阅读说明：本技术 一种数字式防失步步进电机转速控制器和控制方法 (Digital type anti-stepping motor rotating speed controller and control method ) 是由 陈永煌 于 2020-07-22 设计创作，主要内容包括：本发明公开了一种数字式防失步步进电机转速控制器和控制方法,其中,所述控制器包括：高频振荡器、分频器、可逆计数器、数字比较器、拨盘开关、控制门和低频振荡器；所述高频振荡器和所述分频器相连,所述可逆计数器的输出端和所述分频器的预置端相连,所述可逆计数器的输出端还和所述比较器的一组输入端相连,所述比较器的另一组输入端和所述拨盘开关相连,所述比较器的输出和所述控制门相连,所述控制门的输出和所述可逆计数器相连,所述控制门的输入连接有所述低频振荡器。该控制器克服现有技术中克服现有技术中步进电机在频繁启停、频率发生突变的过程中发生失步,造成不能正常运转,甚至产生堵转现象的问题。(The invention discloses a digital controller and a control method for preventing the rotating speed of a stepping motor from being out of step, wherein the controller comprises: the device comprises a high-frequency oscillator, a frequency divider, an up-down counter, a digital comparator, a dial switch, a control gate and a low-frequency oscillator; the high-frequency oscillator is connected with the frequency divider, the output end of the reversible counter is connected with the preset end of the frequency divider, the output end of the reversible counter is further connected with one group of input ends of the comparator, the other group of input ends of the comparator are connected with the dial switch, the output of the comparator is connected with the control gate, the output of the control gate is connected with the reversible counter, and the input of the control gate is connected with the low-frequency oscillator. The controller overcomes the problems that in the prior art, the stepping motor is out of step in the processes of frequent start and stop and sudden change of frequency, so that the stepping motor cannot normally run and even has a locked rotor phenomenon.)

1. A digital out-of-step prevention stepper motor speed controller, the controller comprising: the device comprises a high-frequency oscillator, a frequency divider, an up-down counter, a digital comparator, a dial switch, a control gate and a low-frequency oscillator;

the high-frequency oscillator is connected with the frequency divider, the output end of the reversible counter is connected with the preset end of the frequency divider, the output end of the reversible counter is further connected with one group of input ends of the comparator, the other group of input ends of the comparator are connected with the dial switch, the output of the comparator is connected with the control gate, the output of the control gate is connected with the reversible counter, and the input of the control gate is connected with the low-frequency oscillator.

2. The digital step-out prevention motor speed controller of claim 1, further comprising: an annular distributor and a drive circuit;

the square wave signal after frequency division of the frequency divider is firstly sent to the annular distributor and then sent to the driving circuit to drive the stepping motor to rotate.

3. The digital step-out prevention motor speed controller of claim 1, wherein the digital comparator comprises: a plurality of SN54S 854 bit amplitude comparators;

and a plurality of SN54S 854 bit amplitude comparators are cascaded with each other.

4. The digital step-out prevention motor speed controller of claim 1, wherein the frequency divider comprises: a multi-chip coefficient multiplier SN 74167;

the multiple coefficient multipliers SN74167 are cascaded with each other to divide the frequency of the square wave signal of the high-frequency oscillator.

5. The digital out-of-step motor speed controller of claim 1, wherein the up-down counter comprises: a multi-chip BCD up-down counter SN 74192; the multiple BCD reversible counters SN74192 are mutually cascaded, and multiple output ends of the BCD reversible counter SN74192 are respectively connected with a number setting input end of the frequency divider so as to preset the frequency division coefficient of the frequency divider and output the pulse frequency required by the running of the stepping motor.

6. The digital method for controlling the rotating speed of the anti-desynchronizing step motor according to any one of claims 1 to 5, wherein the method comprises the following steps:

sending a high-frequency square wave signal generated by the high-frequency oscillator to the frequency divider for frequency division to generate a square wave frequency signal required by driving the stepping motor;

presetting the frequency of the square wave signal output by the frequency divider by using the reversible counter;

controlling the up-down counter by the digital comparator so that a preset value of the dial switch is equal to an output value of the up-down counter; wherein the content of the first and second substances,

when the preset value of the dial switch is larger than the output value of the reversible counter, the digital comparator controls the reversible counter to count up through a control door, so that the output value of the reversible counter is increased;

when the preset value of the dial switch is smaller than the output value of the reversible counter, the digital comparator controls the reversible counter to count down through the control door, so that the output value of the reversible counter is reduced;

and controlling the change speed of the output value of the reversible counter by using the low-frequency oscillator.

