Stepping motor connection phase sequence detection circuit, method and motor driving system

Abstract

The application discloses a stepping motor connection phase sequence detection circuit, method and motor driving system. The stepping motor connection phase sequence detection circuit comprises a driver module, the driver module comprises a first inverter circuit and a second inverter circuit, the driver module is connected with a stepping motor, and the driver module is used for controlling the closing of a bridge arm switch group in different upper and lower bridge arm positions of the first inverter circuit and the second inverter circuit according to a control signal input by a master control module. A sampling circuit is used for collecting a feedback electric signal on the bridge arm and outputting the feedback electric signal to the master control module. The master control module is used for detecting whether an error exists in a connection phase sequence between the stepping motor and the driver module according to the feedback electric signal. The technical scheme can find the wiring error between the stepping motor and the driver in advance, and the reliability of the system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stepping motor, in particular to a stepping motor connection phase sequence detection circuit, method and motor driving system. BACKGROUND

[0002] Stepping motor is widely used in industrial automation industry due to its simple control, accurate positioning and low cost, and most of the general stepping motors are multi-phase stepping motors. The stepping motor phase sequence and the driver are correctly connected to normally operate. At present, the color of the power line of the multi-phase stepping motor is mainly used to determine how to connect the driver, for example, the stepping motor manufacturer can make the power line of the two-phase stepping motor into blue, red, green and black four colors, which correspond to the A+, A-, B+ and B- four ports on the driver, so that the user can ensure the correct connection of the stepping motor phase sequence and the driver according to the color and port correspondence. However, due to the increasing integration of machines in the industrial automation industry, the same machine may have multiple stepping motors, which greatly increases the complexity of the entire machine wiring. Therefore, if the color of the stepping motor power line is used to manually identify whether the connection between the stepping motor and the driver is incorrect, the probability of connection error between the stepping motor and the driver is high. SUMMARY

[0003] The main purpose of the present application is to provide a stepping motor connection phase sequence detection circuit, which aims to reduce the probability of connection error between the stepping motor and the driver.

[0004] To achieve the above purpose, the present application provides a stepping motor connection phase sequence detection circuit, which comprises:

[0005] A driver module, the driver module comprises a first inverter circuit and a second inverter circuit, the driver module is connected with the stepping motor, and the driver module is used to control the bridge arm switch group in different upper and lower bridge arm positions of the first inverter circuit and the second inverter circuit according to the control signal input by the master control module;

[0006] A sampling circuit, the sampling circuit is used to collect the feedback electric signal on the bridge arm and output the feedback electric signal to the master control module;

[0007] A master control module, which is used to detect whether the connection phase sequence between the stepping motor and the driver module is incorrect according to the feedback electric signal.

[0008] Optionally, the driver module comprises a driving circuit unit and an inverter circuit unit,

[0009] The drive circuit unit is connected with the master control module, and is configured to convert a control signal input by the master control module into a corresponding drive signal and output the drive signal to the inverter circuit module.

[0010] The inverter circuit unit is connected with the stepper motor, and at least includes the first inverter circuit and the second inverter circuit, and is configured to control the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the drive signal.

[0011] Optionally, the drive signal at least includes one of a first drive signal and a second drive signal,

[0012] The inverter circuit unit is further configured to control the upper bridge switch group of the first inverter circuit and the lower bridge switch group of the second inverter circuit to close according to the first drive signal;

[0013] and / or the inverter circuit unit is further configured to control the lower bridge switch group of the first inverter circuit and the upper bridge switch group of the second inverter circuit to close according to the second drive signal.

[0014] Optionally, the feedback electrical signal at least includes one of a feedback voltage signal and a feedback current signal,

[0015] The master control module is further configured to detect whether there is an error in the connection phase sequence between the stepper motor and the inverter circuit according to a voltage amplitude of the feedback voltage signal;

[0016] and / or the master control module is further configured to detect whether there is an error in the connection phase sequence between the stepper motor and the inverter circuit according to a current amplitude of the feedback current signal.

[0017] To achieve the above object, the application further provides a stepper motor connection phase sequence detection method applied to the above-mentioned stepper motor connection phase sequence detection circuit, and the stepper motor connection phase sequence detection method comprises the following steps:

[0018] acquiring a control signal, and controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal;

[0019] collecting a feedback electrical signal on the bridge arm, and detecting whether there is an error in the connection phase sequence between the stepper motor and the drive circuit module according to the feedback electrical signal.

