Closed-loop control circuit of five-wire stepping motor

Abstract

The utility model relates to the technical field of motor control or adjustment, and especially relates to a stepping motor drive circuit. According to the technical scheme, the five-wire stepping motor closed-loop control circuit comprises an MCU module, a driving module and a detection module, the driving module is connected with the MCU module to receive a control signal and drive a stepping motor, the MCU module is connected with the detection module to read an amplified current detection signal, and the detection module is connected with the MCU module. A voltage signal output by the driving module is transmitted to the detection module for current detection, and the MCU module is further connected with a communication module. The closed-loop control circuit of the five-wire stepping motor solves the problems that in the prior art, a functional frame is complex, not easy to achieve, large in occupied space and difficult to communicate with the outside, and achieves the purposes of being simple, convenient, high in flexibility, high in adaptability, capable of improving the tail end space design flexibility and utilization rate of a mechanical structure and capable of achieving intelligent control.

Description

Technical Field

[0001] This utility model relates to the field of electric motor control or adjustment technology, and in particular to stepper motor drive circuits. Background Technology

[0002] To enhance customer attention, meet their needs, and stimulate purchasing desire in the current market environment, more and more electrical appliance manufacturers are demanding more innovative and detailed requirements for product functions and control. Based on this demand, stepper motors, which offer precise control and high cost-effectiveness, have become the optimal choice. The interaction between stepper motors and mechanical structures makes it possible to quantitatively control functional requirements such as circular motion, linear travel, and motion state. This allows for further refinement of various parameters, leading to the design of a variety of eye-catching products. Currently, most stepper motors use open-loop control. While adding sensors or rigid structures at the end of the mechanical structure can achieve position detection or limitation, this undoubtedly increases the design complexity of the mechanical structure and the overall cost of the product. For example, Chinese Patent Publication No. CN104883102B discloses a stepper motor drive circuit and provides the following technical solution. This invention relates to the field of motor drive technology, specifically to a stepper motor drive circuit, including: an MCU, a filter circuit, and a control circuit. The PWM signal output by the MCU is connected to the filter circuit, the reference voltage output by the filter circuit is connected to the control circuit, and the control circuit outputs a microstepping current to control the stepper motor. This invention uses resistors and capacitors to form a filter circuit, which, in conjunction with the PWM function of the MCU itself, can freely control the phase current of the stepper motor, thereby achieving greater microstepping of the stepper motor, achieving high precision and low noise, and is simple, reliable, and inexpensive.

[0003] However, the aforementioned stepper motor drive circuit has a complex functional framework, is difficult to implement, occupies a large space inside the product, and is difficult to communicate with external devices. Utility Model Content

[0004] This invention solves the problems of complex functional framework, difficulty in implementation, large space occupation, and difficulty in external communication in the prior art. This invention proposes a five-wire stepper motor closed-loop control circuit, which achieves the goals of simplicity, convenience, high flexibility, strong adaptability, improved flexibility and utilization of mechanical structure end space design, and intelligent control.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A closed-loop control circuit for a five-wire stepper motor includes an MCU module, a drive module, and a detection module. The drive module is connected to the MCU module to receive control signals and drive the stepper motor. The MCU module is connected to the detection module to read amplified current detection signals. The voltage signal output by the drive module is sent to the detection module for current detection. The MCU module is also connected to a communication module.

[0007] The advantage of this design is that it achieves closed-loop control of the system, enabling real-time monitoring and adjustment of the stepper motor's operating status, thereby improving control accuracy and response speed.

[0008] Preferably, in the drive module, terminal CN3 is connected to the stepper motor; pin 1 of resistor R2 is connected to pin 1 of chip U2; pin 1 of resistor R3 is connected to pin 2 of chip U2; pin 1 of resistor R4 is connected to pin 3 of chip U2; pin 1 of resistor R5 is connected to pin 4 of chip U2; pin 2 of terminal CN3 is connected to pin 10 of chip U2; pin 3 of terminal CN3 is connected to pin 9 of chip U2; pin 4 of terminal CN3 is connected to pin 8 of chip U2; pin 5 of terminal CN3 is connected to pin 7 of chip U2; pin 6 of the chip is connected to pin 1 of capacitor C3 and pin 1 of capacitor EC3; pin 2 of resistor RS1, pin 2 of capacitor C3, and pin 2 of capacitor EC3 are all grounded.