7. The digital out-of-step motor speed control method according to claim 6, further comprising:

sending the square wave signal after frequency division of the frequency divider to the annular distributor;

and sending the square wave signal distributed by the annular distributor to the driving circuit to drive the stepping motor to rotate.

8. The method for controlling the rotation speed of a digital anti-step-out motor according to claim 6, wherein the digital comparator is formed by mutually cascading a plurality of SN54S 854 bit amplitude comparators.

9. The method as claimed in claim 6, wherein the frequency divider is formed by cascading a plurality of coefficient multipliers SN74167 in order to divide the square wave signal of the high frequency oscillator.

10. The method as claimed in claim 6, wherein the up-down counter is formed by a plurality of BCD up-down counters SN74192 connected in cascade to output a pulse frequency required by the operation of the stepping motor, and the frequency division coefficient of the frequency divider is preset.

Technical Field

The invention relates to the technical field of stepping motor rotating speed controllers, in particular to a digital anti-stepping motor rotating speed controller and a control method.

Background

The step motor is an executive device for converting pulse signals into angular displacement, the rotating speed of the motor is in direct proportion to the pulse frequency, and the rotating speed of the motor can be adjusted by changing the pulse frequency.

However, the step motor is often out of step when used, which results in the step motor not operating normally. The reason for this phenomenon is that the actual torque frequency characteristic of the stepping motor is that the torque ratio of the stepping motor is large when the frequency of the driving pulse is low, and the torque decreases approximately linearly as the frequency increases, so that the highest frequency of direct start has a limit value. When the stepping motor operates, if the speed is increased or decreased to a given value at a time, the actual operating frequency (starting frequency) exceeds the limit starting frequency, the rotor cannot catch up, the stepping motor is out of step, and the stepping motor can not operate normally and even cause locked rotor.

Therefore, the invention provides a digital anti-step motor rotating speed controller and a control method thereof, which can solve the problems that the stepping motor cannot normally operate and even blocks rotation caused by step loss in the processes of frequent start and stop and sudden change of frequency in the using process.

Disclosure of Invention

Aiming at the technical problems, the invention aims to overcome the defects that the stepping motor in the prior art cannot normally run and even has a locked rotor phenomenon because the stepping motor is out of step in the processes of frequent start and stop and sudden change of frequency, and provides a digital controller and a control method for preventing the rotating speed of the stepping motor.

In order to achieve the above object, the present invention provides a digital out-of-step prevention step motor rotation speed controller, comprising: the device comprises a high-frequency oscillator, a frequency divider, an up-down counter, a digital comparator, a dial switch, a control gate and a low-frequency oscillator;

the high-frequency oscillator is connected with the frequency divider, the output end of the reversible counter is connected with the preset end of the frequency divider, the output end of the reversible counter is further connected with one group of input ends of the comparator, the other group of input ends of the comparator are connected with the dial switch, the output of the comparator is connected with the control gate, the output of the control gate is connected with the reversible counter, and the input of the control gate is connected with the low-frequency oscillator.

Preferably, the controller further comprises: an annular distributor and a drive circuit;

the square wave signal after frequency division of the frequency divider is firstly sent to the annular distributor and then sent to the driving circuit to drive the stepping motor to rotate.

Preferably, the digital comparator comprises: a plurality of SN54S 854 bit amplitude comparators;

and a plurality of SN54S 854 bit amplitude comparators are cascaded with each other.

Preferably, the frequency divider includes: a multi-chip coefficient multiplier SN 74167;

the multiple coefficient multipliers SN74167 are cascaded with each other to divide the frequency of the square wave signal of the high-frequency oscillator.

Preferably, the up-down counter comprises: a multi-chip BCD up-down counter SN 74192; the multiple BCD reversible counters SN74192 are mutually cascaded, and multiple output ends of the BCD reversible counter SN74192 are respectively connected with a number setting input end of the frequency divider so as to preset the frequency division coefficient of the frequency divider and output the pulse frequency required by the running of the stepping motor.

