DE2119352C - Method and arrangement for controlling a stepping motor - Google Patents

Description

An arrangement for carrying out the method of the invention with a stepper motor, the

The invention relates to a method and windings distributed around the circumference

an arrangement for controlling a stepper motor, a reversal of the direction of rotation,

that is, after the motor has been started up, by means of a two-way counter that acts as a pulse distributor

_r . . ·: -, d and nut one a;: t d.- M .-: .-! wave be. ·.-cru- ¹ - ', ·, ι- ι ■ ■ ■

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d .: ; '.. h der hinsteliau-g.,: ie four /w.-itcT:'! - '..; -

j- .; ': ■ ·. ^ p-.aife via a /w.-ile ίίΐΊϋιΐ-ϊ, ΐί ^ !; '- ;; ■;' - '.; - .., - your ODFSA member \ abi \: \ de- i- :.

, ·. i ■, niuiiii tier Bctrieb-: ii "ini> eh / w. /ai;.:jii I.:··...:;: J; - t ge tv äß an Aii-ge-ialtunti ■ .- rtic-e- 3 ;. ·, _:! ^; / wipe the Au-.g.ing de-er-th IND-f.. jpd the assigned Einiianj. de- ODI.R- (, ..s; ne .. drille mon ^ stabiic kippschaltuiü; ^gesji: ■■ si Hierduich is -ichci'j.esielit that i.nabj ·; ..; the rotational speed -.on the operation -; .. e iü'mcr of equal catches are, so <tιί · the j _x ,. ijij of the engine * in all Beiricb-zu'Linden ee- \ i. ■.; -; ei is.

there is no need to explain in more detail about κί ^ η Be ;; i-.With different directions of rotation to b ^r in- - ^ there except for the change in price to dii each other.. i) Relirrichtung olfensively here no L. inter ·. ■. d / about the above given.

• :: i Example of the [! Ri 'connection vvrd to I | ..-; d close to the drawing. Fs shows

[; ... '. a block diagram of an arrangement / ui > e r iunolorsieuerung according to the invention.

ί - i n. 2 pulse-time diagrams to explain the phase including a speed a'.Jeruiiii from a low speed, to cii'-e hol; ·. ¹ speed,

F i n. 3 pulse timing diagrams for illustration a speed change from a high speed at a low speed.

The basic circuit diagram of a control circuit of the stepping motor, as shown in F ": g. 1, represents a preferred embodiment according to the invention. As usual, this circuit contains a number of amplifiers M.-ST. sufficient size and a suitable phase position can be supplied to the windings of a conventional stepping motor .vm, under control of output signals • a bidirectional payer ZW. -RZ .. This ZvveirichtungszählerZW -R.-Z. is located on a direction control line RSL over which the direction of the counting patterns occurring on the output signal citings to the amplifiers M.-ST .. Furthermore, ■ τι d · -. Zwur: ck: un- / ahlerZ! f.-K.-Z. a Impuh- ,; _n , ap. -sic.t; 'n - //: äni: e-chlo-en. "u about this the - \ iMi.-tL-i ..011 Au-i-an -.- mnaicn / e-timmen. The sd-ü'Pi; -.! S '\ / the usual bay. 'M. Ir- '' ^{11 L} "-" - " r..j ·. · -V -ii-r" c / ei'Ue drive shaft, ü "., Ι the one Ru.k-ι. ,, η :, ,,. ^ -;!, ^; Rf eekoppeh it. The justiall- ·. -Viihlil-lK-r Bauai: -ein can, «k- e.g. a piuo-

Ά'π-ehe Fmnchum.1 \\> n di ^ cm Ruekkoppi - ;; ig-. , Jvr. rv, crden feedback; U! -, g -ignale via ,, ¹ C R ^ ekki.rr.un-lenuntlK / - to eceigneler \ ei-! a.-I ₁ -by the V'er-t.rker / M .eieitei. Wi: regret - - λ ·; are the v.-r-tehe-.id a ^ lge / ahllen I-.L-iic'ilun- ■ • en '. ¹ M usual type. -> JaB -ie no further in the e.ü.v ^ n .v-chncK :! / ue-: Jen broke up.

