System and method for enabling target to reach preset position by controlling multi-path stepping motor

Abstract

The invention discloses a system and method for enabling a target to reach a preset position by controlling multiple paths of stepping motors, and belongs to the field of stepping motors, and the system comprises a stepping motor sub-control unit, a stepping motor driver, a plurality of stepping motors, a plurality of target preset position monitoring units, a plurality of target objects, and a control, self-inspection, fault and information prompting unit. The plurality of stepping motors, the plurality of target preset position monitoring units and the plurality of target objects form a plurality of paths of selected paths, and each path of selected path is composed of one stepping motor, one target preset position monitoring unit and one target object. According to the invention, a plurality of stepping motors can be controlled to respectively drive so that a target object reaches a preset position, that is, any one stepping motor in the system can be controlled to start, rotate forwards or reversely, stop and drive to the target object, and a target preset position detection unit is utilized to identify whether the target reaches the preset position; finally, the purpose of controlling the plurality of stepping motors to respectively drive so as to enable the target object to reach a preset position is achieved.

Description

Technical Field

[0001] This invention belongs to the field of stepper motor technology, specifically relating to a system and method for controlling multiple stepper motors to bring a target to a predetermined position. Background Technology

[0002] Typically, when a system needs to control multiple stepper motors, each stepper motor requires its own independent stepper motor driver. This not only wastes structural space but also the control resources of the stepper motor driver. Furthermore, to ensure the stepper motor can move the target to a predetermined position, current technology often uses the stepper motor driver to continuously supply power to the stepper motor, keeping it in a static holding state. This causes the stepper motor driver and stepper motor to continuously heat up, increasing unnecessary energy consumption, reducing their lifespan, and in severe cases, potentially leading to malfunctions or damage to both. Summary of the Invention

[0003] To address the problems of resource waste, limited lifespan of stepper motor drivers and motors, and potential for runaway or damage in existing technologies, this invention provides a system and method for controlling multiple stepper motors to bring a target to a predetermined position. This invention allows for precise control of multiple stepper motors to drive the target to its designated location.

[0004] The technical solution adopted by this invention to solve the technical problem is as follows:

[0005] This invention provides a system for controlling multiple stepper motors to bring a target to a predetermined position, comprising:

[0006] The system includes a stepper motor control unit, a stepper motor driver, multiple selectable paths, and control, self-test, fault, and information display units. Each selectable path consists of a stepper motor, a target predetermined position monitoring unit, and a target object.

[0007] The stepper motor control unit is used to select a stepper motor and the corresponding target predetermined position monitoring unit through a pre-set address code, and at the same time send control signals to the target predetermined position monitoring unit and the stepper motor driver.

[0008] A stepper motor driver is used to receive control signals from a stepper motor control unit and control the corresponding stepper motor to drive the target object to a predetermined position.

[0009] Multi-channel stepper motors are used to start, rotate forward or in reverse, stop, and transmit power to the target object;

[0010] The multi-channel target predetermined position monitoring unit is used to monitor the position of the target object and identify whether the target object has moved to the predetermined position. The target object's position data is transmitted in real time to the control, self-test, fault and information prompting unit through the stepper motor sub-control unit. The control, self-test, fault and information prompting unit determines whether the target object has reached the predetermined position by reading the target object position data returned by the selected target predetermined position monitoring unit in real time.

[0011] The control, self-test, fault, and information prompting unit performs self-tests on the stepper motor sub-control unit, stepper motor driver, stepper motor, target predetermined position monitoring unit, and all connecting lines each time the system is powered on, and displays the self-test information. When a system fault occurs, the control, self-test, fault, and information prompting unit will prompt the fault information. When the system is running normally, the control, self-test, fault, and information prompting unit will prompt the selected stepper motor and target object to successfully reach the predetermined position.

[0012] Furthermore, the control, self-test, fault, and information prompting unit is connected to the stepper motor sub-control unit, which is connected to multiple stepper motors, multiple target predetermined position monitoring units, and stepper motor drivers, respectively. The stepper motor drivers are connected to multiple stepper motors.

[0013] Furthermore, the stepper motor driver can control the selected stepper motor to start, stop, rotate forward and reverse, and drive the corresponding target object to the predetermined position.

[0014] Furthermore, the stepper motor control unit includes: a first CMOS analog multiplexer, a second CMOS analog multiplexer, a third CMOS analog multiplexer, an optocoupler, a sixth chip, a seventh chip, a 0th resistor, a 40th resistor, a 55th resistor, a 64th resistor, a 65th resistor, a 66th resistor, a 67th resistor, a 68th resistor, and a 69th resistor; the 0th resistor and the 40th resistor are connected in series between the D pin of the first CMOS analog multiplexer and the D pin of the second CMOS analog multiplexer, the connection point between the 0th resistor and the 40th resistor is connected to the GND pin of the second CMOS analog multiplexer, the 55th resistor is connected to the D pin of the third CMOS analog multiplexer, the 64th resistor and the 67th resistor are respectively connected to the optocoupler, the 65th resistor and the 68th resistor are respectively connected to the sixth chip, and the 66th resistor and the 69th resistor are respectively connected to the seventh chip.

