KR890005110B1 - Arrangement for starting dc motor - Google Patents

Arrangement for starting dc motor Download PDF

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KR890005110B1
KR890005110B1 KR1019870007598A KR870007598A KR890005110B1 KR 890005110 B1 KR890005110 B1 KR 890005110B1 KR 1019870007598 A KR1019870007598 A KR 1019870007598A KR 870007598 A KR870007598 A KR 870007598A KR 890005110 B1 KR890005110 B1 KR 890005110B1
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motor
output
microcomputer
transistor
control logic
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KR1019870007598A
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Korean (ko)
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KR890003109A (en
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김진석
신윤상
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삼성전자 주식회사
안시환
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

내용 없음.No content.

Description

PWM방식을 이용한 DC모터의 제어회로DC motor control circuit using PWM method

제1도는 본 발명에 따른 블럭도.1 is a block diagram according to the present invention.

제2도는 본 발명에 따른 제1도의 구체회로도.2 is a detailed circuit diagram of FIG. 1 according to the present invention.

제3도는 본 발명에 따른 동작파형도.3 is an operational waveform diagram according to the present invention.

제4도는 본 발명에 따른 DC모터(M)의 정방향일때 마이콤(10)의 출력 포트 파형도.4 is a waveform diagram of an output port of the microcomputer 10 when the DC motor M is in the forward direction.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 마이콤 20 : 제어논리부10: micom 20: control logic

30 : 모터구동부 40 : 비교기30: motor drive part 40: comparator

본 발명은 DC모터 제어회로에 관한 것으로서, 특히 마이콤의 프로그램에 의해 회전방향을 전환하며 과전류 흐름을 미리 감지하여 DC모터를 보호하고 펄스폭으로 움직이는 거리를 정확하게 제어할 수 있는 PWM방식을 이용한 DC모터 제어회로에 관한 것이다.The present invention relates to a DC motor control circuit, in particular, a DC motor using a PWM method that can switch the direction of rotation by the program of the microcomputer and detect the overcurrent flow in advance to protect the DC motor and precisely control the distance moved by the pulse width It relates to a control circuit.

일반적으로 DC모터를 전원에 접속한후 일정한 부하를 가하면 기기에 대응하는 모터의 회전수가 정해진다.In general, when a DC motor is connected to a power supply and a constant load is applied, the rotation speed of the motor corresponding to the device is determined.

그러나 전자 기기에 사용하는 경우에는 부하에 따라서 회전수가 변한다는 것에 불합리한 문제점이 있다. 그러므로 사용기기의 조건에 따라서 회전수를 조정해야하고 전원전압에 의해서 회전수가 변하므로 DC모터 전원회로도 충분히 검토하여 설계하여야 한다.However, when used in electronic devices, there is an unreasonable problem that the rotation speed changes depending on the load. Therefore, the number of rotations should be adjusted according to the condition of the equipment used, and the number of rotations varies according to the power supply voltage. Therefore, the DC motor power supply circuit should be thoroughly reviewed and designed.

종래의 DC모터는 전압에 의해 DC 모터(M)을 움직여 축을 회전시킴으로서 단송장치등에 이용되었으며 전압의 온/오프시 안정전원을 얻는 시점까지 모터(M)의 움직임이 과도현상을 보였고 이것이 거리에 대한 에러 요인으로 대두되었다.Conventional DC motors are used in single-stage devices by moving the DC motor (M) by rotating the shaft, and the movement of the motor (M) showed a transient phenomenon until a stable power supply was obtained when the voltage was on or off. It is an error factor.

그리고 한 방향으로 움직이거나 하드웨어적으로 방향을 제어하므로 정확한 제어가 이루어지지 않고 오동작이 자주발생되는 문제점이 있었다.In addition, since the movement in one direction or the direction is controlled by hardware, there is a problem that often malfunction occurs without accurate control.