The invention also provides a digital type out-of-step prevention stepping motor rotating speed control method, which comprises the following steps:

sending a high-frequency square wave signal generated by the high-frequency oscillator to the frequency divider for frequency division to generate a square wave frequency signal required by driving the stepping motor;

presetting the frequency of the square wave signal output by the frequency divider by using the reversible counter;

controlling the up-down counter by the digital comparator so that a preset value of the dial switch is equal to an output value of the up-down counter; wherein the content of the first and second substances,

when the preset value of the dial switch is larger than the output value of the reversible counter, the digital comparator controls the reversible counter to count up through a control door, so that the output value of the reversible counter is increased;

when the preset value of the dial switch is smaller than the output value of the reversible counter, the digital comparator controls the reversible counter to count down through the control door, so that the output value of the reversible counter is reduced;

and controlling the change speed of the output value of the reversible counter by using the low-frequency oscillator.

Preferably, the method further comprises:

sending the square wave signal after frequency division of the frequency divider to the annular distributor;

and sending the square wave signal distributed by the annular distributor to the driving circuit to drive the stepping motor to rotate.

Preferably, the digital comparator is formed by cascading a plurality of SN54S 854 bit amplitude comparators with each other.

Preferably, the frequency divider is formed by mutually cascading a plurality of coefficient multipliers SN74167 to divide the frequency of the square wave signal of the high-frequency oscillator.

Preferably, the up-down counter is formed by mutually cascading a plurality of BCD up-down counters SN74192, so as to preset the frequency division coefficient of the frequency divider and output the pulse frequency required by the operation of the stepping motor.

According to the technical scheme, the digital anti-stepping motor rotating speed controller provided by the invention has the beneficial effects that: the digital anti-desynchronizing step motor rotating speed controller adopts digital control, is accurate in control, has adjustable frequency of the low-frequency oscillator, can be specifically adjusted according to the characteristics of an asynchronous step motor, is flexible, can effectively solve the desynchronizing problem in the speed change process of the step motor, and ensures the reliable operation of the step motor.

Additional features and advantages of the invention will be set forth in the detailed description which follows; and the parts not involved in the invention are the same as or can be realized by the prior art.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a block diagram of a digital step-out preventing motor speed controller provided in a preferred embodiment of the present invention;

FIG. 2 is a schematic circuit diagram of a digital step motor speed controller for preventing step loss provided in a preferred embodiment of the present invention;

fig. 3 is a flowchart of a digital step-out preventing motor rotation speed control method according to a preferred embodiment of the present invention.

Description of the reference numerals

1 high frequency oscillator 2 frequency divider

3 annular distributor 4 drive circuit

5 step motor 6 reversible counter

7 digit comparator 8 dial switch

9 control gate 10 low frequency oscillator

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

As shown in fig. 1, the present invention provides a digital out-of-step prevention stepping motor rotation speed controller, which includes: the device comprises a high-frequency oscillator, a frequency divider, an up-down counter, a digital comparator, a dial switch, a control gate and a low-frequency oscillator;

the high-frequency oscillator is connected with the frequency divider, the output end of the reversible counter is connected with the preset end of the frequency divider, the output end of the reversible counter is further connected with one group of input ends of the comparator, the other group of input ends of the comparator are connected with the dial switch, the output of the comparator is connected with the control gate, the output of the control gate is connected with the reversible counter, and the input of the control gate is connected with the low-frequency oscillator.

In a preferred embodiment of the present invention, the controller further includes: an annular distributor and a drive circuit; the square wave signal after frequency division of the frequency divider is firstly sent to the annular distributor and then sent to the driving circuit to drive the stepping motor to rotate.

In a preferred embodiment of the present invention, the digital comparator includes: a plurality of SN54S 854 bit amplitude comparators; and a plurality of SN54S 854 bit amplitude comparators are cascaded with each other.

In a preferred embodiment of the present invention, the frequency divider includes: a multi-chip coefficient multiplier SN 74167; the multiple coefficient multipliers SN74167 are cascaded with each other to divide the frequency of the square wave signal of the high-frequency oscillator.

In a preferred embodiment of the present invention, the up-down counter comprises: a multi-chip BCD up-down counter SN 74192; the multiple BCD reversible counters SN74192 are mutually cascaded, and multiple output ends of the BCD reversible counter SN74192 are respectively connected with a number setting input end of the frequency divider so as to preset the frequency division coefficient of the frequency divider and output the pulse frequency required by the running of the stepping motor.

