TW201245527A - Control device of sewing machine and sewing machine - Google Patents

Abstract

The invention relates to a control device and a sewing machine provided with the control device. By using the control device, the power consumption of the stepping motor used in the sewing machine can be reduced. The control device (1) of the sewing machine comprises an offset generation part (40), a driving signal generation part (41) and a gain adjustment part (43). The offset generation part can be used to calculate the difference between the current identification value of the steeping motor (30) and the driving current value of the stepping motor, and can be used to generate the current value difference after the generation of the gain of the offset application. The driving signal generation part (41) can be used to generate the driving signal according to the current value. In order to perform the power saving control, the current from the self-induction of the coil (34a,34b) can flow back to the coil, and the when the absolute value of the driving current value can be decreased, compared to the absolute value of the driving current value, which is not necessary to decrease, the gain can be increased.

Description

201245527 VI. DESCRIPTION OF THE INVENTION: κ 韵 明 明 户 户 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Sewing machine. BACKGROUND OF THE INVENTION A stepping motor is known as an electric motor capable of accurately positioning an angle of a rotating shaft. In recent years, it has been widely used in sewing machines. There are many types of stepping motors. A two-phase stepping motor is known which operates by exciting two coils with mutually different excitation timings. As a control of a stepping motor, for example, Patent Document 1 discloses a driving device for a stepping motor of a slitting machine, which is provided with a Η bridge circuit having a coil of a stepping motor. Two switching elements respectively connected to the anode of the power supply device and two switching elements respectively connecting the two ends of the coil to the ground, and the driving device controls the switch when the stepping motor is in a stop state The element 〇N/〇FF is such that the current flowing from the coil is returned to the coil itself by self-induction of the coil. [PRIOR ART DOCUMENT] [Patent Document] Patent Document 1: JP-A-2009-095148 (0009, 0010) t. Contents] j Summary of Invention 201245527 Problem to be Solved by the Invention Patent Document 1 Since the responsiveness is low when the current of the stepping motor is reduced, a phenomenon may occur in which more current than the current command value for the stepping motor flows through the stepping motor. As a result, in the technique described in Patent Document 1, there is a possibility that the power consumption cannot be sufficiently suppressed. The present invention has been made in view of the above circumstances, and an object thereof is to reduce power consumption of a stepping motor for a sewing machine. Means for Solving the Problems In order to solve the above problems and achieve the object, the present invention is a sewing machine control device having a drive circuit having two ends of a coil of a stepping motor that can drive a predetermined actuator of a sewing machine Two positive-side switching elements connected to the positive pole of the power source; and two ground-side switching elements that can connect the two ends of the coil to the ground respectively; and a control means for controlling the driving circuit; the sewing machine control device The control means includes: a deviation generating unit that obtains a deviation between a command value of the stepping motor and a drive current value of a current flowing through the stepping motor, and generates a current value that gives the deviation to a predetermined gain a driving signal generating unit that generates a driving signal based on the current value deviation; and a gain adjusting unit that controls the driving circuit to cause a current flowing from the coil to be reflowed to the coil itself by self-induction of the coil In the case, comparing the absolute value of the above drive current value with the above current command Adjust the above gain by the absolute value of 201245527. In a preferred aspect of the present invention, the gain adjustment unit preferably causes the gain of the drive current value to be not less than an absolute value of the current command value to be greater than an absolute value of the drive current value to be smaller than the current. The above gain in the absolute value of the command value. According to a preferred aspect of the present invention, preferably, the stepping motor controls the positive electrode side switching element and the ground line side element at a predetermined rotational speed at a rotational speed of τ to self-induced by the coil. The current flowing from the coil is returned to the coil itself. As an ideal aspect of the present invention, it is preferable that the positioning mechanism of the actuator 1 and the upper positioning mechanism relatively position the feeding member (four) relative to the slit sentence so as to be able to drop the needle at any position of the object to be sewn. In order to solve the above problems and achieve the object, the present invention is, in particular, a stepping motor control device for controlling a predetermined actuator for driving a sewing machine, characterized in that it comprises: a blade drive circuit having Two ends of the coil of the stepping motor are respectively connected to two positive side switching elements of the positive pole of the current, and two ground side switching elements that can connect the two ends of the upper two coils to the ground respectively; a command control signal generating unit that generates a command value for the stepping motor and generates a control switching command for performing power saving, wherein the power saving control drives the positive electrode side switching element and the ground line side switching element The current flowing from the coil is returned to the coil itself by self-induction of the coil; the deviation generating unit obtains a driving current value for a command value of the stepping motor and a current of the current stepping motor of the 201245527 Deviation, generating a current value deviation that gives the deviation to a predetermined gain; a drive signal generating unit that is based on the electric a flow value deviation, a drive signal for driving the stepping motor is generated, and input to the two positive electrode side switching elements and the two ground line side switching elements; and a gain adjustment unit that performs the power saving control In the case where the absolute value of the drive current value is not less than the absolute value of the current command value, the gain is greater than a gain when the absolute value of the drive current value is smaller than the absolute value of the current command value. Further, the present invention Controlling the action of the stepping motor, the stepping motor drives the positioning mechanism, and the positioning mechanism relatively positions the object to be sewn with respect to the sewing needle so as to be able to drop the needle at any position of the object to be sewn. Further, the present invention is a sewing machine. The stepping motor has a predetermined driving device, and a driving circuit having two positive-side switching elements that can respectively connect both ends of the coil of the stepping motor to the positive pole of the power source, and the coil can be Two ground-side switching elements respectively connected to the ground line at both ends; and a control means for controlling the above-mentioned driving circuit; In the sewing machine, the control means includes: a deviation generating unit that obtains a deviation between a command value of the stepping motor and a drive current value of a current flowing through the stepping motor, and generates a deviation to give a predetermined gain a current value deviation; a drive signal generating unit that generates the drive signal based on the current value deviation; and

