JPH1094291A - Method and circuit for driving five-phase stepping motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress torque ripple of a five-phase stepping motor. SOLUTION: Coils 1, 3 and 5 of phases A, C and E and coils 2, 4 of phases B, D are jointed together at one ends thereof while reversing the phase and the coils 1, 3, 5, 2 and 4 of phases A, C, E, B and D are connected, at the other ends thereof, with the positive pole + of a power supply 7 through transistors TAP, TCP, TEP, TBP and TDP and with the negative pole-of the power supply 7 through transistors TAN, TCN, TEN, TBN and TDN. A first phase coil group for exciting two or three phase coils in parallel at each step is connected in series with a second phase coil group for exciting other phase coils in parallel and the current of one of three phase coils being excited in parallel is subjected to duty control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a method and a circuit for driving a five-phase stepping motor.

[0002]

2. Description of the Related Art As a driving method of a five-phase stepping motor, there is a driving method called a star drive. A method of driving a five-phase stepping motor using this star drive is disclosed in Japanese Patent Publication No. 6-9440. Fig. 14
FIG. 1 is a drive circuit diagram of a five-phase stepping motor driven by a star drive disclosed in Japanese Patent Publication No. 6-9440. The group of the A-phase coil 1, the C-phase coil 3, and the E-phase coil 5 and the group of the B-phase coil 2 and the D-phase coil 4 are set in opposite phases to each other.
One ends of 3, 4, and 5 are commonly connected. Transistor
Each emitter of 11, 13, 15, 17, 19 is connected to transistor 12,
14, 16, 18, 20 each connected to each collector
Transistors 11 and 12, Transistors 13 and 14, Transistors 15 and 16, Transistors 17 and 18, Transistors
19 and 20 are connected in series, respectively, and transistors 11,
The collectors of 13, 15, 17, and 19 are connected to the positive terminal of the power supply 7, and the emitters of the transistors 12, 14, 16, 18, and 20 are connected to the negative terminal of the power supply 7.
It is connected to the. The other ends of the phase coils 1, 2, 3, 4, and 5 of A, B, C, D, and E phases are transistors 11 and 12,
The transistors 13 and 14, the transistors 15 and 16, the transistors 17 and 18, and the transistors 19 and 20 are respectively connected to respective connection intermediate points.

FIG. 15 is a schematic structural view of this five-phase stepping motor, in which a moving element 21 has 50 teeth and a stator.
22 is composed of ten main poles, and the teeth are arranged such that adjacent poles are shifted by 1/10 of the pitch of the teeth of the mover. The phase coil of each phase is configured by serially connecting phase coils wound so that two opposing main poles have the same magnetic pole.

Next, a driving method of the five-phase stepping motor will be described with reference to FIG. 16 showing an equivalent circuit of a driving circuit. For example, when the transistors 11, 14, 15, 18, and 19 are turned on and the other transistors are turned off, the current from the power supply 7 passes through the transistors 11, 15, and 19, as shown in FIG.
Supplied to the phase coil 1, the C phase coil 3, and the E phase coil 5,
Further, it is supplied to the B-phase coil 2 and the D-phase coil 4. Therefore, the group of the A-phase coil 1, the C-phase coil 3, and the E-phase coil 5 are excited in the positive direction, and the group of the B-phase coil 2 and the D-phase coil 4 are excited in the negative direction, respectively, and both groups are connected in series. Become a relationship. Now, assuming that the rated current of the motor is I, it is sufficient that the power supply 7 supplies an exciting current of 2 × I. Therefore, the A-phase coil 1, the C-phase coil 3, and the E-phase coil 5 have a current value of 2I / 3 (positive direction), a B-phase coil 2,
A current having a current value I (negative direction) is supplied to the phase coil 4.

