Driving controller and driving system of stepping motor
By using the three-loop control of the drive controller and the 485 bus communication system, the problems of torque fluctuation and position error of stepper motors under high speed and dynamic load are solved, and high-precision and stable motor control is achieved.
Patent Information
- Application Number
- CN202422171363.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-05
- Publication Date
- 2025-10-21
- Estimated Expiration
- 2034-09-05
AI Technical Summary
Stepper motors have limitations in data connectivity and real-time feedback, leading to torque fluctuations, resonance, and position errors. They perform poorly, especially at high speeds or under dynamic load changes, and cannot correct motion trajectories in real time.
A drive controller comprising a control module, a pulse control module, and a switching module is adopted. A master-slave communication system is established through 485 bus communication and MODBUS-RTU protocol. Combined with a three-closed-loop control method, real-time feedback and current control are realized. The SLM2104 chip and MOSFET are used for current direction and on/off control.
It improves the motion accuracy and stability of stepper motors, reduces position errors, lowers noise levels, and can maintain good motion trajectory and stability under high speed and dynamic load changes, thus expanding the range of speed applications.
Smart Images
Figure CN223462948U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to electromechanical control technical field especially, relate to a kind of driving controller of step motor. BACKGROUND
[0002] Step motor is a kind of executor that converts electrical signal into mechanical displacement, and is widely used in position control system. In the environment of Industry 4.0, its accurate control ability and programmability make it a key component of automation and intelligent manufacturing. However, although step motor can provide high-precision control, they are usually limited by torque fluctuation and resonance problems, which can cause mechanical vibration and noise.
[0003] In addition, the step motor in the prior art often has limitations in data connection and real-time feedback. Although most modern step motor systems use open-loop control to simplify the design, this approach cannot compensate for external disturbances, thereby affecting the overall performance and accuracy of the system.
[0004] Due to the lack of feedback mechanism, traditional open-loop step motor is prone to accumulate position error when running for a long time or load changes, especially when running at high speed or dynamic load changes. The dynamic response capability of traditional open-loop step motor is limited. They cannot correct or adjust the motion trajectory in real time, so they may not be suitable for applications that require rapid changes or dynamic responses. When running at high speed or load changes, open-loop step motor may lose step, resulting in inaccurate position or increased vibration. There is no communication system in the prior art, and the user cannot effectively monitor the status of the running motor, so the motor and driver cannot be adjusted and controlled in time. SUMMARY
[0005] To solve the above technical problems, the utility model provides a kind of driving controller of step motor.
[0006] In the first aspect, the utility model provides a kind of driving controller of step motor, and the driving controller of step motor at least includes: control module, pulse control module and switch module, the control module is connected with the switch module by the pulse control module, and the switch module is connected with slave machine, wherein:
[0007] The control module is used to send control signal;
[0008] The pulse control module is used to process the control signal to obtain processed signal;
[0009] The switch module is used to control the on-off and direction of current according to the processed signal, and control the operation of the slave machine.
[0010] Optionally, the pulse control module comprises at least a first control chip, a second control chip, a third control chip and a fourth control chip, wherein the first control pin of the processing module is connected with the second pin of the first control chip, the third control pin of the processing module is connected with the second pin of the second control chip,
[0011] the fifth control pin of the processing module is connected with the second pin of the third control chip,
[0012] the seventh control pin of the processing module is connected with the second pin of the fourth control chip.
[0013] Optionally, the first control chip, the second control chip, the third control chip and the fourth control chip are SLM2104 chips.
[0014] Optionally, the switch module comprises at least two full-bridge circuits, the first full-bridge circuit comprises a first mos tube, a second mos tube, a fifth mos tube and a sixth mos tube, and the second full-bridge circuit comprises a third mos tube, a fourth mos tube, a seventh mos tube and an eighth mos tube.
[0015] Optionally, the seventh pin of the first control chip is connected with the gate of the first mos tube; the fifth pin of the first control chip is connected with the gate of the fifth mos tube;
[0016] the seventh pin of the second control chip is connected with the gate of the second mos tube; the fifth pin of the second control chip is connected with the gate of the sixth mos tube;
[0017] the seventh pin of the third control chip is connected with the gate of the third mos tube; the fifth pin of the third control chip is connected with the gate of the seventh mos tube;
[0018] the seventh pin of the fourth control chip is connected with the gate of the fourth mos tube; the fifth pin of the fourth control chip is connected with the gate of the eighth mos tube.