S 6 201245527 The gain adjustment unit controls the drive circuit to compare the absolute value of the drive current value with the current command when the current flowing from the coil is returned to the coil itself by self-induction of the coil The absolute value of the value is adjusted to adjust the above gain. EFFECT OF THE INVENTION According to the present invention, power consumption of a stepping motor for a sewing machine can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a stepping motor and a stepping motor control device for a sewing machine according to the present embodiment. Fig. 2 is a view showing the configuration of a device of the motor control device of the present embodiment. Fig. 3 is an explanatory view showing the configuration of a signal calculation unit included in the motor control device of the present embodiment. Fig. 4 is an explanatory diagram showing a method of generating a control signal. Fig. 5 is an explanatory diagram showing a method of generating a control signal. Fig. 6 is a view showing the excitation method of the stepping motor. Fig. 7 is an explanatory view showing the operation of the drive circuit when the stepping motor is driven. The 7-1th figure shows that the first positive electrode side element and the second ground line side element are in an ON state, and the second positive electrode side element and the first ground line side element are in an OFF state. Figs. 7-2 show that the second positive electrode side member and the first ground side member are in an ON state, and the first positive electrode side member and the second ground side member are in an OFF state. Fig. 8 is a diagram showing the change of the current flowing through the coil of the stepping motor. 7 201245527 Figure 9 is a diagram showing the change in current flowing through the coil of the stepper motor. Fig. 10 is a diagram showing the change of the current flowing through the coil of the stepping motor. Fig. 11 is a view for explaining the operation of the drive circuit at the time of performing the power saving control. Fig. 12 is a view for explaining the operation of the driving circuit at the time of performing the power saving control. Fig. 13 is a view showing the change of the current flowing through the coil of the stepping motor when the power saving control is performed. Fig. 14 is a view showing the change of the current flowing through the coil of the stepping motor when the power saving control is performed. Fig. 15 is a conceptual diagram for explaining the setting of the gain in the power saving control of the present embodiment. Fig. 16 is a conceptual diagram for explaining the setting of the gain in the power saving control of the present embodiment. Fig. 17 is a view showing the change of the drive current value in the power saving control of the present embodiment. Fig. 18 is a flow chart showing an example of controlling a stepping motor by a motor control device. Fig. I9 is a perspective view showing an example of a sewing machine including a stepping motor controlled by a motor control device according to the embodiment of the present invention. Fig. 20 is a perspective view showing a positioning mechanism of the machine shown in Fig. 19. 201245527 t. Embodiment Mode for carrying out the invention The embodiment (embodiment) for carrying out the invention will be described in detail with reference to the drawings. The contents described in the following embodiments are not intended to limit the present invention. The constituent elements described below include contents that can be easily conceived by those skilled in the art and actually have the same contents. Further, the constituent elements described below can be combined as appropriate. According to the present invention, the stepping motor can be applied to a slit machine driven by a χ_γ direction, and can be applied regardless of the sewing machine for the sanitary industry or the sewing machine for the household. In the present embodiment, the stepping motor 30 is used to drive the positioning mechanism of the sewing machine, but may be used to drive other mechanisms of the sewing machine, such as a lifting mechanism, a feed amount adjusting mechanism, and the like. In the present embodiment, the stepping motor 3'' is a so-called permanent magnet (ρΜ) type two-phase stepping motor, but is not limited thereto. The stepping motor 3A includes a rotating shaft 31, a rotor 32, a stator 33, core portions 33a and 33b, and coils 34a and 34b. The rotor 32 is a cylindrical structure that is coupled to the rotating shaft 3i of the stepping motor 3A and rotatably provided by the casing of the stepping motor 30. The rotor 32 is a magnetic body such as a permanent magnet. The stator 33 is a cylindrical magnetic material (e.g., iron) disposed around the rotor 32. The stator 33 has core portions 33a and 33b that protrude toward the rotor 32 at the inner circumference of the stator 33. The coils 34a, 34b are wound around the windings of the core portions 33a, 33b. The coils 34a and 34b are excited by the electric current to function as an electromagnet. The operation of the stepping motor 30 is controlled by a sewing machine control device (hereinafter, referred to as 201245527 as a motor control device) provided in a main body of the sewing machine or a control box provided outside the main body of the sewing machine. The motor control device 1 includes a control signal generating unit 2, a signal calculating unit 4, and drive circuits 6 and 6 corresponding to the respective coils 34a and 34b. The motor control device generates a drive signal corresponding to the excitation mode corresponding to the command rotation angle of the stepping motor 30, and based on the drive signal, causes a current to flow through the respective coils 34a and 34b to energize the coils 34a and 34b. Thereby, the rotor 32 of the magnetic body rotates in accordance with the rotation angle ' of the excitation mode of the coils 34a, 34b and maintains the above-described rotation angle until the excitation mode changes. The direction of the current flowing through the coils 34a and 34b by the motor control device 1 (in the example shown in Fig. 1, the coil 34a is in the directions indicated by the arrows A and B, and the coil 34b is in the directions indicated by the arrows c and D). ) will vary depending on the driving of the drive circuit 6. Hereinafter, the motor control device 1 will be described. In Fig. 2, the motor control device 1 is a device for controlling the stepping motor 3'. Specifically, it is a device for controlling the drive circuit 6. As described above, the motor control device 1 includes the control signal generating unit 2, the chemical number calculating unit 4, and the drive circuit 6. Further, the motor control device 1 has a corresponding number of drive circuits 6 corresponding to the respective coils 34a and 36b of the stepping motor 3A shown in Fig. 1, and for convenience of explanation, only the following examples show A drive circuit 6 is provided. The control signal generating unit 2' calculates and generates a current command value as a command value for controlling the operation of the stepping motor 30. And sent to the signal calculation unit 4. The current command value Ic is an analog signal. Further, the control signal generating unit 2 generates a control switching command ρι for switching the power-saving control and other control.

S 10 201245527 P2 is sent to the signal calculation unit 4. The power saving control unit controls the drive circuit 6 to recirculate the current flowing from the coil 34a (34b) to the coil 34a (34b) itself by self-induction of the coil 34a (34b) of the stepping motor 30. That is, the power-saving control is controlled by driving the positive-electrode-side switching elements 6a, 6〇c and the ground-side switching elements 60b and 60d of the drive circuit 6 to be driven by the stepping motor 3〇. The self-induction of the coil 34a (34b) has a current flowing from the coil 34a (34b) flowing back to the coil 34a (34b) itself. About power saving control, we will introduce it in detail later. The control 彳s number generation unit 2' is, for example, a central processing unit (CPU) or a microcomputer device (Micr〇 m〇mputer Unit, MCU). The control signal generating unit 2 rotates and stops the stepping motor 3 by executing a computer program for controlling the operation of the stepping motor 3A, or performs the above-described power saving control on the stepping motor 30. The control unit 5 or the generating unit 2' can recognize the number of rotations of the motor based on the pulse wave frequency and generate the control switching commands P1 and P2, and can also calculate the signal of the encoder (not shown) based on the number of rotations of the stepping motor 3〇. To identify the stepping motor spin number ' and generate control switching commands Pi, P2. The signal calculation unit 4 generates drive signals Sd1 and Sd2 for driving the stepping motor 3A based on the current command value 1C generated by the control signal generating unit 2, the drive current value Id, and the control switching commands P1 and P2. Then, the signal computing unit 4, by generating the generated driving signal Sd1,

The driving signals Sd1, Sd2' of the portion 4 are supplied to the T 34b, 11 201245527, and the stepping motor 30 is controlled via the driving circuit 6. In the present embodiment, the driving of the stepping motor 30 includes: rotating the stepping motor 30 Both the stepping motor 30 are stopped. Further, the drive signals Sd1 and Sd2 are signals for performing pulse width modulation (PWM) control on the stepping motor 30. The signal calculation unit 4 is a processing device (for example, a microcomputer) for realizing the above functions, and in the present embodiment, a digital signal processor (DSP) is used. DSP is a microprocessor that is specialized for a specific process. Details of the signal calculation unit 4 will be described in detail later. The drive circuit 6 has a conductive portion that can connect the both ends of the coil 34a (34b) of the stepping motor 30 to the positive electrode side switching elements 60a, 60c of the positive electrode of the power source 62; and the coil 34a The conductive portions at both ends of (34b) are respectively connected to the two ground line side switching elements 6〇b and 60d of the ground line 63. As a result, the drive circuit 6 is a full bridge circuit. The drive circuit 6 has diodes 61a and 61c and diodes 61b and 61d β diodes 61a and 61c and two poles connected in parallel to the respective positive electrode side switching elements 60a and 60c and the ground line side switching elements 60b and 60d. The bodies 61b and 61d are connected such that current can flow from the ground line 63 to the positive electrode of the power source 62. With such a configuration, the current from the power source 62 does not flow through the diodes 61a, 61c and the diodes 61b, 61d, and when there is a current opposite to the direction of the current of the power source 62, the current will flow through the diode. The bodies 61a and 61c and the diodes 61b and 61d. The drive circuit 6 is configured such that the opposite direction is

