WO2002021679A1 - A device for program control of m-phase step motors - Google Patents
A device for program control of m-phase step motors Download PDFInfo
- Publication number
- WO2002021679A1 WO2002021679A1 PCT/AM2001/000006 AM0100006W WO0221679A1 WO 2002021679 A1 WO2002021679 A1 WO 2002021679A1 AM 0100006 W AM0100006 W AM 0100006W WO 0221679 A1 WO0221679 A1 WO 0221679A1
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- WO
- WIPO (PCT)
- Prior art keywords
- step motor
- phase commutation
- phase
- power
- input
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
Definitions
- This invention refers to the sphere of automatics and eletrotechnics and can be used for multi-mode control of step motors with any number of phases (from 3 to m) with permanent magnet, variable reluctance and hybrid rotors acting in the electrical drives of the executive mechanisms of robots, machine tool control systems and computer peripherals.
- a device [1] for multi-mode control of m-phase step motor, containing a power supply, a counter for signal control, reversible counter, buses of selection of phase commutation regime, m multiplexers, m power amplifiers, logical element 2OR and a bus for setting strokes of phase commutation.
- the above device is imperfect because of its functional possibilities are limited, as only unipolar regimes of phase commutation of step motor can be provided.
- the closest to the presented device is the device for multi-mode control of m-phase step motor [2], containing the first power supply of positive polarity, the first group of m power amplifiers, connected to the first power supply by a power line, the second power supply of negative polarity, the second group of m power amplifiers, connected to the second power supply by power line, and connected to the outputs of the power amplifiers of the first group by their outputs respectively, forming a half-bridge in each of the m channels of phase commutation of step motor, m multiplexers with m information inputs, buses for setting polarities and strokes of phase commutation of step motor, m-2 buses for setting phase commutation regime of step motor, each i th bus of which is connected to the 1 st , 2 nd , ...
- This device is imperfect because of its complexity due to the big number of logical elements in the power unit, as well as limited functional possibilities, because not all possible regimes of phase commutation of step motor are provided.
- the goal of the presented invention is the simplification of the device and expansion of its functional possibilities.
- the set goal is achieved by the fact that the device for multi-mode control of m-phase step motor in each commutation channel of phases of step motor additionally contains logical element 2NOR, the first input of which connected to the output of the multiplexer and to the controlling input of the power amplifier of the first group of step motor phase commutation, the second input is connected to the bus of setting polarities of phase commutation of step motors, and the output is connected to the controlling input of the second group power amplifier of the same channel of phase commutation of step motor.
- Figure 1 represents the functional scheme of the proposed device for multi-mode control of m-phase step motor
- FIGS 2,3 and 4 represent schemes of analogous devices for control of 3,4 and 5-phase step motors respectively;
- Figures 5,6 and 7 represent the schemes of phase connection of three- phase step motor to the power amplifiers in the form of "star” with and without common zero point and in the form of "triangle” respectively and corresponding tables of control and regimes of phase commutation (tables 1-
- Figures 8, 9 an d10 represent schemes of phase connection of four- phase step motor to the power amplifiers in the form of "star” with and without common zero point and in the form of "quadrangle” respectively and corresponding tables of control and regimes of phase commutation (tables 5-
- Figures 11 ,12 and 13 represent schemes of five-phase step motor phase connection to the power amplifiers in the form of "star” with and without zero common point, as well as in the form of "pentagon” respectively, corresponding tables of control and phase commutation regimes (Tables 9- 12).
- the device ( Figures 1-4) contains the first +V1 and the second - V2 power supplies of the power unit, the first and 1.1-1.m and the second 2.1-2.m power amplifiers groups, commutating phases A,B,C,... ,m of the step motor, multiplexers 3.1-3.m, m-2 regime setting buses of phase commutation of step motor Y1-1-Ym-2, binary reversible impulse counter 4 with inputs of stroking T, DIR reverse and R reset, logical element 20R5, Yp bus of polarity's setting of phase commutation, Yt bus for setting of stroking of phase commutation, logical elements 2NOR 6.1-6.m.