[0005] When the coils of each phase are excited in this way, the five-phase stepping motor enters a five-phase excitation state. As shown in FIG. It faces in the same direction as the torque vector by the phase coil. Then, when the process proceeds to the next step, the transistor 11 that has been conducting until now becomes non-conducting, and FIG.
As shown in FIG. And C phase coil 3, E
The phase coil 5 has a current value I (positive direction), and the B-phase coil 2 and the D-phase coil 4 have current value I (negative direction). At this time, the resultant torque is directed to the center direction between the direction of the torque vector by the C-phase coil 3 and the direction of the torque vector by the D-phase coil 4, as shown in FIG. By alternately repeating such five-phase excitation and four-phase excitation, the mover 21 rotates clockwise in half steps. In the case of 5-phase excitation, the currents of the A-phase coil 1, the C-phase coil 3, and the E-phase 5 decrease. In the case of 4-phase excitation, the currents of the C-phase coil 3, E-phase coil 5 increase. The magnitude of the resultant torque vector is smaller in the case of five-phase excitation than in the case of four-phase excitation.

[0006]

As described above, according to the conventional method of driving a five-phase stepping motor, the magnitude of the combined torque vector is different between the case of the five-phase excitation that is alternately repeated and the case of the four-phase excitation. However, there is a problem that the output torque of the five-phase stepping motor pulsates, that is, a so-called torque ripple occurs, and a smooth rotational force cannot be obtained. In view of such a problem, the present invention changes the combination of the phase coils of the first and second phase coil groups and performs duty control on the current of one of the three phase coils connected in parallel. When the current is controlled to rotate the motor in 20 steps to rotate the direction of the resultant torque vector, no torque ripple occurs, a large minimum torque is obtained, and the total current of the phase coil is kept constant, It is an object of the present invention to provide a driving method and a driving circuit for a five-phase stepping motor that can obtain a larger torque than when voltage control is performed to keep a power supply voltage applied to a coil constant.

[0007]

The driving method of the five-phase stepping motor according to the first invention includes A-phase, B-phase, C-phase, and D-phase.
The phase coils of A, C, and E phases and the phase coils of B, D phases are reversed from each other, and one end of each phase coil is connected in common. In the method of driving a five-phase stepping motor that connects and disconnects the other end of each phase coil to a power supply and energizes the five phase coils to rotate at a predetermined number of steps, The series connection state of a first phase coil group composed of a parallel circuit of coils and a second phase coil group composed of a parallel circuit of two phase coils other than the phase coils of the first phase coil group is defined as The combination is different for each step, and the current is applied to the five phase coils, the current of one of the three phase coils connected in parallel is duty-controlled, and the current is generated by each phase coil. The direction of the combined torque that combines the torques is sequentially It characterized thereby of.

[0008] A method of driving a five-phase stepping motor according to a second aspect of the invention is characterized in that current control for controlling a total current flowing through the phase coil to a predetermined value is performed.

A driving method for a five-phase stepping motor according to a third aspect of the present invention is characterized in that a voltage control for controlling a voltage of a power supply applied to the phase coil to a predetermined value is performed.

A driving method for a five-phase stepping motor according to a fourth invention is characterized in that the number of steps is set to 20 and the motor is rotated.

According to a fifth aspect of the present invention, there is provided a driving method of a five-phase stepping motor, wherein a parallel circuit of three phase coils is connected to one pole of a power supply, and the current of one of the phase coils is duty-controlled. The phase coil whose duty is controlled in the next step is connected to the other pole of the power supply, and the duty of the current of the phase coil is controlled.

A drive circuit for a five-phase stepping motor according to a sixth aspect of the present invention has A-phase, B-phase, C-phase, D-phase, and E-phase phase coils, and A-phase, C-phase, and E-phase phase coils. , B-phase, and D-phase coils are in opposite phases to each other, one end of each phase coil is commonly connected, and the other end of each phase coil is connected to a power source via a switch means. In a drive circuit of a five-phase stepping motor that is driven to rotate, a first phase coil group in which three phase coils are connected in parallel and a second phase coil in which two phase coils other than the phase coils in the first phase coil group are connected in parallel. Means for controlling the switch means to change the combination of the phase coils for each step in the series circuit of the two phase coil groups, and duty control of the current of any one of the phase coils of the first phase coil group. Control the switch means Characterized in that it comprises means for.

