CN106301120B - The control method of pulse step motor - Google Patents
The control method of pulse step motor Download PDFInfo
- Publication number
- CN106301120B CN106301120B CN201610751177.4A CN201610751177A CN106301120B CN 106301120 B CN106301120 B CN 106301120B CN 201610751177 A CN201610751177 A CN 201610751177A CN 106301120 B CN106301120 B CN 106301120B
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- Prior art keywords
- control
- stepper motor
- pulse
- time series
- module
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Classifications
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- 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
- H02P8/22—Control of step size; Intermediate stepping, e.g. microstepping
-
- 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
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/18—Shaping of pulses, e.g. to reduce torque ripple
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention relates to the control technology fields of pulse step motor, specifically, being related to a kind of control method of pulse step motor.It is included the following steps by signal processing flow：(1) operating instruction is inputted by an instruction input module；(2) operating instruction is converted by overall waveform by a control module and is the time series pulse signals of triangular wave or trapezoidal wave, and the rising edge of time series pulse signals and failing edge is made to be staircase waveform；(3) by a power control module according to time series pulse signals, control power module is in a certain way powered the winding of stepper motor.Method through the invention can obtain preferable positional accuracy and positioning accuracy.
Description
Technical field
The present invention relates to the control technology fields of pulse step motor, specifically, being related to a kind of pulse step motor
Control method.
Background technology
Using location control as the mechanism of main application function there are many various, be typically by electric motor driving come
It realizes, the most commonly used is servo motors and stepper motor.
Wherein, stepper motor be by several certain angles it is progressive (such as：It is 1.8 degree, also known as stepping that one progressive
Angle) come realize rotor rotation, stepping angle correspond to a pulse signal, that is, give a pulse signal can make stepper motor turn
Move the angle of a stepping angle.Therefore, user can preferably be realized by stepper motor by inputting certain umber of pulse
Location control function.
For the control mode of existing stepper motor, not only make stepper motor can be because dynamic when reaching target location
State is vibrated and leads to position inaccurate, and positioning accuracy depends primarily on the frequency of the intrinsic stepping angle of the stepper motor (greatly
It is small).Therefore, the control mode based on existing stepper motor so that the positioning accuracy and precision of stepper motor are difficult to obtain
Take preferable promotion.
Invention content
The present invention provides a kind of control system of pulse step motor, can overcome the prior art certain or it is certain
Defect.
The control system of pulse step motor according to the present invention comprising：
Instruction input module is used to input operating instruction；
Control module is used to operating instruction being converted into the time sequential pulse letter that overall waveform is triangular wave or trapezoidal wave
Number, and the rising edge of time series pulse signals and failing edge are configured to stairstepping；And
Power control module is used to make power module in a certain way to stepper motor according to time series pulse signals
Winding is powered.
In the control system of the pulse step motor of the present invention, control module is formed by control pulse (i.e. time sequential pulse
Signal) overall waveform can be triangular wave or trapezoidal wave, compared to it is existing using overall waveform for the control pulse of square wave come
It says, the vibrations because being generated due to the level (current or voltage) of rising edge or falling edge is drastically converted will not be led to, to make
Obtaining stepper motor can be greatly improved in the cushion performance of target location, fixed to greatly promote the stepper motor that is hungry
The accuracy of position.
In addition, the rising edge and failing edge due to time series pulse signals can be configured to stairstepping, this make by pair
The control of rising edge and failing edge can greatly promote the positioning accuracy of stepper motor.Such as, it is assumed that stepper motor it is every
400 pulses rotate a circle, if by the way that the sum of series of the rising edge of any control waveform and failing edge is set position 50,
It can be realized as 20000 times/week of imperceptibility positioning setting.
Preferably, further including D/A conversion modules, D/A conversion modules are for being converted time series pulse signals by digital quantity
At analog quantity and it is sent to power control module.
