SU1372585A1 - Stepping electric drive - Google Patents

Abstract

The invention relates to electrical engineering, to an electric drive combining a discrete rotor installation, a predetermined position with an accelerated rotation of the rotor. The goal is to increase the torque and speed in the discrete rotation mode. For the IW AV 1P1 sang, a digital delay block 3 and a four-channel iiiiiii switch 6 are introduced into ycTpoiiCTBo, the outputs of which | 1О, dl: are very important to the control inputs of i nipex power key amplifiers 7.1-7.4, the first group of inputs - to the outputs of the pulse distributor 4, and the control input - to the output of the digital delay unit 3, the control input of which is connected to the rotation mode bus P, and the clock input - With the output of the input switch 1, digital quadrature phase shifter 11 and comparator 9, one input which is connected to the release of the fourth key power amplifier 7.4::; the other input - with the power supply of the stepper motor. The scheme provides the connection of a stepper motor, creating an additional moment due to the fact that the magnetic field created by one pair of its windings synchronizes with the magnetic field of the rotor. 1 hp f-ly. 2 Il. i (L DO Yu sd eo el oy / g /

Description

The invention relates to electrical engineering, to the control of electrical machines and can be used in an electric drive combining discrete rotor installation in a predetermined position with accelerated rotation of the rotor, for example, in research equipment.

The purpose of the invention is to increase the moment and speed in the mode of accelerated rotation.

FIG. 1 shows a functional diagram of the drive; in fig. 2- combined time diagrams of the spatial arrangement of the magnetic field of the rotor and stator of a stepper motor for the case of a rotor with one pair of poles and signals of control elements of a stepper motor in the accelerated rotation mode.

Stepper motor drive

ten

15

20

Section 6 is connected to the outputs of the pulse distributor A, and the outputs are connected to the control inputs of the power amplifier 7.1-7.4 key points, the codes of which are connected to the windings of the stepping motor 8, and the output of the key power amplifier 7.4 to one input of the comparator 9, to the other input of which power bus and stepper motor 8 connected

The forward output of comparator 9 is connected to the input of the counting direction (E + 1) of the reversible counter 13, the inverse output to the input of the counting direction (E + 1) of the reversing counter of the dual selector-multiplexer 14. To the first input (0.0) of the first group and to the fourth the output (3.1) of the second group of inputs of multiplexer 14 is connected to the output of the doubled clocking frequency of the generator 5 pulses, to the second (1.0), fourth (3.0), the inputs of the first group and to the first

input switch 1, block 2 control-25 (0.1), third (2.1) inputs second

a group of inputs of multiplexer 14 is connected to the output frequency of the oscillator 5, the third input (2.0) of the first group and the second (1.1) input of the second group of inputs are connected to the common wire of the first output (s, 0) of the multiplexer .14 connected to the counting input (s) counter 12, and the second output (.1) to the counting input (C) of counter 13. Loan outputs (BR) of counters 12 and 13 are connected respectively to the inputs of the O (R) and 1 (S) trigger 15, direct the output of which is connected to the first input of the second group, and the inverse output to the second input of the second group of inputs of the switch 6 and to the second address input (DSE2) of the dual selector-multiplexer 14. The third and fourth terminals of the second group of inputs of the switch 6 are connected to the common wire. .

neither a DC motor, a digital block 3 delays, a 4-pulse distributor, a 5-pulse generator, a four-channel switch 6, four key amplifier 7.1–7.4 power, a stepper motor 8, a comparator 9, a 10-DC motor, a digital quadrature phase shifter 11, containing reversible counters 12 and 13, dual selector-multiplexer 14, trigger 15.