According to the above content, the working principle of the digital anti-stepping motor rotation speed controller provided by the invention is as follows: the high-frequency oscillator 1 is connected with the frequency divider 2, generates a high-frequency square wave signal, sends the high-frequency square wave signal to the frequency divider 2 for frequency division, generates a square wave frequency signal required by driving the stepping motor, and sends the frequency-divided square wave signal to the annular distributor 3 and then to the driving circuit 4 for driving the stepping motor 5 to rotate. The output end of the reversible counter 6 is connected with the preset end of the frequency divider 2 to preset the frequency of the output square wave signal, the output end of the reversible counter 6 is also connected with one group of input ends of the digital comparator 7, the other group of input ends of the digital comparator 7 is connected with the dial switch 8, the output of the reversible counter 6 is the preset value of the current frequency, the dial switch 8 is the value of the frequency to be changed, and when the value of the dial switch 8 is greater than the output value of the reversible counter 6, the output generated by the control gate 9 on the digital comparator 7 enables the reversible counter 6 to add so as to increase the output frequency; similarly, when the value of the dial switch 8 is less than the output value of the up-down counter 6, the output generated by the gate 9 on the digital comparator 7 causes the up-down counter 6 to subtract, reducing the output frequency. The counting clock end of the reversible counter 6 is connected with the low-frequency oscillator 10 and is controlled by the pulse of the low-frequency oscillator, the data at the output end cannot suddenly change when the reversible counter 6 adds or subtracts, the speed of the change is determined by the frequency of the low-frequency oscillator 10, the output of the reversible counter 6 can be added or subtracted according to the low speed as long as the frequency of the low-frequency oscillator 10 is designed to be relatively low, the frequency change speed is guaranteed not to exceed the limit starting frequency, the stepping motor 5 cannot lose step in the acceleration and deceleration processes, until the output value of the reversible counter 6 added to the digital comparator 7 is equal to the value of the dial switch 8, the digital comparator 7 outputs a signal to a gate circuit, the signal of the low-frequency oscillator 10 is cut off, the reversible counter 6 stops counting, and the stepping motor 5 is stabilized at the required rotating speed.

As shown in fig. 2, the operation principle of the digital anti-stepping motor speed controller is further specifically illustrated as follows:

the square wave signal generated by the high frequency oscillator 1 is sent to the frequency divider 2, the frequency divider 2 comprises four coefficient multipliers SN74167 which are mutually cascaded to divide the frequency of the square wave signal of the high frequency oscillator 1, the reversible counter 6 is formed by four BCD reversible counters SN74192 which are mutually cascaded, the output ends QA, QB, QC and QD of the reversible counter SN74192 are respectively connected with the setting input ends B1, B2, B3 and B4 of the coefficient multipliers SN74167 to preset the frequency dividing coefficient of the frequency divider 2 and output the pulse frequency required by the running of the stepping motor, the digital comparator 7 is formed by four SN54S85 which are mutually cascaded, and the working principle of the SN54S85 digital comparator is as follows: the SN54S85 digital comparator is a 4-bit parallel numerical comparator for comparing two groups of A and B numerical values, three output ends are respectively an A > B end, an A > B end and an A < B end, the A group input end is from the output end of a dial switch, the B group input end is from the output end QA, QB, QC and QD of a BCD reversible counter SN74192, when the preset value of the dial switch 8 is larger than the output value of the BCD reversible counter SN74192, namely the corresponding state value of the stepping motor speed, the A > B output end of the digital comparator SN54S85 is '1', the BCD reversible counter SN74192 is enabled to count up, the digital comparator S85 'A ═ B' output end is '1' until the preset value of the dial switch 8 is equal to the output value of the BCD reversible counter SN74192, the 4-piece counter BCD reversible counter SN74192 stops counting, and the stepping motor speed linearly rises to the preset speed. Conversely, when the preset value of the dial switch 8 is smaller than the output value of the 4-piece counter BCD up-down counter SN74192, the output terminal "a < B" of the comparator SN54S85 is "1", the 4-piece counter BCD up-down counter SN74192 is down-counted until the preset value of the dial switch 8 is equal to the output value of the 4-piece counter BCD up-down counter SN74192, the output terminal "a ═ B" of the digital comparator SN54S85 is "1", the counter 4-piece counter BCD up-down counter SN74192 is stopped from counting, and the rotation speed of the stepping motor is also reduced to a predetermined rotation speed.

