CN102340274B - Method and circuit for controlling stepper motor - Google Patents
Method and circuit for controlling stepper motor Download PDFInfo
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- CN102340274B CN102340274B CN 201110167873 CN201110167873A CN102340274B CN 102340274 B CN102340274 B CN 102340274B CN 201110167873 CN201110167873 CN 201110167873 CN 201110167873 A CN201110167873 A CN 201110167873A CN 102340274 B CN102340274 B CN 102340274B
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- 230000005284 excitation Effects 0.000 claims abstract description 61
- 230000002964 excitative effect Effects 0.000 claims description 29
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- 230000003750 conditioning effect Effects 0.000 abstract 1
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Abstract
The invention concerns a method and circuit for controlling a stepper motor, wherein the stepper motor is coupled to a control circuit and a load device. The method comprises the following steps of: outputting pre-driving signals to the stepper motor at a pre-driving period by using the control circuit, so that the initial excitation points for the stepper motor are converged into a preset range corresponding to an initial position, wherein the pre-driving signals comprise two pre-driving pulses; and conditioning excitation timing signals which are corresponding to the load device according to the converged initial excitation points at a driving period by using the control circuit, and driving the load device by using the stepper motor. According to the method and circuit for controlling the stepper motor provided by the invention, the initial excitation points for the stepper motor are converged into the preset range corresponding to the initial position by using the pre-driving signals, thus the aim of correcting the phase change between the initial excitation points for the stepper motor and the excitation timing signals can be reached without using a magnetic sensor.
Description
Technical field
The present invention relates to a kind of control method and control circuit of stepper motor.
Background technology
Stepper motor can depend on drive pattern and may stop at the equilbrium position on arbitrary full step or micro-stepping rank.Because the existence of system friction, stepper motor may stop at the position than the estimating position skew, if when starting once again, apply predetermined follow-up excitatory signal, may therefore cause step-out (miss-step) phenomenon to produce, so that system can not follow the trail of anticipated movement well.Even stop at estimating position, stepper motor also may be because transmit vibration or produce drift greater than the gravitational moment of keeping moment.The initial excitation point of the wrong stepper motor when above-mentioned wrong stop position can become stepper motor and drives next time is if the fixing stepper motor that then may cause of the excitatory sequential signal of control step motor is as you were or repeatedly swing.
Therefore and the loss that produces and can't change micro-stepping into and drive and revised by drive pattern is driven by full step in addition, if the excitatory sequential signal mistake of control step motor also can cause system to produce the step-out phenomenon, and.Normal, the conversion current phase of excitatory sequential signal (commutation current phase) can be by Magnetic Induction device (for example hall sensor (Hall sensor)) and the polarity phase matched of step motor.This type of Magnetic Induction device usually is installed on d.c. motor or 2 phase stepper motors (2-phase step motor) with as the conversion reference, and 2 phase stepper motors like this can be as the d.c. motor general operation.Yet consider based on cost, general stepper motor can't be installed this type of Magnetic Induction device.Hereat, as why not adopting the Magnetic Induction device and the phse conversion that can reach the initial excitation point of correcting stepper motor and excitatory sequential signal becomes important problem of industry.
Summary of the invention
This exposure relates to a kind of control method and control circuit of stepper motor, utilize the predrive signal and so that the initial excitation point of stepper motor be converged in the preset range of corresponding original position.
First aspect according to this exposure book, a kind of control method of stepper motor is proposed, this stepper motor is coupled to control circuit and load device, this control method comprises: utilize this control circuit to export the predrive signal to this stepper motor period in predrive, so that the initial excitation point of this stepper motor is converged in the preset range of corresponding original position, wherein this predrive signal comprises two predrive pulses; And utilize this control circuit in the described initial excitation point adjustment after according to convergence in driving period corresponding to the excitatory sequential signal of this load device and use according to this this stepper motor to drive this load device.
According to the control method of described stepper motor, this control circuit is adjusted the initial correspondence position of this excitatory sequential signal in this preset range.
According to the control method of described stepper motor, the amplitude of described predrive pulse and Periodic correlation are in this load device.
Control method according to described stepper motor, more comprise: utilize this control circuit to keep signal to this stepper motor in keeping output in period, so that this initial excitation point is converged in this preset range in this keeps period, wherein this keeps period between this predrive period and this driving period.
According to the control method of described stepper motor, the cycle of each predrive pulse reaches the scheduled time at least.