S 12 201245527 A current flows through the diodes 61a and 61c and the diodes 61b and 61d, thereby preventing the positive electrode side switching elements 60a and 6〇c and the ground line side switching elements 60b and 60d from being damaged. In other words, the diodes 61a and 61c and the diodes 61b and 61d function as protection circuits for the positive-electrode-side switching elements 6a and 60c and the ground-side switching elements 60b and 60d. In the present embodiment, the positive electrode side switching elements 60a and 60c and the ground line side switching elements 60b and 60d are field effect transistors (FETs). Further, the drive signal Sd1 is input to the gates of the positive electrode side switching elements 60a and 60c, and the drive signal Sd2 is input to the gates of the ground line side switching elements 60b and 60d. Further, the positive electrode side switching elements 6a, 6〇c and the ground line side switching elements 60b and 60d are not limited to the FET, but since the fet controls the gate voltage, it is preferable when a large current flows through the stepping motor 30. . The positive electrode side switching element 60a is connected in series with the ground line side switching element 6〇b. More specifically, the drain of the positive electrode side switching element 60a is electrically connected to the source of the ground side switching element 6〇b. Similarly, the drain of the positive electrode side switching element 6〇c is electrically connected to the source of the ground side switching element 60d, whereby the two are connected in series. Therefore, both ends of the coil 34a (34b) are respectively connected between the positive-electrode-side switching element 60a and the ground-side switching element 6〇b connected in series, and the positive-electrode-side switching element 6〇c and the ground-side switching element 6 connected in series. 〇d between. Hereinafter, the positive electrode side switching element will be referred to as a first positive electrode side element 60a, the positive electrode side switching element 6〇c will be referred to as a second positive electrode side element 6〇c, and the ground side open type II element will be referred to as a One ground side element, the ground side switching element 60d is referred to as a second ground side element 6〇d. 13 201245527 A current detecting circuit 8a (8b) is connected in series between the coil 34a (34b) and the driving circuit 6 as a current for detecting the flow through the stepping motor 30, more specifically as a detecting flow through the coil 34a. The driving current detecting means of the current of (34b). Furthermore, it means that the current detecting circuit 8a corresponds to the coil 34a, and the current detecting circuit 8b corresponds to the coil 34b. The current value detected by the current detecting circuit 8a (8b) flows through the stepping motor 3 (more specifically, 'flows through the coil 34a (34b)) and drives the current (drive current) value of the stepping motor 30, That is, the driving current value Id. Further, the drive current ' is converted into a voltage by the shunt resistor in the current detecting circuit 8a (8b) and output. Therefore, in the present embodiment, the drive current value Id is outputted as a voltage. The signal calculation unit 4 is configured to acquire the drive current value Id and generate drive signals Sd1 and Sd2. In the present embodiment, the motor control unit 即可 has at least the signal calculation unit 4, and at least one of the control signal generation unit 2 and the drive circuit 6 may be separately provided separately from the motor control unit 1. Further, when the motor control device 1 includes the control signal generating unit 2 and the signal computing unit 4, as in the present embodiment, it may be provided with another processing device (for example, a microcomputer). Further, the motor (four) device can also combine the control signal generating unit 2 and the signal calculating unit 4 into one processing device (for example, a microcomputer), and execute another computer program through the processing device to realize each function. Hereinafter, the signal calculation unit 4 will be described in more detail. In the third diagram, the signal calculation unit 4 includes a deviation generation unit 4A and a drive.

S 14 201245527 Signal generation unit 41, triangular wave generation unit 42, and gain adjustment unit 43. Further, the signal calculation unit 4 includes an output unit 44 that processes the drive signal Sd generated by the drive signal generating unit 41 to be a drive signal Sd Sd2 that is sent to the drive circuit 6. Thereby, the signal calculation unit 4 has an A/D conversion function and a PWM control function for controlling the current that can drive the stepping motor 30. The deviation generation unit 40 obtains the deviation d (=Ic-Id) and generates a current value deviation D (=dxG) which is generated by the control signal generation unit 2 shown in FIG. 2 for the stepping motor. The deviation between the current command value Ic of 30 and the drive current value Id flowing through the stepping motor 3〇; and the deviation of the current value 〇 is given to the deviation d by the predetermined gain G generated by the gain adjustment unit 43. The generating unit 41 generates a driving signal sd for driving the stepping motor 30 based on the current value deviation D. At this time, the driving signal generating unit 41 generates a driving signal Sd by using the triangular wave Vt generated by the triangular wave generating unit 42. The weighting of the current value deviation D. The larger the G, the larger the change of the ON load of the PWM signal, the higher the current responsiveness will be, but if it is too large, the overshoot will occur and the current will become unstable when the current changes. Therefore, it is necessary In the present embodiment, two types of gains having different sizes are provided, and in the case where the above-described power saving control is performed, when the current flowing through the stepping motor 30 needs to be reduced, the gain used is greater than other Used by the situation . Benefits hereinafter described method for generating a drive signal Sd - The embodiment in FIG. 4, FIG. 5, the triangular wave generating portion are generating a triangular wave drive signal generating section 4 Bu Comparative triangular wave Vt and the current value of deviation D, as 15201245527.

When Vt < D, an ON signal is generated (time t1 to t2), and when Vt > D, an OFF signal (time t2 to t3) is generated. The ΟΝ/OFF signal obtained by combining the on signal and the off signal thus obtained is the drive signal sd. One cycle of the triangular wave Vt is equivalent to one cycle of the drive signal Sd. As can be seen from Fig. 4 and Fig. 5, "If the current value deviation d becomes large, the on time in one cycle of the drive signal Sd becomes longer, and if the current value deviation D becomes smaller, the drive signal Sd is OFF in one cycle. The time will be longer. When the drive signal Sd is an ON signal, current flows into the stepping motor 3'', and when the drive signal Sd is OFF, the current does not flow into the stepping motor 3''. Moreover, the longer the ON time of the drive signal Sd, the more current flows into the stepping motor 30. In this manner, the drive signal Sd is transmitted through the length of the ON time (the interval between the times t1 and t2, referred to as the pulse width), and the magnitude of the current flowing through the stepping motor 30 is changed. Based on the pulse width of the drive signal Sd, the control of the magnitude of the current flowing through the stepping motor 3〇 is controlled by PWM. In the case where the driving circuit 6 is controlled to self-induced the current flowing from the coil 34a (34b) to the coil 34a (34b) itself, the gain adjusting portion 43 needs to reduce the driving current value Id. In the absolute value, the gain G is made larger than the gain G when it is not necessary to reduce the absolute value of the drive current value Id. In other words, when the power saving control is executed, the gain adjustment unit 43 causes the gain G to be larger than the absolute value of the drive current value id to be smaller than the current command value when the absolute value of the drive current value Id is equal to or greater than the absolute value of the current command value Ic. The gain G of the absolute value of Ic. The output unit 44' acquires the drive signal Sd generated by the drive signal generating unit 41, and outputs it to the drive circuit 6. The output unit 44 includes: a first inversion unit 45, and a