In the present invention, when three phase coils are excited in parallel, torque is generated by each of the three phase coils in a different direction and equal in magnitude. When the two phase coils are excited in parallel, the direction of each phase coil is different, the magnitude is equal, and a torque greater than the torque obtained by exciting the three phase coils in parallel is obtained. If current or voltage control is performed to make the total current of the phase coil a predetermined value or the power supply voltage applied to the phase coil to a predetermined value, the current of one phase coil of the three phase coils excited in parallel When the duty control is performed, the current of the remaining two phase coils increases, the torque by the phase coils whose currents are duty controlled decreases, and the torque by the remaining two phase coils increases. The direction of the combined torque obtained by combining the torques generated by the five phase coils changes according to the direction of the torque generated by the phase coils whose currents are duty-controlled. If the combination of the phase coils is different for each step, the direction of the resultant torque changes for each step. Thus, the magnitude of the combined torque does not change for each step, no torque ripple occurs, and a smooth rotational force can be obtained.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing embodiments of the present invention. FIG. 1 is a drive circuit diagram of a five-phase stepping motor used for implementing the method of driving a five-phase stepping motor according to the present invention. A phase coil 1, C
One end of each phase coil is commonly connected such that the group of the phase coil 3 and the E phase coil 5 and the group of the B phase coil 2 and the D phase coil 4 have opposite phases. Each phase coil 1,
Marks attached to 2, 3, 4, and 5 indicate polarities. The other end of the A-phase coil 1 is connected to a connection intermediate point between the series-connected transistors TAP and TAN, and the other end of the D-phase coil 4 is connected to a connection intermediate point between the series-connected transistors TDP and TDN. Is done. The other end of the B-phase coil 2 has a transistor TBP and a transistor connected in series.
The other end of the E-phase coil 5 is connected to a connection intermediate point between the transistor TEP and the transistor TEN which are connected in series. The other end of the C-phase coil 3 is connected to a connection intermediate point between the transistors TCP and TCN connected in series. Transistors TAP, TDP, TBP
, TEP, and TCP are commonly connected to the positive electrode + of the power supply 7. Transistors TAN, TDN, TBN, TEN, TCN
Each emitter is connected to the negative electrode of the power supply 7 in common.

The phase coils 1, 2, 3, 4, and 5 of the A, B, C, D, and E phases are arranged in the same manner as the respective phase coils shown in FIG. Transistors TAP, TAN, TBP, TBN, TCP,
Each of TCN, TDP, TDN, TEP, and TEN is driven and controlled by a transistor drive control unit CTR.

Next, using the drive circuit of the five-phase stepping motor, the total current is reduced to 2I which is twice the rated current I of the phase coil.
Fig. 2, Fig. 3 and Fig. 4 showing the connection state of each phase coil consisting of 20 steps, and Fig. 2 showing the torque vector This will be described with reference to FIG.

First, the state of generation of torque will be described with reference to the connection state between step 1 and step 2 in FIG. Step 1 and Step 2 are composed of A-phase coil 1, B-phase coil 2, C-phase coil 3, D-phase coil 4, and E-phase coil 5.
Are the same. Now, when currents of the same current value are applied to the A-phase coil 1, the B-phase coil 2, and the D-phase coil 4,
As shown in FIG. 5 (a), the torque generated by each phase coil becomes a torque vector in the direction shown by a thick arrow, and their combined torque vector becomes the direction shown by an outline arrow. Here, the circled A in step 1
When the current of the phase coil 1 is reduced, the torque generated by the A-phase coil 1 decreases, and the combined torque vector approaches the direction of the torque vector by the C-phase coil 3 from the torque vector by the D-phase coil 4. Direction.

When the current of the A-phase coil 1 is set to zero, the resultant torque vector becomes the direction of the torque vector located at the center between the torque vector by the C-phase coil 3 and the torque vector by the D-phase coil 4. , In this case 4
It becomes a phase excitation state. Therefore, the combined torque vector is located at the center of the direction of the torque vector located at the center between the direction of the torque vector generated by the C-phase coil 3 and the direction of the torque vector generated by the D-phase coil 4, and the direction of the torque vector generated by the D-phase coil 4. When the current of the A-phase coil 1 is duty-controlled in the direction of the positioned torque vector, the resultant torque vector is shifted by 9 ° counterclockwise from the direction of the torque vector by the D-phase coil 4 as shown in FIG. In other words, the direction is indicated by a white arrow 9 ° clockwise from the direction of the torque vector generated by the C-phase coil 3 and the D-phase coil 4.