[0009] The advantage of this design is that it ensures the stability and reliability of the drive circuit, thereby effectively driving the stepper motor to achieve the expected motion control.

[0010] Preferably, in the detection module, pin 1 of chip U3 is connected to pin 1 of resistor R6, pin 2 of resistor R6 is connected to pin 5 of chip U2 and pin 1 of resistor RS1, pin 3 of chip U3 is connected to pin 2 of resistor R7 and pin 1 of resistor R8, pin 2 of chip U3 and pin 2 of capacitor C5 are both grounded, pin 4 of chip U3 is connected to pin 1 of resistor R7 and pin 1 of resistor R9, and pin 2 of resistor R7 is connected to pin 1 of resistor R8.

[0011] The advantage of this design is that the detection module can accurately detect the current signal and provide it to the MCU for feedback control, thereby improving the accuracy and stability of the closed-loop control system.

[0012] Preferably, in the MCU module, the IO1 port of chip U4 is connected to pin 2 of resistor R2, the IO2 port of chip U4 is connected to pin 2 of resistor R3, the IO3 port of chip U4 is connected to pin 2 of resistor R4, the IO4 port of chip U4 is connected to pin 2 of resistor R5, the IO5 port of chip U4 is connected to pin 2 of resistor R9, the VCC port of chip U4 is connected to pin 1 of capacitor C4 and pin 1 of capacitor EC4, and pins 2 of capacitor C4 and pin 2 of capacitor EC4 are both grounded.

[0013] The advantage of this design is that the MCU module can effectively control the various resistors of the drive module, thereby achieving precise control of the current in each phase of the stepper motor and improving the motor's operating performance.

[0014] Preferably, in the power module, pin 1 of terminal CN1 is connected to pin 1 of resistor R1, pin 2 of resistor R1 is connected to pin 1 of capacitor EC1, pin 1 of capacitor C1, and pin 2 of chip U1, pin 2 of terminal CN1, pin 2 of capacitor EC1, and pin 2 of capacitor C1 are all grounded, pin 3 of chip U1 is connected to pin 1 of capacitor EC2 and pin 1 of capacitor C2, and pin 1 of chip U1, pin 2 of capacitor EC2, and pin 2 of capacitor C2 are all grounded.

[0015] The advantage of this design is that the power module can provide a stable power supply voltage, ensuring the reliable operation of all modules in the system and avoiding system failures caused by voltage fluctuations.

[0016] Preferably, the terminal CN1 is connected to an external power supply device, and the chip U1 supplies power to the MCU module, the detection module, and the communication interface at the back end.

[0017] Preferably, the communication module includes a terminal CN2, with pin 4 of the terminal CN2 grounded, pin 2 of the terminal CN2 connected to the IO7 port of the chip U4, and pin 3 of the terminal CN2 connected to the IO6 port of the chip U4.

[0018] The advantage of this design is that the communication module can communicate with external devices, facilitating data exchange between the system and the outside world, and improving the system's controllability and interoperability.

[0019] Preferably, the MCU module, the driver module, the communication module, and the detection module are all powered by the power supply module.

[0020] Preferably, chip U3 is an operational amplifier and chip U2 is a Darlington transistor array.

[0021] Compared with the prior art, the beneficial effects of this utility model are:

[0022] 1. This invention achieves closed-loop control of a stepper motor through the close cooperation of an MCU module, a drive module, and a detection module. The drive module effectively drives the motor and outputs a stable voltage signal, while the detection module monitors the motor current in real time and feeds it back to the MCU for precise control. This design ensures that the system can adjust in real time during operation, improving the overall control accuracy and response speed, thereby effectively avoiding problems such as motor step loss, missed steps, or stalling, and ensuring the stability and reliability of the system.