[0020] Optionally, the driver module comprises a drive circuit unit and an inverter circuit unit, the inverter circuit unit comprises the first inverter circuit and the second inverter circuit, and the step of controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal comprises:

[0021] converting the control signal into a corresponding drive signal through the drive circuit unit;

[0022] controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions through the inverter circuit unit according to the drive signal.

[0023] Optionally, the drive signal comprises at least one of a first drive signal and a second drive signal, and the step of controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions through the inverter circuit unit according to the drive signal comprises:

[0024] controlling the upper bridge switch group of the first inverter circuit and the lower bridge switch group of the second inverter circuit through the inverter circuit unit according to the first drive signal; and / or

[0025] controlling the lower bridge switch group of the first inverter circuit and the upper bridge switch group of the second inverter circuit through the inverter circuit unit according to the second drive signal.

[0026] Optionally, the feedback electrical signal comprises at least one of a feedback voltage signal and a feedback current signal, and the step of detecting whether the connection phase sequence between the stepper motor and the inverter circuit is incorrect according to the feedback electrical signal comprises:

[0027] if the voltage amplitude of the feedback voltage signal is greater than a preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is incorrect; if the voltage amplitude of the feedback voltage signal is not greater than the preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is correct; and / or

[0028] if the current amplitude of the feedback current signal is greater than a preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is incorrect; if the current amplitude of the feedback current signal is not greater than the preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is correct.

[0029] Optionally, after the step of detecting whether the connection phase sequence between the stepper motor and the inverter circuit is incorrect according to the feedback electrical signal, the stepper motor connection phase sequence detection method further comprises:

[0030] If the connection phase sequence between the stepper motor and the inverter circuit is incorrect, adjusting the connection phase sequence between the stepper motor and the inverter circuit;

[0031] Returning to the step of obtaining a control signal, and controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal, until the connection phase sequence between the stepper motor and the inverter circuit is not incorrect.

[0032] To achieve the above-mentioned purposes, the application further provides a motor driving system, which comprises a stepper motor and a stepper motor driver, and the stepper motor driver comprises the above-mentioned stepper motor connection phase sequence detection circuit. For details, please refer to the above description.

[0033] The application provides a motor driving system, which comprises a stepper motor and a stepper motor driver. The stepper motor driver comprises a driver module, a sampling circuit and a main control module. The driver module comprises a first inverter circuit and a second inverter circuit, and is connected with the stepper motor. The driver module is used for controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal input by the main control module. The sampling circuit is used for collecting the feedback electrical signal on the bridge arm and outputting the feedback electrical signal to the main control module. The main control module is used for detecting whether the connection phase sequence between the stepper motor and the driver module is incorrect according to the feedback electrical signal. If the first inverter circuit and the second inverter circuit are correctly connected, no path is formed between the first inverter circuit and the second inverter circuit. If the first inverter circuit and the second inverter circuit are incorrectly connected, a path is formed between the first inverter circuit and the second inverter circuit. Therefore, according to the feedback electrical signal sampled between the first inverter circuit and the second inverter circuit, whether a path is formed between the first inverter circuit and the second inverter circuit can be detected, so that whether the connection phase sequence between the stepper motor and the driver module is incorrect can be detected, and whether the stepper motor and the driver are incorrectly connected can be found in advance. Instead of manually identifying whether the stepper motor and the driver are incorrectly connected according to the color of the power line of the stepper motor, the probability of detecting the incorrect connection between the stepper motor and the driver can be reduced, and the system reliability can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only represent some of the embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art based on these drawings without any creative effort are within the protection scope of the present application.

[0035] Figure 1 A circuit function block diagram of a step motor connection phase sequence detection circuit in the present application;

[0036] Figure 2 A circuit structure diagram when the connection phase sequence between the step motor and the driver module in the present application is correct;

[0037] Figure 3 A circuit structure diagram when the connection phase sequence between the step motor and the driver module in the present application is incorrect;

[0038] Figure 4 A schematic diagram when the connection phase sequence between the step motor and the driver module in the present application is incorrect and there are path 1 and path 2;

[0039] Figure 5 A flowchart of an embodiment of a step motor connection phase sequence detection method in the present application.