According to an embodiment, the invention provides a kind of control circuit of stepper motor, this stepper motor is coupled to this control circuit and load device, and this control circuit comprises: control unit and driver element.This control unit is in order to produce predrive signal and excitatory sequential signal, and wherein this predrive signal comprises two predrive pulses, and this excitatory sequential signal is to should load device; This driver element is used to predrive and exports this predrive signal to this stepper motor period, so that the initial excitation point of this stepper motor is converged in the preset range of corresponding original position, and driving period described initial excitation point adjustment this excitatory sequential signal after according to convergence also uses this stepper motor to drive this load device according to this.
According to the control circuit of described stepper motor, this predrive signal includes only two these predrive pulses.
According to the control circuit of described stepper motor, this control circuit is adjusted the initial correspondence position of this excitatory sequential signal in this preset range.
According to the control circuit of described stepper motor, the amplitude of described predrive pulse and Periodic correlation are in this load device.
Control circuit according to described stepper motor, this control unit is more kept signal in order to generation, this driver element more is used to export this and keeps signal to this stepper motor the period of keeping, so that this initial excitation point is converged in this preset range in this keeps period, wherein this keeps period between this predrive period and this driving period.
Control method and the control circuit of the disclosed stepper motor of this exposure book above-described embodiment, utilization have two predrive pulses the predrive signal and so that the initial excitation point of stepper motor within predrive period, namely can be converged in the preset range of corresponding original position, therefore need not use the Magnetic Induction device can reach the purpose of the initial excitation point of correcting stepper motor.Further, because the initial excitation point of stepper motor is converged in the preset range, thus the polarity of the step motor of corresponding this original position can correctly be obtained, thus, be the phase place of convertible excitatory sequential signal correctly, and put on the step motor to drive load device.
Can be further understood by following description of drawings and embodiment detailed description in the advantages and spirit of the present invention.
Description of drawings
Figure 1A illustrates the schematic diagram according to the stepper motor system of an embodiment.
Figure 1B～Fig. 1 E illustrates respectively stepper motor at the schematic diagram of different steps with corresponding excitatory position.
Fig. 2 illustrates the flow chart according to the control method of the stepper motor of an embodiment.
Fig. 3 A illustrates the part control sequential chart according to the stepper motor of an embodiment.
Fig. 3 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 3A of an embodiment.
Fig. 4 A illustrates the predrive signal and the comparison diagram of keeping signal according to the stepper motor of an embodiment.
Fig. 4 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 4A of an embodiment.
Fig. 5 A illustrates the predrive signal and the comparison diagram of keeping signal according to the stepper motor of another embodiment.
Fig. 5 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 5A of another embodiment.
Fig. 6 A illustrates the predrive signal and the comparison diagram of keeping signal according to the stepper motor of an embodiment again.
Fig. 6 B illustrates according to the schematic diagram of the initial excitation point of the stepper motor of the corresponding diagram 6A of an embodiment again.
Fig. 7 A illustrates the predrive signal and the comparison diagram of keeping signal according to the stepper motor of another embodiment.
Fig. 7 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 7A of another embodiment.
Fig. 8 A illustrates the part control sequential chart according to the stepper motor of another embodiment.
Fig. 8 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 8A of another embodiment.
Fig. 9 A illustrates the part control sequential chart according to the stepper motor of an embodiment again.
Fig. 9 B illustrates according to the schematic diagram of the initial excitation point of the stepper motor of the corresponding diagram 9A of an embodiment again.
Figure 10 A illustrates the part control sequential chart according to the stepper motor of another embodiment.
Figure 10 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 10A of another embodiment.
Embodiment
Control method and the control circuit of the stepper motor that this exposure book proposes (step motor), utilize the predrive signal and so that the initial excitation point of stepper motor (initial excitation point) be converged in the preset range of corresponding original position, therefore need not use the Magnetic Induction device can reach the purpose of the phse conversion of the initial excitation point of correcting stepper motor and excitatory sequential signal.
Please refer to Figure 1A, it illustrates the schematic diagram according to the stepper motor system of an embodiment.Stepper motor system 100 comprises stepper motor 110, control circuit 120 and load device 130.Stepper motor 110 is coupled to control circuit 120 and load device 130.Control circuit 120 comprises control unit 122 and driver element 124.Control unit 122 is in order to produce predrive signal and excitatory sequential signal, and wherein the predrive signal comprises two predrive pulses, the corresponding load device 130 of excitatory sequential signal and in order to drive load device 130.Please refer to Figure 1B～Fig. 1 E, it illustrates respectively stepper motor at the schematic diagram of different steps with corresponding excitatory position.Can be learnt by Figure 1B～Fig. 1 E, stepper motor 110 is under the driving of the excitatory sequential signal (AB, AB, AB, AB) of driver element 124, in the different excitatory position that different steps correspond to.