[0023] 2. The power supply module of this invention supplies power to all modules via an external power supply device, ensuring stable voltage and preventing system failures caused by voltage fluctuations. Simultaneously, the circuit design of the drive and detection modules allows the system to flexibly adapt to five-wire stepper motors with different parameters, enhancing its applicability. The MCU module controls each current-limiting resistor to achieve precise control of the current in each phase of the motor, improving motor performance and further enhancing the overall system efficiency.

[0024] 3. The communication module in this invention establishes a reliable communication interface with external devices, enabling the system to exchange data with the outside world. Through the communication module, the system can achieve intelligent control and remote monitoring, greatly improving the system's controllability and interoperability. The real-time current monitoring data provided by the detection module, combined with the intelligent processing of the MCU, can further refine the control strategy, improve the system's intelligence level, and provide reliable technical support for various application scenarios. Attached Figure Description

[0025] Figure 1 This is a circuit diagram of the MCU module in a closed-loop control circuit for a five-wire stepper motor according to this utility model.

[0026] Figure 2 This is a circuit diagram of the detection module in a closed-loop control circuit for a five-wire stepper motor according to this utility model.

[0027] Figure 3 This is a circuit diagram of the drive module in a closed-loop control circuit for a five-wire stepper motor according to this utility model.

[0028] Figure 4 This is a circuit diagram of the power supply module in a closed-loop control circuit for a five-wire stepper motor according to this utility model.

[0029] Figure 5 This is a circuit diagram of the communication module in a closed-loop control circuit for a five-wire stepper motor according to this utility model. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. The proportions of the components are not drawn to scale, and the proportions and dimensions shown in the drawings should not limit the essential technical solutions of this utility model. These embodiments do not exhaustively describe all details, nor do they limit this utility model to merely the specific embodiments described.

[0031] See Figure 1-5 As shown, a closed-loop control circuit for a five-wire stepper motor includes an MCU module, a drive module, and a detection module. The drive module is connected to the MCU module to receive control signals and drive the stepper motor. The MCU module is connected to the detection module to read amplified current detection signals. The voltage signal output by the drive module is sent to the detection module for current detection. The MCU module is also connected to a communication module.

[0032] like Figure 1 In one embodiment shown, Figure 1 This is a circuit diagram of the MCU module in a closed-loop control circuit for a five-wire stepper motor according to this invention. First, through the connection of the I / O ports of chip U4 with various resistors, the MCU module can precisely control the current in the drive module. Specifically, the MCU module controls resistors R2 to R5 through I / O ports 1 to 4, thereby adjusting the power supply logic of the stepper motor coils. This design allows the MCU module to finely control the current of each phase of the stepper motor, improving the motor's operating accuracy and response speed, and ensuring stable operation of the stepper motor under different working conditions. This is particularly important for applications requiring high-precision control, such as medical equipment and precision instruments.

[0033] Secondly, the IO5 port of chip U4 is connected to the current detection circuit in the detection module via resistor R9, allowing the MCU to read the current signal output by the detection module in real time. This enables the MCU to perform feedback control based on the real-time current signal, adjusting the output of the drive module accordingly and further improving the system's closed-loop control capability. Through this method, the system can effectively detect and correct stepper motor operating deviations, preventing step loss and other issues, and improving overall operational reliability.

[0034] In terms of power supply design, the VCC port of chip U4 is connected to capacitors C4 and EC4. These capacitors function as power filters, providing a stable power supply voltage and ensuring the stable operation of chip U4. Capacitors C4 and EC4 reduce power supply noise and fluctuations through filtering, preventing system failures caused by power instability. This design ensures the reliability of the MCU module and further improves the stability of the entire system.

[0035] Furthermore, the communication module design enables the system to communicate with external devices. Pins 2 and 3 of terminal CN2 are connected to IO7 and IO6 ports of chip U4, respectively, allowing the MCU module to exchange data with external devices through these ports. This design not only improves the system's controllability and interoperability but also enables remote monitoring and control, achieving a higher level of intelligent operation. For example, in industrial automation systems requiring remote control, the communication module allows operators to monitor and adjust equipment operating status in real time via a network, improving production efficiency and safety.