S 16 201245527 A logical product calculation unit 46, a second logical product calculation unit 47, a second inversion unit 48, and a second inversion unit 49. The first logical product calculation unit 46 inputs the control switching command pi and the drive signal Sd issued by the control signal shown in Fig. 2, and rotates the logical product of the two as the drive signal Sd1. The second logical product calculation unit 47 receives the control switching command P 2 issued by the control signal generating unit 2 and the drive signal Sd′ passing through the first inverting unit 45 and rotates the logical product of the two as a drive signal. Sd2. Further, the drive signal Sd is inverted by the first inverting portion 45. Hereinafter, for convenience of explanation, the drive signal Sd1 will be referred to as a first drive signal Sd1' and the drive signal Sd2 will be referred to as a second drive signal Sd2 as needed. The first drive signal Sd1 is equal to the drive signal Sd' and the second drive signal Sd2 is equal to the signal inverted by the drive signal Sd. The first drive signal Sd1 outputted by the first logical product calculation unit 46 is directly input to the gate of the first positive electrode side element 6a, and is input to the first ground line side element through the second inversion portion 48. The gate of 60b. The second drive signal Sd2 output from the second logical product calculation unit 47 is directly input to the gate of the second positive electrode side element 60c, and passes through the third inversion unit 49, and is input to the second ground line side element 60d. Gate. In this manner, the first driving signal Sd1 is input to the gate of the first positive electrode side element 60a, and the second driving signal Sd2 is input to the gate of the second positive electrode side element 60c. The signal input to the gate of the first ground line element 60b is a signal that the second inverting unit 48 inverts and outputs the first drive signal Sd1, and thus is the second drive signal Sd2. 17 201245527 The signal input to the gate of the second ground line side element 60d is a signal in which the first inverting unit 45 inverts the drive signal Sd, that is, the third inversion unit 49 turns the second drive signal Sd2 again. The signal output after the inversion is therefore the drive signal Sd, that is, the first drive signal Sd1. As a result, the first positive electrode side element 60a and the second ground line side element 60d are driven by the first drive signal Sd1, and the second positive electrode side element 60c and the first ground line side element 60b are driven by the second drive signal Sd2. The components of the signal calculation unit 4 include a deviation generation unit 40, a drive signal generation unit 41, a triangular wave generation unit 42, a gain adjustment unit 43, and an output unit 44. The signal calculation unit 4' realizes the functions of the components by executing a computer program stored in its own memory unit. That is, the signal calculation unit 4 uses the software to realize its own function. Therefore, if the computer program is ciphered, it is difficult to analyze the function of the signal computing unit 4, so that the tampering can be reduced. In addition, when the specifications of the stepping motor 30 and the specifications of the sewing machine to be applied to the stepping motor 3 are changed, the same signal computing unit 4 can be applied only by rewriting the corresponding computer program. The nature can be referred to in Fig. 6, the two-phase bipolar stepping motor % shown in Fig. 1 has two coils 34a' 34b. There are several methods of supplying current to the coils μ/, 34b of the stepping motor 3 (excitation method), for example, a method of __w fishing one-phase hybrid excitation, which alternately switches phase A (coil 34 illusion 8 phase (line 34b) and current flow method. This method has the following advantages: redundant " Compare one-phase excitation and two-phase excitation, and halve the step angle, therefore, perform a smooth 18 201245527 rotation. In the case of phase-mixed excitation, the currents flowing into the respective turns 34a, 34b and & as shown in Fig. 6, are the eight modes of 〇 to 7. According to steps M 1 2 3, 4, 5, 6, The order of the combination in 7 excites the coils 34a and 34b to switch the current flowing into the respective coils 34a and 34b, whereby the stepping motor 30 rotates. Hereinafter, the seventh phase to the first phase, that is, the coil 34a, will be described. The operation of the drive circuit 6 in the figure. In the steps 〇, 1, and 2 of Fig. 6, the current flowing into the coil 34a is in the direction of the arrow E in the 7-1th direction (from the positive electrode of the power source 62 toward the ground line 63). The direction, hereinafter, the + meaning is + direction) flows. At this time, the first positive electrode side member 60a and the second The line side element 60d is turned ON/OFF repeatedly, and the drive current value Id of the inflow coil 34a is controlled. Then, as shown by the on portion of Fig. 8, the drive current value Id flowing through the coil 34a is increased. When the first positive side element 60a is When the second ground side element 6〇d is OFF, the current is returned to the power source 62 through the diode 61b of the second ground side element 6〇b, the coil 34a, and the diode 61c of the first positive side element 60c. The direction flows (the direction indicated by the arrow F in Fig. 7-2). The reason is that when the first positive electrode side element 60a and the second ground side element 60d are OFF, the coil 34a will be self-induced, The current flows in the direction of the previous flow. At this time, in order to suppress the heat generation of the diodes 61b and 61c, the second ground line side element 60b and the first positive electrode side element 60c are controlled to be ON, as shown in the OFF portion of Fig. 8. The driving current value Id flowing through the coil 34a is decreased. In the steps 3 and 7 shown in Fig. 6, the current command value Ic is 〇A (An 19 201245527 培). This means that the driving current value Id is 〇 a (amperes). At this time, in order to make the current of the coil 34a interact in the + direction and in the opposite direction ( The first positive electrode side element 60a and the second ground side element 6〇d, the second positive electrode side element 60c, and the first ground line side element 6〇b are set to 〇n/〇FF (please refer to the ninth) The result is that the average value of the current flowing through the coil 34a is 〇A, and therefore, the driving current value Id is Ο A. In the steps 4, 5, and ό shown in Fig. 6, the coil 34a flows through The direction of the current is the direction (refer to Fig. 1). § When the gradient of the current flowing through the coil 34a is positive, the first positive electrode side element 60a and the second ground side element 60d are turned ON (Fig. 7-1) ). When the tendency of the current flowing through the coil 34a is negative, the second positive electrode side element 60c and the first ground side element 60b are turned ON (Fig. 7-2). The above gradient depends on the voltage applied to the coil 34a. Since this voltage is the voltage (supply voltage) Vcc of the power source 62, the above tendency is substantially the same (Figs. 8 to 9). The degree of current change caused by the above gradient is substantially the same as the magnitude of the current command value Ic, which may cause iron loss. That is, in order to suppress the heat generation of the stepping motor 30, the stepping motor 30 is stopped. Even if the current flowing through the coils 34a and 34b is reduced, the copper loss caused by the current can be reduced, but the iron loss cannot be reduced. Therefore, the above-described power saving control suppresses the heating of the stepping motor 30. For the sake of convenience, the control for suppressing the heat generation of the stepping motor 30 is referred to as power saving control. In the eleventh through fourteenth drawings, the power saving control will be described. In the power-saving control, the control signal generating unit 2 shown in Figs. 2 and 3 supplies the control switching commands PI and P2 to the signal computing unit 4 for execution. Furthermore, when the stepping motor 30 is stopped, power saving control is implemented, and