[0040] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings.

[0041] Explanation of the reference signs:

[0042] DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort are within the protection scope of the present application.

[0044] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0045] In addition, the descriptions involving "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0046] The application provides a stepping motor connection phase sequence detection circuit, in an embodiment of the application, the stepping motor connection phase sequence detection circuit comprises a driver module 200, a sampling circuit 400 and a master control module 100.

[0047] Referring to Figures 1 to 3 In the embodiment, the output end of the master control module 100 is connected with the input end of the driver module 200, the first output end of the driver module 200 is connected with the stepping motor 300, for driving the stepping motor 300 to operate, the second output end of the driver module 200 is connected with the input end of the sampling circuit 400, and the output end of the sampling circuit 400 is connected with the input end of the master control module 100.

[0048] The driver module 200 comprises at least two inverter circuits, the number of the inverter circuits in the driver module 200 corresponds to the number of phase windings of the stepping motor 300 connected with the driver module 200, one phase winding corresponds to one inverter circuit for providing driving power for the phase winding, and the driver module 200 is used for controlling the bridge arm switch group in different upper and lower bridge arm positions to be closed according to the control signal output by the master control module 100, wherein the upper and lower bridge arm positions comprise an upper bridge position and a lower bridge position, the bridge arm switch group in the upper bridge position is an upper bridge switch group, and the bridge arm switch group in the lower bridge position is a lower bridge switch group.

[0049] As an example, the driver module 200 comprises a drive circuit unit and an inverter circuit unit, an input end of the drive circuit unit is connected with the master module 100, an output end of the drive circuit unit is connected with the inverter circuit unit, the inverter circuit unit is connected with the stepper motor 300, and the inverter circuit unit comprises at least two inverter circuits corresponding to phase windings of the stepper motor 300. The drive circuit unit is used for converting a control signal input by the master module 100 into a corresponding drive signal and outputting the drive signal to the inverter circuit module; the two inverter circuits can be a first inverter circuit 201 and a second inverter circuit 202, and the inverter circuit unit is used for controlling the first inverter circuit 201 and the second inverter circuit 202 to close a bridge arm switch group at different upper and lower bridge arm positions according to the drive signal.

[0050] As an example, the drive signal comprises at least one of a first drive signal and a second drive signal, the inverter circuit unit is further used for controlling the upper bridge switch group 201a of the first inverter circuit 201 and the lower bridge switch group 202b of the second inverter circuit 202 to be closed and keeping the lower bridge switch group 201b of the first inverter circuit 201 and the upper bridge switch group 202a of the second inverter circuit 202 to be disconnected according to the first drive signal; and / or the inverter circuit unit is further used for controlling the lower bridge switch group 201b of the first inverter circuit 201 and the upper bridge switch group 202a of the second inverter circuit 202 to be closed and keeping the upper bridge switch group 201a of the first inverter circuit 201 and the lower bridge switch group 202b of the second inverter circuit 202 to be disconnected according to the second drive signal.

[0051] The sampling circuit 400 is used for collecting a feedback electrical signal on a bridge arm of an inverter circuit in the driver module 200 after the driver module 200 controls the two inverter circuits to close a bridge arm switch group at different upper and lower bridge arm positions according to the control signal output by the master module 100, and the feedback electrical signal can be a feedback voltage signal or a feedback current signal.

[0052] The master module 100 is used for outputting a control signal to the driver module 200 to control the two inverter circuits in the driver module 200 to close a bridge arm switch group at different upper and lower bridge arm positions. The master module 100 is further used for receiving a feedback electrical signal output by the sampling circuit 400 and detecting whether there is an error in a connection phase sequence between the stepper motor 300 and the driver module 200 according to the feedback electrical signal, that is, detecting whether the stepper motor 300 and the driver module 200 are incorrectly connected.