The control input of the input switch 1 is connected to the rotation mode bus P, the first input is to the pickup frequency output of the generator 5 pulses, the second input is connected to the external control pulses f f, pr, and the output to the clock inputs of the distributor 4 pulses and the digital block 3 delays, the control input of which is connected to the P rotation mode bus, and the output to the control input of the four-channel switch 6. The control input of the 4-pulse distributor is connected to the reverse bus

0

0

Section 6 is connected to the outputs of the pulse distributor A, and the outputs are connected to the control inputs of the power amplifier 7.1-7.4 key points, the codes of which are connected to the windings of the stepping motor 8, and the output of the key power amplifier 7.4 to one input of the comparator 9, to the other input of which power bus and stepper motor 8 connected

The forward output of comparator 9 is connected to the input of the counting direction (E + 1) of the reversible counter 13, the inverse output to the input of the counting direction (E + 1) of the reversing counter of the dual selector-multiplexer 14. To the first input (0.0) of the first group and to the fourth the output (3.1) of the second group of inputs of multiplexer 14 is connected to the output of the doubled clocking frequency of the generator 5 pulses, to the second (1.0), fourth (3.0), the inputs of the first group and to the first

25 (0.1), the third (2.1) inputs the second

thirty

35

40

45

a group of inputs of multiplexer 14 is connected to the output frequency of the oscillator 5, the third input (2.0) of the first group and the second (1.1) input of the second group of inputs are connected to the common wire o The first output (s, 0) of the multiplexer .14 is connected to the counting input (c) of the counter 12, and the second output (.1) to the counting input (C) of the counter 13. Loan outputs (BR) of the counters 12 and 13 are connected respectively to the installation inputs in O (R) and 1 (S) of the trigger 15, direct output which is connected to the first input of the second group, and the inverse output to the second input of the second group of inputs of the switch 6 and to the second address input (DSE2) of the dual selector-multiplexer 14. The third and fourth terminals of the second group of inputs of the switch 6 are connected to the common wire. .

The counting direction input of the counter 13 is the direct control input of the digital quadrature phase

Sa (front-to-back) HV, to which also the rotator 11, the direction input is connected to one input of the DC motor control unit 2, the other input of which is connected to the rotation mode bus P, and the outputs to the DC motor inputs 10, 55 selector multiplexer 14

the axis of which is rigidly connected with the axis of the stepper motor 8. The first group of inputs of the four-channel commutator of the counter 12 and the first address input of the selector 14 are the inverse control input of the phase shifter 11 "Inputs 1.0, 3.0, 0.1 L 2.1 dual are the first clock input of the phase shifter 11, and the 0.0 and 3.1 inputs of the multiplexer 14 are the second

(doubled frequency) by the clock input of the phase shifter. The direct and inverse outputs of the trigger 15 are the corresponding outputs of the phase shifter 1-1.

The device for controlling the stepper drive can be made on the basis of integrated circuits mainly of the K 561 series,

Input 1 and four-channel 6 switches can be made on the basis of the K 561LS2 chip. Pulse generator 5 is based on K561LN2 inverters and a frequency divider based on K56SHE10 counters, the corresponding outputs of which are used to form twice the clock frequency, clock frequency and pickup frequency. The pulse distributor 4 is implemented on a reversible counter with a decoder built on dual quad-channel multiplexers. Digital delay unit 3 is directly implemented on the K56SHE10 meters, the reset input is the control input of the block, and the output of one of the bits is the output of the block, to save the output signal state, and to block the counting pulses. The comparator 9 can be performed on the chip K554SAZ. Reverse counters 12 and 13 are performed on K561IE11 microcircuits, trigger 15 — on a K561TM2 microcircuit, multiplexer 14 — on a K561KP1 microcircuit.

The key power amplifiers 7.1-7.4 and the DC motor control unit 2 are performed on composite transistors.

The drive works as follows

The initial state of the device is determined by the forced switching mode of the windings of the stepper motor 8, specified by external signals. The mode is set by a signal on the bus P coming from an external device (not shown). At the same time, the input switch 1 transmits to the clock input of the distributor 4 pulse pulses from the external device bus f. The output signals of the distributor 4 through the pedal group of inputs of the four-channel switch 6 arrive at the control inputs of the key amplifiers 7.1-

ten

15

0

five

0

five

0

five

0

five

Depending on the device on the distributor 4

7.4 power, which makes the forced switching of the windings of the engine 8, ensuring its rotation at a given pace. In this mode, an asymmetrical eight-cycle commutation with a fynp pulse frequency specified in the range from zero (stand) to the frequency of pickup is used.

from the signal to the external plate of the reverse high voltage, it sets the sequence of switching on the windings of the step motor 8 corresponding to the specified direction of rotation. The bus signal P corresponding to the rotation mode in question, acting on the control unit 2, switches off the power supply to the DC motor 10. Its windings are short-circuited, which increases the damping coefficient, improving the dynamic parameters of the drive.

