阅读说明：本技术 恒转矩步进电机驱动器、电机及应用 (Constant-torque stepping motor driver, motor and application ) 是由 何伟斌 何风云 于 2020-05-29 设计创作，主要内容包括：本发明公开了一种恒转矩步进电机驱动器、电机及应用,其特征具有快速续流输出电路,反电动势方向输出电路,所述快速续流输出电路与所述反电动势方向输出电路电连接或所述单片机电连接,所述反电动势方向输出电路与所述单片机电连接；所述反电动势方向输出电路的输入端与电机的相线信号电连接；所述反电动势方向输出电路的输出信号受所述快速续流输出电路控制；所述反电动势方向输出电路,其内部电路包含比较器电路；所述快速续流输出电路,具有相线电平高于电源电平输出电路或相线电平低于电源地线电平输出电路；该恒转矩步进电机驱动器特别涉及到步进电机无感闭环高速驱动,输出转矩大,温升低,电机不谐振等优点。(The invention discloses a constant-torque stepping motor driver, a motor and application, and is characterized by comprising a rapid follow current output circuit and a counter electromotive force direction output circuit, wherein the rapid follow current output circuit is electrically connected with the counter electromotive force direction output circuit or the single chip microcomputer; the input end of the counter electromotive force direction output circuit is electrically connected with a phase line signal of the motor; the output signal of the counter electromotive force direction output circuit is controlled by the rapid follow current output circuit; the internal circuit of the counter electromotive force direction output circuit comprises a comparator circuit; the fast follow current output circuit is provided with an output circuit with a phase line level higher than a power supply level or an output circuit with a phase line level lower than a power supply ground line level; the constant-torque stepping motor driver particularly relates to the advantages of noninductive closed-loop high-speed driving of a stepping motor, large output torque, low temperature rise, no motor resonance and the like.)

1. The constant-torque stepping motor driver comprises a power supply filter capacitor, a single chip microcomputer and a power bridge output circuit, wherein the power bridge output circuit is electrically connected with the single chip microcomputer through a power tube driving circuit, the constant-torque stepping motor driver is characterized by comprising a rapid follow current output circuit and a counter electromotive force direction output circuit, the rapid follow current output circuit is electrically connected with the counter electromotive force direction output circuit or the single chip microcomputer is electrically connected, and the counter electromotive force direction output circuit is electrically connected with the single chip microcomputer.

2. A constant torque stepper motor driver as defined in claim 1, wherein the input of the back emf direction output circuit is electrically connected to the phase signal of the motor.

3. A constant-torque stepper motor driver as claimed in claim 1, wherein the output signal of the back emf direction output circuit is controlled by the fast freewheel output circuit.

4. A constant torque stepper motor driver as defined in claim 1, wherein said back emf direction output circuit includes a comparator circuit within its internal circuitry.

5. A constant torque stepping motor driver according to claim 1 wherein said fast freewheel output circuit has a phase line level higher than a power supply level output circuit or a phase line level lower than a power supply ground level output circuit.

6. An electric motor having a constant torque stepper motor driver as claimed in any of claims 1-5, characterized by a stator and a rotor, said rotor being either provided with permanent magnets or short circuit rings.

7. A stepper motor having a constant torque stepper motor driver as defined in any of claims 1-5, wherein said stepper motor is electrically connected to said constant torque stepper motor driver.

8. An automated device having a motor according to claim 6, wherein the motor is mounted on the automated device.

9. Household or industrial appliance or drone having a motor according to claim 6, characterized in that said motor is connected to the household or industrial appliance or drone.

10. Vehicle with an electric machine according to claim 6, characterized by a battery, wheels, steering means, braking means, lighting means, speed regulating means, said means being mounted directly or indirectly on the frame.

Technical Field

The invention relates to the field of motor drivers, relates to the field of sensorless driving of brushless motors, permanent magnet motors, stepping motors, low-speed synchronous motors and the like, and relates to the technical invention in the fields of automation equipment driven by motors or electric appliances, vehicles and the like.