따라서 본 발명의 목적은 소프트 웨어적으로 마이콤에 의해 DC모터의 회전방향을 제어하고, 펄스폭 제어로 움직이는 거리를 제어하여, DC 모터에 흐르는 과전류를 감지하여 모터를 보호할 수 있는 회로를 제공함에 있다.Accordingly, an object of the present invention is to provide a circuit that can protect the motor by sensing the overcurrent flowing in the DC motor by controlling the rotational direction of the DC motor by the microcomputer and controlling the moving distance by the pulse width control. have.

이하 본 발명을 첨부된 도면을 참조하여 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

제1도는 본 발명에 따른 블럭도로서, 모드(Mode)에 따라 DC모터(M)의 회전방향 결정 데이타 및 전·후진 진행 PWM데이타를 출력하는 마이콤(10)과, 상기 마이콤(10)의 출력을 논리화하여 DC모터의 회전방향을 결정하고 및 전 ·후진 진행 PWM데이타를 변조하는 제어논리부(20)와, 상기 제어논리부(20)의 출력에 따라 DC모터(M)가 제어구동되는 모터구동부(30)와, 상기 모터구동부(30)에 흐르는 전류를 검출하여 기준값과 비교하고 제어논리부(20)에 인가하여 모터구동부(30)로 제어신호를 인가한후 DC모터(M)을 보호하는 비교기(40)로 구성된다.FIG. 1 is a block diagram according to the present invention. The microcomputer 10 outputs the rotation direction determination data and the forward and reverse PWM data of the DC motor M according to the mode, and the output of the microcomputer 10. Control logic unit 20 to determine the rotational direction of the DC motor and modulate the forward and backward PWM data, and the DC motor M is controlled and driven according to the output of the control logic unit 20. The motor driving unit 30 and the current flowing through the motor driving unit 30 are detected, compared with a reference value, and applied to the control logic unit 20 to apply a control signal to the motor driving unit 30, and then the DC motor M is applied. It consists of a comparator 40 to protect.

상기 구성에 따른 본 발명의 일실시예를 마이콤(10)에서 프로그램의 모드 체크를 한 후 제어신호 및 PWM데이타를 출력하면 제어논리부(20)에서 일정신호로 논리 및 변조하여 DC모터의 회전방향및 전 ·후진 진행 진행량을 결정하여 모터구동부(30)에 인가한다. 이때 DC모터를 제어하고 DC모터에 과전류가 흘려 파괴 우려가 있을시 비교기(40)에서 이를 감지하여 제어논리부(20)에 인가하면 모터구동부(30)를 제어하여 DC모터 움직임을 멈춰 보호한다.In one embodiment of the present invention according to the above configuration after the mode check of the program in the microcomputer 10 and outputs the control signal and PWM data, the logic logic 20 modulates and modulates the control signal with a predetermined signal in the rotation direction of the DC motor And the forward and backward progress amount is determined and applied to the motor drive unit (30). At this time, when the DC motor is controlled and overcurrent flows to the DC motor, the comparator 40 detects this and applies it to the control logic unit 20 to control the motor driving unit 30 to stop and protect the DC motor movement.

제2도는 본 발명에 따른 제1도의 구체회로도로서 제2도중 EX1-EX2는 익스클루시브 오아게이트, A1-A4는 앤드게이트, R1-R18는 저항, D1-D6는 다이오드, Q1-Q6은 트랜지스터, ZD는 제너다이오드, OP1는 연산증폭기이며, 익스클루시브 오아게이트(EZ1-EX2), 앤드게이트(A1-A4), 저항 (R1-R4), 다이오드 (D12,D13)로 구성된 부분이 제어논리부(20)에 대응하고, 트랜지스터 (Q1-Q5), 다이오드 (D3-D10), 저항 (R5-R14), DC모터(M)로 구성된 부분이 DC모터 구동부(30)에 대응하며, 저항 (R15-R18), 제너다이오드(ZD), 연산증폭기(OP1)로 구성된 부분이 비교기(40)에 대응된다.2 is a detailed circuit diagram of FIG. 1 according to the present invention, in which EX 1 -EX 2 is an exclusive oragate, A 1 -A 4 is an and gate, R 1 -R 18 is a resistance, and D 1 -D 6 Is a diode, Q 1 -Q 6 is a transistor, ZD is a zener diode, OP 1 is an operational amplifier, an exclusive OA gate (EZ 1 -EX 2 ), an AND gate (A 1 -A 4 ), a resistor (R 1 -R 4 ), the portion consisting of diodes (D 12 , D 13 ) corresponds to the control logic section 20, and transistors (Q 1 -Q 5 ), diodes (D 3 -D 10 ), resistors (R 5- ). R 14 ), a portion composed of the DC motor (M) corresponds to the DC motor driver 30, and a portion composed of the resistors (R 15 -R 18 ), zener diode (ZD), operational amplifier (OP 1 ) is a comparator ( 40).

