SU1066019A1 - Control device for step motor - Google Patents

Abstract

CONTROL DEVICE: A STEP-UP MOTOR containing a pulse distributor with a multichannel power amplifier, each channel of which includes a motor phase connected at one end to a current sensor and the other through a power switch to a DC power source, a current regulator associated with the input of the current sensor, and the element I, connected by the first input to the corresponding pulse distributor, in order to reduce the oscillations of the rotor of the engine in the stand-by mode with a pulse control in the motor phases, the integrator, the threshold element, the inverter, the decoder multiplexer are entered, and the second and third AND elements and the OR element are connected to each channel of the amplifier, and the outputs of the pulse distributor are connected to the inputs of the decoder connected to the multiplexer address inputs, -. the formation inputs of which are connected to the corresponding outputs of current regulators and first and the inputs of the second AND elements, and the multiplexer output is connected to the first inputs of the third AND elements connected to the first inputs of the OR elements connected to the BTOpfcBuiH inputs (L of the first AND elements and with the second inputs with bb the signals of the second And elements connected by the second inputs with the output of the inverter connected with the second inputs of the third And elements and the output of the threshold element connected by the input through the integrator to the input pulse number a: 05

Description

The invention relates to electrical engineering, namely, devices for controlling a stepper motor, and can be used, for example, in computer numerical control systems for metal cutting machines. A device for controlling a stepping motor is known, which contains a switch, a pulse distributor with reversible inputs, the even outputs of which are connected via coincidence circuits with the control inputs of the switch keys connected to the same power supply terminal, and the even inputs directly with the control inputs of the switch a switch connected via a current sensor to another power supply terminal, Schmidt trigger, whose input is connected to the current sensor output, and the output to the second inputs of the specified coincidence circuits, and reverse diodes connecting the motor phase terminals to the power source terminals, the logic circuit And, the one-shot, the output of which is connected with the additional inputs are indicated the circuits And, and the outputs of the circuit OR - with the reversible inputs of the pulse distributor tl. However, this device does not eliminate the oscillations of the rotor of the engine in the parking mode. Closest to the present invention is a device for controlling a stepper motor, which contains a pulse distributor with a multi-power amplifier, each channel of which includes a motor phase connected at one end to the current sensor and the other through a power switch direct current, a current regulator connected with an input to a current sensor, and an element connected by the first input to the corresponding output of the pulse distributor 12 The disadvantages of the known device are that in STO.YAN mode And electromechanical oscillation vector netic forces acting on the rotor, it causes significant kolebaTsel invention - reduction of vibrations in the motor rotor APIS mode at pulse control current in the motor phases. This goal is achieved in that a control device for a stepper motor containing a pulse distributor with a multi-channel power amplifier, each channel of which includes a motor phase connected at one end to a current sensor and the other. through the power switch to the DC power source, the current regulator connected to the jroKa sensor, and the AND element connected by the primary input to the corresponding output of the pulse distributor, the integrator, the threshold element, the inverter, the decoder, the multiplexer are entered, and each channel of the amplifier is the second and third elements AND and the OR element, and the outputs of the pulse distributor are connected to the inputs of a decoder connected by the outputs to the address inputs of a multiplexer, whose information inputs are connected to the corresponding outputs -. The current controllers and the first inputs of the second And elements, and the multiplexer output are connected to the first inputs of the third And elements connected to the first inputs of the OR elements connected by outputs to the second inputs of the first And elements, and the second inputs to the outputs of the second And elements, connected by the second inputs with the output of the inverter connected by the input with the second inputs of the third elements AND and the output of the threshold element connected by the input through the integrator to the input of the distributor. FIG. 1 shows a functional diagram of a device for controlling a four-phase stepper motor; in fig. 2 - voltage and current diagrams at various points of the circuit. The device (FIG. 1) contains an integrator 1 connected with an output to a threshold element 2, the output of which is connected to the input of the inverter 3, a distributor of 4 pulses, the input of which is connected to the input of the integrator 1 and the input of the device, and the outputs with the corresponding inputs of the decoder 5, Outputs decoder 5 is connected to a; 5 common inputs of multiplexer 6. Each channel of a liocTH power amplifier includes a phase 7 stepper motor connected at one end to a current sensor 8, and another through a power switch 9 to a DC power supply 10, the AND element 11, n The first input of which is connected to the corresponding output of the distributor 4 pulses, and the second - to the output of the element OR 12. The first input of the element OR 12 is connected to the output of the element And 13, and the second input to the output of the element And 14. The first input of the element And 13 is connected to the output of the multiplexer 6, and the second input to the output of the threshold element 2 and the input of the inverter 3. The first input of the element 14 is connected to the information inputs of the multiplexer bis by the output of the current regulator 15, the input of which is connected to the current sensor 8. The second input element And 14 is associated with the output of the inverter 3.