[0015] Furthermore, the stepper motor driver includes: a driver chip, a 29th resistor, a 71st resistor, a 72nd resistor, a 73rd resistor, a 74th resistor, a 75th resistor, a 76th resistor, a 77th resistor, a 78th resistor, a 79th resistor, a 12th capacitor, a 13th capacitor, a 14th capacitor, a 15th capacitor, a 16th capacitor, a 17th capacitor, and an 18th capacitor; one end of the 29th resistor is connected to the 26th and 27th pins of the driver chip respectively; one end of the 12th capacitor is connected to the 20th pin of the driver chip, one end of the 13th capacitor is connected to the 19th pin of the driver chip, and the other ends of the 12th and 13th capacitors are connected to one end of the 14th capacitor; the other end of the 14th capacitor is connected to the 71st resistor and the 24th pin of the driver chip; the 72nd resistor is connected to the 17th pin of the driver chip; and the 73rd resistor is connected to the 16th pin of the driver chip. The following connections are made: Resistor 74 is connected to pin 6 of the driver chip; Resistor 75 is connected to pin 10 of the driver chip; the other ends of Resistor 74 and 75 are connected to pins 14, 23, 4, and 12 of the driver chip; Pin 18 of the driver chip is connected to resistors 78 and 79 respectively; the other end of Resistor 78 is connected to resistor 77 and capacitor 15 respectively; Resistor 77 and capacitor 15 are connected in parallel to resistor 76; resistor 76 is connected to pin 15 of the driver chip; capacitor 16 is connected to pin 29 of the driver chip; the other end of capacitor 17 is connected to pin 1 of the driver chip; one end of capacitor 17 is connected to pins 2, 5, and 11 of the driver chip respectively; capacitor 18 is connected to pin 30 of the driver chip.

[0016] Furthermore, the target predetermined position monitoring unit includes: a first capacitor, an eighth resistor, a ninth resistor, a first photoelectric switch, and a second photoelectric switch; the eighth resistor is connected to the first photoelectric switch, and the other end of the eighth resistor is connected to +5V and the first capacitor respectively, and the other end of the first capacitor is connected to the first photoelectric switch; the ninth resistor is connected to the second photoelectric switch.

[0017] Furthermore, the control, self-test, fault, and information prompting unit includes: a microcontroller, resistor 0, resistor 1, resistor 2, resistor 3, resistor 4, resistor 5, resistor 6, resistor 7, capacitor 0, capacitor 1, capacitor 2, capacitor 3, capacitor 4, capacitor 5, capacitor 6, capacitor 7, capacitor 7, LED 1, LED 2, a single intelligent control chip, a driver interface, a crystal oscillator, a programming port, and a 485 communication interface; pin 20 of the microcontroller is connected to capacitor 1, pin 18 of the microcontroller is connected to capacitor 2 and resistor 3 respectively, and the other end of capacitor 1, the other end of capacitor 2, and one end of capacitor 0 are connected; pin 29 of the microcontroller is connected to capacitor 0 and resistor 0 respectively; pin 3 of the microcontroller is connected to capacitor 6 and resistor 7 respectively. One end of the sixth capacitor, crystal oscillator, and one end of the fifth capacitor are connected; the other end of the sixth capacitor, crystal oscillator, and the other end of the fifth capacitor are connected; the connection end of the fifth capacitor and crystal oscillator is also connected to the eighth pin of the microcontroller; the first LED is connected in series with the first resistor, and the second LED is connected in series with the second resistor; the fifth pin of the single intelligent control chip is connected to the fifth resistor, the sixth pin of the single intelligent control chip is connected to the fourth resistor, and the other end of the fifth resistor, the other end of the fourth resistor, and the eighth pin of the single intelligent control chip are connected; the second pin of the driver interface is connected to the sixth resistor, and the eighth pin of the driver interface is connected to the seventh capacitor; the seventh pin of the driver interface is connected to one end of the seventh resistor and the first pin of the 485 communication interface; the sixth pin of the driver interface is connected to the other end of the seventh resistor and the third pin of the 485 communication interface.

[0018] The present invention provides a method for controlling a target to reach a predetermined position by controlling multiple stepper motors, which specifically includes the following steps:

[0019] Step S1: The system starts and initializes, checking whether the stepper motor control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit have malfunctions; if a malfunction occurs, the malfunction information bits of the corresponding stepper motor control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit are set to 1, otherwise, they are cleared to 0.