[0036] In one embodiment, the main function of capacitors EC4 and C4 is power filtering to provide stable power to chip U4. Ports IO1 to IO4 of chip U4, after passing through current-limiting resistors R2 to R5 in the driver module, are connected to port B of chip U2 for controlling the power supply logic of the stepper motor coil. Port IO5 of chip U4 is connected to current-limiting resistor R9 in the detection module, and then connected to the output of chip U3 for reading the voltage value to ground at the output of chip U3. Furthermore, ports IO6 and IO7 of chip U4 are connected to a communication interface to enable communication with external devices.

[0037] like Figure 2 In one embodiment shown, Figure 2 This is a circuit diagram of the detection module in a closed-loop control circuit for a five-wire stepper motor according to this utility model. First, resistor R6 is connected to pin 1 of chip U3, and then connected to pin 5 of chip U2 and pin 1 of resistor RS1. This connection method effectively achieves current distribution and monitoring. Resistor RS1 is a resistor that generates a voltage drop due to induced current, used by chip U3 for current detection. This design improves the accuracy of current detection, ensuring that chip U3 can accurately obtain the operating status of the stepper motor.

[0038] R7 and R8 form a voltage divider network to adjust the amplification factor of the non-inverting amplifier circuit. The purpose is to amplify the voltage on RS1 by a specified factor for processing by the MCU module.

[0039] Pin 2 of chip U3 and pin 2 of capacitor C5 are both grounded. This design uses capacitor C5 to filter out power supply noise and transient interference, ensuring the stable operation of chip U3. Grounding allows the system to maintain a low noise level, further improving the accuracy and stability of current detection.

[0040] In one embodiment, resistors R6 and R9 are primarily used for current limiting and improving anti-interference capabilities, while capacitor C5 serves as power supply filtering to ensure a stable power supply to chip U3. Chip U3 is an operational amplifier, which, together with resistors R7 and R8, forms a non-inverting amplifier circuit. In this circuit, the non-inverting input of chip U3 is connected to resistor R6, and the other end of R6 is connected to the non-grounded terminal of resistor RS1 in the driver module. This allows the voltage to ground at the non-grounded terminal of RS1 to be transmitted to chip U3. The non-inverting amplifier can sense voltage changes at the non-grounded terminal of RS1 through this connection. The inverting input of chip U3 is connected to resistors R7 and R8, which form a resistor divider network. One end of resistor R7 is connected to the output of chip U3, while the other end of resistor R8 is grounded. This design allows the voltage signal to be properly regulated and stabilized through the resistor divider network, enabling the operational amplifier to function normally. Due to the characteristics of the non-inverting amplifier, the voltage to ground at the non-grounded terminal of RS1 is amplified to a set factor before being transmitted to the MCU module for further processing. This design not only effectively improves the amplification accuracy of the signal, but also ensures the stability and anti-interference capability of the signal during transmission.

[0041] like Figure 3 In one embodiment shown, Figure 3 This is a circuit diagram of the drive module in a closed-loop control circuit for a five-wire stepper motor according to this utility model. Firstly, the connection of resistors R2 to R5 helps limit current and protect chip U2. These resistors effectively control the current flowing through the pins of chip U2, preventing excessive current from damaging the chip, and also buffering signal transmission to ensure signal stability.

[0042] Secondly, the connection method between terminal CN3 and the stepper motor ensures the power supply to each phase coil of the stepper motor. This direct connection ensures a short and stable signal transmission path, thereby improving the response speed and accuracy of the stepper motor. Pins 2, 3, 4, and 5 of terminal CN3 are connected to the corresponding pins of chip U2, which allows the control signals to be accurately transmitted to each phase coil of the stepper motor, ensuring that the motor can operate according to the predetermined logic.

[0043] Furthermore, the connection between pin 6 of chip U2 and capacitors C3 and EC3 provides effective power supply filtering. These two capacitors work together to filter out high-frequency noise and transient interference in the power supply, ensuring that chip U2 can obtain a stable power supply voltage, thereby improving the stability and reliability of the entire circuit.