제3도는 본 발명에 따른 흐름도이다.3 is a flow chart according to the present invention.

제4도는 본 발명에 따른 DC모터 (M)의 정방향일때 마이콤(10)의 출력포트 (P1-P4)의 출력으로서 제4a도파형은 전진 방향일때 마이콤(10)의 제1포트(P1)의 출력파형이고, 제4b도는 제2포트(P2)의 출력파형이고, 제4c도는 제3포트(P3)의 출력파형이며, 제4d도는 제4포트(P4)의 출력이고 제4e도는 앤드게이트(a1)의 출력파형이다.4 is an output of the output ports P 1 -P 4 of the microcomputer 10 in the forward direction of the DC motor M according to the present invention. FIG. 4A is a first port P of the microcomputer 10 in the forward direction. 1 ) is the output waveform of FIG. 4B is the output waveform of the second port P 2 , FIG. 4C is the output waveform of the third port P 3 , and FIG. 4D is the output of the fourth port P 4 . 4E is an output waveform of the AND gate a 1 .

따라서 본 발명의 구체적 일실시예를 제2도를 참조하여 상세히 설명하면 시스템을 온함과 동시에 (3a)과정에서 마이콤(10)에 작업영역인 램 영역을 (3a)과정에서 클리어하고, (3b)과정에서 마이콤(10)의 출력포트 (P1-P4)를 초기화시키고 (3c)과정에서 리세트 되었는가를 체크하여 리세트 되었을때 (3d)과정에서 방향결정신호를 마이콤(10)에 입력하면 (3e)과정에서 전방이냐를 체크하여 전방일때 (3f)과정에서 마이콤(10)의 제1포트(P1)로 "하이", 제2포트(P2)로 "로우"를 출력하면 익스클루시브 오아게이트(EX1)은 "하이"가 출력되고, 앤드게이트(A1)이 "하이"를 출력하여 다이오드(D13)을 통해 트랜지스터(Q1)을 온할때 콜렉터가 "로우"이므로 트랜지스터(Q2)가 온된다.Therefore, a specific embodiment of the present invention will be described in detail with reference to FIG. 2, while turning on the system and clearing the RAM area which is a work area in the microcomputer 10 in the process (3a) in the process (3a), and (3b) In the process of initializing the output port (P 1 -P 4 ) of the microcomputer (10) and check whether it is reset in the process (3c) when the reset signal is input to the microcomputer 10 in the process (3d) In the process of (3e), check whether it is the front, and when it is the front, in the process (3f), output "high" to the first port (P 1 ) of the microcomputer 10 and "low" to the second port (P 2 ). Since the sheave oA gate EX 1 is output "high", and the AND gate A 1 is output "high", the collector is "low" when the transistor Q 1 is turned on through the diode D 13 . (Q 2 ) is turned on.

또한 앤드게이트(A3)가 온되므로 트랜지스터(Q5)가 온되어 전류는 트랜지스터(Q2)와 DC모터(M)을 통해 트랜지스터(Q6)의 에미트를 통해 흐르게 된다. 왜냐하면 앤드게이트(A2) (A4)가 "로우"를 출력하여 트랜지스터(Q4)을 오프하고, 다이오드(D7)을 통해 트랜지스터(Q3)을 오프시키기 때문이다.In addition, since the AND gate A 3 is turned on, the transistor Q 5 is turned on so that current flows through the emitter of the transistor Q 6 through the transistor Q 2 and the DC motor M. This is because the AND gate A 2 (A 4 ) outputs "low" to turn off the transistor Q 4 and turn off the transistor Q 3 through the diode D 7 .