[0053] As an example, the driver module 200 is configured to detect, according to the feedback electrical signal, whether there is current generated in the bridge arms of the two inverter circuits after the bridge arm switch groups of the two inverter circuits are closed according to the control signal outputted by the master module 100, if there is current generated in the two inverter circuits, it proves that there is a path between the two inverter circuits, thus determining that the connection phase sequence between the stepper motor 300 and the driver module 200 is incorrect, if there is no current generated in the two inverter circuits, it proves that there is no path between the two inverter circuits, thus determining that the connection phase sequence between the stepper motor 300 and the driver module 200 is correct.

[0054] As an example, further referring to Figure 2 , Figure 2 is a circuit structure diagram when the connection phase sequence between the stepper motor 300 and the driver module 200 is correct, the first port A+ in the first phase winding 301 of the stepper motor 300 is connected to the first port A+ of the first inverter circuit 201, the second port A- in the first phase winding 301 of the stepper motor 300 is connected to the second port A- of the first inverter circuit 201, the first port B+ in the second phase winding 302 of the stepper motor 300 is connected to the first port B+ of the second inverter circuit 202, and the second port B- in the second phase winding 302 of the stepper motor 300 is connected to the second port B- of the second inverter circuit 202. At this time, the lower bridge switch group 201b of the first inverter circuit 201 and the upper bridge switch group 202a of the second inverter circuit 202 are both closed, while the upper bridge switch group 201a of the first inverter circuit 201 and the lower bridge switch group 202b of the second inverter circuit 202 are disconnected, there is no path between the first inverter circuit 201 and the second inverter circuit 202, thus no current is generated, therefore the amplitude of the feedback electrical signal obtained is basically 0, thus determining that the connection phase sequence between the stepper motor 300 and the driver module 200 is correct.

[0055] As an example, further referring to Figure 3 , Figure 3For the circuit structure diagram when the connection phase sequence between the stepper motor 300 and the driver module 200 is wrong, the first port A+ in the first phase winding 301 of the stepper motor 300 is connected to the first port A+ of the first inverter circuit 201, the second port A- in the first phase winding 301 of the stepper motor 300 is connected to the second port B- of the second inverter circuit 202, the first port B+ in the second phase winding 302 of the stepper motor 300 is connected to the first port B+ of the first inverter circuit 201, and the second port B- in the second phase winding 302 of the stepper motor 300 is connected to the second port A- of the second inverter circuit 202. At this time, the lower bridge switch group 201b of the first inverter circuit 201 and the upper bridge switch group 202a of the second inverter circuit 202 are both closed, while the upper bridge switch group 201a of the first inverter circuit 201 and the lower bridge switch group 202b of the second inverter circuit 202 are disconnected. For further reference Figure 4 It can be seen that at this time, there are passage 1 and passage 2 between the first inverter circuit 201 and the second inverter circuit 202, so current will be generated, and therefore the amplitude of the feedback electrical signal collected is not 0, thereby determining that the connection phase sequence between the stepper motor 300 and the driver module 200 is wrong.

[0056] The feedback electrical signal at least includes one of a feedback voltage signal and a feedback current signal. As an example, the sampling circuit 400 can be a current measurement circuit, and correspondingly the feedback electrical signal is a feedback current signal. The sampling circuit 400 can also be a voltage measurement circuit, and correspondingly the feedback electrical signal can be a feedback voltage signal. For reference Figure 3 The feedback voltage signal can be obtained by measuring the voltage between the first resistor R1 or the second resistor R2. The feedback current signal can be obtained by measuring the current flowing between the first resistor R1 or the second resistor R2.

[0057] The main control module 100 is further configured to detect whether the connection phase sequence between the stepper motor 300 and the inverter circuit is wrong according to the voltage amplitude of the feedback voltage signal. For example, if the voltage amplitude of the feedback voltage signal is greater than a preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor 300 and the inverter circuit is wrong. If the voltage amplitude of the feedback voltage signal is not greater than the preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor 300 and the inverter circuit is not wrong. The preset voltage amplitude threshold can be set to 0.

[0058] The main control module 100 is also configured to detect whether the connection phase sequence between the stepper motor 300 and the inverter circuit is incorrect according to the current amplitude of the feedback current signal. For example, if the current amplitude of the feedback current signal is greater than a preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor 300 and the inverter circuit is incorrect. If the current amplitude of the feedback current signal is not greater than the preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor 300 and the inverter circuit is correct. The preset current amplitude threshold can be set to 0.