[0019] Optionally, the source of the first mos tube, the source of the second mos tube, the source of the third mos tube and the source of the fourth mos tube are connected,
[0020] the drain of the first mos tube is connected with the source of the fifth mos tube, the drain of the second mos tube is connected with the source of the sixth mos tube, the drain of the third mos tube is connected with the source of the sixth mos tube, and the drain of the fourth mos tube is connected with the source of the eighth mos tube;
[0021] the drain of the fifth mos tube, the drain of the sixth mos tube, the drain of the seventh mos tube and the drain of the eighth mos tube are connected.
[0022] The drain of the first MOS transistor is connected with the sixth pin of the first control chip.
[0023] The drain of the second MOS transistor is connected with the sixth pin of the second control chip.
[0024] The drain of the third MOS transistor is connected with the sixth pin of the third control chip.
[0025] The drain of the fourth MOS transistor is connected with the sixth pin of the fourth control chip.
[0026] Optionally, the first pin of the first control chip, the first pin of the second control chip, the first pin of the third control chip and the first pin of the fourth control chip are connected.
[0027] In a second aspect, the utility model provides a kind of driving system of stepping motor, the driving system of stepping motor at least includes host computer and multiple slave machines, the slave machine is connected with stepping motor, and the slave machine at least includes as the driving controller of stepping motor of any one described in first aspect.
[0028] Optionally, the first sending pin of the host computer is connected with the second receiving pin of the multiple slave machines respectively, and the first receiving pin of the host computer is connected with the second sending pin of the multiple slave machines respectively.
[0029] Optionally, the slave machine and the host computer carry out data transmission by RS485.
[0030] The utility model provides a kind of driving controller and driving system of stepping motor, the driving controller of stepping motor at least includes: control module, pulse control module and switch module, the control module is connected with the switch module by the pulse control module, and the switch module is connected with slave machine, wherein: the control module is used to send control signal;The pulse control module is used to process the control signal, obtains signal after processing;The switch module is used to control the on-off and direction of current according to the signal after processing, controls the operation of the slave machine, so, multiple slave machines can be controlled by host computer, and the operating state of each slave machine is obtained. BRIEF DESCRIPTION OF DRAWINGS
[0031] Figure 1 It is a kind of driving controller of stepping motor for the utility model embodiment structure schematic diagram;
[0032] Figure 2 It is a kind of driving system of stepping motor for the utility model embodiment structure schematic diagram;
[0033] Figure 3The utility model provides a kind of structure schematic diagram of the driving system of another kind of step motor provided for the utility model embodiment.
[0034] Figure 4 The utility model provides a kind of circuit diagram of motor drive of slave machine provided for the utility model embodiment. DETAILED DESCRIPTION
[0035] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the utility model.
[0036] Please refer to Figure 1 The utility model provides a kind of circuit schematic diagram of the driving controller of step motor, and the driving controller of step motor includes control module 101, pulse control module 102 and switch module 103, control module 101 is connected with switch module 103 by pulse control module 102, and switch module 103 is connected with slave machine, wherein:
[0037] Control module 101 is used to send control signal;
[0038] Pulse control module 102 is used to process control signal, and obtain processed signal;
[0039] Switch module 103 is used to control the on-off and direction of current according to processed signal, and controls the operation of slave machine.
[0040] The beneficial effects of the embodiments of the present application compared with prior art solutions are as follows:
[0041] Multi-channel control, through 485 bus communication, using a single master station to detect motor state and operation effect in real time Communication state of multiple drivers provides flexibility for a wide range of applications for users.
[0042] Through real-time feedback mechanism, position error can be reduced or eliminated, providing higher motion accuracy and stability. More accurate control of motor movement, smoother motor operation, and lower noise level are very important for some noise-sensitive applications.
[0043] As Figure 4 Indicated, optionally, pulse control module at least includes first control chip, second control chip, third control chip and fourth control chip, wherein, the first control pin of processing module is connected with the second pin of first control chip, the third control pin of processing module is connected with the second pin of second control chip,
[0044] The fifth control pin of the processing module is connected with the second pin of the third control chip,
[0045] The seventh control pin of the processing module is connected with the second pin of the fourth control chip.
[0046] Optionally, the first control chip, the second control chip, the third control chip and the fourth control chip are SLM2104 chips.
[0047] Optionally, the switch module comprises at least two full-bridge circuits, the first full-bridge circuit comprises a first mos tube, a second mos tube, a fifth mos tube and a sixth mos tube, and the second full-bridge circuit comprises a third mos tube, a fourth mos tube, a seventh mos tube and an eighth mos tube.
[0048] Optionally, the seventh pin of the first control chip is connected with the gate of the first mos tube, and the fifth pin of the first control chip is connected with the gate of the fifth mos tube.
[0049] The seventh pin of the second control chip is connected with the gate of the second mos tube, and the fifth pin of the second control chip is connected with the gate of the sixth mos tube.
