WO2011143863A1 - 直流电机步进调速控制装置 - Google Patents

直流电机步进调速控制装置 Download PDF

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Publication number
WO2011143863A1
WO2011143863A1 PCT/CN2010/076440 CN2010076440W WO2011143863A1 WO 2011143863 A1 WO2011143863 A1 WO 2011143863A1 CN 2010076440 W CN2010076440 W CN 2010076440W WO 2011143863 A1 WO2011143863 A1 WO 2011143863A1
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WIPO (PCT)
Prior art keywords
motor
microprocessor
control device
speed
grating
Prior art date
Application number
PCT/CN2010/076440
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English (en)
French (fr)
Inventor
王昕�
陈江群
Original Assignee
Wang Xin
Chen Jiangqun
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Application filed by Wang Xin, Chen Jiangqun filed Critical Wang Xin
Priority to JP2013600017U priority Critical patent/JP3186999U/ja
Publication of WO2011143863A1 publication Critical patent/WO2011143863A1/zh

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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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/22—Optical devices
    • 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 rotating step by step
    • H02P8/42—Arrangements for controlling dynamo-electric motors rotating step by step characterised by non-stepper motors being operated step by step
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • the invention relates to a DC motor step speed control device, in particular to a device capable of controlling a rotation angle and a step speed of a DC motor.
  • the change of the speed of the existing DC motor is to adjust the voltage across the DC motor.
  • the speed of the motor increases; when the voltage applied across the DC motor decreases, the motor speed becomes slower.
  • the load changes, the speed of the motor will also be affected.
  • the load becomes heavier, the speed of the DC motor becomes slower; when the load becomes lighter, the speed of the DC motor becomes faster.
  • the prior art adopts a speed feedback system.
  • the speed measuring system outputs a feedback signal to the voltage regulator, and the voltage regulator automatically adjusts the output voltage according to the condition of the feedback signal.
  • the high and low so as to achieve the purpose of stabilizing the motor speed.
  • the above-mentioned DC motor speed feedback system device cannot realize the stepping effect. It is impossible to control the DC motor to rotate after rotating at a certain angle, and the above-mentioned device is impossible, and at the same time, due to the high cost of the above device, the application is There is no cost advantage in small household appliances. Of course, if a stepping motor is used, it is possible to control the motor to rotate at a certain angle and then stop or step speed regulation, but the cost of the stepping motor is too high, and the stepping motor is generally applied to industrial equipment. For the control of civil small household appliances, most of them use DC motors, and most of them use DC permanent magnet motors. Summary of the invention
  • a DC motor step speed control device comprising a motor, wherein: the output shaft of the motor is provided with a grating for cutting the photocoupler, and the output end of the photocoupler is The microprocessor is connected, and the microprocessor is connected to the motor via a motor driving circuit; the microprocessor is further provided with a motor braking circuit connected to the motor.
  • the invention can make the stepping effect of the ordinary DC motor, and the length of the dwell time is used to control the rotation speed of the DC motor, and the number of output pulse signals of the photocoupler can also be utilized. Control the rotation angle or number of turns of the DC motor, thus effectively controlling the stroke of the load, and at the same time has a good cost advantage compared with the stepper motor.
  • Figure 1 is a block diagram showing the circuit principle of an embodiment of the present invention.
  • Fig. 2 is a schematic view showing the structure of a bucket cover driven by the embodiment of the present invention.
  • Fig. 3 is a circuit diagram of an embodiment of the present invention.
  • Fig. 4 is a flow chart showing the flow of the program of the embodiment of the present invention. detailed description
  • the present invention provides a DC motor step speed control device, including a motor, wherein: a front output shaft of the motor is provided with a grating for cutting a photocoupler, and an output of the photocoupler
  • the terminal is connected to the microprocessor, and the microprocessor is connected to the motor via a motor drive circuit.
  • the motor brake circuit is composed of a diode, a transistor and a resistor; and the motor rear output shaft is provided with a drive gear of the trash can cover.
  • the grating described in this embodiment is actually divided into a plurality of light-transmissive areas and a light-shielding area on a thin wafer.
  • the grating is set on the front output shaft of the DC motor and rotates together with the output shaft to cut the photocoupler.