The J ¹ Ii Zw ,, üch-n-: .iihler / H. -R - / - -icucnUe ^ .; lui · u; ■. ^l wild: .n ϋ.τ ,: Jei HI 'eb-wei-. W .: '.er-

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'e' Sehni '.-. · ¹ ; ·'. Lie-iaii ^1. '! u: ul to a cr-'en

The 'v ;;! "I is preceded by an i, b -r die Sicucrlcitur.e: M /'.'^Liiihric- Siunai. This Sieue; -; e! ,,;' ·· ■ -. :: d den: Start-up -S- "lipMop / \ '/ - (■ supplied via this SiettJiieiiung. M> dal? - this FüpnOp in the Fm state L.j'a; i- _; l. The. -nisieheiKie initial -ig ¹ , al schai'.el d'e miiniisiabile Kipp-cliaiiung 5 um. si 'daB em Imp'.ii-, about the ODFR-Schjlumg 7 and its AusiiLingsleituim IE is transferred to the Zweirichiuni; - / ähler ZH '.- K.-Z. As a result, in the usual way, eiuhal! e:! c Füpüops / w ίιη -steiung de · --e Andeniiiii des Zweirichlungs / ählers / li '.- W .- /. veraiuieri over the \ stronger M.-Sl'. the field of the stepper motor, so that its rotor is in a new angle corresponding to the set The feedback. Eodicrer WC via - '. R'UL ". Via the X'erstärker W V corresponding Riiekkwppluiiti-inipulsc on the Rückkoppluiiiisleitunt: Rl .. and / was in accordance with the rotation of the

Motorwelie.

\ S'cnn at the monostable toggle switch; 5 an output pulse occurs, then ihis \ 'eriiegelungs-Fliptlop FFV in the, fin-state tieschallei. so that one input of the L'ND element 9 is at potential. Since at this point in time there is also a potential from the inverter II at a different input connection. can the Rüekkopphingsimpuke on the Rückkopplungsleiiung RF. do to a third input of the 1.'ND element 9 is connected. vvcden on the monostable trigger circuit 13 located at the output of the AND element 9. which in turn sends pulses via the OR circuit 7 to the bidirectional counter ZW.-R.-Z. transmits. Since aveh over the amplifier M.-SJ. If the motor Λί is activated accordingly, it reaches a saturation speed at this point in time as a result of the corresponding acceleration, so that the motor Λ / is operated in its first or Nieclrig-Cjcschwiniiigkcits condition.

We shall now cause the stepper motor to be operated under a second or high-speed condition. The acceleration required for this should take place from zero speed. The sequence of operations for this mode of operation differs from the sequence described above for acceleration to the low-speed state only in the fact that after the second feedback pulse

a single additional ι liiip \ ils; iuf (.Il ¹ M two-way counter ΖΙΓ .- / Λ-Ζ. is transmitted. If high-speed control is required. d; inn receives the high-speed speed control IKiSI. a signal. This leaves a I-'lipllop / ■ '/ ■' -1 when an output pulse is applied to the monostable multivibrator 15. The monostable multivibrator 15 is controlled by the feedback line R1 via the inverter 17. D ;; s signal of the monostable multivibrator 15, which indicates the absence of a feedback pulse, sdialtel the bistable multivibrator / 7-1 Glue occurrence of a falling pulse of the first feedback component in all linear / .ustaiul. So there is a / wide bistable multivibrator / 7-2 enters the Hin state when the / wide falling pulse edge occurs on the signals appearing on the feedback line R. The bistable trigger circuit / -7-2 triggers the pulse output of the monostable when it is I'.in ilen toggle switch 19 off. which then transmits an external pulse via the ODHU switch 7 to the bidirectional counter ZH.-R Z. The effect of this additional forward pulse / at this point is that the field of the stepper motor SA / is fully extended to an advanced position, which then corresponds to the same effect as if the mechanical angle of advance of the feedback encoder RC was changed by one motor step would have been. Under these conditions, the stepping motor SM will expand to HinluiMiiic ues /. Or! ioch-Gcschv.i; u! igkei! '. /. '.! Stand accelerated. The additional pulse does not necessarily have to be supplied after the wide falling limb of the feedback pulse has been encountered, but can rather appear at any point in time that meets all system parameters.

Next, the change from a low speed to a high speed will now be described. Basically, the operation is the same as that of direct acceleration to a high speed. With the exception, however, that the engine is already in its normal state. This change can be carried out at any point in the target line: as before, a signal only needs to be transmitted to the high-speed control line IKrS ' . The forward motion impulse wnc! the bidirectional counter ZAV.-R.-Z. between the second and third feedback drive pulse after passing the control process for this speed change is supplied. This additional pulse could in itself be supplied immediately at the time of the next feedback pulse, but by using the same control circuit as is also used for the direct high-speed acceleration, the required sound expenditure is considerably simplified.