The operation of the device is considered with reference to the control of a four-phase step motor with a phase switching system 12-23-34-41 - ..,

The device operation is as follows

In the initial state in the parking mode, as a result of the absence of input pulses at the device input (fg in Fig. 2), integrator 1 generates a signal exceeding the threshold level of element 2, which is set to one (LV in Fig. 2). The logic unit signal at the output of threshold element 2 blocks the operation of It 14 elements through the second inputs and allows the signal coming from the output of multiplexer 6 to pass through elements 13, the code that is set at the outputs of the distributor 4 pulses determines which of the phases of the engine are included in this moment. Decoder 5 according to the code installed on. the outputs of the distributor 4 pulses, generates the address of the current regulator 15, the output signal of which passes to the output of the multiplexer 6 / t, does not determine which of the current regulators 15 controls the current of the motor phases. For example, the first and second phases of the motor are turned on, then their current is controlled by the current regulator 15 of the first phase, when the second and third phases are controlled by the regulator 15 of the current of the second phase, etc. Thus, the control of the current of two phases simultaneously switched at each moment is carried out from a single current regulator 15 than. Synchronization of the current and fall of the currents in these motor faults is ensured.

Consider the motion mode. Let at time t (Fig. 2) a signal arrives at the first channel of the amplifier from the corresponding output of the distributor 4 pulses (Fig. 2). From this point in time, the light-pulse control of the current in the first phase (. 2) begins. Let

at the moment of time, the second channel of the amplifier from the corresponding output of the distributor 4 pulses receives the signal L / {p, 1 (Fig. 2) The rise and fall of the currents in the first and second phases occurs asynchronously CJ and e in FIG. 2). When the supply of control to the pulses f is terminated at the input of the device, the integrator through time. m integrating T generates

0 a signal that exceeds the threshold for the operation of element 2. At the output of element 2, the level of logical unit 1 is set (Fig. 2). The device switches to the stand-by mode,

5 The current in the first and second phases is controlled from the time point by the current regulator 15. first phase as well it is at time t (Fig. 2). From this time point, the current in the second phase begins to change synchronously with the current in the first phase of the motor (and J. to Fig. 2). Thus, in standby mode, the rise and fall of the currents 2

5 (FIG. 2) in the switched on phases occurs under the action of a control signal from the output of one corresponding current regulator,.

Synchronization of increase and decline

 currents in the motor windings in the stationary mode leads to the elimination of the oscillations of the vector of electromagnetic forces acting on the rotor of the engine, and, consequently, to reduce the oscillations of the rotor,

5 During the motion, input pulses arrive at the device input. Integrator 1 generates a signal not exceeding the threshold level of element 2, which is set

0 to t / r state, -O. The logic zero level at the output of the threshold element 2 blocks the second inputs And 13 and allows the passage of signals from the outputs of the corresponding current regulators 15 through the And 14 elements to the second inputs of the corresponding And 11 1 elements

Such a device for controlling stepper motors

0 allows to significantly reduce

pulsations of the rotor of the engine in the stand-by mode with the most economical pulsed feed of the phases of the engine.

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Claims (1)

DEVICE FOR MANAGEMENT _; A STEP ENGINE containing a pulse distributor with a multi-channel power amplifier, each channel of which includes a motor phase connected at one end to a current sensor, and the other, through a power switch, to a DC power source, a current regulator connected to the current sensor input, and the element And, connected by the first input to the corresponding output of the pulse distributor, characterized in that, in order to reduce oscillations of the motor rotor in the standby mode with pulse control of the current in the motor phases, enes integrator threshold element ,! inverter, decoder; a multiplexer, and in each amplifier channel — the second and third AND elements and the OR element, and the outputs of the pulse distributor are connected to the inputs of a decoder connected by outputs to the address inputs of the multiplexer, the information inputs of which are connected to the corresponding outputs of the current regulators and the first inputs of the second AND elements , and the multiplexer output is connected with the first inputs of the third AND elements connected to the first inputs of the OR elements, connected by the outputs with the second inputs of the first AND elements, and the second inputs with the outputs of the second AND elements are connected to second inputs of the inverter output, the input connected to the second inputs of third AND gates and the output of the threshold element is connected via an integrator to the input of the input pulse distributor.