Next, the combined torque vector is located at the center between the direction of the torque vector generated by the D-phase coil 4 and the direction of the torque vector generated by the E-phase coil 5;
When the current flowing through the B-phase coil 2 is duty-controlled so that the direction of the torque vector located at the center of the direction of the torque vector by the D-phase coil 4 is changed, the direction of the combined torque vector becomes D as shown in FIG. The direction is 9 ° clockwise from the direction of the torque vector generated by the phase coil 4, that is, the direction indicated by a white arrow 9 ° counterclockwise from the direction of the torque vector generated by the D-phase coil 4 and the E-phase coil 5. Therefore, the directions of the resultant torque vectors shown in FIGS. 5B and 5C are different by 18 °, and the rotation angle for one step when the four-phase excitation and the five-phase excitation are performed as in the related art is obtained. Can be

Then, as shown in Table 1, the transistor TA
When P, TAN, TBP, TBN, TCP, TCN, TDP, TDN, TEP, and TEN are turned on and off, the connection state of each phase coil shown in FIGS. 2, 3, and 4 is obtained. K shown in Table 1 indicates a duty ratio for controlling the current flowing through the transistor. The on ratio is k (where 0 <k <1), and the off ratio is (1).
−k). Note that a blank column in Table 1 indicates that the transistor is off.

[0021]

[Table 1]

Next, a specific method for duty-controlling the current of the transistor will be described for the case where the current of the A-phase coil 1 in FIG. 5B is duty-controlled. This corresponds to Step 1 in the connection state of the phase coils shown in FIG. 2 and Step 1 in Table 1. The connection state of the phase coils at this time is as shown in FIG. The crosses in FIG. 6A indicate that the transistors TBN, TCP, TDN, and TEP are on. Note that transistors TBP, TCN
, TDP and TEN (not shown) are off. As described above, when the transistors TCP and TEP are turned on and the C-phase coil 3
And a first phase coil group in which the E-phase coil 5 and the E-phase coil 5 are excited in parallel, and the transistors TAN, TBN, TDN
Is turned on, and a second phase coil group in which the A-phase coil 1, the B-phase coil 2, and the D-phase coil 4 are excited in parallel is connected in series. The series circuit of the first phase coil group and the second phase coil group includes:
It is interposed between the positive and negative terminals of the power supply. Transistor TA
Turn off P and set transistor TAN to transistor TB
The period when N, TCP, TDN and TEP are on is set to 1,
k (0 <k <1), the total current flowing through the A-phase coil 1, the B-phase coil 2, and the D-phase coil 4 is controlled to 2I in the case of current control. The current is reduced by k times, that is, 0 <k <1, and the current of the B-phase coil 2 and the D-phase coil 4 increases by the reduced amount. Then, the relationship between k and the current I is as shown in an equation described later.

Next, the case where the duty of the current of the B-phase coil 2 in FIG. 5A is controlled will be described. This corresponds to step 2 in the phase coil connection state shown in FIG. 2 and step 2 in Table 1. The connection state of the phase coils at this time is as shown in FIG. The crosses in FIG. 6B indicate that the transistors TAN, TCP, TDN, and TEP are turned on, respectively. Note that transistors TAP, TCN, TDP, TE
N is off.

When the transistor TBP is turned off and the transistor TBN is turned on for a period of k (0 <k <1), where the period during which the transistors TAN, TCP, TDN, and TEP are turned on is set to 1, the current control is performed. In case A phase coil 1,
Since the current flowing through the B-phase coil 2 and the D-phase coil 4 is controlled to 2I, the current of the B-phase coil 2 increases by k times, that is, since 0 <k <1, the current decreases. The currents of the phase coil 1 and the D-phase coil 4 increase. The relationship between k and the current I is as shown in the formula described later.