- the device operates in the following way.
- the binary counter 4 at the R input is set into a zero initial position. Depending on the needed direction of motor rotation towards the DIR bus of the counter 4 either zero or single logical potential is applied.
- the setting of a particular phase commutation regime is carried out through respective connection to the power amplifiers and applying to the buses Y1-Ym-2,Yt, Yp of the needed combination of zero and single logical potentials (Tables 1-12).
- step motor phase commutation Under any of possible regimes of step motor phase commutation the receipt of control impulses by strokes to the T bus results in a fixed switching of digit outputs of counter and respective address inputs of multiplexers 3.1- 3.m. Owing to this alternating transmission of potentials takes place, that are present at their information inputs, to the control inputs of respective power amplifiers 1.1 -1.m and 2.1-2.m and corresponding switches. It creates certain cyclograms of step motor phase commutation.
- the recount factor of counter 4 is selected equal to 2m.
- the counter 4 is automatically cleared after every 2m strokes of recount, due to its inner structure.
- the regimes of unipolar phase commutation of step motors are created by applying "1" potential level to the setting bus of polarity of phase commutation Yp.
- zero logical potentials appear on the outputs of the logical elements 2NOR 6.1-6m, that switch off the power amplifier of the second group 2.1-2.m. This results in operating of the power amplifiers of the first group 1.1-1.m from only one power supply (+V1) of the power unit and, as its consequence, to flow of phase currents through the motor windings only in one direction.
- bipolar motor phase commutation regimes are also possible (Tables 2,6 and 10). They are created while applying to the bus of the Yp of the 0 logical potential. Due to this both groups of power amplifiers and both power supplies of the power unit (+V1 and -V2) take part in the process of formation of the respective bipolar regimes of phase commutation.
- the reverse orders of switching of step motor phases are provided in the same way through direct order. Reversing is carried out through changing of the recount direction of counter 4 (by changing the logical potential to its reverse on its DIR bus).
- the presented device for multi-mode control of m-phase step motor favorably differs from the analogous devices by its simplicity and wide functional possibilities. Altogether under all possible phase switching schemes of the m-phase step motor to the corresponding power amplifiers, it provides 4(2m-3) various unipolar and bipolar regimes of phase commutation.
Abstract
The invention refers to the sphere of automatics, eletrotechnics and can be used for multi-mode control of step-motors with any number of phases from 3-m with permanent magnet, variable reluctance and hybrid rotors acting in the electrical drives of executive mechanisms of robots, machine tools and computer peripherals. The aim of the invention is to simplify the device and widening of its functional possibilities. The device contains two power sources, two groups of power amplifiers, m multiplexers, m-2 regime setting buses, binary counter, logical element 2OR, polarity Yp setting bus, strokes Yt setting bus, logical elements 2NOR. The presented device favorably differs from the analogous devices by its simplicity and wide functional possibilities. Altogether under all possible phase switching schemes of the m-phase step motor to the corresponding power amplifiers, it provides 4(2m-3) various unipolar and bipolar regimes of phase commutation.
Description
A Device for Program Control of m-Phase Step Motors
This invention refers to the sphere of automatics and eletrotechnics and can be used for multi-mode control of step motors with any number of phases (from 3 to m) with permanent magnet, variable reluctance and hybrid rotors acting in the electrical drives of the executive mechanisms of robots, machine tool control systems and computer peripherals.
A device [1] is known for multi-mode control of m-phase step motor, containing a power supply, a counter for signal control, reversible counter, buses of selection of phase commutation regime, m multiplexers, m power amplifiers, logical element 2OR and a bus for setting strokes of phase commutation.
The above device is imperfect because of its functional possibilities are limited, as only unipolar regimes of phase commutation of step motor can be provided.