20 S 201245527 When the stepping motor 30 rotates at a low speed ‘Specifically, when the number of rotations of the stepping motor 30 is 200 rpm or less or 300 rpm or less, the power saving control can be performed. In the case where the power saving control is not performed, that is, when the stepping motor 30 is normally rotated, the control switching command PI 'P2 is 1 . Therefore, the control switching command pi input to the first logical product calculating unit 46 shown in Fig. 3 and the control switching command P2 input to the second logical product calculating unit 47 are both 1. As a result, the first logical product calculation unit 46 and the second logical product calculation unit 47 directly output inputs other than the control switching commands PI and P2. Specifically, the first logical product operation unit 46 outputs the drive signal Sd as the first drive signal Sd1, and the second logical product calculation unit 47 outputs the second drive signal Sd2 inverted by the drive signal Sd. Therefore, each element of the drive circuit 6 is repeatedly turned OFF/OFF by the first drive signal Sd1 and the second drive signal Sd2. As shown in Fig. 7-1, when the first positive electrode side element 6a and the second ground side element 60d are ON, and the second positive electrode side element 60c and the first ground side element 60b are OFF, the coil 34a is turned on. In (34b), a current flows in a direction indicated by an arrow E in Fig. 7-1. Further, as shown in FIG. 7-2, when the second positive electrode side element 6〇c and the first ground line side element 60b are ON, and the first positive electrode side element 60a and the second ground line side element 60d are OFF, the flow The current through the coil 34a (34b) flows from the ground line 63 to the anode of the power source 62 as indicated by the arrow F. The following 'Describes power saving control. The power saving control is performed, for example, when the stepping motor 30 is stopped or rotated at a low speed. When the power saving control is performed, if the current flowing through the coil 34a (34b) is in the + direction, and the control signal generating unit 2 shown in Fig. 2 generates the control switching command P1 = 1 and p2 = 〇. Further, when the current flowing through the coil 21 201245527 34a (34b) is one direction, the control signal generating unit 2 shown in Fig. 2 generates the control switching command P1 = 0, P2 = b, and flows through the coil 34a ( The current of 34b) is 0 A, and the control signal generation unit 2 shown in Fig. 2 generates control switching commands P1 = 0 and P2 = 0. Fig. 11 and Fig. 12 are diagrams showing the case where the current flowing through the coil 34a (34b) is in the + direction in the power saving control. At this time, since Pl = l and P2 = 0, the first logical product calculation unit 46 of Fig. 3 outputs the first drive signal Sd1, and the second logical product calculation unit 47 outputs 〇. Therefore, in the power saving control, if the current flowing through the coil 34a (34b) is in the + direction, the first positive electrode side element 6a and the first ground side element 60b are turned ON/OFF, and the second positive electrode side element 6 〇c is generally 〇ff, and the second ground side element 60d is normally ON. Further, when the first positive electrode side element 60a is ON, the first ground line side element 6〇b is off, and when the first positive electrode side element 60a is OFF, the first ground line side element 6〇b is on. As shown in Fig. 11, in the power saving control, when the first positive electrode side element 6a is ON, and the second ground side element 60d is ON, the current flowing through the coil 34a (34b) is directed to Fig. 11 The direction indicated by the arrow E flows. When the first positive electrode side element 60a is OFF and the first ground side element 6?b is on, the second positive electrode side element 60c is OFF, and the second ground line side element 6?d is 〇N. Therefore, as shown in Fig. 12, the current flowing from the coil 34a (34b) by self-induction does not pass through the second positive electrode side member 60 (; the diode 61c returns to the power source 62, passes through the first ground The line side element 6〇b and the second ground line side element 60d are reflowed to the coil 34a (34b) itself (the direction indicated by the arrow G in the nth diagram). At this time, 'the current is not hindered by the coil 34a (34b) The reverse voltage of the flow, therefore, the decrease in current, as shown in Fig. 3, becomes very flat 22

S 201245527 stable. As a result, the degree of change (current fluctuation) of the current flowing through the coil 34a (34b) is extremely small as compared with the case shown in Fig. 9. As a result, the power saving control has the effect of reducing the heat generation caused by the iron loss of the stepping motor 3. Further, when the stepping motor 3 is stopped or rotated at a low speed, the power saving control is executed when the current flowing through the stepping motor 30 is in a certain state, and the power consumption can be reduced when the sewing machine to which the stepping motor 30 is applied is standby. However, in the case of 'power saving control', the responsiveness when the current (driving current) flowing through the stepping motor 30 is reduced is low. Therefore, it is possible to cause the current larger than the current command value Ic to flow into the coils 34a, 34b of the stepping motor 3A. in. As shown in Fig. 14, the decrease in the current flowing through the coils 34a, 34b in the power saving control is relaxed, so that the drive current value ratio has not been lowered to the current command value 1 (before, the subsequent PWM is entered. Since the ratio of ON of the subsequent PWM control is less than the previous time, the drive current value Id is sequentially decreased, and the pwM control is repeated several times, so that the drive current value Id is reduced to the current command value Ic. Flow through the coil 34a The current increase of 34b is increased by the same gradient as the conventional control, that is, the control other than the power-saving control, so that there is no problem in the responsiveness. However, only the current flowing through the coils 34a, 34b is reduced. When the responsiveness is lowered, an extra current may flow during this period, which may result in insufficient reduction of the power consumption of the stepping motor 30. In order to sufficiently ensure the OFF time of the PWM control when the current flowing through the coils 34a, 34b is reduced, it is effective. The method is to increase the current value deviation D generated by the signal calculation unit 4 shown in FIGS. 2 and 3 in the first (negative) direction. 23 201245527 Therefore, the signal calculation unit 4 The gain G generated by the gain adjustment unit 43 may be increased. However, if the gain G' is increased in the conventional control and power-saving control, the current flowing through the coils 34a, 34b increases, and the current excess increases. In order to solve this problem, in the power saving control of the present embodiment, the gain adjustment unit 43 shown in Fig. 3 makes the gain when it is necessary to reduce the absolute value of the drive current value Id. G is greater than the gain G when it is not necessary to reduce the absolute value of the drive current value w (for example, when the current flowing through the coils 34a, 34b is increased). Thereby, in the power saving control, only the current flowing through the coils 34a, 34b When the voltage is decreased, the current value deviation D is increased, so that the OFF time of the switching element can be lengthened. Therefore, when the current flowing through the stepping motor 3〇 is reduced, the responsiveness can be suppressed from being lowered. As a result, the province of the present embodiment is reduced. The electric control can quickly converge the drive current value Id to the current command value 1 (;, therefore, it is possible to suppress the extra current from flowing through the coils 34a, 34b, and sufficiently reduce the power consumption of the stepping motor 3A. Further, the gain adjustment portion 43 Comparison drive The dynamic current value 1 (the absolute value of 1 and the absolute value of the current command value Ic, when it is necessary to reduce the drive current value 1 (the absolute value of 1 ' can adjust the gain G to increase it. Further, when performing power saving control The gain adjustment unit 43 can also adjust the gain G. When the absolute value of the drive current value is the absolute value of the motor 彳a command value I c , the gain G is greater than the drive current value d is less than the current command value. In the present embodiment, when the rotational speed of the stepping motor 30 is equal to or lower than the predetermined rotational speed, the power saving control is executed. Below the predetermined rotational speed, the stepping motor 30 is also stopped ( The rotation speed is 〇). Above, when stepping