[0020] Step S2: Enter the main loop process and check whether each fault information bit of the stepper motor sub-control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit is set to 1. If it is set to 1, the control, self-test, fault and information prompting unit will prompt the corresponding fault information; if it is cleared to 0, proceed to step S3.

[0021] Step S3: Determine whether the control, self-test, fault and information prompt unit has obtained transmission data. If not, repeat step S3; if yes, proceed to step S4.

[0022] Step S4: Based on the obtained transmission data and the preset address code, the control, self-test, fault and information prompting unit selects the stepper motor to be controlled and the target predetermined position monitoring unit through the stepper motor sub-control unit, and then clears the stepper motor movement step count to 0, and proceeds to step S5.

[0023] Step S5: The target predetermined position monitoring unit checks whether the current target position has reached the predetermined position. If it has, the target predetermined position monitoring unit sends the target arrival information to the control, self-test, fault and information prompt unit through the stepper motor sub-control unit. The control, self-test, fault and information prompt unit will prompt the target object to have successfully reached the predetermined position. At the same time, it clears the fault information bits of the corresponding stepper motor sub-control unit, stepper motor driver, each stepper motor and the target predetermined position monitoring unit to 0, and then returns to step S2. If it has not reached the predetermined position and the number of steps of the stepper motor is within the specified number of steps, then proceed to step S6. If it has not reached the predetermined position and the number of steps of the stepper motor exceeds the specified number of steps, then it sets the fault information bits of the corresponding stepper motor sub-control unit, stepper motor driver, each stepper motor and the target predetermined position monitoring unit to 1, and then returns to step S2.

[0024] Step S6: The control, self-test, fault and information prompt unit sends a control signal to the stepper motor driver through the stepper motor sub-control unit. The stepper motor driver controls the selected stepper motor to start, stop, rotate forward and reverse, and moves the target object one step forward to the predetermined position. The stepper motor movement step count is incremented by 1, and then the process returns to step S5.

[0025] Furthermore, the transmission data refers to the target needing to reach a predetermined location, including a selected path and the target needing to reach the predetermined location.

[0026] The beneficial effects of this invention are:

[0027] This invention enables control of multiple stepper motors to drive a target object to a predetermined position. Specifically, it controls any one stepper motor in the system to start, rotate forward or backward, and stop, and then drive the target object. A target predetermined position detection unit equipped with the target object is used to identify whether the target has reached the predetermined position, thus achieving the purpose of controlling multiple stepper motors to drive the target object to the predetermined position. Attached Figure Description

[0028] Figure 1 This invention provides a structural framework for a system that controls multiple stepper motors to bring a target to a predetermined position.

[0029] Figure 2 This is the circuit diagram of the stepper motor control unit.

[0030] Figure 3This refers to the motor path selected under the current address code.

[0031] Figure 4 This is a circuit diagram of a stepper motor driver.

[0032] Figure 5 The circuit diagram of the target predetermined position monitoring unit selected under the current address code.

[0033] Figure 6 Circuit diagram for control, self-test, fault, and information display units.

[0034] Figure 7 The present invention provides a flowchart of a method for controlling multiple stepper motors to bring a target to a predetermined position. Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the accompanying drawings.

[0036] In a first aspect, the present invention provides a system for bringing a target to a predetermined position by controlling multiple stepper motors.

[0037] like Figure 1 As shown, the present invention provides a system for controlling multiple stepper motors to bring a target to a predetermined position. The system mainly includes: a stepper motor control unit, a stepper motor driver, multiple stepper motors, multiple target predetermined position monitoring units, multiple target objects, and control, self-test, fault, and information prompting units. The multiple stepper motors, multiple target predetermined position monitoring units, and multiple target objects form multiple selected paths; that is, each selected path consists of one stepper motor, one target predetermined position monitoring unit, and one target object.

[0038] The connections between them are as follows:

[0039] The control, self-test, fault, and information prompt unit is connected to the stepper motor sub-control unit. The stepper motor sub-control unit is connected to multiple stepper motors, multiple target predetermined position monitoring units, and stepper motor drivers. The stepper motor drivers are connected to multiple stepper motors.

[0040] The stepper motor control unit is mainly used to select a stepper motor and the corresponding target predetermined position monitoring unit through a pre-set address code, and at the same time send control signals to the target predetermined position monitoring unit and the stepper motor driver.

[0041] A stepper motor driver is mainly used to receive control signals from the stepper motor control unit and control the corresponding stepper motor to drive the target object to the predetermined position.

[0042] Specifically, the stepper motor driver can control the selected stepper motor to start, stop, rotate forward and reverse, and drive the corresponding target object to the predetermined position.

