JPS59204497A - Stepping motor - Google Patents

Abstract

PURPOSE:To enable to rotatably drive by a microstep and to readily stop even in the course of a basis step angle by storing the amplitude data of sinusoidal and cosine waves in an ROM. CONSTITUTION:A binary counter 6 which counts a clock pulse whenever the clock pulse is inputted and outputs digital data made of a plurality of bits is provided and digital data outputted from the counter 6 is address-inputted. The first and second ROMs 7, 8 which output amplitude data of sinusoidal and cosine waves varying in response to the address input are provided, and the exciting currents of stator coils 2, 3 are controlled by the amplitude data outputted from the ROMs 7, 8.

Description

[Detailed Description of the Invention] [Technical Field] The present invention provides a stellar hinge that can be rotated with a microsteel angle smaller than the rotation angle of one step.
It is about evening.

[Background technology]

FIG. 1 shows a schematic diagram of a conventional 4-way-style stele hinge Tanabata, and FIG. 2 shows an excitation system for the stele hinge motor. In FIG. 1, (1) is a permanent magnet rotor, which is magnetized alternately into north and south poles at equal angular intervals in the circumferential direction.

(2) and (3) are stator coils,
It has a coil, forming A-phase to D-phase coils. As shown in Fig. 2, the permanent magnet 〇 -Yu (1) can be rotated. However, in FIG. 2, it is shown that the voltage is energized when it is at H level.

The rotation angle of one step of such a standard Step Hinge Tanabata is usually 1.8° or 3.6°, but according to the principle shown below, one step can be rotated by N (N is 2 or more). can be divided into integers). Figure 3 (a) shows the principle of driving one stage by dividing it into N in vector form, and 1 to ID indicate the current vectors flowing to phases A to D, respectively. There is. Now, if we consider the case where the basic stellar angle between the human phase and the B phase is divided into N, each current of the adjacent A phase and B phase IAIIB i, IA''
+ IB's-Its, that is, 14-Iainθ, IB's Iω8θ (however, θ-90° to 00), and it is understood that the value of θ can be divided into N parts. Figure 3(b) shows the excitation current IA of phases A to D when using this excitation method.
- ID waveform is shown. However, the waveforms of the sine wave and cosine wave are actually staircase waves for each division step, as shown in FIG. In the excitation method shown in Figure 3(b), ℃-do DA, AB, etc. means that the D phase and A phase, A phase and B phase, etc. are excited at the same time, respectively. It is shown that. Further, in FIG. 3(b), the square wave driving waveform is shown for the case where driving is performed for each basic step angle.

Next, FIG. 5 shows a schematic configuration diagram of a conventional two-phase Stephink Tanabata, and FIG. 6 shows an excitation system for the Tanabata. In Figure 5, +11 is a permanent magnet -
9, (4) and (5) are stator coils. 0 Coil (4) constitutes the human phase, and coil (5) constitutes the B phase, and is designed to be excited in both positive and negative polarities. . In such a two-phase Stella hinge motor, as shown in Figure @6, first the human phase and B phase are alternately excited positively, and then the human phase and B phase are alternately excited negatively. , to rotate the permanent magnet rotor m. The rotation angle of one step of the permanent magnet rotor (1) is, for example, 3.6° if the number of poles is 100, and 1.8° if the number of poles is 200. As in the case of the four-phase type described above, even in the case of the two-phase Stella Hinge Tanabata, one step is further N (N is an integer of 2 or more).
It is possible to drive in microsteps divided into N. Figures 7(a) and 7(b) show the principle. Figure 7(a) is a vector diagram of exciting currents IA and IB, and Figure 7(b) is a waveform diagram showing changes in each exciting current. This shows that. As can be seen from the vector diagram in FIG. 7(a), each current IA of the human phase and B phase.

IB is IA" + IB' wm I!, that is, iA
smIatnθ, l1s=Idθ, the value of θ is 90
If ° is divided into N, then 1/N of the basic step angle
This allows Tanabata to be rotated in microsteps. Note that the waveforms of the sine wave and cosine wave in FIG. 7(b) are actually staircase waves for each division step as shown in FIG. 4. Further, in FIG. 7(b), the square wave driving waveform is shown for the case where driving is performed for each basic step angle.