When each transistor is driven in the pattern shown in Table 1, the resultant torque vector sequentially changes in 20 steps from step 0 to step 19 as shown in FIGS. 7, 8, and 9. Then, when the value of k and the magnitude T of the resultant torque when the direction of the resultant torque vector changes clockwise by 9 ° with respect to the direction of the torque vector by the D-phase coil 4 are calculated, the following results are obtained.

FIG. 10 is an explanatory diagram of the current of each phase coil, and FIG. 11 is a vector diagram showing a torque vector corresponding to the current of each phase coil. In FIG. 10, the current of each phase coil in which two phase coils are excited in parallel is i ₁ , the current of the phase coil in which three phase coils are excited in parallel is i ₂ , and the total current is 2I
And Here, since five phase coils are connected during the period of k, and four phase coils are connected during the period of (1-k), i ₁ = I (1) i ₂ = (2 / 3) kI + (1−k) I (2) = {1− (1/3) k} I (3)

First, the value of k at which the rotation angle β becomes 9 ° is determined. (2/3) Iksin (4 × 18 ° + 9 °) + i ₁ sin (2 × 18 ° + 9 °) + i ₂ sin 9 ° = i ₁ sin (18 ° + 9 °) + i ₂ sin (3 × 18 ° + 9 ° ) ... (4) (sin 63 °-sin 9 °) i ₂ + (sin 27 °-sin 45 °) i _1- (2/3) Iksin 81 ° = 0 ... (5) (0.8910-0.1564) i ₂ + (0.4540-0.7071) ) i ₁ − (2/3) Ik 0.9877 = 0 (6) 0.7346 {1− (1/3) k} −0.2531−0.6585k = 0 (7) 0.4815−0.9034k = 0 (8) Ｋ k = 0.5330… (9)

The magnitude T of the combined torque at this time is obtained. Tα (2/3) Ikcos (4 × 18 ° + 9 °) + i 1 cos (2 × 18 ° + 9 °) + i 2 cos 9 ° + i 1 cos (18 ° + 9 °) + i 2 cos (3 × 18 ° + 9 °) = (cos63 ° + cos9 °) i 2 + (cos27 ° + cos45 °) i 1 + (2/3) Ikcos81 ° ... (10) = (0.4540 +0.9877) i 2 + (0.8910 +0.7071) i ₁ + (2/3) Ik 0.1564 (11) = 1.417 ｛1- (1) k｝ I + 1.5981I + 0.1043kI (12) = (1.4417-0.4806k + 1.5981 + 0.1043k) I ... ( 13) = (3.0398−0.3763k) I = (3.0398−0.3763 × 0.5330) I = 2.8392I (14) ∴T = 2.8392I (15) Therefore, the value of k: 0.5330 The magnitude of the combined torque T: 2.839 I (four digits after the decimal point are rounded).

As shown in Table 1, the transistors TAP,
When TAN, TBP, TBN, TCP, TCN, TDP, TDN, TEP, TEN are turned on and off, the combined torque vector changes from step 0 to step 19 in FIGS.

Next, the case of voltage control for controlling the power supply voltage applied to each phase coil to a constant value will be described. The drive circuit of the five-phase stepping motor is the same as in FIG. 1, and the pattern for driving each transistor on and off is the same as in Table 1. The torque vectors from step 0 to step 19 are the same as in FIGS. 7, 8, and 9. FIG. 12 is an explanatory diagram of the voltage of each phase coil, and FIG. 13 is a vector diagram showing a torque vector corresponding to the voltage of each phase coil. In FIG. 12, the current of a phase coil in which two phase coils are excited in parallel is i ₁ , the resistance of each phase coil is R, and the current of a phase coil in which three phase coils are excited in parallel is i ₂ , The resistance of each phase coil is R, and the power supply voltage is (5/3) V. Here, during the period of k, five phase coils are connected, and (1)
During the period of −k), four phase coils are connected, so i ₁ = (5/6) ｛(V / R) (1-k)｝ + (V / R) k (16) = (1 / 6) (5 + k) (V / R) (17) i ₂ = (5/6) ｛(V / R) (1-k)｝ + (2/3) (V / R) k (18) ) = (1/6) (5-k) (V / R) (19) where k = 0, i ₁ = (5/6) (V / R) (20) i ₂ = (5) / 6) (V / R) (21) When k = 1, i ₁ = (2/3) (V / R) (22) i ₂ = (V / R) (23)