[0059] As an example, when the stepper motor 300 is a stepper motor 300 with more than two phases, the first phase winding 301 and the second phase winding 302 can be determined from the stepper motor 300 first. The inverter circuit corresponding to the first phase winding 301 is the first inverter circuit 201, and the inverter circuit corresponding to the second phase winding 302 is the second inverter circuit 202. Thus, the above-mentioned stepper motor connection phase sequence detection circuit can be used to detect whether there is a wiring error between the first phase winding 301, the second phase winding 302, the first inverter circuit 201 and the second inverter circuit 202. If there is, adjust the wiring between the first phase winding 301, the second phase winding 302, the first inverter circuit 201 and the second inverter circuit 202, and re-detect whether there is a wiring error between the first phase winding 301, the second phase winding 302, the first inverter circuit 201 and the second inverter circuit 202. Until it is detected that there is no wiring error between the first phase winding 301, the second phase winding 302, the first inverter circuit 201 and the second inverter circuit 202. If not, determine the first phase winding 301 and the second phase winding 302 from the stepper motor 300 again until it is detected that each phase winding in the stepper motor 300 does not have a wiring error with the corresponding inverter circuit. Then the detection is complete.

[0060] The technical scheme of the embodiment of the application comprises a driver module 200, a sampling circuit 400 and a main control module 100 to form a stepping motor connection phase sequence detection circuit, in which the driver module 200 comprises a first inverter circuit 201 and a second inverter circuit 202, the driver module 200 is connected with the stepping motor 300, and the driver module 200 is used to control the closing of the bridge arm switch group at different upper and lower bridge arm positions of the first inverter circuit 201 and the second inverter circuit 202 according to the control signal input by the main control module 100; the sampling circuit 400 is used to collect the feedback electric signal on the bridge arm and output the feedback electric signal to the main control module 100; and the main control module 100 is used to detect whether the connection phase sequence between the stepping motor 300 and the driver module 200 is correct according to the feedback electric signal. In the case that the control signal is input to control the closing of the bridge arm switch group at different upper and lower bridge arm positions of the first inverter circuit 201 and the second inverter circuit 202, if the stepping motor 300 and the driver module 200 are correctly connected, no path is formed between the first inverter circuit 201 and the second inverter circuit 202, if the stepping motor 300 and the driver module 200 are incorrectly connected, a path is formed between the first inverter circuit 201 and the second inverter circuit 202, therefore, whether the path is formed between the first inverter circuit 201 and the second inverter circuit 202 can be detected according to whether the amplitude of the feedback electric signal sampled between the first inverter circuit 201 and the second inverter circuit 202 is 0, so that whether the connection phase sequence between the stepping motor 300 and the driver module 200 is correct can be detected, and whether the connection phase sequence between the stepping motor 300 and the driver module 200 is correct can be found in advance, instead of only relying on the color of the power line of the stepping motor to artificially identify whether the connection between the stepping motor and the driver is incorrect, so that the probability of detecting the connection error between the stepping motor and the driver can be reduced, and the system reliability can be improved.

[0061] The application further provides a stepping motor connection phase sequence detection method applied to the above-mentioned stepping motor connection phase sequence detection circuit, which refers to Figure 5 , and in combination with Figures 1 to 4 In an embodiment, the stepping motor connection phase sequence detection method comprises the following steps.

[0062] In step S10, a control signal is acquired, and the first inverter circuit and the second inverter circuit are controlled to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal.

[0063] In step S20, a feedback electric signal on the bridge arm is collected, and whether the connection phase sequence between the stepping motor and the driver module is correct is detected according to the feedback electric signal.

[0064] In the embodiment, it is to be noted that the step motor connection phase sequence detection method is applied to a step motor connection phase sequence detection circuit, and the step motor connection phase sequence detection circuit comprises a driver module 200, a sampling circuit 400 and a main control module 100, and the driver module 200 is connected with a step motor 300. Figure 1

[0065] As an example, the steps S10 to S20 comprise: generating a control signal by the main control module 100, and outputting the control signal to the driver module 200 by the main control module 100; controlling, by the driver module 200, the first inverter circuit 201 and the second inverter circuit 202 to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal, wherein the upper and lower bridge arm positions comprise an upper bridge position and a lower bridge position, the bridge arm switch group at the upper bridge position is an upper bridge switch group, and the bridge arm switch group at the lower bridge position is a lower bridge switch group; collecting, by the sampling circuit 400, a feedback electric signal on the bridge arm of the inverter circuit in the driver module 200, and detecting whether there is an error in the connection phase sequence between the step motor 300 and the driver module 200 according to the amplitude of the feedback electric signal.

