Double-shaft three-phase stepping motor driving circuit of moving head lamp

Abstract

The utility model relates to the stepping motor driving field, and specifically discloses a moving head lamp double-shaft three-phase stepping motor driving circuit comprising a power supply module, a single-chip microcomputer control module, an XY positioning detection module and a parallel half-bridge motor driving module; the XY positioning detection module comprises two rotary coding sensors; the parallel half-bridge motor driving module comprises six full-bridge stepping motor drives, each full-bridge stepping motor drive is divided into two half-bridge outputs, and each phase pin of the two three-phase stepping motors is connected with the two half-bridge outputs; the single-chip microcomputer control module is used for respectively outputting control signals to the six full-bridge stepping motors according to the rotation states of the two three-phase stepping motors fed back by the two rotation coding sensors. According to the utility model, the two half-bridge stepping motor drives are connected in parallel to form the one-phase stepping motor drive, so that the drive current of the stepping motor drive chip is multiplied, the occupied space is small, the structure is simple, the implementation cost is low, and the popularization is easy.

Description

Technical Field

[0001] The utility model relates to the field of stepping motor drives, and particularly to a dual-axis three-phase stepping motor drive circuit for a moving head light. Background Art

[0002] With the development of modern lighting technology, the demand for stage lights is becoming more and more diverse, and the size span is also getting larger. Due to their large size, high power, and high requirements for rotational speed and positioning accuracy, heavy large-sized moving head stage lights require a large driving force to enable the X-axis (horizontal) and Y-axis (vertical) of the moving head light to achieve stable and rapid operation.

[0003] However, since most motor drive chips on the market have limited drive current and cannot directly drive high-torque stepping motors or servo motors, especially two three-phase stepping motors, and the internal space of stage lights is limited, larger drive circuits and motors will occupy the space of the stage light radiator, resulting in limited power of the lighting fixture. And the existing high-current drive circuits are all large in size and high in cost. Therefore, how to provide a drive circuit with small occupied space and strong driving ability to meet the driving needs of the rotating motors of large stage lights. Summary of the Utility Model

[0004] In order to overcome the problems of large occupied space, high cost, and insufficient driving ability of the dual-axis three-phase stepping motor drive circuit of the existing large moving head stage lights, the utility model provides a dual-axis three-phase stepping motor drive circuit for a moving head light.

[0005] The technical solution adopted by the utility model is: a dual-axis three-phase stepping motor drive circuit for a moving head light, used to drive two three-phase stepping motors, characterized in that it includes a power supply module, a single-chip microcomputer control module, an XY positioning detection module, and a parallel half-bridge motor drive module;

[0006] The power supply module is used to convert the externally input power supply into DC voltage power supplies required by the single-chip microcomputer control module, the XY positioning detection module, and the parallel half-bridge motor drive module;

[0007] The XY positioning detection module includes two rotary encoding sensors, and the two rotary encoding sensors are respectively used to measure the rotation angles of the X-axis stepping motor and the Y-axis stepping motor;

[0008] The parallel half-bridge motor drive module includes six full-bridge stepping motor drives, each full-bridge stepping motor drive is split into two half-bridge outputs, and each phase pin of the two three-phase stepping motors is connected to two of the half-bridge outputs;

[0009] Two rotary encoding sensors and six full-bridge stepper motor drivers are electrically connected to the single-chip microcomputer control module respectively. The single-chip microcomputer control module is used to output control signals to the six full-bridge stepper motor drivers respectively according to the rotation states of two three-phase stepper motors fed back by the two rotary encoding sensors.

[0010] Preferably, the single-chip microcomputer control module is connected to the six full-bridge stepper motor drivers through six PWM pins to control the output signals of all 12 half-bridges.

[0011] Preferably, each full-bridge stepper motor driver is provided with a reset pin, and all the reset pins are electrically connected to the single-chip microcomputer control module respectively.

[0012] Preferably, each full-bridge stepper motor driver is provided with a fault signal output pin and an over-temperature warning output pin, and all the fault signal output pins and over-temperature warning output pins are electrically connected to the single-chip microcomputer control module respectively.

[0013] Preferably, the six full-bridge stepper motor drivers are three DRV8412 driver chips, and each DRV8412 driver chip is internally provided with 4 independent half-bridge outputs.

