JPS6192199A - Driving method of stepping motor - Google Patents

Abstract

PURPOSE:To obtain a step angle of half of 1-2 phase exciting type with a simple configuration by combining an excitation by a high voltage power source and an excitation by a low voltage power source. CONSTITUTION:Four exciting phase coils L1-L4 are excited by the combination of the excitation by a high voltage power source and the excitation by a low voltage power source. The exciting phase coils are excited in the sequence of low, low, high, low, high, low and low, and nonexcitation is during 9 steps, and this operation is repeated, the superposition of the exciting time of the exciting phase coils of L1 and L2, L2 and L3, L3 and L4, L4 and L1 are divided into high, low, and low of the former and low, low and high of the latter, thereby obtaining the step angle of half of 1-2 phase excitation type.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of driving a stepping motor that rotates at a small step angle.

Conventional driving circuits for stepping motors using four-phase coils include a one-phase excitation method, a two-phase tortoise excitation method, and a one-two phase excitation method that halves the step angle of one step. JP-A No. 48-2003, which improves the rise characteristics of the excitation current by applying a voltage at the beginning of the application of the input pulse.
There is a technique as described in No. 64423. Said 1 phase and 2
Not only can resolution be increased by using the 1-2 phase excitation method rather than the phase excitation method, but when comparing noise, vibration, etc. at the same rotation speed, the 1-2 phase excitation method is better than the 1-phase excitation method. , less than the two-phase excitation method. If the step angle of one step of this 1-2 phase excitation method can be further reduced, the resolution will be further increased and the noise and 1liii movement can be reduced to 8. Therefore, an excitation method called microstep drive or vernier drive has been developed. However, the circuit is complicated and as mentioned above, a high potential power supply and a low potential power supply are used in combination, but the purpose is to improve the rise characteristics and does not change the 1i1J magnetic system itself. There wasn't.

An object of the present invention is to propose a new drive method using a high potential power source and a low potential power source that can obtain half the step angle of the 1-2 phase excitation method.

The feature of the present invention is that the four excitation phase coils Ll to 1-4 are excited by a combination of excitation by an l@i potential power source (hereinafter referred to as "Chang") and excitation by a low potential power source (hereinafter referred to as "low"), thereby performing stepping. Driving a single ur-! In the method of driving a stepping motor, after each excitation phase coil is excited in the order of low, low, ^, low, high, low, low,
Ll and 12, Ll and 13. La and Ll,
The reason for this is that the overlaps of the excitation phase coils 14 and Ll during excitation are made so that the high, low, and low portions of each of the former and the low, low, and high portions of each of the latter are the same.

Description of the Stepping Motor Driving Method of the Invention First, the configuration of an embodiment of the stepping motor driving circuit will be described.The driving circuit is shown in FIG. 1 with four-phase excitation phase coil L1. One end of L2, La, Ll is a transistor T
A, connected to high potential VH terminal a of a power supply (not shown) via TB, and forward direction A to D, D
It is connected to the low voltage 11'/vL terminal via I+. The other end of the excitation phase coil is connected to transistors T+ and T2.
, T3 , and Tt via Il! l has been used.

The output pulse Δ of the distribution circuit 1 is connected to the base of the transistor T A s T a through the transistor T α and TO.
, 13 are applied, and the transistors T^, Ta, Ta, T
A plurality of first switching means S1 are constituted by O. Said transistor T1, king? , T3, T4 have output pulses φ1, φ2, φ3,
φ4 is applied to the transistors T1, T2, T3, respectively.
, Tt constitute a second switching means S2. The distribution circuit 1 converts the input clock pulse C into pulses A, B, φ for controlling the driving of the stepping motor.
1, φ2, φ3, and φ4 are output to control the energization of the excitation phase coils of the four-phase coils.

The excitation phase coils 1 and La of the four phases are connected at a connection point d, and Ll and 14 are connected at a connection point e. The coil arrangement is as shown in Figure 2, with rotor 2 magnetized to N-8.
As an example, Lt and La are placed at right angles thereto, and 2 and 4 are placed.

The first switching means is an n pn type transistor T.
The TaTO and pnp transistors TA and 'TB may be configured to be directly controllable by the output pulses A and B.