  • the optical path such that the photocoupler outputs an electrical pulse signal, and each time the grating rotates a position of the light transmitting area and the light shielding area, the photocoupler outputs an electric pulse signal, and the electric pulse signal is connected to the counter in the microcomputer controller through a wire. , the angle or number of turns used to control the rotation of the motor.
  • the function of the driving circuit is to control the on/off and forward and reverse of the DC motor, and the driving circuit
  • the control terminal is connected to the interface of the microprocessor, and the output end of the drive circuit is connected to the DC motor.
  • the function of the brake circuit is to enable the DC motor to rotate by inertia to stop quickly.
  • the brake circuit is actually a circuit for short-circuiting both ends of the DC motor.
  • the motor will not stop immediately.
  • the motor will become a generator (according to the principle of electromagnetics).
  • the coil inside the motor has a current passing through and cutting the magnetic line to generate resistance. The motor stops rotating quickly.
  • the working process of the DC motor step speed regulating device Firstly, the output circuit of the microprocessor is controlled to open the driving circuit, the output voltage of the driving circuit is applied to the two ends of the motor, the motor starts to rotate, and the rotation also drives the grating to rotate, when the grating rotates After the travel of a light-transmitting area and a light-shielding area, the photocoupler outputs an electrical pulse signal to the counter in the microprocessor, and the counter in the microprocessor is added to the original base, and the microprocessor monitors the counter plus After a data, immediately change the state of the output port, so that the voltage applied to the DC motor at both ends of the DC motor disappears.
  • the brake circuit is turned on to form a loop (corresponding to a short circuit) at both ends of the DC motor.
  • the DC motor stops rotating immediately and keeps stopping for a while. Time (hereinafter referred to as: dwell time), and then repeating the above steps, the DC motor produces a stepping effect of one turn, one stop, one turn and one stop.
  • dwell time time (hereinafter referred to as: dwell time)
  • the DC motor produces a stepping effect of one turn, one stop, one turn and one stop.
  • the value of the counter can reflect the angle or number of turns of the motor, which is beneficial to control the angle or number of turns of the DC motor through the microprocessor, thereby achieving the stroke of the control load.
  • the driving circuit 2 is composed of a transistor Q2-Q5 and a resistor R4-R7.
  • the braking circuit 3 is composed of diodes D1 and D2, transistors Q3 and Q5, and resistors R5 and R7.
  • Output interface pin (1), pin (2), pin (17), and pin (18) control the turn-on or turn-off of transistor Q2-Q5 through resistors R4-R7, respectively, when microprocessor 1 has pin (1) and When the pin (17) is high and the pin (2) and the pin (18) are low, the transistors Q2 and Q5 are turned on, Q3 and Q4 are turned off, the DC motor 4 is applied with a forward voltage, and the output shaft of the DC motor is 5 The hour hand rotates; when the foot (1) and the foot (17) of the microprocessor 1 are low, the feet (2) and the foot (18) are low, the transistors Q2 and Q5 are turned off, Q3 and Q4 are turned on, and the direct current is Motor 4 applies reverse voltage, DC The output shaft 5 of the machine rotates counterclockwise.
  • the inside of the photocoupler 7 is actually composed of an infrared emitting diode and an infrared receiving transistor.
  • the output of the photocoupler 7 is connected to the foot of the microprocessor 1 (input terminal) and the leg (connected to the inside of the microprocessor 1).
  • the microprocessor 1 pin is high level; when not blocked, the microprocessor 1 pin (3) is low level,
  • the grating 6 of this example has four visors, and each step of the DC motor output shaft 5 is rotated.
  • the angle of entry is 90 °.
  • FIG. 2 is a schematic diagram of a DC motor step speed regulating device driving the trash can lid 9.
  • the DC motor 4 is a permanent magnet with two ends.
  • the DC motor has one end connected to the grating 6, and the other end is connected to the gear set 8.
  • the gear set 8 is a set of reduction gears, the purpose of which is to convert the power of the high speed and small torque rotating DC motor output shaft 5 into a low speed and a large torque, thereby driving the barrel cover.