Furthermore, the speed camera should now! be handled from a high to a low speed. In order to carry out this change, the operating field of the stepping motor SM must be reset to the normal position. One of the drive pulses is used to carry out this braking process. which are triggered by the feedback circuit RC , rollover. If the signal on the high-speed line switches from a high-speed condition to a low-speed condition, then the bistable toggle switch AA-I will be activated when the next falling condition occurs The pulse edge of a feedbackinipuK-s switched back to the off state as a result of a signal fed in from the Inveilcr 17. If the bistable trigger circuit AT -'- 1 is switched back and the bistable trigger circuit AA-2 is switched to the forward state, then Ικ-iden is present A signal is sent to the inputs of the ND element 12, so that its output via the inverter 11 prevents a further pulse transfer via the AND element 9 and thus the next feedback pulse occurring on the feedback line Rl. Does not reach the ODHR sound input 7 This means that you can then also use the two lighting / ählcr ZW-R .- '/ .. and the motor .VA / without incremental or drive pulse. The next aiii ilei l.eiUmgK / The pulse edge of a feedback pulse then also resets the flip-flop AA-2 to the zero-Z state. The AND element 12 is then also blocked, so that the feedback pulses supplied via the I (ND circuit 9) can then trigger the monostable multivibrator 13 again via the inverter 11.

so that the Zweirichtiings / ählcr ZW-R.-7. can be advanced via the ODHR circuit 7. \ As a result of this flashover of a pulse in operation; in the sequence the FcIiI returns to its normal \. \ Vi: so that the motor goes into the lower (ic

3ü state of dizziness passes and at this Gc v. <; HviinflipLi. ^% it wfitrrlritifl

The same effect can be achieved if an additional pulse sequence of, for example, three short pulses is transmitted to the motor between two pulse pauses / between two drive pulses, as is already done elsewhere in order to achieve a shifting field state that has been postponed by a single step phase ! -5 been proposed is F'raktisch the firing and -einsctzung is performed so that K Rückstelien of Hipflops WAT d with occurrence · -.! /i/.-Impulses first appear after the rear Hanke of the control pulse on the Stcucrleitung SI Pulse generator 21 is triggered to output this additional pulse sequence, which is then transmitted via i! A ~ ODl ^: R-Glied7aufdcnZwei-directionzählerZH '.- / i .- /. The pulse generator 21 itself kai'.; z. B. from a suitable Ring circuit exist The additional pulse sequence causes the motor field to vibrate, which the rotor cannot follow due to its inertia rmag This has a smaller, advantageous angle of the rotating field, so that the motor .VA / goes into the low speed state.

The control stages 22 and 23 in conjunction with the stages 25. 27 and 29 serve as a braking device Hing, which is not the subject of the invention, we-> half did not go into it.

With the help of the diagrams in FIGS. 2 and '.

the different time sequences are shown for different operating conditions. The impulses, dii at the various points in the system are marked: this also applies to the following of pulses which are supplied to the individual field windings for excitation in the order wl they each at the bottom of the fi »'. 2 and are recorded. The numbers show the field developments. whose number is 4 and each

because they are excited by an impulse. This is done separately via the four output lines of the /. Directional counter ZW.-R.-Z., which are excited depending on the switching states of the two counter flip-flops, as can be seen with the help of the last two pulse diagrams (counter / · "/ · ".- pulses) in Figs. 2 and 3 results. The field winding excitation in FIG. 2 shows in the line "low speed" the temporal succession of the impulsed field windings in their excitation, as it occurs with normal, ie unchanged movement sequence: whereas the line "high speed"

shows the course of arousal that has changed over time. The same applies vice versa for the field winding excitation, as shown in Fig. 3, since dori namely the normal sequence, d. H. the unchanged sequence is shown in the line »high speed« and the deceleration process is listed in terms of excitation in the "Low speed" line is.

Otherwise the representations in Fig. "

»Ο and 3 taking into account the explanations ir

the previous description for itself, so dal

there is no need to go into this further

1 sheet of drawings

309 636

ί ~

Claims (1)