The closest to the presented device is the device for multi-mode control of m-phase step motor [2], containing the first power supply of positive polarity, the first group of m power amplifiers, connected to the first power supply by a power line, the second power supply of negative polarity, the second group of m power amplifiers, connected to the second power supply by power line, and connected to the outputs of the power amplifiers of the first group by their outputs respectively, forming a half-bridge in each of the m channels of phase commutation of step motor, m multiplexers with m information inputs, buses for setting polarities and strokes of phase commutation of step motor, m-2 buses for setting phase commutation regime of step motor, each ith bus of which is connected to the 1st, 2nd, ... ith , (i+1) h, ... , (m-1)th ,mth information inputs of i\ (i+1) th, ... , (m-1)th ,mth , 1st, 2nd, .... (I- 1) th multiplexers respectively, binary reversible impulse counter with inputs of stroking, reversing and resetting, outputs of which, from the 2nd to the last digits are connected to the control inputs of all multiplexers respectively,
logical element 2OR, the first input of which is connected to the output of the first digit of the counter, the second input is connected to the stroke setting bus of phase commutation of step motor, and the output is connected to the 3rd, 4th, ... , m th, 1st, 2nd information inputs of the 1st, 2nd,... , m th multiplexers respectively, the remaining information inputs are connected to the common zero bus of powers supplies.
This device is imperfect because of its complexity due to the big number of logical elements in the power unit, as well as limited functional possibilities, because not all possible regimes of phase commutation of step motor are provided.
The goal of the presented invention is the simplification of the device and expansion of its functional possibilities.
The set goal is achieved by the fact that the device for multi-mode control of m-phase step motor in each commutation channel of phases of step motor additionally contains logical element 2NOR, the first input of which connected to the output of the multiplexer and to the controlling input of the power amplifier of the first group of step motor phase commutation, the second input is connected to the bus of setting polarities of phase commutation of step motors, and the output is connected to the controlling input of the second group power amplifier of the same channel of phase commutation of step motor.
Figure 1 represents the functional scheme of the proposed device for multi-mode control of m-phase step motor;
Figures 2,3 and 4 represent schemes of analogous devices for control of 3,4 and 5-phase step motors respectively;
Figures 5,6 and 7 represent the schemes of phase connection of three- phase step motor to the power amplifiers in the form of "star" with and without common zero point and in the form of "triangle" respectively and corresponding tables of control and regimes of phase commutation (tables 1-
4);
Figures 8, 9 an d10 represent schemes of phase connection of four- phase step motor to the power amplifiers in the form of "star" with and without common zero point and in the form of "quadrangle" respectively and
corresponding tables of control and regimes of phase commutation (tables 5-
8);
Figures 11 ,12 and 13 represent schemes of five-phase step motor phase connection to the power amplifiers in the form of "star" with and without zero common point, as well as in the form of "pentagon" respectively, corresponding tables of control and phase commutation regimes (Tables 9- 12).
The device (Figures 1-4) contains the first +V1 and the second - V2 power supplies of the power unit, the first and 1.1-1.m and the second 2.1-2.m power amplifiers groups, commutating phases A,B,C,... ,m of the step motor, multiplexers 3.1-3.m, m-2 regime setting buses of phase commutation of step motor Y1-1-Ym-2, binary reversible impulse counter 4 with inputs of stroking T, DIR reverse and R reset, logical element 20R5, Yp bus of polarity's setting of phase commutation, Yt bus for setting of stroking of phase commutation, logical elements 2NOR 6.1-6.m.
The device operates in the following way.
Before setting up of any of possible phase commutation regimes of step motor, the binary counter 4 at the R input is set into a zero initial position. Depending on the needed direction of motor rotation towards the DIR bus of the counter 4 either zero or single logical potential is applied. The setting of a particular phase commutation regime is carried out through respective connection to the power amplifiers and applying to the buses Y1-Ym-2,Yt, Yp of the needed combination of zero and single logical potentials (Tables 1-12).
Under any of possible regimes of step motor phase commutation the receipt of control impulses by strokes to the T bus results in a fixed switching of digit outputs of counter and respective address inputs of multiplexers 3.1- 3.m. Owing to this alternating transmission of potentials takes place, that are present at their information inputs, to the control inputs of respective power amplifiers 1.1 -1.m and 2.1-2.m and corresponding switches. It creates certain cyclograms of step motor phase commutation.