S 24 201245527 When the motor 30 is stopped, the power-saving control is executed, and when the stepping motor 3 is rotated, the power-saving control is also applied, and the power consumption of the stepping motor 3〇 can be further suppressed. The above predetermined rotational speed is used to specify the rotational speed of the stepping motor 3 旋转 at a lower speed, for example, 2 rpm to 300 rpm. The power saving control is performed at a rotation speed lower than a predetermined rotation speed because the responsiveness is prioritized when the stepping motor 30 is idling. Hereinafter, the power saving control of the present embodiment will be described in more detail using Figs. 15 to π. Fig. 15 is a case where the direction of the current flowing through the coils 34a, 3 is + (Pl = l, P2 = 0), and Fig. 16 is the case where the direction of the current flowing through the coils 34a, 3 is one (P1). =0, P2 = l). The solid line in Fig. 17 is a change in the I peak H value id of the power saving control of the present embodiment, and the broken line is a change in the driving current value Id when the gain is fixed. As described above, the power saving control of the present embodiment makes it necessary to reduce the gain G2 at the (10) value |Id 驱动 of the drive current value Id, which is larger than the gain G1 when the absolute value 丨Id1 of the drive current value Id is not required to be reduced (G1 < G2 ). In the examples shown in Fig. 15 and Fig. 16, when the absolute value IM of the drive current value is smaller than the absolute value of the current command value Ie (the area up to (4) and the area where t is greater than t2) needs to be increased. The absolute value of the driving current value Μ is 丨^丨 such that the deviation d(=Ic_id) is 〇. At this time, the gain adjustment unit 43 shown in Fig. 3 sets the gain 仏(1), so the current value varies (10) 仏 (1). Also, when the pottery is called (four) the area of the illusion 2, it is necessary to reduce the drive current value _ absolute value Μ so that the deviation (four) 卜 (4) is 〇. At this time, the gain adjustment unit 43 sets the gain g = G2 (> gi), so the value deviation D is dxG2. In the power saving control 25 201245527 of the present embodiment, the gain adjustment unit 43 causes the absolute value |Id 驱动 of the drive current value Id to be equal to or greater than the absolute value |ic| of the current command value Ic. Gain 〇 is greater than |Id| is less than 丨Ic丨, G, G. 9 ^ By the "power saving control" of the present embodiment, the current value deviation D can be increased only when the current flowing through the coil Μ 34b is decreased. 'Result' as shown in Fig. 17 'Compared with the change of the power saving and the driving current value Id (solid line) of the present embodiment, and the change of the flow value Id when the gain G is fixed (dashed line), flowing through the stepping When the current of the Marin 30 is reduced, the voltage drop is suppressed and quickly converges to the current command value IC (0 when the stepping motor is used). As a result, the power consumption of the stepping motor 30 is sufficiently reduced because the enthalpy reduces the extra current flowing through the stepping motor 30. Hereinafter, an example of the operation of the stepping motor 30 by the motor control device 1 shown in the first embodiment will be described. In Fig. 18, when the operation of the stepping motor 30 is controlled, the control signal generating unit 2 of the motor control device 1 of the second figure generates a current finger.

And control switching instructions pi, P2. Then, in step 81〇1, the signal value 1C unit 4 acquires the current command value & generated by the control signal generating unit 2, and in S102, the drive current S103 is acquired from the current detecting circuit 8a (8b), and the control is acquired. The control switching command η P2 generated by the signal generating unit 2 is controlled. Furthermore, the order of step S1, step S102, and step S103; Ge limit Yes) In step S104, when the switching instruction is controlled? 1 or? 2 is the time (歩 - Sl〇4, yes), motor control device! Perform power saving control. At this time, the process proceeds to step S105. In step S1, when P1 = 1 and 1£^1 (; (step si〇s, eight steps 2012 26 201245527, the direction of the current flowing through the coils 34a, 34b of the stepping motor 30 is + and | Id |> =|Ic| At this time, it is necessary to reduce the drive current value Id. Therefore, the process proceeds to step si〇6, and the deviation generating unit 40 acquires the gain G2 from the gain adjustment unit 43, and sets the gain G for multiplying the deviation d. It is G2. In step S104, when the control switching command P1 or P2 is not 〇, that is, when 'Pl = l and P2 = 1 (step s1 〇 4, NO), the motor control device 1 does not perform power saving control. In this case, the process proceeds to step S107, and the deviation generating unit 4 obtains the gain G1 from the gain adjusting unit 43, and sets the gain G for multiplying the deviation d to G1. In step S105, when not >1 = 1 and 1 (:|> = ic, that is, when p2 = l or Id < Ic (step S105, NO), the process proceeds to step si 〇 8. In step S108, when P2 = 1 and Ic >: = Id When the step (step S108, YES), the direction of the current flowing through the coil 34a'34b of the stepping motor 30 is - and |Id|>=|Ic. At this time, it is necessary to reduce the drive current value Id, and therefore, the process proceeds to step si. 〇 6, deviation generation 40, the gain adjustment unit 43 obtains the gain G2, and sets the gain G for multiplying the deviation d to G2. In step S108, when not P2=l and lclid, that is, when P2=0 or Ic<Id (No in step S108), the motor control device does not perform the power saving control. At this time, the process proceeds to step Si7, and the deviation generating unit 4 obtains the gain G1 from the gain adjusting unit 43, and the gain g for multiplying the deviation d The process proceeds to step S109, and the deviation generation unit 40 calculates the current value deviation D. Then, in step s11, the drive signal generation unit 4 acquires the triangular wave Vt from the triangular wave generation unit 42. In step 8111, when D >% (step sm, YES), the drive signal generation unit 41 sets the drive signal Sd to 1. When DSVt (step S111, NO), the flow proceeds to step S113, and the drive 27 201245527 dynamic signal generation unit 41. The drive signal Sd is set to 0. In steps Sill to S113, the drive signal generating unit 41' generates a drive signal Sd including ΟΝ/OFF. This drive signal Sd is a signal for PWM control. S114, the signal calculation unit shown in Fig. 3 4' A signal obtained by inverting the drive signal Sd as the first drive signal Sd' is used as the second drive signal Sd2. The first inverting portion 45 of the signal calculation unit 4 inverts the drive signal Sd' The second drive signal Sd2 is used. In step S115, when the control switching command P1 is 1 (step S115, YES), the flow proceeds to step S116. In step S116, when the control switching signal P2 is 1 (YES in step S116), the signal computing unit 4 outputs the first drive signal Sd1 to the drive circuit 6 by the first logical product calculation unit 46. The second drive signal Sd2 is output to the drive circuit 6 by the second logical product calculation unit 47. When YES in steps S115 and S116, since ρ1 = Ρ2 = ι, the power saving control is not performed 'the stepping motor 3 is driven by the conventional control. In step S115, 'when the control switching command ρ is not 1 (NO in step S115)' proceeds to step S118. At this time, since Pi = 〇, the first logical product calculation unit 46' of the signal calculation unit 4 sets the first drive signal Sd1 to 〇. Thereafter, the process proceeds to step S117, and the signal calculation unit 46 executes the above processing. At this time, since the first drive signal Sdl=〇 and the second drive signal Sd2=b, in step S117, the province in which the direction of the current flowing through the coils 34a and 34b of the stepping motor 3〇 is one is performed. Electrical control. In step S116, when the switching signal is controlled? When 2 is 1 (step S116, NO), the process proceeds to step S119. At this time, since p2 = 〇, the second logical product calculation unit 47 of the signal calculation unit 4 sets the second drive signal Sd2 to zero.

