SU1723653A1 - Method of control over stepping motor - Google Patents

Abstract

Usage: the combined movement of the rolling element in the axial direction with its rotation around the longitudinal axis and the implementation of the exact stop of the working body. SUMMARY OF THE INVENTION: In a stepper motor with adjacent poles of a cylindrical stator displaced along the axis by the same amount, power is supplied simultaneously to the windings of the poles, the distance between which along the circumference is equal to half the pole division. 8 il.

Description

The invention relates to electrical engineering and can be used for rotational movement of a movable element, as well as in positional devices that require that the displaced movement of the fed element be aligned in the axial direction with its rotation around the longitudinal axis of the engine and the exact stopping of the tool body.

The purpose of the invention is to enhance operational capabilities by implementing a rotational motion mode.

FIG. 1 schematically shows an electric motor, a longitudinal section; in fig. 2-7 - scanning of the magnetic system of the engine, in different positions of the rotor (axis is parallel to the longitudinal axis of the engine); in fig. 8 is a functional diagram of an engine control device.

The stepper motor (Fig. 1) contains a stator 1 consisting of separate magnetic conductors, the poles of which are covered by the coils of a multiphase winding 2 with a number of phases,

a multiple of the stator magnetic cores 1, and a secondary element 3 consisting of separate magnetic cores. At the poles of the secondary element 3 and the stator 1, teeth are made, and the teeth at the poles of the stator 3 are offset relative to the teeth of the adjacent poles by a constant value in the axial direction.

The control method of the stepper motor is as follows.

For the implementation of the rotational motion mode, pairwise windings of the poles are included, the distance between which along the circumference is equal to half the pole division.

Suppose that at some point in time, the poles of the first phase winding of the stator 1 of a stepping electric motor are connected to a voltage source. Effort mutual. the attraction of the excited poles of the first phase winding of the stator 1 and the teeth of the secondary element 3 leads to their combination (Fig. 2 shows a scan of the magnetic system of the engine, which

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luster this case, the pole teeth of the secondary element 3 are shaded). At the next time instant, the phase windings of the stator 1 are switched, namely, the first phase winding of the stator 1 is disconnected and the second is connected. As a result, the teeth of the secondary element 3 are aligned with the teeth of the second phase winding of the stator 1, i.e. secondary element 3 is moved to a new fixed position. FIG. 3 shows a scan of the magnetic system of the engine for this case, i.e. the combination of the teeth of the second phase winding of the stator 1 with the teeth of the corresponding pole of the secondary element 3.

From FIG. 2 and 3, it can be seen that the movement of the secondary element 3 to a new fixed position is the sum of the movements in two mutually perpendicular directions (i.e., on the X and Y axes). A scan of the magnetic system of the engine shown in FIG. 3, obtained by moving the teeth of the secondary element 3 (the initial position in Fig. 2) down the Y axis and along the X axis to the right until they align with the teeth of the second phase stator winding 1.

Thus, as a result of moving to a new forced position, the secondary element 3 made some transient movement (movement along the Y axis), the direction of which coincides with the longitudinal axis of the engine shaft, and some rotational movement (movement along the X axis), the direction of which is perpendicular to the longitudinal axis of the engine shaft.

At the next moment of time, the next phase switching occurs, as a result of which a third phase winding of the stator 1 is connected to the voltage source. FIG. 3, it is easy to see that in order to move to a new fixed position (by aligning the teeth of the third phase winding of the stator 1 with the teeth of the corresponding pole of the secondary element 3), the secondary element keeps the same directions of movement along the axes X and Y.

FIG. Figure 4 shows the scanning of the magnetic system of the engine, fixed at the moment of time when the first phase stator 1 winding is again connected to the voltage source, i.e. secondary element 3 rotated 180 ° around the longitudinal axis of the engine shaft. At this point in time, the secondary element 3. Is located in the opposite extreme position along the Y axis. With the next switching of the phases of the stator 1, the secondary element 3 moves upwards along the Y axis and along the X axis to the right to align the teeth of the corresponding pole of the secondary element 3 with the teeth of the second phase winding stator 1 (Fig. 5 shows a scan of the magnetic system of the engine, fixed in a new fixed position).

Thus, when alternately connecting the coils of the phases of the stator windings, the secondary element 3 performs a simultaneous rotational and reciprocating motion. Changing the direction of the phase switching of the stator 1 to the opposite ensures the reversal of the motor shaft in the direction of rotational and in the direction of reciprocating movement.

When a paired switching system for the coils of the phases of the multiphase stator winding 1.5-2.6-3.7-4.8-1.5, the secondary element 3 is moved only in the direction of rotation, since with this phase switching system, the simultaneously activated phases create equal and oppositely directed forces in the axial direction (along the Y axis), i.e. With such switching on of the phases, mutual efforts are compensated for by the included phases in the direction coinciding with the longitudinal axis of the motor shaft. The operation of the engine in this mode of rotation is illustrated by the diagrams of the sweep of the magnetic system of the engine shown in Fig. 2 (phases 1.5 of the stator 1 are connected to the voltage source), Fig. 6 (phases 2.6 of the stator 1 are connected to the voltage source) and in FIG. 7 (phases 3.7 of stator 1 are connected to the voltage source).

The motor control device that implements the proposed method (Fig. 8) contains a stepping motor 4, two shift registers 5, 6, the outputs of which are connected to the outputs of the coincidence unit 7, the outputs of which are connected via the multichannel power amplifier 8 with the phases of the stepping motor 4.

The motor control device (Fig. 8) operates as follows.

The clock inputs of the shift registers 5 and 6 receive control pulses ty, shifting the data at their inputs. The data loaded into shift registers 5 and 6 correspond to the operating modes of the stepper motor 4. For example, the data loaded into the shift register 5 correspond to the alternate phase switching system of the motor, while the data loaded to the shift register 6 correspond to the paired phase switching system, which corresponds to the proposed motor control method. The signals generated at the outputs of the shift registers 5 and 6 are fed to the inputs of the matching unit 7.

Block 7 matches the role of the switch. The level of the logic signal Ui at the control input of the coincidence unit 7 corresponds to the setting of the operating mode of the stepper motor 4. The matching unit 7, in accordance with the specified operating mode of the engine, performs the switching of the output-. Dov the corresponding shift register 5 or 6 through the multichannel power amplifier 8 with the phases of the stepper motor 4.

The reverse of the motor is performed by changing the direction of the data shift at the outputs of the shift registers 5 and 6 by changing the level of the logic signal Ua, which is fed to the input of the setting of the direction of the shift.

With such a design of the stepper motor, a simplified design of the drive is achieved by the fact that in the proposed motor it is possible to obtain a rotational or rotational-progressive drive of the shaft with a smaller number of phase windings. Accordingly, the winding switching control device and the overall drive structure are simplified.

 In addition, with this performance of the stepper motor, an increase is achieved

energy characteristics due to the fact that the entire volume of the stator. and occupy the teeth of the phase windings. Reducing the stator volume (as compared with the prototype) allows reducing the geometric dimensions of the rotor, and hence its mass.

Claims (1)

The invention The method of controlling a stepper motor with adjacent poles of a cylindrical stator displaced along the axis by the same amount, including sequential switching of the windings of the poles, characterized in that, in order to expand operational capabilities by implementing a rotational motion mode, the power is simultaneously supplied to the windings of the poles, the distance between which the circumference is equal to half the pole division. WU W W H UCH UCHCHUCHH Shg, 2