Two-phase hybrid stepping motor driving circuit and method based on single H bridge

Abstract

The invention provides a two-phase hybrid stepping motor driving circuit and method based on a single H bridge, and relates to the technical field of airborne computer interfaces, and the two-phase hybrid stepping motor driving circuit comprises an electromechanical management system, a controller, a driving unit and a stepping motor H bridge. The switch tube Q1 and the switch tube Q2 are connected to form a half bridge, the switch tube Q3 and the switch tube Q4 are connected to form another half bridge, the switch tube Q1 and the switch tube Q3 are connected with a + 15V power supply, the switch tube Q2 and the switch tube Q4 are connected with a-15V power supply, a middle point of the switch tube Q1 and the switch tube Q2 is connected with an A phase of the motor, and a middle point of the switch tube Q3 and the switch tube Q4 is connected with a B phase of the motor; the electromechanical management system is connected with the controller so as to send a motor control instruction to the controller; the controller controls the on-off of the four switching tubes through the driving unit according to a motor control instruction so as to control the rotation of the stepping motor. According to the invention, the control of the two-phase hybrid stepping motor can be realized by adopting the single-path H bridge, and meanwhile, the stepping motor driving circuit is smaller in area and higher in reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of airborne computer interfaces, and in particular to a two-phase hybrid stepping motor driving circuit and method based on a single H-bridge. Background Art

[0002] Modern aircraft onboard systems contain a large number of two-phase hybrid stepper motors for the status control of fuel, environmental control and other subsystems. With the development of electromechanical integration, this type of interface is integrated into the core important remote terminal or electromechanical management computer of the electromechanical control and management system. Due to the high degree of integration inside the remote terminal and electromechanical management computer, it is particularly important to reduce the area of ​​the stepper motor drive power drive circuit. At the same time, the simplification of the circuit structure will greatly improve the basic reliability of the circuit.

[0003] Two-phase hybrid stepper motors are generally driven and controlled by dual H-bridges. Since the H-bridge itself is a power device, the device size is relatively large. Therefore, it is particularly important to reduce the number of power devices and reduce costs by optimizing the circuit topology. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a two-phase hybrid stepper motor drive circuit and method based on a single H-bridge, so that a two-phase hybrid stepper motor can be controlled by using a single H-bridge, while achieving a smaller stepper motor drive circuit area and higher reliability.

[0005] The embodiment of the present application provides the following technical solution: a two-phase hybrid stepper motor drive circuit based on a single H-bridge, comprising: an aircraft electromechanical management system, a controller, a drive unit, and a stepper motor H-bridge composed of four power switch tubes; wherein:

[0006] The power switch tube Q1 and the power switch tube Q2 are connected to form a half bridge, the power switch tube Q3 and the power switch tube Q4 are connected to form another half bridge, the power switch tube Q1 and the power switch tube Q3 are connected to a +15V power supply, the power switch tube Q2 and the power switch tube Q4 are connected to a -15V power supply, the middle point of the power switch tube Q1 and the power switch tube Q2 is connected to the A phase of the two-phase hybrid stepping motor, and the middle point of the power switch tube Q3 and the power switch tube Q4 is connected to the B phase of the two-phase hybrid stepping motor;

[0007] The aircraft electromechanical management system is connected to the controller and is used to send stepper motor control instructions to the controller according to the aircraft mission system requirements and physical configuration; the controller is used to control the on and off of four power switch tubes respectively through the drive unit according to the received stepper motor control instructions to control the rotation of the two-phase hybrid stepper motor.

[0008] According to an embodiment of the present application, the circuit also includes a current sampling unit, which includes a current sampling resistor connected between the power switch tube Q1 and the +15V power supply, and a current sampling resistor connected between the power switch tube Q3 and the +15V power supply. The two current sampling resistors are used to obtain the working current state of the two-phase hybrid stepper motor in real time and feed it back to the controller to perform feedback control on the rotation of the two-phase hybrid stepper motor.

[0009] According to one embodiment of the present application, the circuit also includes an operational amplifier N1 and an operational amplifier N2, the input end of the operational amplifier N1 and the input end of the operational amplifier N2 are respectively connected to the two current sampling resistors, and the output end of the operational amplifier N1 and the output end of the operational amplifier N2 are respectively connected to the controller.

[0010] According to an embodiment of the present application, one end of the A phase and one end of the B phase of the two-phase hybrid stepper motor are grounded respectively.