그리고 제4d도파형과 같이 마이콤(10)의 제4포트(P4)의 "로우"상태에서 제3포트(P3)을 통해 제4c도와 같이 (3g)과정에서 PWM파가 출력되어 익스클루시브 오아게이트(EX2)의 출력으로 동일 PWM파로 앤드게이트(A1)에 입력되면 제4e도와 같이 출력된다. 이때 (3e)과정에서 구동을 체크하여 (3i)과정에서 제4e도파형의 "하이"에서 트랜지스터(Q1)을 온/오프하여 DC모터(M)에 전류를 흘려 DC모터(M) 구동한후 종료일때 (3i)과정에서 체크하여 (3k)과정에서 버퍼를 클리어한다. (3e)과정에서 역방향일때는 마이콤(10)은 (31)과정에서 제1포트(P1)로 "로우", 제2포트(P2)로 "하이"로 출력하여 익스클루시브 오아게이트(EX1)의 하이, 앤드게이트((A2), (A4)에서 "하이"를 출력하므로 트랜지스터(Q4)을 온하고 트랜지스터(Q6)을 온하여 트랜지스터(Q6)의 콜랙터가 "로우"이므로 트랜지스터(Q3)을 온하여 전류가 트랜지스터(Q3)과 DC모터(M)과, 트랜지스터(Q4)을 통해 흐르므로 DC모터(M)을 역방으로 회전된다.Then, the PWM wave is output in the process (3g) as shown in FIG. 4C through the third port P 3 in the "low" state of the fourth port P 4 of the microcomputer 10 as shown in the 4d wave form. If it is input to the AND gate A 1 with the same PWM wave as the output of the sieve ogate EX 2 , it is output as shown in FIG. 4E. At this time, the driving is checked in step (3e), and in step (3i), the transistor Q 1 is turned on / off at the "high" of the 4e waveguide and the DC motor (M) is driven by flowing a current to the DC motor (M). After finishing, check in (3i) to clear the buffer in (3k). In the reverse direction (3e), the microcomputer 10 outputs "low" to the first port P 1 and "high" to the second port P 2 in the process (31). EX 1 ) outputs a “high” at high, and gate ((A 2 ), (A 4 ), so that transistor Q 4 is turned on and transistor Q 6 is turned on so that the collector of transistor Q 6 is turned on. Since it is "low", the transistor Q 3 is turned on so that a current flows through the transistor Q 3 , the DC motor M, and the transistor Q 4 , so that the DC motor M is rotated in the reverse direction.

그리고 익스클루시브 오아게이트(EX2)의 출력은 PWM파가 출력되어 앤드게이트(A4)을 통해 PWM파의 "하이"펄스열에 따라 트랜지스터(Q6)을 온/오프한다.The output of the exclusive oar gate EX 2 outputs a PWM wave to turn on / off the transistor Q 6 according to the "high" pulse string of the PWM wave through the AND gate A 4 .

그러나 앤드게이트(A1) (A3)의 출력은 "로우"이므로 트랜지스터(Q2,Q5)는 오프된다.However, the transistors Q 2 and Q 5 are turned off because the output of the AND gate A 1 (A 3 ) is "low".