  • the lid 9 is required to be slowly closed during the closing process to reduce noise.
  • the DC motor 4 is slowly rotated in steps, and a counter is used to determine the stroke of the lid.
  • the output pin (1) and the foot (18) of the microprocessor 1 are first.
  • the level is high, the feet (2) and the feet (17) are low level, the transistors Q2-Q5 are all turned off, the motor 4 is not charged and remains stationary, when the microprocessor 1 changes the state after the output port and the microprocessor
  • pin 1 (1) and pin (17) of 1 are high level, pin (2) and pin (18) are low level (positive voltage is applied to the motor), transistors Q2 and Q5 are turned on, and Q3 and Q4 are turned off.
  • the output shaft 5 of the DC motor rotates clockwise, causing the lid to start to close, and the grating 7 rotates.
  • the photocoupler 7 outputs a pulse signal to the internal counter of the microprocessor 1, and the counter is incremented by one.
  • the output of the microprocessor 1 changes state (the microprocessor 1 pin (1), the pin (, the foot (18) and the pin (17) are at a high level, so that the triode Q3, Q5 are turned on, Q2, Q4 are turned off, and the brake circuit 3 is activated to make the DC motor 4 stop rotating rapidly. In the brake), then the program enters the dwell time.
  • the motor does not move.
  • the program judges whether the counter has reached the predetermined value (and whether the stroke of the lid is in place). If the predetermined value is reached, the motor stops working. If the predetermined value is not reached, the above steps are repeated until the counter reaches a predetermined value, and the stepping speed is changed to change the stepping speed of the motor, thereby changing the closing speed of the lid 9.
  • the DC motor 4 is stopped at 90 degrees per revolution, but the displacement of the barrel cover 9 is small by the deceleration of the gear set 8, so that the barrel cover 7 is visually perceived to be slowly closed, as long as the grating 6 is added.
  • the number of steps can reduce the step angle of the DC motor 4.