Here, the count clock pulse of the 4-chip BCD up-down counter SN74192 is supplied from the low frequency oscillator 10, the oscillation frequency of the low frequency oscillator 10 is changed, that is, the count speed of the 4-chip BCD up-down counter SN74192 is changed, the speed of the counter cannot suddenly change, the output value of the 4-chip BCD up-down counter SN74192 is gradually increased (or decreased) to the preset value of the dial switch 8 according to the frequency of the low frequency oscillator 10, the frequency of the drive 10 is not suddenly changed, and the step-out phenomenon of the stepping motor is effectively prevented.

As shown in fig. 3, the present invention further provides a digital method for controlling the rotation speed of an anti-stepping motor, wherein the method comprises:

sending a high-frequency square wave signal generated by the high-frequency oscillator to the frequency divider for frequency division to generate a square wave frequency signal required by driving the stepping motor;

presetting the frequency of the square wave signal output by the frequency divider by using the reversible counter;

controlling the up-down counter by the digital comparator so that a preset value of the dial switch is equal to an output value of the up-down counter; wherein the content of the first and second substances,

when the preset value of the dial switch is larger than the output value of the reversible counter, the digital comparator controls the reversible counter to count up through a control door, so that the output value of the reversible counter is increased;

when the preset value of the dial switch is smaller than the output value of the reversible counter, the digital comparator controls the reversible counter to count down through the control door, so that the output value of the reversible counter is reduced;

and controlling the change speed of the output value of the reversible counter by using the low-frequency oscillator.

In a preferred embodiment of the present invention, the method further comprises:

sending the square wave signal after frequency division of the frequency divider to the annular distributor;

and sending the square wave signal distributed by the annular distributor to the driving circuit to drive the stepping motor to rotate.

In a preferred embodiment of the present invention, the digital comparator is formed by cascading a plurality of SN54S 854 bit amplitude comparators with each other.

In a preferred embodiment of the present invention, the frequency divider is formed by cascading a plurality of coefficient multipliers SN74167 with each other to divide the square wave signal of the high frequency oscillator.

In a preferred embodiment of the present invention, the up-down counter is formed by cascading a plurality of BCD up-down counters SN74192 with each other, and outputs a pulse frequency required for the operation of the stepping motor by presetting a frequency division coefficient of a frequency divider.

According to the above content, the working principle of the digital anti-stepping motor rotation speed controller provided by the invention is as follows: the high-frequency oscillator 1 is connected with the frequency divider 2, generates a high-frequency square wave signal, sends the high-frequency square wave signal to the frequency divider 2 for frequency division, generates a square wave frequency signal required by driving the stepping motor, and sends the frequency-divided square wave signal to the annular distributor 3 and then to the driving circuit 4 for driving the stepping motor 5 to rotate. The output end of the reversible counter 6 is connected with the preset end of the frequency divider 2 to preset the frequency of the output square wave signal, the output end of the reversible counter 6 is also connected with one group of input ends of the digital comparator 7, the other group of input ends of the digital comparator 7 is connected with the dial switch 8, the output of the reversible counter 6 is the preset value of the current frequency, the dial switch 8 is the value of the frequency to be changed, and when the value of the dial switch 8 is greater than the output value of the reversible counter 6, the output generated by the control gate 9 on the digital comparator 7 enables the reversible counter 6 to add so as to increase the output frequency; similarly, when the value of the dial switch 8 is less than the output value of the up-down counter 6, the output generated by the gate 9 on the digital comparator 7 causes the up-down counter 6 to subtract, reducing the output frequency. The counting clock end of the reversible counter 6 is connected with the low-frequency oscillator 10 and is controlled by the pulse of the low-frequency oscillator, the data at the output end cannot suddenly change when the reversible counter 6 adds or subtracts, the speed of the change is determined by the frequency of the low-frequency oscillator 10, the output of the reversible counter 6 can be added or subtracted according to the low speed as long as the frequency of the low-frequency oscillator 10 is designed to be relatively low, the frequency change speed is guaranteed not to exceed the limit starting frequency, the stepping motor 5 cannot lose step in the acceleration and deceleration processes, until the output value of the reversible counter 6 added to the digital comparator 7 is equal to the value of the dial switch 8, the digital comparator 7 outputs a signal to a gate circuit, the signal of the low-frequency oscillator 10 is cut off, the reversible counter 6 stops counting, and the stepping motor 5 is stabilized at the required rotating speed.

In summary, the digital out-of-step prevention stepping motor speed controller and the control method provided by the invention overcome the defects that in the prior art, the stepping motor is out of step in the processes of frequent start and stop and sudden change of frequency, so that the stepping motor cannot normally run, and even the phenomenon of locked rotor is generated.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.