[0011] According to an embodiment of the present application, the stepper motor H-bridge is powered by ±15V.

[0012] The present application also provides a control method for the above-mentioned two-phase hybrid stepping motor drive circuit based on a single H-bridge, comprising:

[0013] The aircraft electromechanical management system sends a stepper motor control instruction to the controller, wherein the stepper motor control instruction includes a motor rotation direction and a rotation step number m;

[0014] The controller determines the angle α between the magnetic field direction of the stepper motor and the phase A of the motor, calculates the value of |cosα|, and uses |cosα| as the turn-on time of the phase A of the motor. If cosα is greater than 0, the power switch tube Q1 is turned on, otherwise the power switch tube Q2 is turned on; calculates the value of |sinα|, uses |sinα| as the turn-on time of the phase B of the motor. If sinα is greater than 0, the power switch tube Q3 is turned on, otherwise the power switch tube Q4 is turned on;

[0015] The controller controls the on and off of the corresponding power switch tube according to the calculated on time;

[0016] It is assumed that one rotation of the motor in the direction of the magnetic field is n steps. When the angle α increases by 2kπ / n°, the opening time of phase A and phase B and the power switch tube to be controlled are recalculated until the angle α between the magnetic field direction of the stepper motor and phase A of the motor is equal to mπ / 2.

[0017] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification include at least: the embodiment of the present invention realizes the stepper motor interface through the ±15V power supply of the sensor interface on the basis of the two-phase hybrid stepper motor drive based on a single H-bridge. Compared with the traditional method, this method uses fewer power components, has lower cost, occupies a smaller board area, and has higher reliability. The control of the two-phase hybrid stepper motor can be realized by using a single H-bridge, and the area of ​​the stepper motor drive circuit can be reduced by 50%, thereby improving the safety of the stepper motor interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a circuit principle block diagram of an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a single H-bridge switch tube according to an embodiment of the present invention;

[0021] Figure 3 FIG. 4 is a diagram showing the relationship between the rotation direction and the magnetic field direction according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0024] like Figure 1-Figure 3 As shown, an embodiment of the present invention provides a two-phase hybrid stepper motor drive circuit based on a single H-bridge, comprising: an aircraft electromechanical management system, a controller, a drive unit, and a stepper motor H-bridge composed of four power switch tubes; wherein:

[0025] The power switch tube Q1 and the power switch tube Q2 are connected to form a half bridge, the power switch tube Q3 and the power switch tube Q4 are connected to form another half bridge, the power switch tube Q1 and the power switch tube Q3 are connected to a +15V power supply, the power switch tube Q2 and the power switch tube Q4 are connected to a -15V power supply, the middle point of the power switch tube Q1 and the power switch tube Q2 is connected to the A phase of the two-phase hybrid stepping motor, and the middle point of the power switch tube Q3 and the power switch tube Q4 is connected to the B phase of the two-phase hybrid stepping motor;

[0026] The aircraft electromechanical management system is connected to the controller and is used to send stepper motor control instructions to the controller according to the aircraft mission system requirements and physical configuration, and comprehensively judge and process the stepper motor status information of the controller; the controller is used to control the on and off of four power switch tubes respectively through the drive unit according to the received stepper motor control instructions, so as to control the rotation of the two-phase hybrid stepper motor.

[0027] A two-phase hybrid stepper motor drive circuit based on a single H-bridge according to an embodiment of the present invention is suitable for airborne small intelligent remote terminals. The traditional two-phase hybrid stepper motor is controlled by a dual four-switch H-bridge. The embodiment of the present invention simplifies the traditional stepper motor drive circuit, and a single H-bridge can be used to control the two-phase hybrid stepper motor, while reducing the area of ​​the stepper motor drive circuit by 50%.

[0028] In an implementation of the embodiment of the present invention, the circuit also includes a current sampling unit, which includes a current sampling resistor connected between the power switch tube Q1 and the +15V power supply, and a current sampling resistor connected between the power switch tube Q3 and the +15V power supply. The two current sampling resistors are used to obtain the working current state of the two-phase hybrid stepper motor in real time and feed it back to the controller to perform feedback control on the rotation of the two-phase hybrid stepper motor.