[0043] Multi-channel stepper motors are mainly used for starting, rotating forward or in reverse, stopping, and transmitting power to the target object.

[0044] The multi-channel target predetermined position monitoring unit is mainly used to monitor the position of the target object and identify whether the target object has moved to the predetermined position. At the same time, it transmits the position data of the target object to the stepper motor sub-control unit in real time. The stepper motor sub-control unit determines whether the target object has reached the predetermined position by reading the target object position data returned by the selected target predetermined position monitoring unit in real time.

[0045] The system includes a control, self-test, fault, and information prompt unit. Upon each power-on, the stepper motor sub-control unit performs a self-test on the stepper motor driver, stepper motor, target predetermined position monitoring unit, and all connecting cables, simultaneously transmitting the self-test information to the control, self-test, fault, and information prompt unit, which displays the self-test information. When a system fault occurs, the control, self-test, fault, and information prompt unit displays fault information. During normal system operation, the control, self-test, fault, and information prompt unit displays successful information indicating that the selected stepper motor and the target object have reached the predetermined position.

[0046] like Figure 2 As shown, the stepper motor control unit mainly includes: a first CMOS analog multiplexer D1, a second CMOS analog multiplexer D2, a third CMOS analog multiplexer D3, an optocoupler U5, a sixth chip U6, a seventh chip U7, a 0th resistor R0, a 40th resistor R40, a 55th resistor R55, a 64th resistor R64, a 65th resistor R65, a 66th resistor R66, a 67th resistor R67, a 68th resistor R68, and a 69th resistor R69. A 0th resistor R0 and a 40th resistor R40 are connected in series between the D pin of the first CMOS analog multiplexer D1 and the D pin of the second CMOS analog multiplexer D2. The connection point between the 0th resistor R0 and the 40th resistor R40 is connected to the GND pin of the second CMOS analog multiplexer D2. A 55th resistor R55 is connected to the D pin of the third CMOS analog multiplexer D3. A 64th resistor R64 and a 67th resistor R67 are connected to the optocoupler U5. A 65th resistor R65 and a 68th resistor R68 are connected to the sixth chip U6. A 66th resistor R66 and a 69th resistor R69 are connected to the seventh chip U7.

[0047] Preferably, the first CMOS analog multiplexer D1, the second CMOS analog multiplexer D2, and the third CMOS analog multiplexer D3 are all DG408 chips; the optocoupler U5 is a 6N137; the sixth chip U6 and the seventh chip U7 are both NEC2705; and the resistance values ​​of the 0th resistor R0, the 40th resistor R40, the 55th resistor R55, the 64th resistor R64, the 65th resistor R65, the 66th resistor R66, the 67th resistor R67, the 68th resistor R68, and the 69th resistor R69 are 100K, 100K, 100R, 390R, 390R, 390R, 510R, 2K, and 2K, respectively.

[0048] Specifically, such as Figure 3 As shown, the motor path selected under the current address code is used to control the stepper motor of a certain address code, and mainly includes: power management chip V1 and stepper motor interface X1; wherein, the seventh pin 7 of power management chip V1 is connected to the first pin 1 of stepper motor interface X1. CSSM1 is not selected when it is 0V; CSSM1 is selected when it is 5V.

[0049] Preferably, the power management chip V1 is an APW251G2 chip; the stepper motor interface X1 is a 4-pin connector interface.

[0050] like Figure 4As shown, the stepper motor driver mainly includes: driver chip U4, resistors R29 (29th), R71 (71st), R72 (72nd), R73 (73rd), R74 (74th), R75 (75th), R76 (76th), R77 (77th), R78 (78th), R79 (79th), capacitor C12 (12th), C13 (13th), C14 (14th), C15 (15th), C16 (16th), C17 (17th), and C18 (18th); their connection relationship is as follows: resistor R29... The terminals are connected to pins 26 and 27 of the driver chip U4, respectively; one end of the twelfth capacitor C12 is connected to pin 20 of the driver chip U4, one end of the thirteenth capacitor C13 is connected to pin 19 of the driver chip U4, and the other ends of the twelfth capacitor C12, the thirteenth capacitor C13, and one end of the fourteenth capacitor C14 are connected; the other end of the fourteenth capacitor C14, the seventy-first resistor R71, and pin 24 of the driver chip U4 are connected; the seventy-second resistor R72 is connected to pin 17 of the driver chip U4; and the seventy-third resistor R73 is connected to pin 24 of the driver chip U4. Pin 16 of the driver chip is connected to the 16th pin; one end of the 74th resistor R74 is connected to pin 6 of the driver chip U4, and one end of the 75th resistor R75 is connected to pin 10 of the driver chip U4. The other ends of the 74th resistor R74, the other end of the 75th resistor R75, pin 14 of the driver chip U4, pin 23 of the driver chip U4, pin 4 of the driver chip U4, and pin 12 of the driver chip U4 are connected to the 18th pin of the driver chip U4, respectively, and the 78th resistor R78 and the 79th resistor R79 are connected to the 79th resistor R79, respectively. The other end of the 78th resistor R78 is connected to the 79th resistor R79, respectively. It is connected to the 77th resistor R77 and the 15th capacitor C15; the 77th resistor R77 and the 15th capacitor C15 are connected in parallel to the 76th resistor R76, and the 76th resistor R76 is also connected to the 15th pin 15 of the driver chip U4; the 16th capacitor C16 is connected to the 29th pin 29 of the driver chip U4; the other end of the 17th capacitor C17 is connected to the first pin 1 of the driver chip U4, and one end of the 17th capacitor C17 is connected to the second pin 2, the fifth pin 5 and the 11th pin 11 of the driver chip U4 respectively; the 18th capacitor C18 is connected to the 30th pin 30 of the driver chip U4.