The recount factor of counter 4 is selected equal to 2m. In connection with it, at any possible operation regimes the counter 4 is automatically cleared after every 2m strokes of recount, due to its inner structure.
The regimes of unipolar phase commutation of step motors are created by applying "1" potential level to the setting bus of polarity of phase commutation Yp. At the same time zero logical potentials appear on the outputs of the logical elements 2NOR 6.1-6m, that switch off the power amplifier of the second group 2.1-2.m. This results in operating of the power amplifiers of the first group 1.1-1.m from only one power supply (+V1) of the power unit and, as its consequence, to flow of phase currents through the motor windings only in one direction.
The creation of unipolar phase commutation regimes is possible only while switching of the step motor phases to the power amplifiers under the "star" scheme with a common zero point (Figure 5 and Table 1 , Figure 8 and Table 5, Figure 11 and Table 9).
Under the same scheme of phase switch (but under the different control potentials of the regime setting buses) bipolar motor phase commutation regimes are also possible (Tables 2,6 and 10). They are created while applying to the bus of the Yp of the 0 logical potential. Due to this both groups of power amplifiers and both power supplies of the power unit (+V1 and -V2) take part in the process of formation of the respective bipolar regimes of phase commutation.
The bipolar regimes of phase commutation are secured also through connection of the step motor phases to the power amplifiers under the "star" scheme without common zero point (Figure 6 and Table 3, Figure 9 and Table 7, Figure 12 and Table 11) and under the "polygon" scheme (Figure 7 and Table 4, Figure 10 and Table 8, Figure 13 and Table 12).
The peculiarities of the unipolar regimes, created upon switching on of the phases to the power amplifiers under the "star" scheme without zero common point and the "polygon" scheme are as follows: the commutating motor phases are under the total voltage of both power supplies of the power unit +V1 and -V2. This results in the corresponding increase of phase currents and, consequently, of the absolute values of the vector of net moments. Under these regimes, in order to avoid exceeding of nominally permissible phase currents, the tension values of the power supplies of the power unit +V1 and -V2 must be decreased respectively, or one of them must
be switched off, and the corresponding supply bus has to be connected to the common zero bus of the device.
Due to the fact that the inputs of multiplexers 6.1-6.m are controlled through the outputs of counter 4 high orders (beginning with the second), and their certain information inputs are connected to the first order output of the counter 4 through element 2OR5, the switching of their outputs, and respectively power amplifiers and motor windings under 2m-stroke phase commutation regimes, take place on each stroke of impulse receipt to the T input of counter 4, and under m-stroke regimes - after each stroke. This allows to keep the average speed of motor shaft rotation during the transition from any 2m-stroke regime to any m-stroke regime of phase commutation and vice versa.
The reverse orders of switching of step motor phases are provided in the same way through direct order. Reversing is carried out through changing of the recount direction of counter 4 (by changing the logical potential to its reverse on its DIR bus).
Thus, the presented device for multi-mode control of m-phase step motor favorably differs from the analogous devices by its simplicity and wide functional possibilities. Altogether under all possible phase switching schemes of the m-phase step motor to the corresponding power amplifiers, it provides 4(2m-3) various unipolar and bipolar regimes of phase commutation.
Information Sources l.B.HI. ApynoHHH, A.3. My aA^H, CO. MK TTOH H M.X. AKOIMH.
YcTpoήcTBo ΔΛ5i MHoropea HMHoro yπpaBΛθHHa m-φa3HBiM maroBHM 3ΛeκτpoABHraτeΛeM. A.C. CCCP 1083321, H02P 8/00 B.M.12, 1984r. 2. B.UI. ApyτιθH5iH, A.3. MypaAflH H T.B. MHaιι,aκaHHH. YcTpoήcTBO / AΆ
yπpaBΛθHHa m-φa3HBiM πiaroBBiM 3ΛeκτpoABHraτeΛβM. A.C. CCCP 1635161 , G05B 19/02, B.H.10, 1991r. (prototype).