First, a value of k at which the rotation angle β becomes 9 ° is obtained. (2/3) (V / R) k sin (4 × 18 ° + 9 °) + i ₁ sin (2 × 18 ° + 9 °) + i ₂ sin 9 ° = i ₁ sin (18 ° + 9 °) + i ₂ sin (3 × 18 ° + 9 °) (24) (sin 63 ° -sin 9 °) i ₂ + (sin 27 ° -sin 45 °) i _1- (2/3) (V / R) ksin 81 ° = 0 (25) (0.8910 −0.1564) i ₂ + (0.4540 −0.7071) i ₁ − (2/3) (V / R) k × 0.9877 = 0… (26) 0.7346 × ｛(1/6) (5-k)｝ −0.2531 × ｛(1/6) (5 + k)｝ −0.6585k = 0… (27) 0.6122−0.1224k−0.2109−0.0422k−0.6585k = 0… (28) 0.8231k = 0.4013… (29) ｋ k = 0.4875… (30)

The magnitude T of the combined torque at this time is obtained. T∝ (2/3) (V / R) k cos (4 × 18 ° + 9 °) + i ₁ cos (2 × 18 ° + 9 °) + i ₂ cos 9 ° + i ₁ cos (18 ° + 9 °) + i ₂ cos ( 3 × 18 ° + 9 °) ... (31) = (cos63 ° + cos9 °) i 2 + (cos27 ° + cos45 °) i 1 + (2/3) (V / R) kcos81 ° ... (32) = ( 0.4540 +0.9877) i ₂ + (0.8910 +0.7071) i ₁ + (2/3) (V / R) k × 0.1564… (33) = 1.4417 × ｛(1/6) (5-k)｝ ( (V / R) + 1.5981 × ｛(1/6) (5 + k)｝ (V / R) + 0.1043k (V / R) ... (34) = (1.2014−0.2403k + 1.3318 + 0.2664k + 0.1043k) (V / R) ... (35) = (2.5332 + 0.1304k) (V / R) = (2.5332 + 0.1304 x 0.4875) (V / R) ... (36) = (2.5332 + 0.0636) (V / R) = 2.597 (V / R) ... (37) Ｔ T = 2.597 (V / R) ... (38) Therefore, the value of k: 0.4875 The magnitude of the synthetic torque T: 2.597 (V / R) (4 decimal places)
The digits are rounded off).

When the five-phase stepping motor is driven by repeating the five-phase excitation as in the present invention, and when the five-phase stepping motor is driven by alternately repeating the five-phase excitation and the four-phase excitation as in the related art. The results shown in Table 2 were obtained by comparing the current control with the current control. Then, when the five-phase excitation was repeated, it was confirmed that there was no difference in the magnitude of the combined torque.

[0034]

[Table 2]

It has also been confirmed that the combined torque by the driving method of the present invention can be obtained with a magnitude greater than the magnitude of the combined torque when the conventional five-phase excitation is performed. On the other hand, when the voltage control was compared, the results shown in Table 3 were obtained. Then, it was confirmed that the same result as that obtained by the current control was obtained.

[0036]

[Table 3]

As apparent from Tables 2 and 3, the magnitude of the resultant torque generated is constant in each step, and no torque ripple occurs. Further, a torque larger than the minimum torque when conventional four-phase excitation and five-phase excitation are performed is obtained, and a large rotatable torque is obtained.

[0038]

As described in detail above, the present invention repeats five-phase excitation in which the five phase coils are energized, so that the magnitude of the combined torque in each step is constant, there is no torque ripple, and the rotor is smooth. Can be rotated. Further, a rotatable torque larger than the torque obtained when the four-phase excitation and the five-phase excitation are alternately performed as in the related art can be obtained. Furthermore,
As for the minimum torque, a torque larger than the torque obtained by performing the four-phase excitation and the five-phase excitation as in the related art can be obtained.
Furthermore, when the current control is performed, an excellent effect that the driving performance of the five-phase stepping motor can be further improved, such as a larger torque can be obtained when the voltage control is performed, is achieved.