[0051] Preferably, the driver chip U4 is model THB6128; the resistance values ​​of the 29th resistor R29, 71st resistor R71, 72nd resistor R72, 73rd resistor R73, 74th resistor R74, 75th resistor R75, 76th resistor R76, 77th resistor R77, 78th resistor R78, and 79th resistor R79 are 10K, 10K, 1K, 51K, 0.33R, 0.33R, 12K, 3.3K, 4.7K, and 4.7K, respectively; the capacitance values ​​of the 12th capacitor C12, 13th capacitor C13, 14th capacitor C14, 15th capacitor C15, 16th capacitor C16, 17th capacitor C17, and 18th capacitor C18 are 220pF, 1000pF, 0.1μF, 0.1μF, 0.1μF, 0.1μF, and 0.1μF, respectively.

[0052] like Figure 5 As shown, the target predetermined position monitoring unit mainly includes: a first capacitor C1, an eighth resistor R8, a ninth resistor R9, a first photoelectric switch MOUT1, and a second photoelectric switch MIN1. The eighth resistor R8 is connected to the first photoelectric switch MOUT1, and the other end of the eighth resistor R8 is connected to +5V and the first capacitor C1, respectively. The other end of the first capacitor C1 is connected to the first photoelectric switch MOUT1. The ninth resistor R9 is connected to the second photoelectric switch MIN1. MIN1 and MOUT1 are detection signals for the target object reaching the predetermined position; a high level (5V) indicates that the target is in position, and a low level (0V) indicates that the target is not in position.

[0053] Preferably, the first photoelectric switch MOUT1 and the second photoelectric switch MIN1 are both ITR8402; the resistance values ​​of the eighth resistor R8 and the ninth resistor R9 are 390R and 390R respectively; and the capacitance value of the first capacitor C1 is 1μF.

[0054] Specifically, the target object can be a conveyor belt traveling between points A and B, or a light gate that controls opening and closing, but is not limited to these.

[0055] Specifically, such as Figure 6As shown, the control, self-test, fault, and information prompt unit mainly includes: microcontroller U0, resistor No. 0 R0, first resistor R1, second resistor R2, third resistor R3, fourth resistor R4, fifth resistor R5, sixth resistor R6, seventh resistor R7, capacitor No. 0 C0, first capacitor C1, second capacitor C2, third capacitor C3, fourth capacitor C4, fifth capacitor C5, sixth capacitor C6, seventh capacitor C7, first LED1, second LED2, single intelligent control chip U1, driver interface U2, crystal oscillator Y1, programming port J0, and 485 communication interface J1. Pin 20 of microcontroller U0 is connected to the first capacitor C1. Pin 18 of microcontroller U0 is connected to the second capacitor C2 and the third resistor R3. The other ends of the first capacitor C1, the second capacitor C2, and one end of the 0th capacitor C0 are connected. Pin 29 of microcontroller U0 is connected to the 0th capacitor C0 and the 0th resistor R0. Pin 3 of microcontroller U0 is connected to one end of the sixth capacitor C6, the crystal oscillator Y1, and one end of the fifth capacitor C5. The other end of the sixth capacitor C6, the crystal oscillator Y1, and the fifth capacitor C5 are connected. The connection between the fifth capacitor C5 and the crystal oscillator Y1 is also connected to pin 8 of microcontroller U0. The first LED1 is connected in series with the first resistor R1. The second LED2 is connected in series with the second resistor R2; the fifth pin 5 of the single intelligent control chip U1 is connected to the fifth resistor R5, the sixth pin 6 of the single intelligent control chip U1 is connected to the fourth resistor R4, and the other end of the fifth resistor R5, the other end of the fourth resistor R45, and the eighth pin 8 of the single intelligent control chip U1 are connected; the second pin 2 of the driver interface U2 is connected to the sixth resistor R6, and the eighth pin 8 of the driver interface U2 is connected to the seventh capacitor C7; the seventh pin 7 of the driver interface U2 is connected to one end of the seventh resistor R7 and the first pin 1 of the 485 communication interface J1; the sixth pin 6 of the driver interface U2 is connected to the other end of the seventh resistor R7 and the third pin 3 of the 485 communication interface J1.