Background

In the existing stepping motor driving technology, a time commutation driving mode is adopted to drive a stepping motor, and phase current with a relatively fixed value is used to excite a phase winding.

In the existing closed-loop stepping motor driving system, an encoder is adopted to feed back a motor rotation signal, so that the performance of stepping motor driving is improved, but the cost of the encoder and a connecting line is high, the failure rate is high, and the substantive problem existing in stepping motor driving cannot be solved.

In the field of the existing stepping motor drive, because the phase change time point and the relative position of a rotor are advanced or lagged, the temperature of the stepping motor is increased, the torque is smaller during high-speed drive, the motor vibration is large during low-speed drive, the service life and the performance of the motor are greatly reduced, and the problem of step loss frequently occurs, particularly the problem of low electric efficiency and the like always exists, and the technical problem that the accurate phase change of the stepping motor cannot be solved is solved.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to solve the problem of dynamic phase commutation of the stepping motor, determine the phase commutation time of a phase winding through the direction of a back electromotive force, adjust phase current according to load and rotation speed, and always ensure the accurate time of dynamic phase commutation, thereby realizing a constant-torque driving mode.

The high-speed stable phase-changing circuit is suitable for constant-torque step motor drivers with high phase-changing requirements, such as direct-current brushless motors, step motors, synchronous motors, permanent magnet motors and the like.

Therefore, the invention adopts the following technical scheme to solve the technical problems: the constant-torque stepping motor driver comprises a power supply filter capacitor, a single chip microcomputer and a power bridge output circuit, wherein the power bridge output circuit is electrically connected with the single chip microcomputer through a power tube driving circuit; the input end of the counter electromotive force direction output circuit is electrically connected with a phase line signal of the motor; the output signal of the counter electromotive force direction output circuit is controlled by the rapid follow current output circuit; the internal circuit of the counter electromotive force direction output circuit comprises a comparator circuit; the fast follow current output circuit is provided with an output circuit with a phase line level higher than a power supply level or an output circuit with a phase line level lower than a power supply ground level. The motor with the constant-torque stepping motor driver is characterized by comprising a stator and a rotor of the motor, wherein the rotor is provided with a permanent magnet or a short circuit ring; the stepping motor with the constant-torque stepping motor driver is characterized in that the stepping motor is electrically connected with the constant-torque stepping motor driver; an automation device having the motor, characterized in that the motor is mounted on the automation device; the motor is connected with the household appliance or the industrial appliance or the unmanned aerial vehicle; the vehicle with the motor is provided with a storage battery, wheels, a steering device, a brake device, a lighting device and a speed adjusting device, wherein the devices are directly or indirectly arranged on a frame.

The constant-torque stepping motor driver is suitable for driving two-phase, three-phase, four-phase and five-phase motors, can realize accurate phase change of the stepping motor, and realizes dynamic phase change of the stepping motor.

Drawings

The details of the present invention are further described below with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of the driving principle of the two-phase stepping motor of the circuit of the present invention;