However, in such a conventional example, ij:IA-IIJI
In order to generate excitation currents such as IO and IB ■ (2) θ, it is necessary to provide, for example, a sine wave oscillation circuit and a cosine wave oscillation circuit whose oscillation phases are different by 90 degrees, and to microstep their oscillation outputs. However, it was unsuitable for applications where a step speed of 7 degrees Celsius was stopped in the middle of the basic step angle.

[Purpose of father-in-law]

Tree brother F! A was made in view of the above points, and can be rotated in microsteps that are even smaller than the rotation angle of 1 step, and can be easily stopped even in the middle of the basic step angle. The purpose of the present invention is to provide a Steppingi Tanabata festival that can be enjoyed by people.

[Disclosure of the invention]

The structure of the present invention will be described below with reference to the illustrated embodiment. As shown in FIGS. (1), two or more stator coils +21 fill that rotationally drive this permanent magnet rotor fl), and
A binary counter (6) performs a counting operation every time a pulse is input and outputs digital data consisting of multiple pits, and the digital data output from the binary counter (6) is used as an address input. The first and second ROMs each output amplitude data of a sine wave and a cosine wave that change accordingly. Each stator coil +21 fi
A binary counter (6
) is a combination of a large number of fritz pulses connected in cascade, and is used to divide and count the riD and riff pulses. FIG. 10 is an operating waveform diagram of the binary counter (lO).
The output of the digit is reversed at the falling edge of the zero pulse,
Also, the output of the 1st digit is inverted at the fall of the output of the 0th digit, and as the output progresses to the 2nd and 3rd digits, the cycle becomes 2.
It will increase by two times. This binary counter (6
) is output from 0th digit to 6th digit 7hi% lead 4! l
;9 and 4-9 are given as address inputs for ROM (7) and ROM +8+. These ROMs (7)
and ROM + 811i EPROM, which outputs 8-bit data Do to D, which have been programmed in advance, to the input addresses Ao to A6 as shown in FIG. 11. ROM + 7) for A and C phases It outputs sine wave amplitude data according to the address input, and the B and C phase ROM +8) outputs cosine wave amplitude data, which has a phase difference of 90 degrees from the sine wave amplitude data, to the address input. It is output accordingly.However, each ROM +
71 (The 7th bit of 81 indicates the sign, and the amplitude data of the sine wave and cosine wave is output from the θ bit to the 6th hit. 0 Therefore, the maximum value of the amplitude data is 127
, the minimum value is -127. On the other hand, the binary counter (6)
Since the output of is 7 hits, the address range of ROM (7) (81 is θ~127.Here, address O~
32 digits, corresponding to 00 to 90°, which is an argument of trigonometric functions,
Addresses 32-64.64-96.96-128 are 90°-180°, 180°-270°, and 270°, respectively.
ROM for sine wave generation (data at the 7th bit of 71 corresponds to addresses 0 to 3600)
When the address is 63, the key is 1, and when the address is 64 to 127, the key is 0. Also, the 7th bit data of ROM +81 for cosine wave generation is 0 when address θ~31.96~127.
, 1 for addresses 32-95. Also, when the address input is O, ROM (71 (Ill 0 hit ~
Data 0 and data 127 are output to 6 heats and 100, respectively, and when the address input is 32, ROM +71 (
8), the 6th bit of the O pitle contains data 12.
7. Data 0 is output, and the same goes for each address input
Correspondingly, absolute value data of 127Xain (128X/360) is converted into an integer and output from the 6th bit of the θ pittle of ROM +7'l, and 127Xoo*( 128X/36
0) is converted into an integer and output. The output of the 7th bit of each ROM fsl is connected to the switching control input of the analog switch f9tio) and is used to switch between the A phase and the C phase, and between the B phase and the D phase. Also, the output of the θ bit to the 6th bit of each ROM+71(8) is the D/A cosciverter C11)(
Each output of the 0DZA converter (+1) α, which is input to the 0DZA converter (+1) α and converted into an analog 0 voltage value, is amplified by an amplifier consisting of an operational amplifier, etc. OA input to driver vehicle
The C-phase driver (1) excites the stator coil (2), and drives the power transistors Q1 and Q1 according to the input signal S1. The human phase and C phase of the coil (2) are respectively excited. Also, the BD phase driver (I smell is the stator coil (3)
) is used to excite the input signal Ss.