[0014] Preferably, the 4 independent half-bridge outputs of each DRV8412 driver chip are pairwise paralleled into two paralleled half-bridge outputs, and the six paralleled half-bridge outputs are respectively connected to six phase pins.

[0015] Preferably, the two rotary encoding sensors are both 12-bit magnetic rotary encoders of model SC60221, and the two rotary encoding sensors are connected to the single-chip microcomputer control module through an SPI interface.

[0016] Preferably, the power supply module includes at least three DC buck circuits, which are respectively used to output 48V DC, 12V DC, 5V DC and 3.3V DC after bucking and filtering. Among them, the 48V DC output and the 12V DC output are connected to the single-chip microcomputer control module, the 5V DC output is connected to the XY positioning detection module, and the 3.3V DC output is connected to the paralleled half-bridge motor drive module.

[0017] The beneficial effects of the utility model are as follows:

[0018] By paralleling two half-bridge stepper motor drivers into the drive of a three-phase stepper motor, the drive current of the stepper motor driver chip is doubled, so as to stably and quickly drive the two three-phase stepper motors of the XY axis of the moving head lamp, with small occupied space, simple structure, low implementation cost and easy popularization. Description of the Drawings

[0019] The present utility model will be further described below in conjunction with the accompanying drawings of the specification, where:

[0020] Figure 1 is the circuit module connection diagram of the first embodiment of the present utility model;

[0021] Figure 2 is one of the circuit diagrams of the parallel half-bridge drive module in the second embodiment of the present utility model;

[0022] Figure 3 is the second circuit diagram of the parallel half-bridge drive module in the second embodiment of the present utility model;

[0023] Figure 4 is the third circuit diagram of the parallel half-bridge drive module in the second embodiment of the present utility model;

[0024] Figure 5 is the circuit diagram of the single-chip microcomputer control module in the second embodiment of the present utility model;

[0025] Figure 6 is the circuit diagram of the XY positioning detection module in the second embodiment of the present utility model. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0027] See Figure 1 , which is the first embodiment of the present utility model. This embodiment specifically discloses a two-axis three-phase stepper motor drive circuit for a moving head light. By doubling the current through a parallel half-bridge, two three-phase stepper motors on the XY axes of the moving head light can be stably and quickly driven, including: a power supply module, a single-chip microcomputer control module, an XY positioning detection module, and a parallel half-bridge motor drive module;

[0028] The power supply module is used to convert the externally input power supply into the DC voltage power supply required by the single-chip microcomputer control module, the XY positioning detection module, and the parallel half-bridge motor drive module;

[0029] The XY positioning detection module includes two rotary encoding sensors, and the two rotary encoding sensors are respectively used to measure the rotation angles of the X-axis stepper motor and the Y-axis stepper motor;

[0030] The parallel half-bridge motor drive module includes six full-bridge stepper motor drives. Each full-bridge stepper motor drive is split into two half-bridge outputs, and each phase pin of the two three-phase stepper motors is connected to two of the half-bridge outputs.

[0031] Two rotary encoding sensors and six full-bridge stepper motor drives are electrically connected to the single-chip microcomputer control module respectively. The single-chip microcomputer control module is used to output control signals to the six full-bridge stepper motor drives respectively according to the rotation states of the two three-phase stepper motors fed back by the two rotary encoding sensors.

[0032] Preferably, the single-chip microcomputer control module includes a single-chip microcomputer and its supporting peripheral circuits. The single-chip microcomputer control module is connected to the six full-bridge stepper motor drives through six PWM pins of the single-chip microcomputer to control the output signals of all 12 half-bridge outputs.

[0033] Preferably, the power supply module of this embodiment includes at least three DC buck circuits, which are respectively used to output 48V DC, 12V DC, 5V DC and 3.3V DC after bucking and filtering. Among them, the 48V DC output and the 12V DC output are connected to the single-chip microcomputer control module, the 5V DC output is connected to the XY positioning detection module, and the 3.3V DC output is connected to the parallel half-bridge motor drive module.

[0034] See Figures 2 to 6 , which is the second embodiment of the present invention. This embodiment is one of the more specific embodiments of the first embodiment.

