SU989734A1 - Stepping drive control device - Google Patents

Description

(54) METHOD OF CONTROL OF STEP-UP DRIVE

The invention relates to electrical engineering, in particular to automatic control systems with stepper drive, and can be used in modes of feeds of program-controlled machine tools. There is a known method of controlling a stepper motor, 1f of which the correction of the frequency characteristics of a stepper drive is carried out by applying to the input jpeJ a torus of current in the phases of the signal that is proportional to the frequency of the utflating signals tl. The disadvantage of this method is the independence of the current in the phases from the operation mode, which leads to an increase in the losses in the engine in the rotation mode with a maximum speed. Closest to the invention is a method of stepping drive with current regulators in the phases of an engine by inputting a sequence of control pulses to the control input and increasing during start-up, setting current regulators 12. The disadvantage of this method is the low efficiency and the associated large engine heating. The purpose of the invention is to increase efficiency. This goal is achieved by the fact that according to the method of controlling a step of 1f water, the sequence of y1) avlating pulses is delayed at the input of the 1stm of the input, then the frequencies of the input and delayed sequences of control pulses in the voltage, fram {the absolute value of the difference of these times and increase the value settings of current regulators on the value of the difference of these voltages.;, № FIG. 1 shows a functional diagram of the device that implements the proposed method; in fig. 2 is a timing diagram of the current change in the motor phase; in fig. 3 - the same, the voltage at the input of the element that generates a signal to change the setting of the current regulator. The device includes the phases of an engine 1, the number of which is W, and the regulators 2 are current in phases, the number of which is also equal. The current regulator TCP 2 of each phase contains a power amplifier 3, an element, a voltage comparison element 4, a relay element 5, a current sensor 6, a key 7, a digital analog converter 8, a distributor 9 pulses, a driver 10, a delay element 11, converters frequency-voltage 12 and 13, adder 14 G unipolar vododom and the element of the addition of signals 15.. The essence of the method is as follows. At the input of the distributor 9, the control pulse Q of frequency from the software device (not shown) comes through the delay element 11. The pulse distributor 9 provides a specific phase switching sequence for the engine 1. When the first channel is turned on, the setpoint signal U through the switch 7 goes to the comparison element 4 of the regulator 2. Element 4 increases the difference d between the setpoint Uv and the current value of the signal Uj Lt taken from the sensor. 6. G + di. If the error value is DN l (V. The output 5 of the element 5, through the power amplifier 3, connects phase I to the power supply brush E (+) or E (-) depending on the sign of X. At the same time, the current in the phase increases and is maintained at an average level (Fig. 2). When the channel is turned off by the valve 9, the signal U is O. The phase current drops to zero. Thus, the value of the average level in the motor phase 1 is adjusted by changing the current setpoint Oy K. delayed ZID BX control pulse sequences are converted by converters 12 and 13. The adder 14 receives the absolute value of the difference between these voltages, i.e., the voltage at the output of the adder 14 will be proportional to the deviation (change) of the frequency at the input of the distributor 9. The value of the voltage in the course of the element 13 at the time t2 (fig. 3) is equal to Uj, and the voltage value at the output of element 12 at the same moment of femenia is equal to U f (2-l4) | i.e. U; C (t) Uf. The difference of these voltages is proportional to the input deviation frequency D. To ensure the formation of voltage for each pulse of the input sequence, the time of The relay element is chosen equal to / It jr, where the maximum frequency of the input sequence of control pulses is. The voltage .di in the adder 14 will receive one polarity. This voltage is summed on the element 15 with the set of current regulators from the output of element 8 and is fed to the input of element 7. The movement of the jog motor is described by ur / detection (t-in). (1). where J is the total moment of inertia of the shaft of the pitch motor and the load; B is the internal damping coefficient; M - moment of load resistance; K is the proportionality coefficient, depending on the structural dimensions of the material and the number of turns in the phase; e is the angular position of the rotor; () - angle error; -v - the position of the axis of the resulting magnetizing force of the stator; 3 - in the general case, the module of the geometric sum of currents of simultaneously excited phases (for considering the proposed method without loss of generality, we assume that the number of windings connected from tact to tact is equal to one); i - time; 61 is a differentiation operator. In standby mode, the current setpoint; the controller 2 is set by element 10 through a digital-to-analog converter 8, starting from the moment Mi of the load and the requirements of static accuracy (ip-Q), i.e. according to the expressions Mj (), sin (yQ} This is the automatic reset of the coil before the time t (Fig. 2). In the known solutions during start-up, the current setting is increased to maximally 1 value at which the motor can provide the maximum allowable speeds and acceleration. Thus, when the engine is operating in modes other than the maximum allowable, the excess energy is supplied to the phases, which leads to engine vakhrev. In the proposed method, in the mode of acceleration and deceleration, the setpoint is 3 "| | absolue The 1V value of the deviation frequency of the pulses, i.e. is proportional to 1frame | fuelable acceleration of the K-sin phone (y-erflr str. (- e} R-Г equation (2)) and the current component of the setpoint , depending on the moment of inertia of the rott, load, and ui} of the programmed acceleration. Thus, when implementing the proposed method, the energy supplied to the motor phase is less than with the known control methods, and consequently, the efficiency of using (2) engine propulsion. It also reduces engine heating. The form of the invention, a method of controlling a step-down device with current regulators in the phases of an engine by inputting a sequence of pulses to the input and increasing the set point of current regulators when starting, so that, with the aim of The efficiency of the hivivod, the sequence of control pulses in the rear live at the input of the drive, then the Hfe form often. You input and delayed sequences of control pulses in a voltage form the absolute value of the difference between these voltages and increase the value of the set point of current regulators by the value of the difference between these amplifiers. Sources of information taken into account during the examination 1. USSR author's certificate No. 551788, cl. H O2 P 7/62. 1975. 2. USSR author's certificate for application number 246962 5/24-О7, cl. H 02 R 8 / OO, 1976, (y) ootype).

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Claims (2)

Claim A way to control a stepper drive with current regulators in the motor phases by supplying a sequence of control pulses to the input and increasing the current regulator settings when starting, the idea is that, in order to increase the drive efficiency, the sequence of control pulses is delayed at the _k input drive, then convert often-. " You input and delayed sequences of control pulses in the voltage, form the absolute value of the difference of these voltages and increase the setting value of the current regulators by the value of the difference of these voltages. I Sources of information ’taken into account in the examination 1. USSR author's certificate No. 551788, cl. H 02 P 7/62, 1975. 2. USSR author's certificate on application no. H 02 2469625 / 24-07, P 8/00, 1976. (prototype). L "/