[0029] Furthermore, the circuit also includes an operational amplifier N1 and an operational amplifier N2, the input end of the operational amplifier N1 and the input end of the operational amplifier N2 are respectively connected to the two current sampling resistors, and the output end of the operational amplifier N1 and the output end of the operational amplifier N2 are respectively connected to the controller. The outputs of the operational amplifier N1 and the operational amplifier N2 are used to indicate the working current of the stepper motor. The controller drives the H-bridge to control the rotation of the stepper motor through the driving unit according to the rotation instruction issued by the aircraft electromechanical management system through the high-speed bus after the control algorithm is analyzed. At the same time, the controller can obtain the working current state of the stepper motor in real time by detecting the output of the operational amplifier N1 and the operational amplifier N2.

[0030] In the embodiment of the present invention, Figure 1 As shown, the current sampling resistor R ISENSE , used to collect the current flowing through the power tubes Q1 and Q3 in real time; operational amplifiers N1 and N2 convert the current flowing through the power tubes Q1 and Q3 into voltage signals respectively, and transmit them to the controller for collection. When the controller finds that the current signal is abnormal, it reports the fault information to the electromechanical management subsystem. The aircraft electromechanical management system sends the stepper motor control instruction to the controller according to the aircraft mission system requirements and physical configuration; comprehensively judges and processes the stepper motor status information of the controller. The controller receives the stepper motor control instruction sent by the aircraft electromechanical management computer, controls the H-bridge output interface to be turned on or off; at the same time, controls the H-bridge (switch tubes Q1, Q2, Q3 and Q4) according to the number of rotation steps to drive the stepper motor to rotate, and realizes the stepper motor control algorithm; the drive unit is used to convert the digital control signal into a voltage signal that can drive the power switch tubes Q1, Q2, Q3 and Q4. At the same time, the controller also monitors the phase current flowing through the stepper motor by sampling the current on the H-bridge through two currents to protect the stepper motor. The driving unit is used to receive the H-bridge control instruction sent by the controller and drive the power switch tubes Q1 to Q4 of the H-bridge to turn on or off. The stepper motor H-bridge is powered by ±15V. The A phase and the B phase of the two-phase hybrid stepper motor are grounded respectively.

[0031] According to the rotation logic of the stepper motor, the direction of the positive magnetic field is A→B→A'→B'. If a circle of 8 points is used for control, the direction of the positive magnetic field becomes A→AB→B→A'B→A'→A'B'→B'→AB'. The reversal of the stepper motor only requires the direction of the positive magnetic field to be cycled from back to front.

[0032] Among them, the magnetic field direction in different directions can be achieved by controlling a single H-bridge as follows:

[0033] A-direction magnetic field: switch tube Q1 is turned on, and current flows from A+ to A-;

[0034] AB magnetic field: switch tubes Q1 and Q3 are turned on, and the current flows from A+ to A- and from B+ to B-;

[0035] B-direction magnetic field: switch tube Q3 is turned on, and current flows from B+ to B-;

[0036] A'B direction magnetic field: switch tubes Q2 and Q3 are turned on, and the current flows from A- to A+ and from B+ to B-;

[0037] A' direction magnetic field: switch tube Q2 is turned on, and current flows from A- to A+;

[0038] A'B' direction magnetic field: switch tubes Q2 and Q4 are turned on, and the current flows from A- to A+ and from B- to B+;

[0039] B' magnetic field: switch tube Q4 is turned on, and the current flows from B- to B+;

[0040] AB' magnetic field: switch tubes Q1 and Q4 are turned on, and the current flows from A+ to A1 and from B- to B+.

[0041] In order to achieve more subdivision control, it is necessary to adjust the duty cycle of the two switches that are turned on to achieve the superposition state angle of the magnetic fields of the windings in two directions.

[0042] The control method of the two-phase hybrid stepping motor driving circuit based on a single H-bridge according to an embodiment of the present invention comprises the following specific steps:

[0043] Step 1: The aircraft electromechanical management system sends a stepper motor control instruction to the controller, wherein the stepper motor control instruction includes the motor rotation direction and the number of rotation steps m;

[0044] Step 2: If Figure 3 As shown, set Figure 3 There are n points in one circle, the angle between the current magnetic field direction and phase A is α, and the rotation direction is k (k = 1 for forward rotation, k = -1 for reverse rotation). Figure 3 There will be n points in , each point represents a small step, and each small step α increases by 2kπ / n°;

