WO1994018744A1 - Method for driving stepping motor of multiphase hybrid type - Google Patents
Method for driving stepping motor of multiphase hybrid type Download PDFInfo
- Publication number
- WO1994018744A1 WO1994018744A1 PCT/JP1994/000140 JP9400140W WO9418744A1 WO 1994018744 A1 WO1994018744 A1 WO 1994018744A1 JP 9400140 W JP9400140 W JP 9400140W WO 9418744 A1 WO9418744 A1 WO 9418744A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- teeth
- small teeth
- small
- poles
- asymmetrical
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
- H02K37/10—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type
- H02K37/12—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets
- H02K37/14—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K37/18—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with stationary armatures and rotating magnets with magnets rotating within the armatures of homopolar type
Definitions
- the present invention relates to an improvement in a driving method of a five-phase hybrid-type steering motor.
- Hybrid stepping motors have been well known for more than a quarter of a century as actuators suitable for high-precision positioning. There.
- the scope of application includes various machine tools, including those for fully automated production lines, and printers, plotters, facsimiles, and machines. Includes computer peripherals such as skull drives.
- the present invention Is a multi-phase hybrid stepping motor having a rotor having one or more permanent magnets magnetized in the direction of the rotation axis, wherein the permanent magnet and the soft magnetic It is made of steel, has a plurality of (NR) teeth at equal intervals on the outer circumference, and has pole caps attached to both ends of the permanent magnet.
- Both ends of these permanent 'magnet' stones A plurality of teeth respectively provided on two pole caps provided in the rotor, each having a pitch of one or two teeth (12 Tp);
- the fixed magnetic poles are arranged on the outer periphery of the stator and radiate inward.Each of these fixed magnetic poles has a plurality of asymmetrical stays with windings without taps. , Two or more provided at each of the asymmetric type stays and provided at the same interval as the rotor tooth pitch.
- the number, nl is determined by the number of the remaining five teeth of the five pole teeth.
- the asymmetric stage with the small teeth n 1 is the same as the asymmetric stage with the small teeth n 0.
- the relationship between the number of teeth (NR) of the motor and the total number of small teeth (NS) in the stay is NS ⁇ 0.8 NR ⁇ NS is a force greater than 0.8 NR.
- NR — NS K (SO — SI) + 10 (SI — 1 + B) ⁇ K is an integer between 2 and 5, SO And S1 are integers as small as possible, and it is good if they are equal.
- No. B is a fraction of 1, and 10 B (10 times B) is a force and an integer ⁇ , and the 10 stator coils are P 3, P 8 , P 5, P 10, P 7, P 2, P 9, P 4, P 1, P 6 are connected in a ring in this order, between P 6 and P 3, P 8 and P 5
- P10 and P10, between P10 and P7, between P2 and P9, and between P4 and P1 and the magnetization of each magnetic pole in each step is provided.
- the number of N poles and the number of S poles are the same, and at least one pair of adjacent magnetic poles is an S pole in all steps. It is intended to provide a driving method of a phase hybrid type stepping motor.
- FIG. 1 is a cross-sectional view of one embodiment of the present invention.
- FIG. 2 is a longitudinal sectional view of one embodiment of the present invention.
- FIG. 3 is a front view of a stay system according to one embodiment of the present invention.
- FIG. 4 is a vector diagram of the rotor of the present invention.
- FIG. 5 is a connection diagram of the present invention.
- FIG. 6 is a chart showing the change in the magnetic pole of each fixed magnetic pole in the full step mode.
- FIG. 7 is a chart showing changes in the magnetic poles of the fixed magnetic poles in the half-step mode.
- FIG. 1 and 2 are cross-sectional views showing a stewing motor according to the present invention.
- Figure 1 is orthogonal to the rotation axis. It is sectional drawing cut
- reference numeral 1 denotes a stay, and the stator 1 is provided with 10 stator magnetic poles S and S 'inward. Further, a stator coil 2 is wound around each of the stator magnetic poles S, S. Small teeth 3 are provided at the tip of the stator pole S. The total number of these small teeth is generally defined as NS.
- Reference numeral 4 denotes a rotating shaft, around which a rotor 5 is provided. As shown in FIG.
- FIG. 1 is a cross-sectional view taken along the line AA of FIG.
- the 10 stator coils wound around each stator pole are numbered P1 to P10, respectively.
- the shift angle between adjacent fixed magnetic poles is 15 Tp) (( ⁇ is the pitch of the small tooth 3).
- Tp the shift angle between adjacent fixed magnetic poles
- ⁇ the pitch of the small tooth 3
- one small tooth is added to every second fixed pole (asymmetric stator pole). With this configuration, there are always five fixed teeth on the opposite side of the four fixed magnetic poles (Fig. 3).
- the difference between the number of rotor teeth and the number of small teeth of the stator poles is 5 (the number obtained by multiplying 4 and 5 is subtracted from 50, and the number of extra Subtract 5 times 5).
- This design also improves the stability of the torque equilibrium point. This is because at least two adjacent fixed poles are north poles and the other two adjacent fixed poles are south poles (see Figure 6).
- the number of teeth in the mouth is 100
- the embodiment described below employs a numerical value of 31/10 Tp as the shift angle between adjacent fixed magnetic poles, which is 31 OTp. .
- 31 OTp the shift angle between adjacent fixed magnetic poles
- FIG. 6 shows the polarization of each stator pole for 20 consecutive steps. In this step operation, the rotating shaft 4 is rotated by the full step. Fig. 6 As is evident, this step mode has the same number of N and S poles, no matter where the position, or step, is. . This leads to a decrease in hysteresis. Next, the step rotation operation will be described with reference to FIGS. 5 and 6.