Claims
Claims
A device for multi-regime control of m-phase step motor, which contains the first power supply unit of positive polarity, the first group of m power amplifiers, connected to the first power supply with the power line, the power supply of negative polarity, the second group of m power amplifiers, connected to the second power supply with the power line, and by its outputs it is connected to the outputs of power amplifiers respectively to outputs of the first group power amplifiers', thus constituting a half-bridge in each of m phase commutation canals of the step motor, m multiplexers with m information inputs, buses of polarity and tact settings of the step motor commutation phases, m-2 buses of setting of step motor phase commutation, each of itπ bus of which is connected with the 1st, 2nd,... i-th , (1+1 )th, (m-1)tn , mtn information inputs of the itn (i+1)th... (m-1)tn , mtn , 1st, 2nd, ...(i-1)tn multiplexers respectively, the binary reversible impulse counter with clock, reversing and reset inputs, whose outputs from the second through the last one are connected to the control inputs of all multiplexers respectively, the logical element 20R, the first input of which is connected to the input of the first stage of counter, the second input is connected to the bus of tact setting of the step motor phase commutation, and the output is connected to the 3rd, 4th,... , mtn, 1st, 2nd information inputs of the 1st, 2nd,... , mth multiplexers respectively, the remaining information inputs of which are connected to the common zero bus of power supplies, wherein additionally contains the logical element 2NOR in each of the canals of th e step motor phase commutation, the first input of which is connected to the multiplexer output and to the control input of the first group power amplifier of the given canal of phase commutation of step motors, and the second input is connected to the bus of polarity setting of phase commutation of step motor, and the output is connected to the control input of the second group power amplifier of the same canal of step motor phase commutation respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2001240310A AU2001240310A1 (en) | 2000-09-06 | 2001-03-01 | A device for program control of m-phase step motors |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AMP20000087 | 2000-09-06 | ||
| AM20000087 | 2000-09-06 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2002021679A1 true WO2002021679A1 (en) | 2002-03-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/AM2001/000006 WO2002021679A1 (en) | 2000-09-06 | 2001-03-01 | A device for program control of m-phase step motors |
Country Status (2)
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| AU (1) | AU2001240310A1 (en) |
| WO (1) | WO2002021679A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1477255A (en) * | 1974-07-05 | 1977-06-22 | Qume Corp | Stepping motor drive circuit |
| US4812727A (en) * | 1985-04-16 | 1989-03-14 | Canon Kabushiki Kaisha | Stepping motor drive device |
| SU1635161A1 (en) * | 1988-10-17 | 1991-03-15 | Кооператив "Сигма" При Ереванском Конструкторском Отделе Специального Конструкторского Бюро Всесоюзного Научно-Исследовательского Института Оптико-Физических Измерений | Multimode device for controlling polyphase step motor |
| SU1718187A1 (en) * | 1990-03-20 | 1992-03-07 | Ереванский политехнический институт им.К.Маркса | N-phase stepping motor programmable controller |
-
2001
- 2001-03-01 AU AU2001240310A patent/AU2001240310A1/en not_active Abandoned
- 2001-03-01 WO PCT/AM2001/000006 patent/WO2002021679A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1477255A (en) * | 1974-07-05 | 1977-06-22 | Qume Corp | Stepping motor drive circuit |
| US4812727A (en) * | 1985-04-16 | 1989-03-14 | Canon Kabushiki Kaisha | Stepping motor drive device |
| SU1635161A1 (en) * | 1988-10-17 | 1991-03-15 | Кооператив "Сигма" При Ереванском Конструкторском Отделе Специального Конструкторского Бюро Всесоюзного Научно-Исследовательского Института Оптико-Физических Измерений | Multimode device for controlling polyphase step motor |
| SU1718187A1 (en) * | 1990-03-20 | 1992-03-07 | Ереванский политехнический институт им.К.Маркса | N-phase stepping motor programmable controller |
Also Published As
| Publication number | Publication date |
|---|---|
| AU2001240310A1 (en) | 2002-03-22 |
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