[0035] The single-chip microcomputer control module of this embodiment specifically includes a single-chip microcomputer U11 (AT32F413RCT7) with an ARM32-bit M4 core. The single-chip microcomputer U11 controls the PWM_A, PWM_B, PWM_C and PWM_D of the pulse width modulation of the motor drive chips U1, U2 and U3 through the output PWM to turn on or off the outputs of the half-bridges OUT_A, OUT_B, OUT_C and OUT_D.

[0036] This embodiment mainly uses a high-performance DRV8412 drive chip of TI, which integrates a dual-channel full-bridge motor driver and an advanced protection system. See Figure 2 Only Figure 4 U1, U2, U3. Each DRV8412 drive chip integrates 4 independent half-bridge drivers inside, and the current of each half-bridge drive capacity can reach 3A. The six full-bridge stepper motor drives are three DRV8412 drive chips, and each DRV8412 drive chip has 4 independent half-bridge outputs inside. The 4 independent half-bridge outputs of each DRV8412 drive chip are connected in parallel in pairs to form two parallel half-bridge outputs, and the six parallel half-bridge outputs are respectively connected to six phase pins.

[0037] Both of the two rotary encoding sensors are 12-bit magnetic rotary encoders of model SC60221, and the two rotary encoding sensors are connected to the single-chip microcomputer control module through the SPI interface. Mainly, a 12-bit magnetic rotary encoder U5 and U6 (SC60221) are used. There is a Hall induction dot matrix built inside the chip center, which generates sine and cosine position signals by sensing the magnets installed in the X-axis motor and the Y-axis motor. Therefore, the analog-to-digital conversion circuits inside the encoder U5 and the encoder U6 chips sample the amplified sine and cosine signals, and the DSP circuit performs angle calculation. Finally, the encoder U5 and the encoder U6 chips are connected to the pins 33 (Y_HALL_CS), 34 (Y_HALL_SCK), 35 (Y_HALL_MISO), 36 (Y_HALL_MOSI) of the single-chip microcomputer U11 and the pins 20 (X_HALL_CS), 21 (X_HALL_SCK), 22 (X_HALL_MISO), 23 (X_HALL_MOSI) through the SPI interface for communication. Thus, the rotation speed, angle and position of the X-axis motor and the Y-axis motor can be obtained, and the positions of the X-axis and Y-axis of the lamp can be accurately positioned.

[0038] The single-chip microcomputer U11 (AT32F415CBT7) outputs signals to the pins 5 and 7 of the motor drive chip U1 through the PWM port pin 14 (PWM1_A) as pulse-width modulation PWM_D and PWM_C. At this time, it simultaneously controls the output of the half-bridges D and C of the motor drive chip U1 to be turned on or off, and the outputs are connected together and connected to the phase A of M1 (X-axis three-phase stepper motor).

[0039] The single-chip microcomputer U11 (AT32F415CBT7) pin 15 (PWM1_B) outputs signals to the pins 15 and 17 of the motor drive chip U1 as pulse-width modulation PWM_B and PWM_A. At this time, it simultaneously controls the output of the half-bridges B and A of the motor drive chip U1 to be turned on or off, and the outputs are connected together and connected to the phase B of M1 (X-axis three-phase stepper motor).

[0040] The single-chip microcomputer U11 (AT32F415CBT7) pin 16 (PWM1_C) outputs signals to the pins 5 and 7 of the motor drive chip U2 as pulse-width modulation PWM_D and PWM_C. At this time, it simultaneously controls the output of the half-bridges D and C of the motor drive chip U2 to be turned on or off, and the outputs are connected together and connected to the phase C of M1 (X-axis three-phase stepper motor).

[0041] The single-chip microcomputer U11 (AT32F415CBT7) outputs signals through the PWM port pin 27 (PWM2_A) to pins 15 and 17 of the motor drive chip U2 as PWM_B and PWM_A of pulse width modulation. At this time, it simultaneously controls the output of the half-bridge B and A of the motor drive chip U2 to be turned on or off, and the outputs are combined and connected to phase A of M2 (Y-axis three-phase stepper motor).

[0042] The single-chip microcomputer U11 (AT32F415CBT7) outputs signals through pin 28 (PWM2_B) to pins 5 and 7 of the motor drive chip U3 as PWM_D and PWM_C of pulse width modulation. At this time, it simultaneously controls the output of the half-bridge D and C of the motor drive chip U3 to be turned on or off, and the outputs are combined and connected to phase B of M2 (Y-axis three-phase stepper motor).