[0045] The controller determines the angle α between the magnetic field direction of the stepper motor and the phase A of the motor, calculates the value of |cosα|, and uses |cosα| as the turn-on time of the phase A of the motor. If cosα is greater than 0, the power switch tube Q1 is turned on, otherwise the power switch tube Q2 is turned on; calculates the value of |sinα|, uses |sinα| as the turn-on time of the phase B of the motor. If sinα is greater than 0, the power switch tube Q3 is turned on, otherwise the power switch tube Q4 is turned on;

[0046] Step 3: The controller controls the on and off of the corresponding power switch tube according to the on time calculated in step 2;

[0047] Step 4: When the angle α increases by 2kπ / n°, recalculate the turn-on time of phase A and phase B and the power switch tubes that need to be controlled, and control the corresponding switch tubes until the angle α between the magnetic field direction of the stepper motor and phase A of the motor is equal to mπ / 2.

[0048] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A two-phase hybrid stepping motor drive circuit based on a single H-bridge, characterized in that: include: Aircraft electromechanical management system, controller, drive unit, and stepper motor H-bridge consisting of four power switch tubes; among them: The power switch tube Q1 and the power switch tube Q2 are connected to form a half bridge, the power switch tube Q3 and the power switch tube Q4 are connected to form another half bridge, the power switch tube Q1 and the power switch tube Q3 are connected to a +15V power supply, the power switch tube Q2 and the power switch tube Q4 are connected to a -15V power supply, the middle point of the power switch tube Q1 and the power switch tube Q2 is connected to the A phase of the two-phase hybrid stepping motor, and the middle point of the power switch tube Q3 and the power switch tube Q4 is connected to the B phase of the two-phase hybrid stepping motor; The aircraft electromechanical management system is connected to the controller and is used to send stepper motor control instructions to the controller according to the aircraft mission system requirements and physical configuration; the controller is used to control the on and off of four power switch tubes respectively through the drive unit according to the received stepper motor control instructions to control the rotation of the two-phase hybrid stepper motor.

2. The two-phase hybrid stepping motor driving circuit based on a single H-bridge according to claim 1, characterized in that: The circuit also includes a current sampling unit, which includes a current sampling resistor connected between the power switch tube Q1 and the +15V power supply, and a current sampling resistor connected between the power switch tube Q3 and the +15V power supply. The two current sampling resistors are used to obtain the working current state of the two-phase hybrid stepper motor in real time and feed it back to the controller to feedback control the rotation of the two-phase hybrid stepper motor.

3. The two-phase hybrid stepping motor driving circuit based on a single H-bridge according to claim 2, characterized in that: The circuit further includes an operational amplifier N1 and an operational amplifier N2, wherein the input end of the operational amplifier N1 and the input end of the operational amplifier N2 are respectively connected to the two current sampling resistors, and the output end of the operational amplifier N1 and the output end of the operational amplifier N2 are respectively connected to the controller.

4. The two-phase hybrid stepping motor driving circuit based on a single H-bridge according to claim 1, characterized in that: One end of the A phase and one end of the B phase of the two-phase hybrid stepping motor are grounded respectively.

5. The two-phase hybrid stepping motor driving circuit based on a single H-bridge according to claim 1, characterized in that: The stepper motor H-bridge is powered by ±15V.

6. A control method for a two-phase hybrid stepping motor drive circuit based on a single H-bridge according to any one of claims 1 to 5, characterized in that: include: The aircraft electromechanical management system sends a stepper motor control instruction to the controller, wherein the stepper motor control instruction includes a motor rotation direction and a rotation step number m; The controller determines the angle α between the magnetic field direction of the stepper motor and the phase A of the motor, calculates the value of |cosα|, and uses |cosα| as the turn-on time of the phase A of the motor. If cosα is greater than 0, the power switch tube Q1 is turned on, otherwise the power switch tube Q2 is turned on; calculates the value of |sinα|, uses |sinα| as the turn-on time of the phase B of the motor. If sinα is greater than 0, the power switch tube Q3 is turned on, otherwise the power switch tube Q4 is turned on; The controller controls the on and off of the corresponding power switch tube according to the calculated on time; It is assumed that one rotation of the motor in the direction of the magnetic field is n steps. When the angle α increases by 2kπ / n°, the opening time of phase A and phase B and the power switch tube to be controlled are recalculated until the angle α between the magnetic field direction of the stepper motor and phase A of the motor is equal to mπ / 2.

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