[0050] The seventh pin of the third control chip is connected with the gate of the third mos tube, and the fifth pin of the third control chip is connected with the gate of the seventh mos tube.
[0051] The seventh pin of the fourth control chip is connected with the gate of the fourth mos tube, and the fifth pin of the fourth control chip is connected with the gate of the eighth mos tube.
[0052] Optionally, the source of the first mos tube, the source of the second mos tube, the source of the third mos tube and the source of the fourth mos tube are connected,
[0053] The drain of the first mos tube is connected with the source of the fifth mos tube, the drain of the second mos tube is connected with the source of the sixth mos tube, the drain of the third mos tube is connected with the source of the sixth mos tube, and the drain of the fourth mos tube is connected with the source of the eighth mos tube.
[0054] The drain of the fifth mos tube, the drain of the sixth mos tube, the drain of the seventh mos tube and the drain of the eighth mos tube are connected.
[0055] The drain of the first mos tube is connected with the sixth pin of the first control chip.
[0056] The drain of the second mos tube is connected with the sixth pin of the second control chip.
[0057] The drain of the third mos tube is connected with the sixth pin of the third control chip.
[0058] The drain of the fourth MOS is connected with the sixth pin of the fourth control chip.
[0059] Optionally, the first pin of the first control chip, the first pin of the second control chip, the first pin of the third control chip and the first pin of the fourth control chip are connected.
[0060] In the embodiment of the application, SLM2104 is used for pulse independent control in controlling the motor driving circuit, which can efficiently improve the independent control of two full bridges composed of 8 MOS, and improve the control precision.
[0061] The function of SLM2104 is to process the signal of MCU, and the function of MOS is to control the on-off and direction of current.
[0062] The embodiment of the application realizes normal communication of RS485 through serial communication, and establishes a master-slave communication system by combining MODBUS-RTU communication protocol, so as to realize accurate control of a specified device by setting parameters such as device address, working mode, current, subdivision, starting speed, acceleration and deceleration time, maximum speed and total pulse number through 485 bus, realize reliable control at a long distance, effectively solve the problem of pulse loss in an interference environment, and improve the stability of the stepping system through three closed-loop control modes of position, speed and current. The vector control method combines PID regulation current to realize current setting and PWM driving, and further optimizes the motor control. By using advanced servo control principle and the latest 32-bit DSP technology, the controller shows excellent stability and extremely low noise at medium and low speed, and the high-speed torque is significantly improved, which expands the speed application range of the stepping motor.
[0063] The utility model provides a kind of driving system of stepping motor, and the driving system of stepping motor at least includes host computer and multiple slave machines, slave machine is connected with stepping motor, and slave machine at least includes any driving controller of the stepping motor as described.
[0064] As shown in Figure 2 And Figure 3 Optionally, the first sending pin of the host computer is connected with the second receiving pin of the multiple slave machines respectively, and the first receiving pin of the host computer is connected with the second sending pin of the multiple slave machines respectively.
[0065] Optionally, slave machine and host computer carry out data transmission through RS485.
[0066] In the hardware design aspect, when the stepper motor is driven, the encoder senses the motion of the rotor and generates corresponding two-way orthogonal pulse signals, and the host can determine the current position and motion direction of the stepper motor through the change of the signals, outputs a PWM signal to the SLM2104 according to the feedback, makes the upper and lower two pairs of complementary PMOS and NMOS conduct through the internal control circuit on the left side, respectively outputs a low level and a high level, adjusts the rotation of the motor, and provides the host with the motion state of the motor through the 485 communication system, so that the host can make real-time adjustment, thereby improving the position accuracy and system stability.
[0067] The driving controller and the driving system of the stepper motor provided by the utility model, the driving controller of the stepper motor at least includes: control module, pulse control module and switch module, control module is connected with switch module through pulse control module, switch module is connected with slave machine, wherein: control module is used for sending control signal;Pulse control module is used for processing control signal and obtaining processed signal;Switch module is used for controlling the on-off and direction of current according to processed signal, and controlling the operation of slave machine, so that the host can control multiple slave machines and obtain the operation state of each slave machine.
[0068] The driving voltage range of the 485 bus two-phase 57 stepper motor closed-loop driver control software in the embodiment of the application is DC 24V, the adaptive peak current is below 7.2A, and the motor is a 57 series motor.
[0069] The multiple slave machines are connected in series, each slave device must have a unique address so that the host device can identify and communicate with it, an address dial code switch is arranged on the slave device or the address is set through software, and finally a master-slave communication system is established through RS485 communication. The 485 bus realizes synchronous control of the stepper motor by setting the motor corresponding to each address byte in the MODBUS register.