Please be simultaneously with reference to Fig. 2, Fig. 3 A and Fig. 3 B, Fig. 2 illustrates the flow chart according to the control method of the stepper motor of an embodiment, Fig. 3 A illustrates the part control sequential chart according to the stepper motor of an embodiment, and Fig. 3 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 3A of an embodiment.In step S200, utilize predrive signal that driver element 124 produces in predrive tp in period output control unit 122 to stepper motor 110, so that the initial excitation point of stepper motor 110 is converged in the preset range of corresponding original position.Predrive signal in this predrive tp in period comprises two predrive pulses as shown in Figure 3A.The amplitude of these a little predrive pulses and Periodic correlation do not limit in load device 130, look closely user design and so that stepper motor 110 driven load device 130 and decided.
Can be learnt by Fig. 3 B, after one extremely short period, all can be converged in corresponding to the initial excitation point of different steps in the preset range of corresponding 2.5 steps for example.Thus, after adjusting through the predrive signal, the position that stepper motor 110 stops namely can to determine, its relative polarity is also determined accordingly.Hereat, in step S210, utilize driver element 124 these a little initial excitation point adjustment after driving period (not being illustrated in Fig. 3 A) is according to convergence corresponding to the excitatory sequential signal of load device 130 and use according to this stepper motor 110 to drive load device 130.Because stepper motor 110 is determined in the polarity of each step equilbrium position, therefore control circuit 120 can be adjusted the initial correspondence position of excitatory sequential signal in preset range, therefore utilized the conversion phase driven stepper motor of correct excitatory sequential signal, and can not produced the step-out phenomenon.
In addition, further, control unit 122 more produces and keeps signal, driver element 124 is more in keeping signal to stepper motor 110 such as the th output in the period of keeping among Fig. 3 A, so that these a little initial excitation points are converged in preset range in keeping th in period, wherein keep period th between predrive tp in period and driving period.As discussed previously, the amplitude of predrive pulse and Periodic correlation are in load device 130, and amplitude and the cycle of keeping signal then are relevant to the predrive pulse so that these a little initial excitation points are converged in the preset range before the th end to being less than the period of keeping.That is, in the present embodiment, the amplitude of predrive pulse and cycle, and amplitude and the cycle of keeping signal be the adjustable factor.
Please be simultaneously with reference to Fig. 4 A and Fig. 4 B, Fig. 4 A illustrates the predrive signal and the comparison diagram of keeping signal according to the stepper motor of an embodiment, and Fig. 4 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 4A of an embodiment.Compared to Fig. 3 A, the cycle of the predrive pulse among Fig. 4 A is longer, and the cycle of each predrive pulse reach at least the scheduled time, a plurality of initial excitation points namely are converged in the preset range before predrive tp in period finishes therefore can be observed by Fig. 4 B.In such cases, keep existing for of th in period nonessential.
Please be simultaneously with reference to Fig. 5 A and Fig. 5 B, Fig. 5 A illustrates the predrive signal and the comparison diagram of keeping signal according to the stepper motor of another embodiment, and Fig. 5 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 5A of another embodiment.Compared to Fig. 3 A, the amplitude of keeping signal among Fig. 5 A is larger, therefore can be observed by Fig. 5 B, compared to Fig. 3 B, a plurality of initial excitation points are converged in the narrower preset range, but its duration of oscillation is then relatively long.
Please be simultaneously with reference to Fig. 6 A and Fig. 6 B, Fig. 6 A illustrates according to again the predrive signal and the comparison diagram of keeping signal of the stepper motor of an embodiment, and Fig. 6 B illustrates according to the schematic diagram of the initial excitation point of the stepper motor of the corresponding diagram 6A of an embodiment again.Compared to Fig. 3 A, the amplitude of the predrive signal among Fig. 6 A is identical with Fig. 3 A, and the amplitude of keeping accordingly signal is then less.Observed by Fig. 6 B, compared to Fig. 3 B, although a plurality of initial excitation point also is converged in the preset range, it distributes and does not more concentrate, and its duration of oscillation is then relatively short.