e;: icii Starlimpuls that of one on the motor shaft I '! Cntanspriiehc: bcfcsiiiiute coding disk generated with every shrill switch over the motor control. i. \ 'he!. <:.:. r. / ¹ Jr M.'iK-rung of a veeritt motor. ^ _1n \,, _., - ·. _In -n this: Art. in which a writing: which after commissioning: zen de- _{Motor- is braked by -! lllltur} jvjschacciüt, is be.mm a Siartimpu! -. of a Mo on the R "(, ieub.be Olfenieeuivissciinft 1 ''45 L-HTS) Dabe;. fastened while encoder i * t be;! icdeni step LMi'ie'clv _x c i in which the Drchnchtung Schnttei generated impulses the engine control for's ^ i: ..; -. ,,.,; » ...... _ir j - _u .tt since the Drchrichiunü by a eutten dadurchgeke η η / η calibration el daL> / i; r ,, _c> ,, _L], to ivkann'.e Mcuerunu _n des RiiiLL / .ih lic-c'üimgung des Motor \ ,, ne ^ r.er never iiigen _{10 crs} i _v * tirnmi. W; ih.rer.d in this known on its higher speed unmaiig / wi- method stepper motor is described animal;. i see two ;. SchnttimpuNen em additional import _{j;. lJ M>} jeh _c Schrittie-ch "mdiükeit braked who powder-coated;. uif the engine control is given <\ vd] _L ,, _so n. . ^ ₁ - _CN stopped within a- step: tlai- bei tier \ er / ojeri. Vj. De- motor from d-. - ^ _{c [} /, MViüieskreises tin Brenis / eitpunkt a fe- :. tr.aüg ein Schrü '/. mpt.ls under pressure! is f'hasJnv .i-shift de- excitation cycle: . Arrangement for carrying out the decay- ... ,, - j, _{Λ! Γι} ί the change in the speed of rotation; '.: En- according to claim i. With a step mo goal. \, _Jt .meieren method m libücher way with 'l; h. Ce-scn aiTi I mlong distributed windings pi:! I- one according to Ltesteuerleii encoder * or one, one another by one the reversal Jer Dr-ji-ic! ¹ - _J0 C'odiei -cheüv mi! Viellach-Aiisgabe \ orgenomme :: ju: ig gesiatlenden. aN Inipubveruiier wiik.-nd ij _cl .,; j _iOn Svstemen IaLu the motor speed · ■ / wc: Directional excitement! are, ad with a difference, by the fact that the abbot mediums to you;:! de; Engine meanwhile, Cndici'sc'iKihe attached CÖdierscheü'ie, which eni-pechendene ch edene the iv jeiLm veryitt an Impas. de, s'oreiiwii.XLhi in different intervals.:;, i.!> he a first AND element r-.it nacliitesehtilieieir, ₂₅ s nifanu aiu brought, in the desired sense ui. ODF'.R - ilied ;; n den /.wei-Ru-hti.ngs-Z.ihii.r ν.ei- iiochaüei weRlc ·; - »To now the respectively desired is availed. characterized in that to be able to euisteiicn two advantages is of course a :; •: iir.; E-re: nanderge: .cha! Iete bi-tabiie kipnsiufe'i corresponding number of coder outputs: er (// -1. I-! ■ -2) are provided in which the! - 'Injury. which suh dam; still doubled if you !! - and Rlxkteilaf.sgaii.ue the first (/ · / ■ "-Ii ₃ " J ₀ , - motor in both directions of rotation is to be operated with the adjustment and reverse parts. second (F / -2) -.blind -md. daLl icne: the D, e task of the [u iindimg is now looking at. ti. _; Stepping impulses experienced via cmc return step (17) to control a stepper motor lead! are who. Exit einiseiis: p.if the H tick- ^ aims beschn ·. btneii An so that mi. -Tellimpulse inputs and on the other hand i: with a ₃₅ eerinuem effort a scimeile speed - first monostable flip-flop (.15) on the l'insicü- "'., calculation can be carried out. impnl components of the two bistable flip-flops :! In this way, the university will accomplish this task • / - / - I. / 7-2) goes that a two'e- | _t , st. that / ur "Heschleuirgung Jes Motors unique AND element (2) is provided, the high un ^! an additional im- Low speed signals supplied to sir ,,; _{40 pu} | _{s liu} f J _1C engine control is given, true; and its output on the one hand with the em-teli- when decelerating the engine from the high au! input and on the other hand via a reversing link 3 Ji ₀ lower ^ speed one step the first bistable pulse is suppressed with the reset input. flip-flop (FF-I) is connected. that a third The acceleration in the invention according to the invention AND element (12) is provided, at whose entry ₄₅ is carried out by the additionally supplied gang dei backward exit of the first (/ "F-I) and led impulse caused much smaller hamlets the control output of the second bistable tilting _t ung of Drehfddes that came go along the rotor .. stage (FF-2) and its output is above a because its inertia in relation to this is not Inversion element (11) to the first AND element (9). in weight / u fall ability. to which the stepping impulses are also given, ₅₀ Compared to that with the German OtTenle-iing-led and that lastly the outline output script 1 945 808 became known that the second bistable flip-flop via a second with its control circuit a stepper motor monostable flip-flop (19) with the OR can decelerate, results from the process associated with the element (7). , wet (j _or invention the advantageous possibility of a third arrangement according to claim 2. characterized by 55 acceleration from a low to a high, that between the output of the speed, and vice versa, to carry out. First AND element (9) and the associated opposite arrangements in which, for example, the input of the OR element (7) a third mono-multiple encoder disk !! is connected to derive the required stable flip-flop (13) 60 speed levels are required for the Arrangement according to the invention only a single coding disk necessary and switchings are nichi necessary.