S 28 201245527 After the monument t, the incoming step S117' signal computing unit 4 executes the above processing. In this case, since the red drive signal Sdl=1 and the second drive signal is as follows (4), in the step shopping, the power consumption of the stepping motor 30 is performed by the coil. control. ^ The slitting machine 70 shown in the figure is an electronic quilting machine. The electronic garment ', the knife' has a workpiece to be sewn to be sewn - the holding of the cloth is relatively moved by the holding frame relative to the needle, and is retained in the holding frame based on the predetermined sewing pattern data (sewing mode) The stitches are formed on the cloth. Here, the direction in which the sewing needle 78 is moved up and down will be defined as the private axis direction (2), and the direction orthogonal thereto will be defined as the X-axis direction (left and right sides:: front:: direction and x-axis direction are orthogonal to each other) It is the beginning of the lower part of the lower part of the sewing machine main body 71 and the sewing machine table which are used for the sewing machine. And stop the pedal R and the seam _ plate ding's 哒 抒 抒 7 in the 岐 者 者 者 输入 input _ (four) from the board 90, etc. ^ machine body is called from the side view, the outer 敎 呈 鲂 72 72 72 72 The child-shaped sewing machine frame 72 has an upper portion of the main body 71, and a money machine arm portion 7~, which constitutes a slit machine configuration_the machine body 717 is extended in the rear direction; the needle machine bed portion 72b, the lower portion of the turning portion' And extending in the front and rear direction; and, the main body of the longitudinal seam hijacking machine is a rush machine material 7 secret. _ machine needle bed box. (4) is equipped with a shaft ^ and a lower shaft, the spindle and the lower shaft in the sewing machine frame mechanism And it is pivotally extended in the front-back direction. 29 201245527 The W-axis is disposed inside the sewing machine arm portion 72a, and the lower shaft is disposed inside the sewing machine needle bed portion 72b. The spindle is coupled to the sewing machine motor and is coupled to the spindle by the sewing machine. The lower shaft is coupled to the spindle via the longitudinal axis. When the spindle is pivoted, the spindle power is transmitted to the lower shaft via the longitudinal axis. Side, from: the lower shaft is dragged. The front end of the spindle is connected with a needle bar - which is moved up and down in the z-axis direction by the pivoting of the spindle. The lower end of the needle bar 78a is provided with a replaceable one. The rib needle 78. In this configuration, the _needle ^ can be moved up and down in the z-axis direction by the pivoting of the main shaft. On the lower (four) front end, a pit is provided. When the lower shaft pivots simultaneously with the spindle When the sewing needle 78 interacts with the above-mentioned pit, the stitch is formed. The sewing machine arm portion 72a is provided with a medium presser device having a presser foot for preventing the sewing needle 78. The upper and lower movement causes the cloth to bulge, and moves up and down in conjunction with the upward movement of the needle bar 78a, and presses the cloth around the sewing needle 78 downward. Further, the main body of the intermediate press device is disposed on the arm of the sewing machine. Inside the 72a, the sewing needle 78 is inserted The through hole formed in the front end side of the intermediate presser is placed on the sewing machine needle bed portion 72b, and the cloth 8 is placed above the cloth 8〇, and the holding frame 81 and the slit as the cloth holding portion are disposed. Needle 78. The holding frame 81 is attached to the mounting member 83 provided at the front end portion of the sewing machine arm portion 72a. As shown in Fig. 20, the holding frame 81 has the pressing leg 86 and the lower plate 87. Then, the pressing cloth is pressed. The leg 86' can be driven up and down by the driving of the presser foot cylinder disposed in the sewing machine arm portion 72a. With this configuration, the foot 86 is pressed.

S 30 201245527 When the self descends, the fabric is held and held between the lower plate 87 and the lower plate 87. The mounting member 83 holding the holding frame 81 is supported by the slide group on the X-axis rail 75 housed in the sewing machine frame 72. The crossbar is supported on the Y-axis rail 76 via the slide group. With this configuration, the holding frame 81 can be moved (4) on the χ_γ plane via the mounting structure (10). Further, in the sewing machine needle bed portion 72b, the first stepping motor 30A as the X-axis motor and the second stepping motor as the γ-axis motor are finely provided as the driving hand & The first stepping motor 3QA rotates the feed shaft 77 via a gear, and conveys the timing belt 84 coupled to the attachment member 83. Further, the first stepping motor 30B rotates the feed shaft 78 via the bevel gear, and conveys the timing belt 85 coupled to the X-axis rail 75. With such a configuration, when the first stepping motor 3A and the third stepping motor 30B are tilted, the mounting member μ and the holding frame 81 can be placed on the χ·γ plane by the interaction of the above. Anywhere. Then, by moving the holding frame 81 in conjunction with the action of the slit needle 78 and the above-described pit, the stitches can be formed on the cloth based on the stitch data of the predetermined sewing pattern data. Further, the holding frame 83, the first stepping motor 3'' and the second stepping motor 30' are used as the positioning mechanism 91 for positioning the slits _78 and the cloth in the spherical direction and the γ-axis direction. The function is to drop the needle at any position as the cloth to be sewn. The operation of the first stepping motor and the second stepping motor is performed by the motor control unit ’ shown in Fig. 2 (4). Thereby, the first stepping motor 30A and the second stepping motor are thin, and the positioning mechanism μ is driven. Moreover, 31 201245527 positioning mechanism 91 performs relative positioning of the sewing needle 78 and the cloth. When the first stepping motor 3A and the second stepping motor 30B are stopped or rotated at a predetermined rotation speed or lower, the motor control device 1' performs the above-described power saving control of the present embodiment. According to the power saving control of the present embodiment, the power consumption of the first stepping motor 30A and the second stepping motor 30B can be reduced, so that the power consumption of the sewing machine 70 can be reduced. As described above, in the present embodiment, the 'gain in the power-saving control' is required to reduce the absolute value of the current flowing through the stepping motor, which is larger than the gain in other cases. Thereby, in the PWM control, the OFF time of the switching element can be lengthened, so that the time during which the current flowing through the stepping motor is reduced can be sufficiently ensured. As a result, it is possible to suppress the decrease in responsiveness when the current is reduced, and to reduce the power consumption of the stepping motor. Further, in the power saving control, since the drive current value quickly converges to the current command value, the vibration of the drive current value is lowered. As a result, the vibration of the holding frame of the sewing machine or the noise of the stepping motor can be reduced. Further, in the present embodiment, the gain calculation unit can be automatically changed to an appropriate value in the power saving control and the normal control by using the signal calculation unit as a microprocessor (for example, DSP). Thereby, in the power saving control, it is possible to suppress a decrease in responsiveness when the current flowing through the stepping motor is reduced. As a result, the extra current flowing through the stepping motor can be reduced, thereby reducing the power consumption of the stepping motor. Further, in the present embodiment, by using the signal calculation unit as a microprocessor, it is possible to use the software change to obtain an optimum gain even when the stepping motor controlled by the text signal calculation unit is changed. In this way, the present embodiment,

S 32 201245527 Control of the best stepper motor is achieved without replacing the hardware. In addition, by softening the signal calculation unit and setting security in the computer program in the signal calculation unit, technical information such as setting of gain or internal control can be reduced to the third party. Further, in the case where the error generation unit of the signal calculation unit is configured by hardware, the differential amplifier circuit of the operational amplifier and the resistor may be provided. However, in this case, the gain is set by the resistance ratio, and thus the power saving control is performed. In other cases, it is difficult to change the gain quickly. According to the present embodiment, the deviation generation unit of the signal calculation unit is softened, so that the gain can be easily changed in the power-saving control and other cases. Industrial Applicability As described above, the sewing machine control device and the sewing machine of the present invention are advantageous in reducing power consumption. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a stepping motor and a stepping motor control device for a sewing machine according to the present embodiment. Fig. 2 is a view showing the configuration of a device of the motor control device of the present embodiment. Fig. 3 is an explanatory view showing the configuration of a signal calculation unit included in the motor control device of the present embodiment. Fig. 4 is an explanatory diagram showing a method of generating a control signal. Fig. 5 is an explanatory diagram showing a method of generating a control signal. Fig. 6 is a view showing the excitation method of the stepping motor. Fig. 7 is an explanatory view showing the operation of the drive circuit when the stepping motor is driven. 33 201245527 The 7-1th diagram shows that the first positive electrode side element and the second ground line side element are in an ON state, and the second positive electrode side element and the first ground line side element are in an OFF state. Figs. 7-2 show that the second positive electrode side member and the first ground side member are in an ON state, and the first positive electrode side member and the second ground side member are in an OFF state. Fig. 8 is a diagram showing the change of the current flowing through the coil of the stepping motor. Fig. 9 is a diagram showing the change of the current flowing through the coil of the stepping motor. Fig. 10 is a diagram showing the change of the current flowing through the coil of the stepping motor. Fig. 11 is a view for explaining the operation of the drive circuit at the time of performing the power saving control. Fig. 12 is a view for explaining the operation of the driving circuit at the time of performing the power saving control. Fig. 13 is a view showing the change of the current flowing through the coil of the stepping motor when the power saving control is performed. Fig. 14 is a view showing the change of the current flowing through the coil of the stepping motor when the power saving control is performed. Fig. 15 is a conceptual diagram for explaining the setting of the gain in the power saving control of the present embodiment. Fig. 16 is a conceptual diagram for explaining the setting of the gain in the power saving control of the present embodiment. Fig. 17 is a view showing the change of the drive current value in the power saving control of the present embodiment.