Please be simultaneously with reference to Fig. 7 A and Fig. 7 B, Fig. 7 A illustrates the predrive signal and the comparison diagram of keeping signal according to the stepper motor of another embodiment, and Fig. 7 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 7A of another embodiment.Compared to Fig. 6 A, the amplitude of keeping signal among Fig. 7 A is adjusted to identical with the amplitude of predrive signal.Observed by Fig. 7 B, compared to Fig. 6 B, a plurality of initial excitation points are converged in the narrower preset range.
In addition, the disclosed predrive signal of above-described embodiment all only has two predrive pulses, so be not limited in fact this, the predrive signal of the different number predrive of tool arteries and veins can also be so that can be converged in the preset range corresponding to the initial excitation point of different steps.Please be simultaneously with reference to Fig. 8 A and Fig. 8 B, Fig. 8 A illustrates the part control sequential chart according to the stepper motor of another embodiment, and Fig. 8 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 8A of another embodiment.Predrive signal in the predrive tp in period in Fig. 8 A only has the predrive pulse.Can be learnt by Fig. 8 B, in keeping th in period, can be converged in respectively corresponding to the initial excitation point of different steps in the different preset ranges of for example corresponding 3.5 steps and 1.5 steps.Yet 3.5 steps and 1.5 steps are not had a cyclic periodicity (differing 4 steps), therefore can't learn the position that stepper motor 110 stops, can't learning its relative polarity accordingly.
Please be simultaneously with reference to Fig. 9 A and Fig. 9 B, Fig. 9 A illustrates according to the part control sequential chart of the stepper motor of an embodiment again, and Fig. 9 B illustrates according to the schematic diagram of the initial excitation point of the stepper motor of the corresponding diagram 9A of an embodiment again.Predrive signal in the predrive tp in period in Fig. 9 A has three predrive pulses.Can be learnt by Fig. 9 B, in keeping th in period, can be converged in respectively corresponding to the initial excitation point of different steps in the different preset ranges of for example corresponding 3.5 steps and-0.5 step.Although the initial excitation point corresponding to different steps is not to be converged in the preset range of corresponding single step, the different preset ranges of corresponding 3.5 steps and-0.5 step have cyclic periodicity (differing 4 steps).Thus, after adjusting through the predrive signal, though can have different step, will can not cause the step-out phenomenon for the previous stop position of part.
Please be simultaneously with reference to Figure 10 A and Figure 10 B, Figure 10 A illustrates the part control sequential chart according to the stepper motor of another embodiment, and Figure 10 B illustrates the schematic diagram according to the initial excitation point of the stepper motor of the corresponding diagram 10A of another embodiment.Predrive signal in the predrive tp in period in Figure 10 A has four predrive pulses.Can be learnt by Figure 10 B, in keeping th in period, can be converged in respectively corresponding to the initial excitation point of different steps in the different preset ranges of for example corresponding 4.5 steps and 0.5 step.Although the initial excitation point corresponding to different steps is not to be converged in the preset range of corresponding single step, the different preset ranges of corresponding 4.5 steps and 0.5 step have cyclic periodicity (differing 4 steps).Thus, after adjusting through the predrive signal, though can have different step, will can not cause the step-out phenomenon for the previous stop position of part.
Control method and the control circuit of the disclosed stepper motor of this exposure book above-described embodiment, utilization have two predrive pulses the predrive signal and so that the initial excitation point of stepper motor within predrive period, namely can be converged in the preset range of corresponding original position, therefore need not use the Magnetic Induction device can reach the purpose of the initial excitation point of correcting stepper motor.Further, because the initial excitation point of stepper motor is converged in the preset range, thus the polarity of the step motor of corresponding this original position can correctly be obtained, thus, be the phase place of convertible excitatory sequential signal correctly, and put on the step motor to drive load device.
In sum, although the present invention discloses as above with a plurality of embodiment, so it is not to limit the present invention.The persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is as the criterion when looking accompanying the claim person of defining.
Claims (10)
1. the control method of a stepper motor, this stepper motor is coupled to control circuit and load device, it is characterized in that this control method comprises:
Utilize this control circuit to export the predrive signal to this stepper motor period in predrive, so that the initial excitation point of this stepper motor is converged in the preset range of a corresponding initial position, wherein this predrive signal comprises two predrive pulses; And
Utilize this control circuit in the described initial excitation point adjustment after according to convergence in driving period corresponding to the excitatory sequential signal of this load device and use according to this this stepper motor to drive this load device.