[0066] As an example, the driver module 200 comprises a driving circuit unit and an inverter circuit unit, the inverter circuit unit comprises the first inverter circuit 201 and the second inverter circuit 202, and the step of controlling, by the driver module 200, the first inverter circuit 201 and the second inverter circuit 202 to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal comprises:

[0067] Step S21, converting the control signal into a corresponding driving signal by the driving circuit unit;

[0068] Step S22, controlling, by the inverter circuit unit, the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the driving signal.

[0069] As an example, the driving signal at least comprises one of a first driving signal and a second driving signal, and the step of controlling, by the inverter circuit unit, the first inverter circuit 201 and the second inverter circuit 202 to close the bridge arm switch group at different upper and lower bridge arm positions according to the driving signal comprises:

[0070] Step A10, controlling, by the inverter circuit unit, the upper bridge switch group of the first inverter circuit and the lower bridge switch group of the second inverter circuit to be closed according to the first driving signal;

[0071] ​As an example, step A10 comprises: according to the first driving signal, controlling the upper bridge switch group 201a of the first inverter circuit 201 and the lower bridge switch group 202b of the second inverter circuit 202 to be closed, and keeping the lower bridge switch group 201b of the first inverter circuit 201 and the upper bridge switch group 202a of the second inverter circuit 202 to be disconnected, referring to Figure 2 and Figure 4 It can be known that, if there is no error in the phase sequence connection between the stepper motor 300 and the driver module 200, there is no path between the first inverter circuit 201 and the second inverter circuit 202, at this time, the amplitude of the feedback electrical signal collected by the sampling circuit 400 is 0; if there is an error in the phase sequence connection between the stepper motor 300 and the driver module 200, there is a path between the first inverter circuit 201 and the second inverter circuit 202, at this time, the amplitude of the feedback electrical signal collected by the sampling circuit 400 is not 0, at this time, the feedback electrical signal can be the feedback voltage signal between the third resistor R3 or the fourth resistor R4, the feedback electrical signal can also be the feedback current signal flowing between the third resistor R3 or the fourth resistor R4.

[0072] Step A20, according to the second driving signal, controlling the lower bridge switch group of the first inverter circuit and the upper bridge switch group of the second inverter circuit to be closed by the inverter circuit unit.

[0073] As an example, step A20 comprises: according to the second driving signal, controlling the lower bridge switch group 201b of the first inverter circuit 201 and the upper bridge switch group 202a of the second inverter circuit 202 to be closed, and keeping the upper bridge switch group 201a of the first inverter circuit 201 and the lower bridge switch group 202b of the second inverter circuit 202 to be disconnected, referring to Figure 2 and Figure 4 It can be known that, if there is no error in the phase sequence connection between the stepper motor 300 and the driver module 200, there is no path between the first inverter circuit 201 and the second inverter circuit 202, at this time, the amplitude of the feedback electrical signal collected by the sampling circuit 400 is 0; if there is an error in the phase sequence connection between the stepper motor 300 and the driver module 200, there is a path between the first inverter circuit 201 and the second inverter circuit 202, at this time, the amplitude of the feedback electrical signal collected by the sampling circuit 400 is not 0, at this time, the feedback electrical signal can be the feedback voltage signal between the third resistor R3 or the fourth resistor R4, the feedback electrical signal can also be the feedback current signal flowing between the third resistor R3 or the fourth resistor R4.

[0074] As an example, the feedback electrical signal comprises at least one of a feedback voltage signal and a feedback current signal, and the step of detecting whether the connection phase sequence between the stepper motor and the inverter circuit is incorrect according to the feedback electrical signal comprises:

[0075] If the voltage amplitude of the feedback voltage signal is greater than a preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is incorrect; if the voltage amplitude of the feedback voltage signal is not greater than the preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is correct; and / or

[0076] If the current amplitude of the feedback current signal is greater than a preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is incorrect; if the current amplitude of the feedback current signal is not greater than the preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is correct.