The method for driving the stepping motor is that when a clock pulse Ck is input to the distribution circuit 1 as shown in FIG. 3, output pulses A, B, φ1, φ2,
φ3 and φ4 are output to control the transistors of the first switching means S1 and the second switching means S2, and each excitation phase coil is set to the O potential of the power supply, the low potential VLs and the high voltage Vo.
When electricity is applied with a voltage waveform of After C is No. 14 and the next No. 13 is excited in the order of low, low, high, low, high, low, low, 9
In addition to excitation using an excitation method that repeats excitation with stepwise excitation, Ll is set to 2, [2 and La, La and 14, L
The river flow during excitation of each excitation phase coil of l and Ll is, for example, L1 and Ll when the pulse Ck is No. 2 to N084, L2 and La when the pulse Ck is No. 2 to N088, and No. 10 of the pulse Ck. No, 12, L3 and Ll, pulse Ck No, 14 to No, 16, high, low, low parts of each former, such as 4 and 11), and each latter, low, low, high. It is excited so that it becomes the part of .

A detailed explanation of FIGS. 2 and 3 shows that the pulse O
When h is No, 1, only the output pulse φ1 is output, low potential VL is applied to Ll, and the rotor 2 stops at position 1 in FIG. At this time, L2 is in the 9th step of non-excitation, and La
is the 5th step of non-excitation, and Ll is the 1st step of non-excitation. When pulse Ck is NO12, output pulse φ1,
φ2 and △ appear, high potential VH is applied to 11, and low potential VL is applied to Ll.
are respectively energized and the rotor stops at position 2 in Figure 2. When the pulse Ck is N013, output pulses φ1 and φ2 are output, and the low potential VL is applied to Ll and 12, and the rotor stops at position 3. When pulse C is No and 4, output pulses φ1, φ2, and B are output, low voltage (r/-VL is applied to 11, high potential VH is applied to 2, and the rotor stops at position 4. When Ck is No, 5, output pulse φ2 is output, low potential VL is applied to 2', the rotor stops at position 5, and Ll is in the first step of non-excitation.When pulse Ck is N006, output Pulses φ2, φ3, and B are output and 1
The high potential VH is applied to 2, and the low potential VL is applied to 13, and the rotor stops at position 6.

Thereafter, when pulse Ck is No, 13, Ll continues to be non-excited, and L2 to 14 are excited with a phase shift relationship, and when pulse Ck is No, 14, low potential VL is applied to 11, and high potential VH is applied to L4, respectively. The rotor 2 is energized and stops at 14 in Fig. 2, the pulse Ck is N O, 15 is 11, the much lower potential VL is energized to L2, the rotor 2 is stopped at 15, and the pulse C is energized.
When k is No and 16, high potential VH is applied to Ll and low potential V is applied to L4.
When L is energized, the rotor stops at position 16 and rotates once.

Therefore, the excitation phase coil is sequentially pulsed Ck/fiN0.1.
In 5.9.13, one coil is energized, and two coils are energized at the same time by the other pulse Ck, resulting in a 1-2-2-2 phase excitation system, and each of the excitation phase coils is energized to low, low, and high. , Low, High, Low, 1 (after being excited in the order of
2. Assuming L2 do l-, 3, 1-3, 4, each excitation of L4 and Ll, the city of the phase coil is the high, low, low part of each former, and the low, low, high part of each latter. It will be excited so that it becomes a part.

Since the present invention is configured as described above, it is possible to achieve one with a simple configuration.
- The step angle of the two-phase excitation method is reduced to half (q), the number of stopping positions of the stepping motor increases, and the stopping position angle becomes small increments, improving resolution and improving problems such as noise and vibration.

In addition, when the frequency or load changes and the step angle splitting accuracy becomes difficult, the stepping motor's splitting accuracy can be improved by changing the low potential power supply and the high voltage 6'L power supply. A driving method can be provided.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and Fig. 1 is a driving circuit diagram of a stepping motor, Fig. 2 is a layout diagram of a rotor and excitation phase coil, and Fig. 3 is a timing diagram of output pulses and voltage waveforms. It is a diagram. Ll, L2, L3, Lt...excitation phase coil, VH
...High potential, VL...Low potential. Applicant: Sankyosei Iki Seisakusho Co., Ltd.

Claims (1)

[Claims] In a stepping motor driving method in which a stepping motor is driven by excitation of four excitation phase coils L_1 to L_4 by a combination of excitation by a high potential power source (hereinafter referred to as high) and excitation by a low potential power source (hereinafter referred to as low). , each excitation phase coil is excited in the order of low, low, high, low, high, low, low, and then left unexcited for 9 steps.
_2, L_2 and L_3, L_3 and L_4, L_4 and L_
The overlap during excitation of each excitation phase coil of 1 is expressed as the height of each former,
A method for driving a stepping motor, characterized in that the stepping motor is excited to have a low, low portion, and a low, low, and high portion of each latter.