2. the control method of stepper motor as claimed in claim 1, it is characterized in that: this control circuit is adjusted the initial correspondence position of this excitatory sequential signal in this preset range.
3. the control method of stepper motor as claimed in claim 1, it is characterized in that: the amplitude of described predrive pulse and Periodic correlation are in this load device.
4. the control method of stepper motor as claimed in claim 1 is characterized in that more comprising:
Utilize this control circuit to keep signal to this stepper motor in keeping period output, so that this initial excitation point is converged in this preset range in this keeps period, wherein this keeps period between this predrive period and this driving period.
5. the control method of stepper motor as claimed in claim 1, it is characterized in that: the cycle of each predrive pulse reaches the scheduled time at least.
6. the control circuit of a stepper motor, this stepper motor is coupled to this control circuit and load device, it is characterized in that this control circuit comprises:
Control unit, in order to produce predrive signal and excitatory sequential signal, wherein this predrive signal comprises two predrive pulses, this excitatory sequential signal is to should load device; And
Driver element, be used to predrive and export this predrive signal to this stepper motor period, so that the initial excitation point of this stepper motor is converged in the preset range of corresponding original position, and driving period described initial excitation point adjustment this excitatory sequential signal after according to convergence also uses this stepper motor to drive this load device according to this.
7. the control circuit of stepper motor as claimed in claim 6, it is characterized in that: this predrive signal includes only two these predrive pulses.
8. the control circuit of stepper motor as claimed in claim 6, it is characterized in that: this control circuit is adjusted the initial correspondence position of this excitatory sequential signal in this preset range.
9. the control circuit of stepper motor as claimed in claim 6, it is characterized in that: the amplitude of described predrive pulse and Periodic correlation are in this load device.
10. the control circuit of stepper motor as claimed in claim 6, it is characterized in that: this control unit is more kept signal in order to generation, this driver element more is used to export this and keeps signal to this stepper motor the period of keeping, so that this initial excitation point is converged in this preset range in this keeps period, wherein this keeps period between this predrive period and this driving period.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110167873 CN102340274B (en) | 2011-06-21 | 2011-06-21 | Method and circuit for controlling stepper motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110167873 CN102340274B (en) | 2011-06-21 | 2011-06-21 | Method and circuit for controlling stepper motor |
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| CN102340274A CN102340274A (en) | 2012-02-01 |
| CN102340274B true CN102340274B (en) | 2013-04-17 |
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| CN 201110167873 Expired - Fee Related CN102340274B (en) | 2011-06-21 | 2011-06-21 | Method and circuit for controlling stepper motor |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2295297Y (en) * | 1996-07-24 | 1998-10-21 | 林育生 | Stepper motor control drive structure |
| JP2004236451A (en) * | 2003-01-31 | 2004-08-19 | Hitachi Printing Solutions Ltd | Control method for stepping motor |
| CN1677835A (en) * | 2004-04-02 | 2005-10-05 | 日本伺服株式会社 | Stepping motor control apparatus |
| US7342377B2 (en) * | 2006-05-24 | 2008-03-11 | Kabushiki Kaisha Toshiba | Stepping-motor control apparatus and method of controlling the apparatus |
| CN201541226U (en) * | 2009-12-02 | 2010-08-04 | 天津光电通信技术有限公司 | Motor control device capable of realizing position selection |
| CN102097991A (en) * | 2009-12-15 | 2011-06-15 | 信浓绢糸株式会社 | Stepping motor driving device and driving method |
-
2011
- 2011-06-21 CN CN 201110167873 patent/CN102340274B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2295297Y (en) * | 1996-07-24 | 1998-10-21 | 林育生 | Stepper motor control drive structure |
| JP2004236451A (en) * | 2003-01-31 | 2004-08-19 | Hitachi Printing Solutions Ltd | Control method for stepping motor |
| CN1677835A (en) * | 2004-04-02 | 2005-10-05 | 日本伺服株式会社 | Stepping motor control apparatus |
| US7342377B2 (en) * | 2006-05-24 | 2008-03-11 | Kabushiki Kaisha Toshiba | Stepping-motor control apparatus and method of controlling the apparatus |
| CN201541226U (en) * | 2009-12-02 | 2010-08-04 | 天津光电通信技术有限公司 | Motor control device capable of realizing position selection |
| CN102097991A (en) * | 2009-12-15 | 2011-06-15 | 信浓绢糸株式会社 | Stepping motor driving device and driving method |
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