In the control system of the pulse step motor of the present invention, since rising edge or failing edge can be staircase waveforms,
Rising edge or failing edge can have an obvious level (current or voltage) between every grade of (every grade of staircase waveform) conversion
Variation, the level (current or voltage) variation can lead to rotor, and in rotation, there are a faint vibrations.By by time sequential pulse
Signal is converted to analog quantity, you can enable power control module receive it is continuous, smoothly control signal, to preferably keeping away
Exempt from the faint vibrations, and then greatly improves positioning accuracy.
Preferably, power control module is for controlling the voltage of stepper motor winding according to time series pulse signals
System.
Preferably, power control module is for controlling the electric current of stepper motor winding according to time series pulse signals
System.
The present invention also provides a kind of control method of pulse step motor, certain or certain of the prior art can be overcome
A little defects.
The control method of pulse step motor according to the present invention, is included the following steps by signal processing flow：：
(1) operating instruction is inputted by an instruction input module；
(2) operating instruction is converted by the time sequential pulse letter that overall waveform is triangular wave or trapezoidal wave by a control module
Number, and the rising edge of time series pulse signals and failing edge is made to be staircase waveform；
(3) by a power control module according to time series pulse signals, control power module is in a certain way to stepping
The winding of motor is powered.
In the control method of the pulse step motor of the present invention, control module is formed by control pulse (i.e. time sequential pulse
Signal) overall waveform can be triangular wave or trapezoidal wave, compared to it is existing using overall waveform for the control pulse of square wave come
It says, the vibrations because being generated due to the level (current or voltage) of rising edge or falling edge is drastically converted will not be led to, to make
Obtaining stepper motor can be greatly improved in the cushion performance of target location, fixed to greatly promote the stepper motor that is hungry
The accuracy of position.
In addition, the rising edge and failing edge due to time series pulse signals can be configured to stairstepping, this make by pair
The control of rising edge and failing edge can greatly promote the positioning accuracy of stepper motor.Such as, it is assumed that stepper motor it is every
400 pulses rotate a circle, if by the way that the sum of series of the rising edge of any control waveform and failing edge is set position 50,
It can be realized as 20000 times/week of imperceptibility positioning setting.
Preferably, in step (2), control module includes digital circuit or microprocessor.Consequently facilitating time sequential pulse is believed
Number generation.
Preferably, in step (2), after time series pulse signals generation, also by a D/A conversion modules by time sequential pulse
Signal is converted into analog quantity by digital quantity.
In the control method of the pulse step motor of the present invention, since rising edge or failing edge can be staircase waveforms,
Rising edge or failing edge can have an obvious level (current or voltage) between every grade of (every grade of staircase waveform) conversion
Variation, the level (current or voltage) variation can lead to rotor, and in rotation, there are a faint vibrations.By by time sequential pulse
Signal is converted to analog quantity, you can enable power control module receive it is continuous, smoothly control signal, to preferably keeping away
Exempt from the faint vibrations, and then greatly improves positioning accuracy.
Preferably, in step (3), power control module controls the current or voltage of electric power source pair of module stepper motor winding
It is adjusted.
Preferably, in step (2), deviation between stepper motor and target stop position is big, when needing to run at high speed,
Keep the series of the staircase waveform less；Deviation between stepper motor and target stop position is smaller, need to slow down operating when, make
The series of the staircase waveform gradually increases；Deviation between stepper motor and target stop position is small, when will shut down,
Keep the series of the staircase waveform more.It is set by this kind, the positional accuracy of stepper motor can be greatly promoted.In addition, this
" series is less " and " series is more " that place is said is a relative concept, is not to be defined to the quantity of series.
Description of the drawings
Fig. 1 is a kind of schematic diagram of the control system of pulse step motor in embodiment 1；
Fig. 2 is the sequence diagram of the control system of existing pulse step motor；
Fig. 3 is a kind of sequence diagram of the control system of pulse step motor in embodiment 1；
Fig. 4 is the enlarged diagram of corresponding part in Fig. 3；
Fig. 5 is the schematic diagram of the rising edge of any single time series pulse signals in Fig. 3；
Fig. 6 is that deviation between stepper motor and target stop position is big in embodiment 2, ladder when needing to run at high speed
Wave schematic diagram；
Fig. 7 is that the deviation in embodiment 2 between stepper motor and target stop position is smaller, needs the rank slowed down when operating
Terraced wave schematic diagram；
Fig. 8 is that deviation between stepper motor and target stop position is small in embodiment 2, rank when will shut down
Terraced wave schematic diagram.