[0077] As an example, after the step of detecting whether the connection phase sequence between the stepper motor and the inverter circuit is incorrect according to the feedback electrical signal, the method further comprises:

[0078] If the connection phase sequence between the stepper motor and the inverter circuit is incorrect, adjusting the connection phase sequence between the stepper motor and the inverter circuit;

[0079] Returning to the step of obtaining a control signal, and controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal until the connection phase sequence between the stepper motor and the inverter circuit is correct.

[0080] As an example, the steps S30 to S40 comprise: if the connection phase sequence between the stepper motor 300 and the inverter circuit is incorrect, the connection phase sequence between the stepper motor 300 and the inverter circuit can be adjusted by software reset or manual adjustment, and returning to the step of obtaining a control signal, and controlling the first inverter circuit 201 and the second inverter circuit 202 to close the bridge arm switch group at different upper and lower bridge arm positions according to the control signal until the connection phase sequence between the stepper motor 300 and the inverter circuit is correct.

[0081] The embodiment of the present application provides a step motor connection phase sequence detection method, namely obtaining a control signal, controlling bridge arm switch groups in different upper and lower bridge arm positions of the first inverter circuit 201 and the second inverter circuit 202 according to the control signal; collecting feedback electric signals on the bridge arms of the inverter circuit in the driver module 200, and detecting whether an error exists in the connection phase sequence between the step motor 300 and the driver module 200 according to the feedback electric signals. Wherein, under the condition that the control signal is input to control the bridge arm switch groups in different upper and lower bridge arm positions of the first inverter circuit 201 and the second inverter circuit 202, if the step motor 300 and the driver module 200 are correctly connected, no path is formed between the first inverter circuit 201 and the second inverter circuit 202, if the step motor 300 and the driver module 200 are incorrectly connected, a path is formed between the first inverter circuit 201 and the second inverter circuit 202, therefore, whether the path is formed between the first inverter circuit 201 and the second inverter circuit 202 can be detected according to whether the amplitude of the feedback electric signal sampled between the first inverter circuit 201 and the second inverter circuit 202 is 0, so that whether the connection phase sequence between the step motor 300 and the driver module 200 is correct can be detected, and whether the step motor and the driver are incorrectly connected can be found in advance, instead of only depending on the color of the power line of the step motor to manually identify whether the step motor and the driver are incorrectly connected, so that the probability of detecting the incorrect connection between the step motor and the driver can be reduced, and the system reliability is improved.

[0082] In addition, the present application also provides a motor driving system, which comprises a step motor and a step motor driver, and the step motor driver comprises the step motor connection phase sequence detection circuit, and it can be understood that, since the step motor connection phase sequence detection circuit is used in the motor driving system, the embodiment of the motor driving system comprises all the technical solutions of all the embodiments of the step motor connection phase sequence detection circuit, and the same technical effects are achieved, and details are not repeated here.

[0083] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made by using the content of the present application and the drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A step motor connection phase sequence detection circuit, characterized by comprising: The step motor connection phase sequence detection circuit comprises: a driver module comprising a first inverter circuit and a second inverter circuit, the driver module being connected with the step motor, the first inverter circuit being connected with a first phase winding of the step motor, the second inverter circuit being connected with a second phase winding of the step motor, the driver module being used for controlling the first inverter circuit and the second inverter circuit to close a bridge arm switch group at different upper and lower bridge arm positions according to a control signal input by a master control module; a sampling circuit used for collecting a feedback electrical signal on the bridge arm and outputting the feedback electrical signal to the master control module; the master control module being used for detecting whether there is an error in a connection phase sequence between the step motor and the driver module according to the feedback electrical signal.

2. The step motor connection phase sequence detecting circuit according to claim 1, wherein The driver module comprises a driving circuit unit and an inverter circuit unit, the driving circuit unit being connected with the master control module, the driving circuit unit being used for converting the control signal input by the master control module into a corresponding driving signal and outputting the driving signal to the inverter circuit unit; the inverter circuit unit being connected with the step motor, the inverter circuit unit comprising at least the first inverter circuit and the second inverter circuit, the inverter circuit unit being used for controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group at different upper and lower bridge arm positions according to the driving signal.