[0056] Preferably, the microcontroller U0 is an ATMEGA8 microcontroller; the single intelligent control chip U1 is a 24LC64; the driver interface U2 is a 75176; the crystal oscillator Y1 operates at a frequency of 14.7456MHz; the resistance values ​​of resistors R0 (0th resistor), R1 (1st resistor), R2 (2nd resistor), R3 (3rd resistor), R4 (4th resistor), R5 (5th resistor), R6 (6th resistor), and R7 (7th resistor) are 10KΩ, 470Ω, 470Ω, 200Ω, 10KΩ, 10KΩ, 10KΩ, and 120Ω, respectively; the capacitance values ​​of capacitors C0 (0th capacitor), C1 (1st capacitor), C2 (2nd capacitor), C3 (3rd capacitor), C4 (4th capacitor), C5 (5th capacitor), C6 (6th capacitor), and C7 (7th capacitor) are 0.1μF, 0.1μF, 0.1μF, 0.1μF, 0.1μF, 15pF, 15pF, and 0.1μF, respectively.

[0057] Secondly, the present invention provides a method for controlling a target to reach a predetermined position by controlling multiple stepper motors.

[0058] like Figure 7 As shown, the present invention provides a method for controlling a target to reach a predetermined position by controlling multiple stepper motors, which mainly includes the following steps:

[0059] Step S1: The system starts and initializes, checking whether the stepper motor control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit have malfunctions; if a malfunction occurs, the malfunction information bits of the corresponding stepper motor control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit are set to 1, otherwise, they are cleared to 0.

[0060] Step S2: Enter the main loop process and check whether each fault information bit of the stepper motor sub-control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit is set to 1. If it is set to 1, the control, self-test, fault and information prompting unit will prompt the corresponding fault information; if it is cleared to 0, proceed to step S3.

[0061] Step S3: Determine whether the stepper motor control unit has obtained transmission data (transmission data is that a target needs to reach a predetermined position, including: a selected path and the target needs to reach the predetermined position). If not, repeat step S3; if yes, proceed to step S4.

[0062] Step S4: The control, self-test, fault and information prompting unit, based on the obtained transmission data (the transmission data is that a certain target needs to reach a predetermined position, including: a selected path and the target needs to reach a predetermined position), selects the stepper motor to be controlled and the target predetermined position monitoring unit through the stepper motor sub-control unit according to the preset address code, and then clears the stepper motor movement step count to 0, and proceeds to step S5.

[0063] Step S5: The target predetermined position monitoring unit checks whether the current target position has reached the predetermined position. If it has, the target predetermined position monitoring unit sends the target arrival information to the control, self-test, fault and information prompt unit through the stepper motor sub-control unit. The control, self-test, fault and information prompt unit will prompt the target object to have successfully reached the predetermined position. At the same time, it clears the fault information bits of the corresponding stepper motor sub-control unit, stepper motor driver, each stepper motor and the target predetermined position monitoring unit to 0, and then returns to step S2. If it has not reached the predetermined position and the number of steps of the stepper motor is within the specified number of steps, then proceed to step S6. If it has not reached the predetermined position and the number of steps of the stepper motor exceeds the specified number of steps, then it sets the fault information bits of the corresponding stepper motor sub-control unit, stepper motor driver, each stepper motor and the target predetermined position monitoring unit to 1, and then returns to step S2.

[0064] Step S6: The control, self-test, fault and information prompt unit sends a control signal to the stepper motor driver through the stepper motor sub-control unit. The stepper motor driver controls the selected stepper motor to start, stop, rotate forward and reverse, and moves the target object one step forward to the predetermined position. The stepper motor movement step count is incremented by 1, and then the process returns to step S5.