S4, the power transistors Qs and Qa are driven, and the power transistors Q1. The B phase and D phase of the stator coil (3) are each excited by the current flowing through the Q coil. FIG. 13 is an explanatory diagram of the operation of the Kino example, and shows the D/A converter (u) (12)
The relationship between the output waveform of , the control Jft L signal waveform for controlling the analog zero switch (91tlo), and the output waveforms of the A-phase to D-phase is shown, respectively. However, each trigonometric function waveform such as a sine wave or a cosine wave is actually a staircase waveform as shown in FIG. However, in the present invention, since each amplitude data of the sine wave and cosine wave is created using ROM +7) and (8), the amplitude data of the sine wave and cosine wave is created using the oscillation circuit power. This is particularly convenient when stopping midway compared to when creating @data. In addition, R
It can be changed by simply rewriting the data in OM +7) and (8).
It can be changed freely by simply replacing M. In the operation explanatory diagram of FIG. 13, the binary link (6)
The oscillation period of the clock pulse input to the D clock pulse is set constant, but if the oscillation period of the D clock pulse is made longer,
The rotational speed of the Stellar Pink Tanabata is correspondingly slower, and if the D-turn pulse is applied one pulse at a time, the Stella Hinge Tanabata will rotate one microstep at a time.

Next, FIG. 14 is a circuit diagram showing another embodiment of the present invention. In the case of an unimplemented example, a stator living tanabata is constructed in which a permanent magnet regulator (11) is driven by a two-phase stator coil +41 fi+ of human phase and B phase as shown in the conventional example in FIG. Figure 15 is an explanatory diagram of the operation of an unimplemented example, and shows the clock pulse, each output voltage waveform of the D/A converter (α), and the A phase. and B-phase current waveforms.As is clear from FIG. 15, in the case of a two-phase Steppy J motor, each D/A converter (11
) (+2 offset is adjusted to obtain output in both positive and negative directions. To each D/A connector Qt) (
The output of 12 is inputted to the A-phase driver and the B-phase driver H through the amplifier 03) α→.
4) and (5) are arranged so that they are excited in both positive and negative polarities.

〔Effect of the invention〕

The present invention is constructed as described above, and includes a permanent magnet rotor that is alternately magnetized to N and S poles at equal angular intervals in the circumferential direction, and two permanent magnet rotors that rotationally drive this permanent magnet rotor. The stator coil described above, a binary carinter that performs a counting operation every time a clock pulse is input and outputs digital data consisting of a plurality of pins, and the digital data output from the binary carinter are used as address inputs. , first and second ROMs that respectively output sine wave and cosine wave amplitude data that change according to address input, and each stator is controlled by the amplitude data output from the first and second ROMs. Since it is designed to control the excitation current of the coil, 01 is input to the binary counter.
By stopping the repulse, the stepping position 7-
The effect is that the rotation of the clock can be stopped freely at any microstep in the middle of one step.When the supply of macro clock pulses is resumed the next day, one micro clock pulse corresponds to one micro step. It is possible to perform the rotation of Stepping Tanabata, and furthermore, the number of microsteps into which one stage of Stepping Tanabata is divided can be easily changed just by replacing the RQM. There is an effect that it can be done.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram of the conventional four-phase Stephinku Tanabata; Figs. 2, 3 (a), (b), and 4 are explanatory diagrams of the same operation; phase type steppic 7-
6, 7(a) and 7(b) are operational explanatory diagrams of the same as above, FIG. 8 is a block diagram of an embodiment of the present invention, and FIG. 9 is a partial circuit diagram of the same as above, 10 to 13 are explanatory views of the same operation as above, FIG. 14 is a lock diagram of another embodiment of the present invention, and FIG. 15 is an explanatory view of the same operation. (1) is a permanent magnet 0-ta, (2) to (5) are stator coils, (B) is a binary carinter, and +71+8+ is a ROM. Agent Patent Attorney Ishi 1) Long 7j 1 3 ° 5< 0:I Q ”'= Ol
531- KunoOO □Mo01 Cargo 532- ■ -Figure 9 Figure 10 Figure 1111

Claims (1)

[Claims] (Permanent magnets are magnetized alternately to N and S poles at equal angular intervals in the circumferential direction, and two or more stator coils that rotationally drive the permanent magnets. A binary counter outputs digital data consisting of multiple pits by performing a counting operation every time a value is input, and the digital data output from the binary counter is used as an address input, and sine waves and cosine waves change according to the address input. The stator coil has first and second ROMs that output respective amplitude data, and the excitation current of each stator coil is controlled by the amplitude dark outputted from the first and second ROMs. Sutetsuhi) J) 7-
evening.