34 S 201245527 Figure 18 is a flow chart showing an example of controlling a stepping motor by a motor control device. Fig. 19 is a perspective view showing an example of a slitting machine including a stepping motor controlled by the motor control device of the embodiment. Figure 20 is a perspective view showing the positioning mechanism of the sewing machine shown in Figure 19 [Description of main components] 1. Motor control device (sewing machine control device) 2. Control signal generating unit 4.. Signal Operation unit 6.. drive circuit 8a, 8b... current detection circuit 30.. stepper motor 30A... first stepper motor 30B... second stepper motor 31.. revolving axis 32.. Rotor 33.. Stator 33a, 33b... Core 34a, 34b... Coil 40.. Deviation generating unit 41.. Drive signal generating unit 42... Triangular wave generating unit 43.. Gain adjusting unit 44.. Output unit 45.. First reverse unit 46.. First logical product calculation unit 47.. Second logical product calculation unit 48.. Second reverse unit 49.. Third reverse unit 60.. drive circuit 60a... positive side switching element (first positive side element) 60b... ground side switching element (first ground side element) 60c... positive side switching element (second positive side) Side element) 60d... Ground line side switching element (second ground side element) 61a, 61b, 61c, 61d... diode 62.. power supply 63.. ground wire 70.··sewing machine (electronic cycle Sewing machine) 78...needle 35 20124552 7 78a... Needle bar 80.. . Layout 81.. . Hold frame 83.. Mounting member 84.. . 85... Timing belt 86.. Pressing foot 87.. . Lower plate 90.. Operation panel 91.. Positioning mechanism d... Deviation t1, t2, t3... Time A, B, C, D, E... Arrow D... Current value deviation G... Predetermined gain R... Pedal T... sewing machine table lc. . . current command value ld. . . drive current value PI, P2 ... control switching command Sd, Sd1, Sd2 ... drive signal S101-S119 · · · Step Vcc. ..voltage Vt...triangular wave 36

S

Claims (1)

201245527 VII. Patent application scope: 1. A sewing machine control device comprising: a drive circuit having two ends of a coil of a stepping motor that drives a predetermined actuator of a sewing machine, respectively, to two positive sides of a positive pole of a power source a switching element, and two ground-side switching elements that can connect the two ends of the coil to the ground; and a control means for controlling the driving circuit; wherein the sewing machine control device is characterized in that: the control means includes: a portion that obtains a deviation between a current command value of the stepping motor and a drive current value of a current flowing through the stepping motor to generate a current value deviation that gives the deviation predetermined gain; the drive signal generating unit' The current value deviation generates a drive signal; and the certificate adjustment unit controls the drive circuit to compare the drive current value when the current flowing from the coil is returned to the coil itself by self-induction of the coil The absolute value of the current value and the absolute value of the above current command value are adjusted. Gain. The sewing machine control device according to claim 1, wherein the gain portion is such that the absolute value of the Μ value is greater than or equal to the absolute value of the electric value, and the gain is greater than the value of the drive motor. The above gain when the absolute value is smaller than the absolute value of the current command value. 3. The device control device according to claim 1, wherein the positive electrode side switching element and the ground line side switching element are controlled by the method of 2012 201227, wherein the stepping motor is equal to or lower than a predetermined rotation speed, and the coil is Self-induction causes the current flowing from the coil to flow back to the coil itself. 4. The sewing machine control device of claim 1 or 2, wherein the actuating device is a positioning mechanism that positions the object to be sewn relative to the sewing needle so as to be able to drop the needle to the object to be sewn. position. 5. A sewing machine control device for controlling a stepping motor for driving a predetermined actuator of a sewing machine, comprising: a driving circuit having two positive electrodes for connecting the two ends of the coil of the stepping motor to a power source a positive side switching element and two ground side switching elements each of which can connect both ends of the coil to a ground; a control signal generating unit that generates a current command value for the stepping motor and generates a control switching command for performing power saving control, wherein the power-saving control drives the positive-side switching element and the ground-side switching element to cause a current flowing from the coil to reflow to the coil itself by self-induction of the coil; a portion that obtains a deviation between a current command value of the stepping motor and a drive current value of a current flowing through the stepping motor, and generates a current value deviation that gives the predetermined deviation gain; and a drive signal generating unit according to the above a current value deviation, generating a driving signal for driving the stepping motor, and driving the above No. 38 S 201245527, the two positive side switching elements and the two ground side switching elements; and a gain adjusting unit that performs the above-described power saving control, when the absolute value of the driving current value is the above When the current command value is equal to or greater than the absolute value of the current command value, the gain is greater than the gain when the absolute value of the drive current value is smaller than the absolute value of the current command value. 6. The sewing machine control device of claim 5, wherein the actuating device is a positioning mechanism that positions the object to be sewn relative to the sewing needle so as to be able to drop the needle at any position of the object to be sewn. 7. A sewing machine comprising: a stepping motor that drives a predetermined actuator; a driving circuit having two positive-side switching elements that connect the two ends of the coil of the stepping motor to a positive pole of a power source, and The two ends of the coil may be connected to the two ground-side switching elements of the ground line, and the control means may be configured to control the driving circuit. The sewing machine is characterized in that the control means includes: a deviation generating unit that determines a deviation between a current command value of the stepping motor and a drive current value of a current flowing through the stepping motor to generate a current value deviation that gives the predetermined deviation gain; and a drive signal generating unit that generates the drive based on the current value deviation And a gain adjusting unit that controls the driving circuit to compare the absolute value of the driving current value by returning the current flowing from the coil to the line 39 201245527 itself by self-induction of the coil The absolute value of the current command value is adjusted to adjust the gain. 8. The sewing machine according to claim 7, wherein the gain adjustment unit sets the absolute value of the drive current value to be smaller than an absolute value of the drive current value when the absolute value of the drive current value is equal to or greater than an absolute value of the current command value. The gain at the absolute value of the above current command value. 9. The sewing machine of claim 7 or 8, wherein the positive electrode side switching element and the ground line side switching element are controlled, wherein the stepping motor is at a predetermined rotation speed or less, and the self-induction of the coil is performed from the above The current flowing out of the coil flows back to the coil itself. 10. The sewing machine of claim 7, wherein the actuating device is a positioning mechanism that positions the object to be sewn relative to the sewing needle so as to be able to drop the needle at any position of the object to be sewn. S 40