[0065] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A system for controlling multiple stepper motors to bring a target to a predetermined position, characterized in that, include: The system includes a stepper motor control unit, a stepper motor driver, multiple selectable paths, and control, self-test, fault, and information display units. Each selectable path consists of a stepper motor, a target predetermined position monitoring unit, and a target object. The stepper motor control unit is used to select a stepper motor and the corresponding target predetermined position monitoring unit through a pre-set address code, and at the same time send control signals to the target predetermined position monitoring unit and the stepper motor driver. A stepper motor driver is used to receive control signals from a stepper motor control unit and control the corresponding stepper motor to drive the target object to a predetermined position. Multi-channel stepper motors are used to start, rotate forward or in reverse, stop, and transmit power to the target object; The multi-channel target predetermined position monitoring unit is used to monitor the position of the target object and identify whether the target object has moved to the predetermined position. The target object's position data is transmitted in real time to the control, self-test, fault and information prompting unit through the stepper motor sub-control unit. The control, self-test, fault and information prompting unit determines whether the target object has reached the predetermined position by reading the target object position data returned by the selected target predetermined position monitoring unit in real time. The control, self-test, fault, and information prompting unit performs self-tests on the stepper motor sub-control unit, stepper motor driver, stepper motor, target predetermined position monitoring unit, and all connecting lines each time the system is powered on, and displays the self-test information. When a system fault occurs, the control, self-test, fault, and information prompting unit will prompt the fault information. When the system is running normally, the control, self-test, fault, and information prompting unit will prompt the selected stepper motor and target object to successfully reach the predetermined position.

2. The system according to claim 1, which controls multiple stepper motors to bring a target to a predetermined position, is characterized in that, The control, self-test, fault, and information prompting unit is connected to the stepper motor sub-control unit. The stepper motor sub-control unit is connected to multiple stepper motors, multiple target predetermined position monitoring units, and stepper motor drivers. The stepper motor drivers are connected to multiple stepper motors.

3. The system for controlling multiple stepper motors to bring a target to a predetermined position according to claim 1, characterized in that, The stepper motor driver can control the selected stepper motor to start, stop, rotate forward and reverse, and drive the corresponding target object to the predetermined position.

4. The system for controlling multiple stepper motors to bring a target to a predetermined position according to claim 1, characterized in that, The stepper motor control unit includes: a first CMOS analog multiplexer, a second CMOS analog multiplexer, a third CMOS analog multiplexer, an optocoupler, a sixth chip, a seventh chip, a 0th resistor, a 40th resistor, a 55th resistor, a 64th resistor, a 65th resistor, a 66th resistor, a 67th resistor, a 68th resistor, and a 69th resistor; the 0th resistor and the 40th resistor are connected in series between the D pin of the first CMOS analog multiplexer and the D pin of the second CMOS analog multiplexer, the connection point between the 0th resistor and the 40th resistor is connected to the GND pin of the second CMOS analog multiplexer, the 55th resistor is connected to the D pin of the third CMOS analog multiplexer, the 64th resistor and the 67th resistor are respectively connected to the optocoupler, the 65th resistor and the 68th resistor are respectively connected to the sixth chip, and the 66th resistor and the 69th resistor are respectively connected to the seventh chip.

5. The system for controlling multiple stepper motors to bring a target to a predetermined position according to claim 1, characterized in that, The stepper motor driver includes: a driver chip, a 29th resistor, a 71st resistor, a 72nd resistor, a 73rd resistor, a 74th resistor, a 75th resistor, a 76th resistor, a 77th resistor, a 78th resistor, a 79th resistor, a 12th capacitor, a 13th capacitor, a 14th capacitor, a 15th capacitor, a 16th capacitor, a 17th capacitor, and an 18th capacitor; one end of the 29th resistor is connected to the 26th and 27th pins of the driver chip; one end of the 12th capacitor is connected to the 20th pin of the driver chip; one end of the 13th capacitor is connected to the 19th pin of the driver chip; the other ends of the 12th and 13th capacitors are connected to one end of the 14th capacitor; the other end of the 14th capacitor is connected to the 71st resistor and the 24th pin of the driver chip; the 72nd resistor is connected to the 17th pin of the driver chip; and the 73rd resistor is connected to the 16th pin of the driver chip. One end of resistor 74 is connected to pin 6 of the driver chip, and one end of resistor 75 is connected to pin 10 of the driver chip. The other ends of resistors 74 and 75 are connected to pins 14, 23, 4, and 12 of the driver chip. Pin 18 of the driver chip is connected to resistors 78 and 79. The other end of resistor 78 is connected to resistor 77 and capacitor 15. Resistor 77 and capacitor 15 are connected in parallel to resistor 76. Resistor 76 is connected to pin 15 of the driver chip. Capacitor 16 is connected to pin 29 of the driver chip. The other end of capacitor 17 is connected to pin 1 of the driver chip. One end of capacitor 17 is connected to pins 2, 5, and 11 of the driver chip. Capacitor 18 is connected to pin 30 of the driver chip.