Specific implementation mode
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.It should be understood that
, embodiment be only to the present invention explain and and it is non-limiting.
Embodiment 1
As shown in Figure 1, present embodiments providing a kind of control system of pulse step motor comprising：
Instruction input module is used to input operating instruction；
Control module is used to operating instruction being converted into the time sequential pulse letter that overall waveform is triangular wave or trapezoidal wave
Number, and the rising edge of time series pulse signals and failing edge are configured to stairstepping；And
Power control module is used to make power module in a certain way to stepper motor according to time series pulse signals
Winding is powered.
In the present embodiment, control module includes impulse generating unit and pulse distribution unit, and impulse generating unit is for connecing
It receives operating instruction and forms pulse control signal, pulse distribution unit is used to pulse control signal being distributed into for stepping electricity
The time series pulse signals that each winding of machine is controlled.
Further include D/A conversion modules in the present embodiment, D/A conversion modules are used to turn time series pulse signals by digital quantity
It changes analog quantity into and is sent to power control module.
In the present embodiment, power control module can correspond to voltage or electric current of the time series pulse signals to stepper motor winding
It is controlled.
For the more intuitive control system in description the present embodiment, now with using in the present embodiment control system and
For existing control system is to having the unipolar stepper motor of 4 windings (4 windings are respectively A, B, C and D) to control,
It illustrates one by one.
The control system of existing pulse step motor is all made of square-wave pulse signal and controls stepper motor, such as Fig. 2
It is shown, it is the sequence diagram of the control system of existing pulse step motor.By the sequence diagram it is found that when A, B, C, D are in height successively
When level, rotor is aligned with A, B, C, D successively, to realize the rotation of rotor.Can significantly it find out：1, rotor is arbitrary
It can not be achieved careful accurate positioning at position between adjacent winding, i.e. the positioning accuracy of existing control system can not dash forward
It breaks because being limited caused by stepper motor inherent structure；2, any winding be suddenly electric and dead electricity, this allows for any
Winding is suddenly to generate or suddenly subside to the torque of rotor, can have vibrations between impulsive switched so as to cause rotor, this
The positional accuracy of stepper motor will be seriously caused to reduce.
As shown in figure 3, for the sequence diagram of the control system in the present embodiment.It is made a concrete analysis of in conjunction with Fig. 4, it is known that：Turning
Son is gradual electric (controlling the power at B by time series pulse signals can be realized) when being turned at B by A, at B,
Gradual dead electricity at A later, so that the torque that A generates rotor continuously decreases, B gradually increases the torque of rotor, to
Rotor is more smoothly turned to by A at B, to preferably improve the cushion performance during rotor operation,
The vibrations for greatly reducing rotor, to greatly improve positional accuracy.In addition, being represented in Fig. 4 stepping angle.
As shown in figure 5, for the schematic diagram of any single time series pulse signals rising edge (failing edge is similar).Make in conjunction with Fig. 4
Concrete analysis, it is known that：Power (voltage or electric current) in B from 0 be gradually increased to maximum when, rotor turned to from A A and B it
Between at position；When power (voltage or electric current) in A is gradually decrease to 0 from maximum, rotor rotates between A and B from position
To B；In the process, since rising edge and failing edge are configured to trapezoidal wave, and any level trapezoidal wave with rotor A with
A certain position between B corresponds, to pass through the control to trapezoidal wave, you can preferably realizes rotor between A and B
It is positioned at position, so as to preferably break through stepping motor structure and the limitation caused by positioning accuracy, is greatly promoted
The positioning accuracy of any stepper motor.