[Brief description of the drawings]

FIG. 1 is a drive circuit diagram of a five-phase stepping motor used for implementing a method of driving a five-phase stepping motor according to the present invention.

FIG. 2 is a connection state diagram of phase coils in each step.

FIG. 3 is a connection state diagram of phase coils in each step.

FIG. 4 is a connection state diagram of phase coils in each step.

FIG. 5 is a vector diagram of torque generated by each phase coil.

FIG. 6 is a circuit state diagram of a drive circuit when controlling the current of the A-phase coil or the B-phase coil.

FIG. 7 is a diagram showing a change of a combined vector for each step.

FIG. 8 is a diagram showing a change in a combined vector for each step.

FIG. 9 is a diagram showing a change of a combined vector for each step.

FIG. 10 is an explanatory diagram of current of each phase coil in current control.

FIG. 11 is a vector diagram showing a torque vector corresponding to a current of each phase coil.

FIG. 12 is an explanatory diagram of current and resistance of each phase coil in voltage control.

FIG. 13 is a vector diagram showing a torque vector corresponding to a voltage of each phase coil.

FIG. 14 is a drive circuit diagram of a five-phase stepping motor using a conventional drive method.

FIG. 15 is a schematic configuration diagram of a five-phase stepping motor.

FIG. 16 is an equivalent circuit diagram of a drive circuit.

FIG. 17 is a vector diagram showing a torque vector by each phase coil.

[Explanation of symbols]

1 phase A coil 2 phase B coil 3 phase C coil 4 phase D coil 5 phase E coil 7 power supply TAP, TAN, TBP, TBN, TCP, TCN, TDP, TDN, TEP, TEN
Transistor CTR Transistor drive controller

Claims (6)

[Claims] An A-phase, a B-phase, a C-phase, a D-phase, and an E-phase coil are provided, and an A-phase, a C-phase, and an E-phase coil and a B-phase and a D-phase coil are mutually connected. The phases are reversed. One end of each phase coil is connected in common, and the other end of each phase coil is connected to a power source and disconnected. A method of driving a five-phase stepping motor to be driven, comprising: a first phase coil group including a parallel circuit of three phase coils; and a second phase coil group other than the phase coils of the first phase coil group.
The series connection state of the second phase coil group composed of the parallel circuits of the three phase coils is repeated for each step with different combinations of the phase coils, and the current is supplied to the five phase coils,
A five-phase stepping motor characterized in that the current of one of the three phase-connected phase coils is duty-controlled to sequentially change the direction of a combined torque obtained by combining the torques generated by the phase coils. Drive method. 2. The method of driving a five-phase stepping motor according to claim 1, wherein current control for controlling a total current flowing through the phase coil to a predetermined value is performed. 3. The method of driving a five-phase stepping motor according to claim 1, wherein voltage control for controlling a voltage of a power supply applied to the phase coil to a predetermined value is performed. 4. The method of driving a five-phase stepping motor according to claim 1, wherein the number of steps is set to 20 and the rotation is performed. 5. A parallel circuit of three phase coils is connected to one of the poles of a power supply, the current of one of the phase coils is duty-controlled, and the duty of the phase coil is controlled in the next step. 2. The driving method for a five-phase stepping motor according to claim 1, wherein the duty of the phase coil current is controlled by being connected to the other pole of the stepping motor. 6. A phase-A, B-phase, C-phase, D-phase, and E-phase phase coil, and the A-phase, C-phase, and E-phase phase coils and the B-phase and D-phase phase coils are mutually connected. One end of each phase coil is connected in common, the other end of each phase coil is connected to a power supply via a switch means, and the phase coil is rotated in a predetermined number of steps.
In a drive circuit for a phase stepping motor, a first phase coil group in which three phase coils are connected in parallel, and a second phase coil in which two phase coils other than the phase coils in the first phase coil group are connected in parallel Means for controlling the switch means to change the combination of the phase coils for each series circuit of the group, and the switch means for duty-controlling the current of one of the phase coils of the first phase coil group For controlling the driving of the five-phase stepping motor.