  • the grating 6 of the present invention can also be mounted on one of the gears 8 to control the step angle of the DC motor 4. It should be equivalent to the technology of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Stepping Motors (AREA)
  • Control Of Direct Current Motors (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Description

直流电机步进调速控制装置 技术领域
本发明涉及一种直流电机步进调速控制装置， 特别是可以控制直流电机的 旋转角度和步进速度的装置。 背景技术
现有直流电机转速的变化是靠调整直流电机两端的电压， 当施加在直流电 机两端的电压提高时， 电机的转速加快； 当施加在直流电机两端的电压降低时， 电机的转速变慢。 同时当负载变化时也会影响电机的转速， 当负载变重时直流 电机的转速变慢； 当负载变轻时直流电机的转速变快。 为了稳定直流电机的转 速， 现有技术采用的是测速反馈系统， 当电机转速比预定值低或高时， 测速系 统输出反馈信号给电压调节器， 电压调节器根据反馈信号的情况自动调节输出 电压的高低， 从而达到稳定电机转速的目的。 上述的直流电机测速反馈系统装 置不能实现步进效果， 想要控制直流电机旋转一定的角度后停止转动或步进调 速， 上述装置是不可能实现的， 同时由于上述装置成本较高， 应用在小家电产 品上没有成本优势。 当然如果采用步进电机， 是能够实现电机旋转一定的角度 后停止或步进调速的控制， 但步进电机的成本实在是太高了， 步进电机一般应 用在工业设备上。 对于民用小家电出于成本的控制绝大部分还是采用直流电机， 而且绝大部份采用的是直流永磁电机。 发明内容
本发明所要解决的技术问题在于克服上述的缺陷， 提供一种成本低廉的直 流电机步进调速装置， 使直流电机能控制旋转一定的角度后停止转动或达到步 进调速的效果。 本发明采用以下方案实现： 一种直流电机步进调速控制装置， 包括电机， 其特征在于： 所述电机的输出轴设有用于切割光电耦合器的光栅， 所述光电耦 合器的输出端与微处理器相连， 所述的微处理器经电机驱动电路与电机相连； 所述的微处理器还设置有与电机相连的电机制动电路。
本发明相比现有技术具有以下优点： 本发明能使普通的直流电机产生步进 的效果， 利用停留时间的长短来控制直流电机的转速， 也能利用光电耦合器的 输出脉冲信号个数来控制直流电机的转动角度或圈数， 从而有效地控制负载的 行程， 同时与步进电机相比具有很好的成本优势。 附图说明
图 1是本发明 施例的电路原理方框图。
图 2是本发明 施例驱动一个桶盖的结构示意图。
图 3是本发明 施例的电路图。
图 4是本发明 施例的程序流程框图。 具体实施方式
请参照图 1， 本发明提供一种直流电机步进调速控制装置， 包括电机， 其特 征在于： 所述电机的前输出轴设有用于切割光电耦合器的光栅， 所述光电耦合 器的输出端与微处理器相连， 所述的微处理器经电机驱动电路与电机相连。 所 述的电机制动电路由二极管、 晶体管及电阻组成； 所述的电机后输出轴设有垃 圾桶盖的驱动齿轮。 本实施例中所述的光栅实际上是在一个薄圆片上分割成若 干个透光区及遮光区， 该光栅套装在直流电机的前输出轴上， 并跟随输出轴一 起转动， 切割光电耦合器的光路， 这样光电耦合器就输出电脉冲信号， 光栅每 转动一个透光区和遮光区的位置， 光电耦合器就输出一个电脉冲信号， 该电脉 冲信号通过导线连接到微电脑控制器内的计数器， 用于控制电机转动的角度或 圈数。 所述驱动电路的功能在于控制直流电机的通断和正反转， 驱动电路的输 入控制端与微处理器的接口连接， 驱动电路的输出端连接直流电机。 所述制动 电路的功能在于能使靠惯性转动的直流电机快速停止， 制动电路实际上是一种 把直流电机两端短路的电路， 当施加在直流电机两端的电压停止后， 由于负载 和电机转子的惯性， 电机不会马上停下来， 这时候电机将变成发电机 （根据电 磁学原理）， 此时将电机两端短路后， 电机内部的线圈有电流通过并切割磁力线 产生阻力， 使电机快速停止转动。
直流电机步进调速装置的工作过程： 首先由微处理器的输出端口控制驱动 电路打开， 驱动电路输出电压施加在电机的两端， 电机开始转动， 转动的同时 也带动光栅转动， 当光栅转动一个透光区和遮光区的行程后， 光电耦合器就输 出一个电脉冲信号给微处理器内的计数器， 微处理器内的计数器就在原来的基 础上加一， 微处理器监测到计数器加一个数据后， 立即改变输出端口状态， 使 驱动电路施加在直流电机两端的电压消失， 同时开启制动电路让直流电机两端 形成回路 （相当于短路）， 直流电机立即停止转动， 并保持一段停止时间 （以下 简称： 停留时间）， 然后在重复上述步骤， 直流电机就产生一转一停、 一转一停 的步进效果。 只要改变停留时间就能改变电机的旋转速度， 通过计数器的数值 能够体现电机转动的角度或圈数， 有利于通过微处理器来控制直流电机转动的 角度或圈数， 从而达到控制负载的行程。