[0070] Through the real-time feedback mechanism, external disturbances or load changes can be quickly responded to, and the control signal can be adjusted in real time to maintain good motion trajectory and stability. Especially in applications that require long-time operation or precise positioning, it has great advantages.
[0071] In the embodiments of the application, normal communication of RS485 is realized through serial communication, a master-slave communication system is established in combination with a MODBUS-RTU communication protocol, parameters such as device address, working mode, current, subdivision, starting speed, acceleration and deceleration time, maximum speed and total pulse number are set through the 485 bus to realize accurate control on a specified device, realize reliable control at a long distance, effectively solve the problem of pulse loss in an interference environment, and the stability of the stepping system is improved through a three-closed-loop control mode of position, speed and current. The vector control method combines with PID regulation of current to realize current setting and PWM driving, and further optimizes motor control. Advanced servo-like control principles and the latest 32-bit DSP technology are adopted, the controller shows excellent stability and extremely low noise at medium and low speed, and high speed torque is significantly improved, and the speed application range of the stepping motor is expanded.
[0072] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A drive controller for a stepper motor, characterized by The drive controller of the stepper motor comprises at least a control module, a pulse control module and a switch module, the control module is connected with the switch module through the pulse control module, and the switch module is connected with a slave machine, wherein: The control module is used for sending a control signal; The pulse control module is used for processing the control signal to obtain a processed signal; The switch module is used for controlling the on-off and direction of current according to the processed signal to control the operation of the slave machine.
2. The drive controller of a stepping motor according to claim 1, characterized by, The pulse control module comprises at least a first control chip, a second control chip, a third control chip and a fourth control chip, wherein a first control pin of the control module is connected with a second pin of the first control chip, a third control pin of the control module is connected with a second pin of the second control chip, a fifth control pin of the control module is connected with a second pin of the third control chip, and a seventh control pin of the control module is connected with a second pin of the fourth control chip.
3. The drive controller of a stepping motor according to claim 2, wherein The first control chip, the second control chip, the third control chip and the fourth control chip are SLM2104 chips.
4. The drive controller of the stepping motor according to claim 1, characterized by The switch module comprises at least two full-bridge circuits, a first full-bridge circuit comprises a first mos tube, a second mos tube, a fifth mos tube and a sixth mos tube, and a second full-bridge circuit comprises a third mos tube, a fourth mos tube, a seventh mos tube and an eighth mos tube.
5. The drive controller of claim 4, wherein A seventh pin of the first control chip is connected with a gate of the first mos tube, and a fifth pin of the first control chip is connected with a gate of the fifth mos tube; A seventh pin of the second control chip is connected with a gate of the second mos tube, and a fifth pin of the second control chip is connected with a gate of the sixth mos tube; A seventh pin of the third control chip is connected with a gate of the third mos tube, and a fifth pin of the third control chip is connected with a gate of the seventh mos tube; A seventh pin of the fourth control chip is connected with a gate of the fourth mos tube, and a fifth pin of the fourth control chip is connected with a gate of the eighth mos tube.
6. The drive controller of a stepping motor according to claim 5, wherein A source of the first mos tube, a source of the second mos tube, a source of the third mos tube and a source of the fourth mos tube are connected, a drain of the first mos tube is connected with a source of the fifth mos tube, a drain of the second mos tube is connected with a source of the sixth mos tube, a drain of the third mos tube is connected with a source of the sixth mos tube, and a drain of the fourth mos tube is connected with a source of the eighth mos tube; a drain of the fifth mos tube, a drain of the sixth mos tube, a drain of the seventh mos tube and a drain of the eighth mos tube are connected; a drain of the first mos tube is connected with a sixth pin of the first control chip; a drain of the second mos tube is connected with a sixth pin of the second control chip; a drain of the third mos tube is connected with a sixth pin of the third control chip; and a drain of the fourth mos tube is connected with a sixth pin of the fourth control chip.
7. The drive controller of a stepping motor according to claim 2, wherein The first pin of the first control chip, the first pin of the second control chip, the first pin of the third control chip and the first pin of the fourth control chip are connected.
8. A drive system for a stepper motor, characterized by The driving system of the step motor comprises at least a host and a plurality of slaves, the slaves are connected with the step motor, and the slaves comprise at least the driving controller of the step motor as claimed in any one of claims 1-7.
9. The drive system of a stepper motor according to claim 8, wherein The first sending pin of the host is connected with the second receiving pin of each slave, and the first receiving pin of the host is connected with the second sending pin of each slave.
10. The driving system of a stepping motor according to claim 8, wherein The slaves and the host transmit data through RS485.