[0043] The single-chip microcomputer U11 (AT32F415CBT7) outputs signals through pin 30 (PWM2_C) to pins 15 and 17 of the motor drive chip U3 as PWM_B and PWM_A of pulse width modulation. At this time, it simultaneously controls the output of the half-bridge B and A of the motor drive chip U3 to be turned on or off, and the outputs are combined and connected to phase C of M2 (Y-axis three-phase stepper motor).

[0044] Therefore, the driving ability of two half-bridges is paralleled for each phase of driving M1 (X-axis three-phase stepper motor) and M2 (Y-axis three-phase stepper motor). Therefore, the driving current of each phase can reach 6A at this time.

[0045] There are three DC buck circuits in this embodiment. Among them, the first circuit mainly uses a DC-DC converter TD151 HSADJ with a withstand voltage of 3.6V - 60V. An external input voltage of 48V (any other input DC voltage below 60V can also be used) passes through capacitor filtering to eliminate clutter for the subsequent stage power supply, and the output after bucking is a 12V DC output. Then, the XL1509-5.0 chip and its supporting circuit are used to buck the output to a 5V DC output. The third buck circuit uses AMS117-3.3V to buck the 5V output to a 3.3V DC output. The output voltage can be adjusted and is applicable to a wide range of voltage value chips and circuits, which is convenient to use.

[0046] Each of the full-bridge stepper motor drivers is provided with a reset pin, and all the reset pins are electrically connected to the single-chip microcomputer control module respectively. Specifically, the single-chip microcomputer U11 (AT32F415CBT7) is connected to the pins 6, 16 of the chip U1 and the pin 6 of the chip U2 through the GPIO port pins 62 (RESET_CD1), 61 (RESET_AB1), and 44 (RESET_CD2), respectively controlling the reset of the pins 5 and 7 of the chip U1 for the pulse-width modulation PWM_D and PWM_C signals, the reset of the pins 15 and 17 of the chip U1 for the pulse-width modulation PWM_B and PWM_A signals, and the reset of the pins 5 and 7 of the chip U2 for the pulse-width modulation PWM_D and PWM_C signals. Thus, the X-axis motor can be reset in complex or inconvenient plugging and unplugging situations. The single-chip microcomputer U11 (AT32F415CBT7) is connected to the pin 16 of the chip U2 and the pins 6, 16 of the chip 3 through the GPIO port pins 43 (RESET_AB2), 40 (RESET_CD3), and 39 (RESET_AB3), respectively controlling the reset of the pins 15 and 17 of the chip U2 for the pulse-width modulation PWM_B and PWM_A signals, the reset of the pins 5 and 7 of the chip U3 for the pulse-width modulation PWM_D and PWM_C signals, and the reset of the pins 15 and 17 of the chip U3 for the pulse-width modulation PWM_B and PWM_A signals. Thus, the Y-axis motor can be reset in complex or inconvenient plugging and unplugging situations.

[0047] A fault signal output pin and an over-temperature warning output pin are provided on each of the full-bridge stepper motor drivers, and all the fault signal output pins and the over-temperature warning output pins are respectively electrically connected to the single-chip microcomputer control module. Specifically, the single-chip microcomputer U11 (AT32F415CBT7) is also connected to pins 18 and 22 of the chip U1 through GPIO port pins 59 (FAULT1) and 58 (OTW1) as the fault signal and the over-temperature warning signal. Therefore, the occurrence of a fault problem can be known in time, the damage to the chip can be greatly reduced, and short-circuit protection, over-current protection, under-voltage protection, and two-stage thermal protection can be achieved. Capacitors C44, C25, C20, C6, C14, and C21 are for decoupling. Capacitors C9, C11, C1, C36, C10, and C12 are bootstrap capacitors, and their function is to turn on the high-side switch tubes inside the chips U1 and U2 to supply driving energy and driving power to the switch tubes. Capacitors C3, C5, C13, C28, and C37 are for filtering. The single-chip microcomputer U11 (AT32F415CBT7) is also connected to pins 18 and 22 of the chip U2 through GPIO port pins 42 (FAULT2) and 41 (OTW2) as the fault signal and the over-temperature warning signal, and the single-chip microcomputer U11 (AT32F415CBT7) GPIO port pins 38 (FAULT3) and 37 (OTW3) are connected to pins 18 and 22 of the chip U3 as the fault signal and the over-temperature warning signal. Therefore, the occurrence of a fault problem can be known in time, the damage to the chip can be greatly reduced, and short-circuit protection, over-current protection, under-voltage protection, and two-stage thermal protection can be achieved. Capacitors C35, C56, C86, C90, C92, and C93 are for decoupling. By detecting the fault signal and the over-temperature warning signal of the motor drive chip, the operation of the lamp can be terminated immediately, and the damage to the chip can be greatly reduced.

