 1: The ends of excitation windings (1) and (2) are connected to each other, the beginnings of excitation windings (2) and (3) are connected to each other, and excitation windings (3) and (4) are connected to each other. ), connect the ends of each volume,
Connect the beginnings of excitation windings (4) and (5), and connect the end of excitation winding (5) and the beginning of excitation winding (1) to form (1), (2), 3) Excitation windings connected in series in the order of (4) and (5) and connected in a pentagonal manner are provided on the stator, and the outflow and inflow points of the excitation current at each excitation step are selected by turning on and off the switching elements. While short-circuiting the excitation windings of the phases in the order of (1), (2), (3), (4), and (5), flow the excitation current with the required polarity necessary for rotation to the excitation windings of the other four phases. In the pentagon chopper driving method for a five-phase stepping motor, the beginning of the excitation winding (2) and the end of the excitation winding (4) are connected to each other, and the excitation windings (4) and (1) are connected to each other. The winding ends of the excitation winding (1) and the excitation winding (3) are connected together, and the end of the excitation winding (3) and the excitation winding (5) are connected together.
), connect the ends of the excitation windings (5) and (2), and connect the excitation windings (2) (4) (1) (
3) In addition to connecting the pentagons in the order of (5), a short-circuited non-excited phase occurs every other excitation winding of one phase, and when a non-excited phase occurs, the series windings 2 of the two phases are sandwiched between them.
The inflow and outflow points of the excitation current at each excitation step are selected so that the excitation current flows through the set, and when the non-excitation phase does not occur, the excitation current flows through the two series windings and the series excitation windings of the three phases. A pentagon chopper driving method for a 5-phase stepping motor characterized by 4-5 phase excitation.