A change in the rotation mode is initiated by installing a signal on the bus P corresponding to the forced rotation. On this signal, the control unit 2 switches on the engine 10 in accordance with the direction set on the HV bus. At the same time, the switch 1 connects to the clock input of the distributor 4 pulses with a pickup frequency coming from the generator 5. In addition, the bus signal P is fed to the digital delay unit 8, but the output signal of this block remains the same as during forced switching periods of clock pulses. Therefore, during the delay time, the stepper motor 8 continues to operate in the forced switching mode, accelerating the drive to the maximum speed allowed for this mode.

The signal at output 3 remains unchanged as long as the counter of this block does not have a definite (on the order of 16–32) number of clock pulses. Then this signal becomes corresponding to the configured mode and changes the state of the switch 6. The inputs of the second group are connected to the output of the switch 6, changing the control structure of the stepping motor B

and the new structure is switched by two windings a and b of the motor 8 synchronized with the position of the motor rotor, which is controlled by signals on the disconnected winding d. To get the maximum moment from the interaction of the magnetic fields of the windings a and b of the stator (Ф «.) And the rotor (Фр), their mutual position in space should correspond to that shown in FIG. 2 (for clockwise rotation). If the windings a and b (they create magnetic fields of opposite directions) are switched in such a way that the direction of the magnetic field changes in accordance with that shown in FIG. 2, then the torque of the direct current motor 10 is developed by the stepping motor 8.

To obtain information about the position of the rotor, the emf of rotation (Egp) is used, induced on the disconnected winding IV (it is orthogonal to the windings a-b) of the rotor magnetic field (Fig. 2) about the voltage on the winding d by the comparator 9 is converted into square pulses (Ug) - a meander having a period corresponding to the frequency of rotation of the rotor. In accordance with the spatial arrangement of the winding d, these pulses are shifted in phase by 90 ° (electric angle) with respect to the pulses that should be fed to the windings a-b to achieve the maximum additional moment of the stepper motor 8. Therefore, before the signals of the comparator 9 are received through switch 6 to amplifiers 7.1 and 7.2, they are shifted by 90 using digital quadrature

zovroshtel

YOU "1b

are shifted by (signal and ",, c 15, fig. 2).

The operation of the elements of the phase shifter is illustrated (Fig. 2) by the time diagrams of the signals (U is the output of the comparator 9; and is the output of the .1 multiplexer and output

13

13 U counter output

loan

 wow

BR

multiplexer 14, CG | the output of the borrowing of BR counter 12 and U g-output of the trigger 13 When the output signal is low

(and

is set to add mode (E-t-1), and the first address input of the multiplexer (1) is supplied 1. In this case, the signal to the output (.0)

0) comparator 9 counter 12

13725856

U, Q- multiplexer 14 and further to the counting input counter 12 passes through the inputs 1.0 and 3.0, which are connected to the output of the clock frequency5

20

thirty

35

40

A generator f of the generator 5. As a result, a number proportional to the duration of the half period accumulates on the counter 12 during the half period UO. O In the next half period Ug 1

on counter 12, the subtraction mode (E-1) is set, and the address code on multiplexer 14 connects to the counting input of counter 12 an output of doubled clock frequency 2f, generator 5. The contents of counter 12 will begin to decrease. When the counter reaches 12, a zero BP at its output (corresponds to the transfer when the counter is subtracted) turns on 1 (signal and), which will set trigger 15 on input R. As a result, the address code on multiplexer 14 () changes; 25 ry will connect the counting input of the counter 12 to the common wire, i.e., it will stop the supply of pulses to the counter, while maintaining its zero state on the address code

Since the frequency of the pulses during subtraction is twice as large, the frequency of the pulses when adding, the pulse at the output BR appears in the middle of the half period, i.e. will be shifted by a quarter of a period (90 °). In the next half-period UO, the counter 12 again accumulates a number proportional to the half-cycle of the rotor rotation, the entire described cycle repeats. Thus, each period during one half period is measured for its duration, and in the other half period a pulse is generated that is shifted by a quarter of the period (half of the previous half period). Due to the fact that each period is measured by the duration of a half-period, an operational adjustment of the phase shift to a frequency change, i.e. drive rotation speed.

