KR930001784Y1 - Encoder circuit of step-motor - Google Patents

Encoder circuit of step-motor Download PDF

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Publication number
KR930001784Y1
KR930001784Y1 KR2019870024448U KR870024448U KR930001784Y1 KR 930001784 Y1 KR930001784 Y1 KR 930001784Y1 KR 2019870024448 U KR2019870024448 U KR 2019870024448U KR 870024448 U KR870024448 U KR 870024448U KR 930001784 Y1 KR930001784 Y1 KR 930001784Y1
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KR
South Korea
Prior art keywords
motor
gate
back emf
encoder
output
Prior art date
Application number
KR2019870024448U
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Korean (ko)
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KR890015017U (en
Inventor
권용관
Original Assignee
금성일렉트론 주식회사
문정환
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to KR2019870024448U priority Critical patent/KR930001784Y1/en
Publication of KR890015017U publication Critical patent/KR890015017U/en
Application granted granted Critical
Publication of KR930001784Y1 publication Critical patent/KR930001784Y1/en

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Classifications

    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/14—Arrangements for controlling speed or speed and torque
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K19/00—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits
    • H03K19/20—Logic circuits, i.e. having at least two inputs acting on one output; Inverting circuits characterised by logic function, e.g. AND, OR, NOR, NOT circuits
    • H03K19/21—EXCLUSIVE-OR circuits, i.e. giving output if input signal exists at only one input; COINCIDENCE circuits, i.e. giving output only if all input signals are identical
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/923—Specific feedback condition or device
    • Y10S388/9281—Counter or back emf, CEMF

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Control Of Stepping Motors (AREA)

Abstract

내용 없음.No content.

Description

스텝모터의 엔코더회로Encoder Circuit of Step Motor

제1도는 본 고안의 블록 다이어그램.1 is a block diagram of the present invention.

제2도는 본 고안의 회로도.2 is a circuit diagram of the present invention.

제3도는 본 고안의 타이밍 다이어그램.3 is a timing diagram of the present invention.

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

1 : 콘트롤러 2 : 드라이버1: controller 2: driver

3 : 백 EMF 센싱회로 4 : 엔코더3: back EMF sensing circuit 4: encoder

5 : 부하 M : 모터5: load M: motor

OP : OP앰프 AND : 엔드게이트OP: OP Amplifier AND: End Gate

EOR : 익스클루시브 오어 게이트EOR: Exclusive Or Gate

본 고안은 백 EMF 센싱에 의한 스텝모터의 속도, 위치 정보를 얻기 위한 것으로 특히 광학적 또는 기계적 엔코더를 사용하지 않고 페루프 제어에 의한 전자식 스텝모터의 엔코더 회로에 관한 것이다.The present invention is to obtain the speed and position information of the step motor by the back EMF sensing, and more particularly relates to the encoder circuit of the electronic step motor by the control of the bump without using optical or mechanical encoder.

하이브릿드나 PM(펄스번호) 스텝 모터에서는 제3도 (a)에 도시한 바와 같이 각 상의 백 EMF를 로터의 위치(θm)와 속도(Wm)에 의해 다음과 같이 결정된다.In a hybrid or PM (pulse number) step motor, as shown in Fig. 3 (a), the back EMF of each phase is determined by the position (θm) and the speed (Wm) of the rotor as follows.

EBa= KG . Wm sin (NRθm)EBa = KG. Wm sin (N Rθm )

EBb= KG . Wm con (NRθm)EBb = KG. Wm con (N Rθm )

여기서 KG는 백 EMF의 상수이다. 한편, 각상의 토크 또는 속도가 아닌 각상의 전류에 진폭이 비례하여 다음과 같이 결정된다.Where KG is the constant of the bag EMF. On the other hand, the amplitude is proportional to the current of each phase rather than the torque or speed of each phase, and is determined as follows.

Ta=KG ia sin (NRθm)Ta = KG ia sin (N Rθm )

Tb= KG ib con (NRθm)Tb = KG ib con (N Rθm )

따라서 백 EMF 신호의 제로 크로싱 포인트(Zero-Crossing) (P1, P3)는 디텐드(detent)위치를 나타내는 것으로 1스텝 회전후의 위치가 된다.Therefore, the zero-crossing points P 1 and P 3 of the back EMF signal represent the detent position and become a position after one step rotation.

또한 포인트(P2)는 각상의 백 EMFEBa │=│ EBb의 조건을 만족하는 점으로 하프 스텝 포지션이 된다.Also, point (P 2 ) is the back EMF of each phase EBa │ = │ EBb The half step position is satisfied with the following condition.

본 고안은 이러한 기계식 엔코더에 의한 피드백 장치를 사용하지 않고 간단한 로직 회로로 구성하여 소형, 경량의 스텝 모터의 엔코더 회로를 제공하려는데 그 목적이 있는 것이다.The object of the present invention is to provide an encoder circuit of a small size and light weight step motor by using a simple logic circuit without using a feedback device by a mechanical encoder.

이하, 첨부도면에 따라 본 고안을 설명한다.Hereinafter, the present invention according to the accompanying drawings.