Embodiment 2
Based on the control system of embodiment 1, a kind of control method of pulse step motor is present embodiments provided, by letter
Number process flow includes the following steps：
(1) operating instruction is inputted by an instruction input module；
(2) operating instruction is converted by the time sequential pulse letter that overall waveform is triangular wave or trapezoidal wave by a control module
Number, and the rising edge of time series pulse signals and failing edge is made to be staircase waveform；
(3) by a power control module according to time series pulse signals, control power module is in a certain way to stepping
The winding of motor is powered.
In the present embodiment, in step (2), control module includes digital circuit or microprocessor.
In the present embodiment, in step (2), time series pulse signals generation after, also by a D/A conversion modules by when serial vein
It rushes signal and analog quantity is converted by digital quantity.
In the present embodiment, in step (3), power control module controls the electric current or electricity of electric power source pair of module stepper motor winding
Pressure is adjusted.
In the present embodiment, in step (2), as shown in fig. 6, deviation between stepper motor and target stop position is big, needs
When running at high speed, keep the series of the staircase waveform less；As shown in fig. 7, inclined between stepper motor and target stop position
When operating that difference is smaller, needs slow down, the series of the staircase waveform is made to gradually increase；As shown in figure 8, stopping in stepper motor and target
Stop bit set between deviation it is small, when will shut down, keep the series of the staircase waveform more.Fig. 6,7 and 8 only give rising
The schematic diagram on edge, failing edge are similar.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (4)
1. the control method of pulse step motor, is included the following steps by signal processing flow：
(1) operating instruction is inputted by an instruction input module；
(2) operating instruction is converted by the time series pulse signals that overall waveform is triangular wave or trapezoidal wave by a control module,
And the rising edge of time series pulse signals and failing edge is made to be staircase waveform；And in step (2), stop in stepper motor and target
Deviation between position is big, when needing to run at high speed, and keeps the series of the staircase waveform less；In stepper motor and target stop position
Between deviation it is smaller, need slow down operating when, so that the series of the staircase waveform is gradually increased；In stepper motor and target stop position
Deviation between setting is small, when will shut down, and keeps the series of the staircase waveform more；
(3) by a power control module according to time series pulse signals, control power module is in a certain way to stepper motor
Winding be powered；
The overall waveform that control module is formed by control pulse can be triangular wave or trapezoidal wave, compared to existing using whole
Waveform is that will not cause because generating in drastically the converting for level of rising edge or falling edge for the control pulse of square wave
Vibrations, so that stepper motor can be greatly improved in the cushion performance of target location, to greatly improve
The accuracy of stepper motor positioning.
2. the control method of pulse step motor according to claim 1, it is characterised in that：In step (2), control module
Including digital circuit or microprocessor.
3. the control method of pulse step motor according to claim 1, it is characterised in that：In step (2), when serial vein
After rushing signal generation, time series pulse signals are also converted by analog quantity by digital quantity by a D/A conversion modules.
4. the control method of pulse step motor according to claim 1, it is characterised in that：In step (3), power control
The current or voltage of module control electric power source pair of module stepper motor winding is adjusted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610751177.4A CN106301120B (en) | 2016-08-29 | 2016-08-29 | The control method of pulse step motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610751177.4A CN106301120B (en) | 2016-08-29 | 2016-08-29 | The control method of pulse step motor |
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| CN106301120A CN106301120A (en) | 2017-01-04 |
| CN106301120B true CN106301120B (en) | 2018-09-18 |
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| CN111907234B (en) * | 2020-08-16 | 2022-04-19 | 福建星谷信息科技有限公司 | Method and equipment for realizing buzzing by vibration of stepping motor of printer |
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| JP3799300B2 (en) * | 2002-06-05 | 2006-07-19 | キヤノン株式会社 | Stepping motor drive device |
| JP3863844B2 (en) * | 2002-12-27 | 2006-12-27 | 松下電器産業株式会社 | Stepping motor driving apparatus and stepping motor driving method |
| JP4717416B2 (en) * | 2004-11-11 | 2011-07-06 | ルネサスエレクトロニクス株式会社 | Motor drive device |
| JP2007221974A (en) * | 2006-02-20 | 2007-08-30 | Rohm Co Ltd | Stepping motor drive and method and electronic equipment using them |
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