[0048] In the figure of this embodiment, the capacitors C17, C27, C87, C88, C91, and C94 are bootstrap capacitors, and their function is to turn on the high-side switch tubes inside the chips U2 and U3 to supply driving energy and driving power to the switch tubes; the capacitors C2, C85, C89, and C95 are for filtering.

[0049] In the above specific embodiments, the purpose, technical solution, and beneficial effects of the present invention have been further described in detail. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. It is particularly pointed out that for those skilled in the art, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A moving head light dual-axis three-phase stepper motor drive circuit, used to drive two three-phase stepper motors, characterized in that: It includes a power supply module, a single-chip control module, an XY positioning detection module and a parallel half-bridge motor drive module; The power supply module is used to convert the external input power supply into the DC voltage power supply required by the single-chip control module, the XY positioning detection module and the parallel half-bridge motor drive module; The XY positioning detection module includes two rotary encoding sensors, which are used to measure the rotation angles of the X-axis stepper motor and the Y-axis stepper motor respectively; The parallel half-bridge motor drive module includes six full-bridge stepper motor drives, each full-bridge stepper motor drive is split into two half-bridge outputs, and each phase pin of the two three-phase stepper motors is connected to two of the half-bridge outputs; The two rotary encoder sensors and the six full-bridge stepper motor drivers are electrically connected to the single-chip control module respectively, and the single-chip control module is used to output control signals to the six full-bridge stepper motor drivers respectively according to the rotation states of the two three-phase stepper motors fed back by the two rotary encoder sensors.

2. The dual-axis three-phase stepper motor driving circuit for a moving head light according to claim 1 is characterized in that: The single chip control module is connected to six full-bridge stepper motor drivers through six PWM pins respectively to control the output signals of all 12 half-bridge outputs.

3. The dual-axis three-phase stepper motor driving circuit for a moving head light according to claim 1 is characterized in that: Each of the full-bridge stepper motor drivers is provided with a reset pin, and all of the reset pins are electrically connected to the single-chip microcomputer control module respectively.

4. The dual-axis three-phase stepper motor driving circuit for a moving head light according to claim 1 is characterized in that: Each of the full-bridge stepper motor drivers is provided with a fault signal output pin and an over-temperature warning output pin, and all of the fault signal output pins and over-temperature warning output pins are electrically connected to the single-chip control module respectively.

5. The dual-axis three-phase stepper motor driving circuit for a moving head light according to claim 1 is characterized in that: The six full-bridge stepper motor drivers are three DRV8412 driver chips, and each DRV8412 driver chip is provided with four independent half-bridge outputs.

6. The dual-axis three-phase stepper motor driving circuit for a moving head light according to claim 5, characterized in that: The four independent half-bridge outputs of each DRV8412 driver chip are connected in parallel in pairs to form two parallel half-bridge outputs, and the six parallel half-bridge outputs are connected to the six phase pins respectively.

7. The dual-axis three-phase stepper motor driving circuit for a moving head light according to claim 1, characterized in that: The two rotary encoder sensors are both 12-bit magnetic rotary encoders of model SC60221, and the two rotary encoder sensors are connected to the single-chip control module via an SPI interface.

8. The dual-axis three-phase stepper motor driving circuit for a moving head light according to claim 1, characterized in that: The power supply module includes at least three DC step-down circuits, which are used to respectively serve as 48V DC output, 12V DC output, 5V DC output and 3.3V DC output after step-down and filtering, wherein the 48V DC output and the 12V DC output are connected to the single-chip microcomputer control module, the 5V DC output is connected to the XY positioning detection module, and the 3.3V DC output is connected to the parallel half-bridge motor drive module.

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