제1도에 도시한 바와같이, 콘트롤러(1)에 의한 드라이버(2)의 출력으로 구동되는 모터(M)의 백 EMF 센싱회로(3)의 출력이 엔코더(4)를 통하여 피드백 되도록 연결 구성한다.As shown in FIG. 1, the output of the back EMF sensing circuit 3 of the motor M driven by the output of the driver 2 by the controller 1 is configured to be fed back through the encoder 4. .

이때 엔코더(4)의 구체적인 회로를 살펴보면 다음과 같다.At this time, a detailed circuit of the encoder 4 will be described.

제2도에서 익스클루시브 오어 게이트(EOR1)에서 조합된 2상 스텝 모터의 여자 펄스(PhA, PhB)가 OP앰프(OP3)에서 비고되는 백 EMF(EBa, EBb)의 출력과 함께 익스클루시브 오어게이트(EOR2)에서 조합되어 출력되게 연결 구성하고 상기 백 EMF(EBa, EBb)는 각기 OP 앰프(OP1) (OR2)를 통하여 엔드 게이트(AND1)에서 조합되어 출력되게 연결 구성한다.In FIG. 2, the excitation pulses PhA, PhB of the two-phase step motor combined at the exclusive or gate EOR 1 are extracted with the output of the back EMF (EBa, EBb) being remarked on the OP amplifier OP 3 . Combination configuration is configured to be output from the combined ore gate (EOR2) and the back EMF (EBa, EBb) is coupled to the output configuration combined at the end gate (AND 1 ) through the OP amplifier (OP 1 ) (OR 2 ), respectively do.

이와같이 구성된 본 고안의 작용 및 효과를 제3도의(b)를 참조하여 설명하면 다음과 같다.Referring to the operation and effects of the present invention configured as described above with reference to (b) of FIG. 3 as follows.

제2도의 익스클루시브 오어게이트(EOR1)를 통한 각상의 여자펄스(PhA, PhB)는 제3도 (b)의 (P)와 같이 출력된다.Excitation pulses PhA and PhB of each phase through the exclusive or gate EOR 1 of FIG. 2 are output as shown in (P) of FIG.

또한 OP앰프(OP1-OP3)를 통하거나 비교된 백 EMF(EBa, EBb)는 제3도 (b)의 (S1)과 같이 출력되고, 익스클루시브 오어게이트(EOR2)에서 조합된 익스클루시브 오어게이트(EOR1)의 출력과 OP 앰프(OP3)의 출력은 제3도 (b)의 (S2)와 같이 나타나게 된다.In addition, the back EMFs (EBa, EBb) through or compared with the OP amplifiers (OP 1 -OP 3 ) are output as shown in (S 1 ) of FIG. 3 (b) and combined in the exclusive ore gate (EOR 2 ). The output of the exclusive or gate EOR 1 and the output of the OP amplifier OP 3 are shown as (S 2 ) of FIG.

따라서 상기한 바와 같은 본 고안은 스텝모터의 폐루프 제어시, 광학적 또는 기계적 엔코더를 사용하지 않고 간단한 로직으로써 그와 동일한 효과를 얻을수 있는 것으로 스텝모터 회로의 원가 절감 및 소형, 경량화에 일익을 담당하게 되는 잇점이 있다.Therefore, the present invention, as described above, can achieve the same effect with simple logic without using optical or mechanical encoder in controlling the closed loop of the stepper motor, and thus plays a role in reducing the cost and miniaturization and weight of the stepper motor circuit. There is an advantage.

Claims (1)

익스클루시브 오어게이트(EOR1)를 통한 각상의 여자펄스(PhA, PhB)와 OP앰프(OP3)를 통한 백 EMF(EBa, EBb)가 익스클루시브 오어게이트(EOR2)에서 조합되어 펄스(S2)가 발생되게 연결구성하고, 각 OP앰프(OP1, OP2)를 통한 백 EMF(EBa, EBb)가 앤드게이트(AND1)에서 조합되어 펄스(S1)가 발생되게 연결 구성한 것을 특징으로 하는 스텝모터의 엔코더 회로.The excitation pulses (PhA, PhB) of each phase through the exclusive ore gate (EOR 1 ) and the back EMF (EBa, EBb) through the op amp (OP 3 ) are combined and pulsed in the exclusive ore gate (EOR 2 ). (S 2 ) is connected, and the back EMF (EBa, EBb) through each OP amplifier (OP 1 , OP 2 ) is combined at the AND gate (AND 1 ) to form a pulse (S 1 ) An encoder circuit of a step motor, characterized in that.
KR2019870024448U 1987-12-31 1987-12-31 Encoder circuit of step-motor KR930001784Y1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR2019870024448U KR930001784Y1 (en) 1987-12-31 1987-12-31 Encoder circuit of step-motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR2019870024448U KR930001784Y1 (en) 1987-12-31 1987-12-31 Encoder circuit of step-motor

Publications (2)

Publication Number Publication Date
KR890015017U KR890015017U (en) 1989-08-11
KR930001784Y1 true KR930001784Y1 (en) 1993-04-15

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Application Number Title Priority Date Filing Date
KR2019870024448U KR930001784Y1 (en) 1987-12-31 1987-12-31 Encoder circuit of step-motor

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