The operation of the counter 13 is similar. It measures the half period at Ug 1, and a pulse shifted by 90 ° is formed 55 in the middle of the half period Ug 0. The setup inputs R and S of the trigger 15 are controlled by the pulses BR, respectively, of the counters 12 and 13, in re45

50

As a result, a meander is formed on it, shifted by 90 relative to the comparator 9 meander. Signals from the outputs of the trigger 15 in the accelerated rotation mode are supplied to control amplifiers 7.1 and 7o2 of the windings a and b of the stepper motor 8,

In a known electric drive, accelerated movement is provided by turning on the DC motor when the stepper motor is turned off. In this case, the stepper motor, loading the DC motor, reduces the permissible load torque and speed. In the proposed electric drive, the stepper motor is not turned off, but, on the contrary, is connected in the accelerated rotation mode, creating a significant additional moment on the drive axis due to the fact that the magnetic field created by one pair of its windings, it synchronously interacts with the rotor magnetic field. Moreover, synchronization is achieved not by introducing a special rotor position sensor, but by using another pair of stepper motor windings

In the proposed drive, the drive torque is 2-3 times higher than the known, the nominal speed of the DC motor rotation is 3-A times, and the pickup frequency is 20-70 times.

Claims (2)

1. A stepping motor drive containing a four-phase stepper motor and a direct current motor rigidly connected with shafts, and a control device connected to the control pulse buses of the rotation and reverse modes and including the inputs of the rotation and reverse tires to the motor control unit a direct current, an input switch connected by inputs to control pulse buses, a rotation mode and a pickup frequency output of a pulse generator, an output to a clock input of a pulse distributor, reverse stroke, which is connected to the reverse bus key PA connecting the phase stepping motor with is0 five 0 five 0 five 0 five 0 five power point, characterized in that, in order to increase the moment: and speed in the accelerated rotation mode, a comparator, 1 digital quadrature phase shifter, a digital delay unit and a four-channel switch, the outputs of which are connected to the control inputs of the key power amplifiers, are introduced in the first group inputs - to the outputs of the pulse distributor, the control input - to the output of the digital delay unit, the control input of which is connected to the rotation mode bus, the clock input - with the output of the input switch, the comparative p, one input of which is connected to the output of the fourth key power amplifier, another input — to the stepper motor power bus; two mutually inverse outputs are connected to the control inputs of the digital quadrature phase shifter, the clock inputs of which are connected to the output of the clock frequency and the output of the double clock frequency of the pulse generators , and two mutually inverse outputs of a digital quadrature phase shifter are connected to the first and second inputs of the second group of inputs of a four-channel switch, the third and h The fourth inputs of this group are connected to the common wire. 2. The electric drive according to claim 1, characterized in that the digital quadrature phase shifter contains first and second reversible counters, a dual selector-multiplexer and a trigger, the direct and inverse outputs of which are the corresponding outputs of the digital quadrature phase shifter, and the trigger installation inputs in O and in 1 they are connected respectively to the loan outputs of the first and second reverse meters, the counting input input of the first reverse meter and the first address input of the dual selector-multiplexer are connected to each other ohms and are inverted control input of the digital quadrature phase shifter, direct control input which is the input direction of the second up-down counter counting, the counting input of which is connected to the second output of the dual-selector multiplexer, one the first output of which is connected to the counting input of the first reversible counter, the second and fourth inputs of the first group of inputs and the first and third inputs of the second group of inputs of the dual selector-multiplexer are connected and are the first clock input of the digital quadrature phases of the rotator, the first input of the first group of inputs and the fourth input second group ten 5 py the inputs of the dual selector-multiplexer are connected to each other and are the second clock input of the digital quadrature phase shifter, the third input of the first group of inputs and the second input of the second group of inputs of the dual selector-multiplexer are connected to the common wire, and the second address input is connected to. inverse trigger output. ut.Z