6. The system according to claim 1, which controls multiple stepper motors to bring a target to a predetermined position, is characterized in that, The target predetermined position monitoring unit includes: a first capacitor, an eighth resistor, a ninth resistor, a first photoelectric switch, and a second photoelectric switch; the eighth resistor is connected to the first photoelectric switch, and the other end of the eighth resistor is connected to +5V and the first capacitor respectively, and the other end of the first capacitor is connected to the first photoelectric switch; the ninth resistor is connected to the second photoelectric switch.

7. The system according to claim 1, which controls multiple stepper motors to bring a target to a predetermined position, is characterized in that, The control, self-test, fault, and information prompt unit includes: a microcontroller, resistor 0, resistor 1, resistor 2, resistor 3, resistor 4, resistor 5, resistor 6, resistor 7, capacitor 0, capacitor 1, capacitor 2, capacitor 3, capacitor 4, capacitor 5, capacitor 6, capacitor 7, capacitor 7, LED 1, LED 2, a single intelligent control chip, a driver interface, a crystal oscillator, a programming port, and a 485 communication interface; pin 20 of the microcontroller is connected to capacitor 1, pin 18 of the microcontroller is connected to capacitor 2 and resistor 3 respectively, and the other ends of capacitor 1, capacitor 2, and capacitor 0 are connected to one end of capacitor 0; pin 29 of the microcontroller is connected to capacitor 0 and resistor 0 respectively; pin 3 of the microcontroller is connected to one end of capacitor 6, and... The crystal oscillator is connected to one end of the fifth capacitor; the other end of the sixth capacitor, the crystal oscillator, and the fifth capacitor are connected together; the connection point between the fifth capacitor and the crystal oscillator is also connected to the eighth pin of the microcontroller; the first LED is connected in series with the first resistor, and the second LED is connected in series with the second resistor; the fifth pin of the single intelligent control chip is connected to the fifth resistor, the sixth pin of the single intelligent control chip is connected to the fourth resistor, and the other end of the fifth resistor, the other end of the fourth resistor, and the eighth pin of the single intelligent control chip are connected together; the second pin of the driver interface is connected to the sixth resistor, and the eighth pin of the driver interface is connected to the seventh capacitor; the seventh pin of the driver interface is connected to one end of the seventh resistor and the first pin of the 485 communication interface; the sixth pin of the driver interface is connected to the other end of the seventh resistor and the third pin of the 485 communication interface.

8. A method for controlling a target to reach a predetermined position by controlling multiple stepper motors using the system described in any one of claims 1-7, characterized in that, Includes the following steps: Step S1: The system starts and initializes, checking whether the stepper motor control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit have malfunctions; if a malfunction occurs, the malfunction information bits of the corresponding stepper motor control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit are set to 1, otherwise, they are cleared to 0. Step S2: Enter the main loop process and check whether each fault information bit of the stepper motor sub-control unit, stepper motor driver, each stepper motor and target predetermined position monitoring unit is set to 1. If it is set to 1, the control, self-test, fault and information prompting unit will prompt the corresponding fault information; if it is cleared to 0, proceed to step S3. Step S3: Determine whether the control, self-test, fault and information prompt unit has obtained transmission data. If not, repeat step S3; if yes, proceed to step S4. Step S4: Based on the obtained transmission data and the preset address code, the control, self-test, fault and information prompting unit selects the stepper motor to be controlled and the target predetermined position monitoring unit through the stepper motor sub-control unit, and then clears the stepper motor movement step count to 0, and proceeds to step S5. Step S5: The target predetermined position monitoring unit checks whether the current target position has reached the predetermined position. If it has, the target predetermined position monitoring unit sends the target arrival information to the control, self-test, fault and information prompt unit through the stepper motor sub-control unit. The control, self-test, fault and information prompt unit will prompt the target object to have successfully reached the predetermined position. At the same time, it clears the fault information bits of the corresponding stepper motor sub-control unit, stepper motor driver, each stepper motor and the target predetermined position monitoring unit to 0, and then returns to step S2. If it has not reached the predetermined position and the number of steps of the stepper motor is within the specified number of steps, then proceed to step S6. If it has not reached the predetermined position and the number of steps of the stepper motor exceeds the specified number of steps, then it sets the fault information bits of the corresponding stepper motor sub-control unit, stepper motor driver, each stepper motor and the target predetermined position monitoring unit to 1, and then returns to step S2. Step S6: The control, self-test, fault and information prompt unit sends a control signal to the stepper motor driver through the stepper motor sub-control unit. The stepper motor driver controls the selected stepper motor to start, stop, rotate forward and reverse, and moves the target object one step forward to the predetermined position. The stepper motor movement step count is incremented by 1, and then the process returns to step S5.

9. The method for controlling a target to reach a predetermined position by controlling multiple stepper motors according to claim 8, characterized in that, The transmission data refers to the target needing to reach a predetermined location, including a selected path and the target needing to reach the predetermined location.

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