为了让一般技术人员更清楚的了解本发明， 下面结合一实施例电路及相应 的控制流程图进行说明。
请参照图 3，本实施例子中所述驱动电路 2由三极管 Q2-Q5和电阻 R4-R7组 成， 制动电路 3由二极管 Dl、 D2、 三极管 Q3、 Q5和电阻 R5、 R7组成， 微电脑 控制器 1输出接口脚 (1)、脚 (2)、脚 (17)、脚 (18)通过电阻 R4-R7分别控制三极管 Q2-Q5 的导通或截止， 当微处理器 1的脚 (1)和脚 (17)为高电平、 脚 (2)和脚 (18)为低电平时， 三极管 Q2和 Q5导通、 Q3和 Q4截止， 直流电机 4施加正向电压， 直流电机的输 出轴 5顺时针转动； 当微处理器 1的脚 (1)和脚 (17)为低电平、 脚 (2)和脚 (18)为低电 平时， 三极管 Q2和 Q5截止、 Q3和 Q4导通， 直流电机 4施加反向电压， 直流电 机的输出轴 5逆时针转动。 光电耦合器 7的内部实际上是由一个红外发射二极 管和红外接收三极管组成，光电耦合器 7的输出端连接到微处理器 1的脚 ( (输 入端）， 脚 ( 连接到微处理器 1内部的计数器， 当光栅 6的遮光区把光电耦合器 7的光路遮住时， 微处理器 1脚 ( 为高电平； 当没有遮住时， 微处理器 1脚 (3)为 低电平， 本例的光栅 6有四个遮光片， 直流电机输出轴 5每转动一圈， 在微处 理器器 1脚 ( 上就有四个脉冲信号， 所以本例的直流电机步进调速装置的步进 角度为 90 ° 。
下面结合图 2、 图 3、 图 4描述本例的工作过程： 其中图 2是一个直流电机 步进调速装置带动垃圾桶桶盖 9的结构示意图， 直流电机 4是一个两头出轴的 永磁直流电机， 一头连接光栅 6， 另一头连接齿轮组 8， 齿轮组 8是一组减速齿 轮， 其目的是将高速小扭矩旋转的直流电机输出轴 5的动力转换为低速大扭矩， 从而带动桶盖 9的开启或关闭， 桶盖 9在关闭的过程中要求缓慢关盖以减少噪 音。 在桶盖 9的关盖过程中， 直流电机 4采用步进缓慢转动， 同时采用计数器 来判别桶盖的行程， 首先程序初始化后， 微处理器 1的输出端脚 (1)和脚 (18)为高 电平、 脚 (2)和脚 (17)为低电平， 三极管 Q2-Q5都截止， 电机 4不得电而保持静止 状态， 当微处理器 1改变输出口后状态后及微处理器 1的脚 (1)和脚 (17)为高电平、 脚 (2)和脚 (18)为低电平时 （给电机施加正向电压）， 三极管 Q2和 Q5导通、 Q3和 Q4截止， 直流电机的输出轴 5顺时针转动， 带动桶盖开始关闭， 同时光栅 7转 动， 当光栅 7转动 90 ° 时， 光电耦合器 7输出一个脉冲信号给微处理器 1的内 部计数器， 计数器就加一， 当程序检测到计数器加一后， 微处理器 1的输出口 就改变状态 （微处理器 1的脚 (1)、 脚 ( 、 脚 (18)和脚 (17)为高电平， 使三极管 Q3、 Q5导通， Q2、 Q4截止， 启动制动电路 3， 使直流电机 4快速停止转动 （相当于 刹车）， 然后程序进入停留时间， 在停留时间内电机不动， 停留时间结束后程序 判断计数器是否已经达到预定值（及桶盖的行程是否到位）， 如果达到预定值就 停止电机的工作， 如果没有达到预定值， 就重复上述步骤， 直到计数器达到预 定值， 改变停留时间就可以改变电机的步进速度， 从而改变桶盖 9的关盖速度。 本例中直流电机 4每转 90度停止一下， 但通过齿轮组 8的减速， 桶盖 9的位移 量很小， 所以在视觉上感觉桶盖 7是慢慢关闭的， 只要增加光栅 6遮光片的个 数就能减小直流电机 4的步进角度， 这里还要说明的是， 本发明的光栅 6也可 以安装在齿轮组 8中的某一个齿轮上， 来控制直流电机 4的步进角度， 其与本 发明技术应该是等同替换。
以上所述仅为本发明的较佳实施例， 凡依本发明申请专利范围所做的均等 变化与修饰， 皆应属本发明的涵盖范围。

Claims

权利要求书
1. 一种直流电机步进调速控制装置， 包括电机， 其特征在于： 所述电机的输出 轴设有用于切割光电耦合器的光栅， 所述光电耦合器的输出端与微处理器相连， 所述的微处理器经电机驱动电路与电机相连； 所述的微处理器还设置有与电机 相连的电机制动电路。
2. 根据权利要求 1所述的直流电机步进调速控制装置， 其特征在于： 所述的电 机制动电路由二极管、 晶体管及电阻组成。
3. 根据权利要求 1所述的直流电机步进调速控制装置， 其特征在于： 所述电机 的输出轴还设有垃圾桶盖的驱动齿轮。
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