상기에서 펄스폭을 조정하면 트랜지스터((Q2-Q5)의 온/오프 타임을 결정하므로 움직이는 거리도 조정할 수 있게 되며 DC모터(M)가 역방향이든, 정방향이든 구동하고 있을때 트랜지스터(Q5,Q4)을 통해 흐르는 전류가 저항(R16)을 지나 연산증폭기(OP1)의 반전단(-)으로 입력될때 흐르는 전류값이 저항(R17)과 제너다이오드(ZD)에 의해 설정된 기준값보다 클때 연산증폭기(OP1)의 출력은 "로우"가되어 앤드게이트(A1, A4)에서 "로우"를 출력하므로 트랜지스터(Q1, Q6)를 오프하여 DC모터(M)의 움직임을 보호하는 기능을 하여 다이오드(SD12, D11)를 통한 리세트신호

Figure kpo00001
는 메인 중앙처리장치로 "로우"가입력될때 DC모터(M) 제어회로는 중지시키는 역할을 하고 다이오드(D4, D5)는 역전압일때 DC모터(M)와 트랜지스터(Q2, Q1)을 보호하는 보호용 회로이다.Adjusting the pulse width determines the on / off time of the transistors (Q 2 -Q 5 ), so that the moving distance can also be adjusted. When the DC motor M is driven in the reverse direction or the forward direction, the transistors Q 5, Q 4 ) when the current flowing through the resistor (R 16 ) is input to the inverting terminal (-) of the operational amplifier (OP 1 ), the value of the current flowing is higher than the reference value set by the resistor (R 17 ) and the zener diode (ZD). When the output of the operational amplifier OP 1 becomes "low" and outputs "low" from the AND gates A 1 and A 4 , the transistors Q 1 and Q 6 are turned off to control the movement of the DC motor M. Reset signal via diodes (SD 12 , D 11 ) with protective function
Figure kpo00001
The DC motor (M) control circuit stops when the "low" is input to the main CPU and the diodes (D 4 , D 5 ) are reverse voltage when the DC motor (M) and the transistor (Q 2 , Q 1). ) Is a protection circuit to protect.

상술한 바와같이 DC모터의 회전방향을 소프트 웨어적으로 제어하고 움직이는 거리도 펄스폭으로 제어하여 정확한 위치로 이동할 수 있으며 DC모터에 흐르는 과전류를 감지하여 DC모터 운전 막아 DC모터를 보호할 수 있는 이점이 있다.As described above, the rotational direction of the DC motor can be controlled by software and the moving distance can also be controlled by the pulse width to move to the correct position, and the DC motor can be protected by detecting the overcurrent flowing through the DC motor to protect the DC motor. There is this.

Claims (1)

DC모터(M)을 구비한 시스템에 있어서, 모드(MODE)에 따라 DC모터(M)의 회정방향 결정데이타 및 전·후진 진행 PWM데이타를 출력하는 마이콤(10)과, 상기 마이콤(10)의 출력을 논리화하여 DC모터의 회전방향을 결정하는 및 전˙후진 진행 PWM데이타를 변조하는 제어논리부(20)와, 상기 제어논리부(20)의 출력에 따라 DC모터(M)가 제어구동되는 모터구동부(30)와, 상기 모터구동부(30)에 흐르는 전류를 검출하여 기준값과 비교하고 제어논리부(20)에 인가하여 모터구동부(30)로 제어신호를 인가한후 DC모터(M)을 보호하는 비교기 (40)로 구성됨을 특징으로 하는 PWM방식을 이용한 DC모터 제어회로.In the system provided with the DC motor (M), the microcomputer 10 for outputting the rotation direction determination data and the forward and backward moving PWM data of the DC motor (M) according to the mode (MODE), and the The control logic unit 20 determines the rotational direction of the DC motor by modulating the output and modulates the forward and backward progression PWM data, and the DC motor M is controlled by the output of the control logic unit 20. The motor driving unit 30 and the current flowing through the motor driving unit 30 are detected, compared with a reference value, and applied to the control logic unit 20 to apply a control signal to the motor driving unit 30, and then the DC motor M. DC motor control circuit using a PWM method, characterized in that consisting of a comparator to protect the.
KR1019870007598A 1987-07-14 1987-07-14 Arrangement for starting dc motor KR890005110B1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100924435B1 (en) * 2009-05-21 2009-11-02 이충재 Butterfly robot controlled by microprocessor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004045068B4 (en) * 2003-11-28 2022-09-01 Smc K.K. Control device for electric actuators

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100924435B1 (en) * 2009-05-21 2009-11-02 이충재 Butterfly robot controlled by microprocessor

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