Detailed Description

A constant-torque stepping motor driver, a motor and application thereof comprise a power supply filter capacitor E1, a singlechip adopts stm32 series, a power tube driving circuit adopts an FD6288 chip, LA is a phase A winding of the stepping motor, LB is a phase B winding of the stepping motor, a power bridge output circuit, M1 and M2 are H bridge phase A end A + upper and lower half-bridge power field effect tubes, D1 is an M1 tube built-in diode, D2 is an M2 tube built-in diode, M3 and M4 are H bridge phase A-upper and lower half-bridge power field effect tubes at the other end, D3 is an M3 tube built-in diode, D4 is an M4 tube built-in diode, M5 and M6 are H bridge phase B + upper and lower half-bridge power field effect tubes at one end, D5 is an M5 tube built-in diode, D6 is an M367 tube built-in diode, M7 and M8 are H bridge B-upper and lower half-bridge B half-phase power field effect tubes at the other end, D8 is an M8 built-in diode, during the PWM period, the upper and lower bridge arm power tubes are alternately conducted when each phase works; r1 and R2 are phase current sampling resistors, a power bridge output circuit is electrically connected with a single chip microcomputer through a power tube driving circuit FD6288, D14, D15, D16, D17, D18, R18, C2, P1, N6, R17 and R33 form a fast follow current output circuit with a phase level higher than a power supply level, D9, D10, D11, D12, D13, R3, C1 and N1 form a fast follow current output circuit with a phase level lower than a power supply ground level, one of the fast follow current output circuits can be selected in the embodiment, R1 and N1 form an output circuit in an A + opposite direction, R1 and N1 form an output circuit in an A-opposite electromotive force direction, R1 and N1 form an output circuit in a B + opposite direction, R1 and a counter electromotive force output circuit in an opposite direction, r21, R22 and L1B form an A-counter electromotive force direction output circuit, R23, R24 and L1C form a B + counter electromotive force direction output circuit, R25, R26 and L1D form a B + counter electromotive force direction output circuit, R29, R30, R31 and R32 are pull-up resistors, R27 and R28 divide a reference voltage provided for a comparator, the REF voltage is 0.5V, and one of the two counter electromotive force direction output circuits can be selected; AH +, AH-, BH + and BH-in the attached drawing are respectively connected with a port of a single chip microcomputer, an SW _ CPU is connected with the port of the single chip microcomputer, R1 and R2 current signals are electrically connected with the port of the single chip microcomputer, the single chip microcomputer adjusts the duty ratio of PWM according to the sampled current to realize constant torque drive, a fast follow current output circuit and a back electromotive force direction output circuit are both connected with an SW _ CPU network, and the back electromotive force direction output circuit is electrically connected with the single chip microcomputer; the input end of the counter electromotive force direction output circuit is electrically connected with a phase line signal of the motor; the output signal of the counter electromotive force direction output circuit is controlled by the rapid follow current output circuit; the internal circuit of the counter electromotive force direction output circuit comprises a comparator circuit; the fast follow current output circuit is provided with an output circuit with a phase line level higher than a power supply level or an output circuit with a phase line level lower than a power supply ground level. The motor with the constant-torque stepping motor driver is provided with a stator and a rotor of the motor, and a permanent magnet or a short circuit ring is arranged on the rotor; the stepping motor is provided with the constant-torque stepping motor driver, and the stepping motor is electrically connected with the constant-torque stepping motor driver; an automation device having the motor mounted thereon; the motor is connected with the household appliance or the industrial appliance or the unmanned aerial vehicle; the vehicle with the motor is provided with a storage battery, wheels, a steering device, a brake device, a lighting device and a speed adjusting device, wherein the devices are directly or indirectly arranged on a frame.

The single chip microcomputer determines phase change time according to the rotation direction and low level signals appearing on AH +, AH-, BH + and BH-, the stepping motor realizes accurate phase change time points, dynamic phase change of the stepping motor is realized, due to the realization of dynamic phase change, the single chip microcomputer matches step pulse signals input from the outside with phase change signals of the motor to realize closed-loop control, the single chip microcomputer controls the current of the stepping motor to be proper in magnitude and controls proper speed, constant torque output is realized by the phase current in direct proportion to load, the motor efficiency is higher, the temperature rise is lower, low-frequency vibration of the motor cannot be generated, the torque is very high at high speed, and the precedent of constant torque driving of the stepping motor is realized.

The single chip microcomputer can also perform constant torque output operation according to the analog voltage and also perform constant speed output operation according to the analog voltage.

The operation principle of the two-phase stepping motor driving is described above, and those skilled in the art can drive two-phase, four-phase and five-phase motors according to the same principle of the above embodiments.