3. The step motor connection phase sequence detecting circuit according to claim 2, wherein The driving signal comprises at least one of a first driving signal and a second driving signal, the inverter circuit unit being further used for controlling an upper bridge switch group of the first inverter circuit and a lower bridge switch group of the second inverter circuit to close according to the first driving signal; and / or the inverter circuit unit being further used for controlling a lower bridge switch group of the first inverter circuit and an upper bridge switch group of the second inverter circuit to close according to the second driving signal.

4. The step motor connection phase sequence detecting circuit according to claim 1, wherein The feedback electrical signal comprises at least one of a feedback voltage signal and a feedback current signal, the master control module being further used for detecting whether there is an error in the connection phase sequence between the step motor and the inverter circuit according to a voltage amplitude of the feedback voltage signal; and / or the master control module being further used for detecting whether there is an error in the connection phase sequence between the step motor and the inverter circuit according to a current amplitude of the feedback current signal.

5. A method for detecting the connection phase sequence of a stepper motor, characterized by, The step motor connection phase sequence detection method is applied to the step motor connection phase sequence detection circuit as claimed in any one of claims 1 to 4, a control signal is acquired, and the first inverter circuit and the second inverter circuit are controlled to close a bridge arm switch group at different upper and lower bridge arm positions according to the control signal; a feedback electrical signal on the bridge arm is collected, and whether there is an error in a connection phase sequence between the step motor and the driver module is detected according to the feedback electrical signal.

6. The method of claim 5, wherein the step motor connection phase sequence detection method is characterized by, The driver module comprises a drive circuit unit and an inverter circuit unit, the inverter circuit unit comprises the first inverter circuit and the second inverter circuit, the step of controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group in different upper and lower bridge arm positions according to the control signal comprises: Converting the control signal into a corresponding drive signal through the drive circuit unit; Controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group in different upper and lower bridge arm positions through the inverter circuit unit according to the drive signal.

7. The method of claim 6, wherein the step motor connection phase sequence detection method is characterized by, The drive signal at least includes one of the first drive signal and the second drive signal, the step of controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group in different upper and lower bridge arm positions through the inverter circuit unit according to the drive signal comprises: Controlling the upper bridge switch group of the first inverter circuit and the lower bridge switch group of the second inverter circuit to close through the inverter circuit unit according to the first drive signal; and / or Controlling the lower bridge switch group of the first inverter circuit and the upper bridge switch group of the second inverter circuit to close through the inverter circuit unit according to the second drive signal.

8. The method of claim 5, wherein the step motor connection phase sequence detection method is characterized by, The feedback electrical signal at least includes one of a feedback voltage signal and a feedback current signal, the step of detecting whether the connection phase sequence between the stepper motor and the inverter circuit is wrong according to the feedback electrical signal comprises: If the voltage amplitude of the feedback voltage signal is greater than a preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is wrong; if the voltage amplitude of the feedback voltage signal is not greater than the preset voltage amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is not wrong; and / or If the current amplitude of the feedback current signal is greater than a preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is wrong; if the current amplitude of the feedback current signal is not greater than the preset current amplitude threshold, it is determined that the connection phase sequence between the stepper motor and the inverter circuit is not wrong.

9. The method of claim 5, wherein the step motor connection phase sequence detection method is characterized by, After the step of detecting whether the connection phase sequence between the stepper motor and the inverter circuit is wrong according to the feedback electrical signal, the stepper motor connection phase sequence detection method further comprises: If the connection phase sequence between the stepper motor and the inverter circuit is wrong, adjusting the connection phase sequence between the stepper motor and the inverter circuit; Returning to the step of acquiring the control signal and controlling the first inverter circuit and the second inverter circuit to close the bridge arm switch group in different upper and lower bridge arm positions according to the control signal until the connection phase sequence between the stepper motor and the inverter circuit is not wrong.

10. An electric motor drive system characterized by comprising: The stepper motor connection phase sequence detection circuit comprises a stepper motor and a stepper motor driver, the stepper motor driver comprises the stepper motor connection phase sequence detection circuit according to any one of claims 1-4.

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