- FIG. 5 is a connection diagram of the embodiment of the present invention.
- the ten stator coils of the present invention are linked in the order of P3, P8, P5, P10, P7, P2, P9, P4, P1, P6. Are connected in a ring shape. And blue between P6 and P3, between P8 and P5, between 10 and 7, between P2 and P9, between P4 and P1. Red, orange, green, and black terminals are provided.
- Figure 6 is a diagram showing the magnetization state of each pole in each step in full-step mode.
- Fig. 5 shows the winding direction of the coil with a dot.
- each of the terminals blue, red, orange, green, and black has a neutral position under normal conditions and a positive power supply at one position.
- the two-way switch is connected to the mains power supply at the other position and connected to the mains power supply, and these switches are connected to the three-mode switch by a command from a control device (not shown). Selectively connected to one of the nodes.
- a current that generates a polarity as shown in FIG. 6 is applied to each magnetic pole.
- the number of magnetic poles of both poles is equal in each step as shown in FIG.
- At least one pair of the magnetic poles adjacent to the pole is the south pole.
- FIG. 7 is a diagram showing a magnetization state of each pole in each step in the same noise step mode.
- the present invention has the above-described configuration, so that the torque stiffness is stable and the stationary torque is also balanced. As a result, a high-precision step angle can be obtained. Also, in full-step mode, the number of S poles and N poles is equal, and in every step, any adjacent magnetic poles Since there is one or more pairs of S poles, there is an effect that abnormal vibration during rotation does not occur.
- the stationary torque is also balanced, and a high-precision step angle can be obtained.
- the number of S poles and N poles is the same, so the rotation is abnormal. Vibration does not occur.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69414045T DE69414045T2 (de) | 1993-02-01 | 1994-02-01 | Schrittmotor der hybridischen mehrphasigen bauart und antriebssystem |
EP94905244A EP0635929B1 (en) | 1993-02-01 | 1994-02-01 | Stepping motor of multiphase hybrid type and drive arrangement |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5/36058 | 1993-02-01 | ||
JP3605893A JPH06245467A (ja) | 1993-02-01 | 1993-02-01 | 多相ハイブリッド型ステッピングモータの駆動方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1994018744A1 true WO1994018744A1 (en) | 1994-08-18 |
Family
ID=12459124
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/000140 WO1994018744A1 (en) | 1993-02-01 | 1994-02-01 | Method for driving stepping motor of multiphase hybrid type |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0635929B1 (ja) |
JP (1) | JPH06245467A (ja) |
CN (1) | CN1103240A (ja) |
DE (1) | DE69414045T2 (ja) |
WO (1) | WO1994018744A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1999065138A1 (fr) | 1998-06-09 | 1999-12-16 | Nsk Ltd. | Dispositif de commande d'un moteur |
DE19904469A1 (de) | 1999-02-04 | 2000-08-10 | Bosch Gmbh Robert | Dreh-Stellantrieb und Drehschalter |
DE102005002409A1 (de) * | 2005-01-19 | 2006-07-27 | Saurer Gmbh & Co. Kg | Verfahren und Vorrichtung zum Bestimmen der Nullposition eines changierbaren Fadenführers |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60111382U (ja) * | 1983-12-28 | 1985-07-27 | 株式会社 三ツ葉電機製作所 | ステツピングモ−タ |
JPS61185056A (ja) * | 1985-02-06 | 1986-08-18 | Meretsuku:Kk | 5相パルスモ−タのペンタゴン結線の4−5相駆動方式 |
JPH0132748B2 (ja) * | 1980-07-02 | 1989-07-10 | Oriental Motor Co Ltd |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2342994A1 (de) * | 1973-08-25 | 1975-03-20 | Gerhard Berger Fabrikation Ele | Fuenf-phasen-schrittmotor |
JP3278770B2 (ja) * | 1992-07-31 | 2002-04-30 | ミネベア株式会社 | 多相ハイブリッド型ステッピングモータ |
-
1993
- 1993-02-01 JP JP3605893A patent/JPH06245467A/ja active Pending
-
1994
- 1994-02-01 WO PCT/JP1994/000140 patent/WO1994018744A1/ja active IP Right Grant
- 1994-02-01 DE DE69414045T patent/DE69414045T2/de not_active Expired - Fee Related
- 1994-02-01 CN CN 94190092 patent/CN1103240A/zh active Pending
- 1994-02-01 EP EP94905244A patent/EP0635929B1/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0132748B2 (ja) * | 1980-07-02 | 1989-07-10 | Oriental Motor Co Ltd | |
JPS60111382U (ja) * | 1983-12-28 | 1985-07-27 | 株式会社 三ツ葉電機製作所 | ステツピングモ−タ |
JPS61185056A (ja) * | 1985-02-06 | 1986-08-18 | Meretsuku:Kk | 5相パルスモ−タのペンタゴン結線の4−5相駆動方式 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0635929A4 * |
Also Published As
Publication number | Publication date |
---|---|
DE69414045D1 (de) | 1998-11-26 |
DE69414045T2 (de) | 1999-04-01 |
EP0635929A1 (en) | 1995-01-25 |
EP0635929B1 (en) | 1998-10-21 |
JPH06245467A (ja) | 1994-09-02 |
CN1103240A (zh) | 1995-05-31 |
EP0635929A4 (en) | 1996-09-11 |
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