[0044] Finally, the grounding design of the other end of resistor RS1 with capacitors C3 and EC3 further enhances the circuit's anti-interference capability. This grounding treatment effectively filters out power supply noise and electromagnetic interference, ensuring the stability and reliability of chip U2 and the stepper motor during operation.

[0045] In one embodiment, terminal CN3 is used to connect to the controlled stepper motor. The main functions of resistors R2 to R5 are current limiting and improving anti-interference capability. Capacitors EC3 and C3 act as power filters, providing stable power to chip U2 and the stepper motor.

[0046] Chip U2 is a Darlington transistor array that receives a small current signal at port B and drives a stepper motor to perform corresponding actions at port C. Resistor RS1 is connected to pin E of chip U2 as a current sensing resistor for the ground bus.

[0047] During circuit operation, the load current flows in from terminal CN3, passes through the stepper motor and port C of chip U2, and finally flows out from port E of chip U2. This current then flows to ground (GND network) through resistor RS1, generating a certain potential difference across RS1. Since one end of RS1 is directly connected to the GND network, the voltage to ground at the non-grounded end of RS1 is equal to this potential difference. By transmitting the voltage signal at the non-grounded end of RS1 to the detection module, the current flowing through chip U2 can be accurately obtained.

[0048] This design, through a reasonable configuration of resistors and capacitors and the use of a Darlington transistor array, achieves stable control of the stepper motor and accurate current detection. The current-limiting function of resistors R2 to R5 protects the circuit from excessive current damage to components, while also improving anti-interference capabilities and ensuring stable signal transmission. The filtering effect of capacitors EC3 and C3 ensures that chip U2 and the stepper motor receive stable power, thereby improving the overall stability of the system.

[0049] Using resistor RS1 as a ground bus current sensing resistor allows for accurate measurement of the current flowing through chip U2 by detecting the voltage difference across its terminals, providing reliable data support for subsequent current monitoring and control.

[0050] like Figure 4 In one embodiment shown, Figure 4This is a circuit diagram of the power module in a five-wire stepper motor closed-loop control circuit of this utility model. First, resistor R1 is used for current limiting to prevent excessive current from entering the circuit, thereby protecting the subsequent capacitors and chip U1. This current limiting design is crucial in the power module, effectively preventing circuit damage due to sudden large currents. Second, capacitors EC1 and C1 are used for power filtering; their configuration significantly reduces power noise and ripple. By connecting the capacitors between the power supply terminal and the ground terminal, the power supply voltage can be smoothed, ensuring a stable power supply to chip U1 and the entire power module. Pin 3 of chip U1 is connected to capacitors EC2 and C2, which further filter and smooth the voltage. This ensures that chip U1 receives a cleaner and more stable voltage during operation, reducing instability or signal distortion caused by power fluctuations. Finally, the common grounding design of pin 1 of chip U1 and capacitors EC2 and C2 helps establish a unified reference ground, reducing interference and noise caused by ground loops. This grounding method effectively improves the anti-interference capability of the power module, ensuring the overall stability and reliability of the circuit.

[0051] In one embodiment, terminal CN1 is connected to an external power supply. Resistor R1 limits current and reduces power consumption on chip U1. Capacitors EC1 and C1 filter the input voltage of U1 to ensure its stability. Capacitors EC2 and C2 filter the output voltage of U1 to further smooth it. Chip U1 provides a stable power supply to the downstream MCU module, detection module, and communication interface. This design effectively protects chip U1, ensures the purity of the input voltage with capacitors EC1 and C1, and guarantees the stability of the output voltage with capacitors EC2 and C2, thus providing reliable power support for subsequent modules.

[0052] like Figure 5 In one embodiment shown, Figure 5 This is a circuit diagram of the communication module in a closed-loop control circuit for a five-wire stepper motor according to this utility model. The communication module includes terminal CN2, pin 4 of terminal CN2 is grounded, pin 2 of terminal CN2 is connected to IO7 port of chip U4, and pin 3 of terminal CN2 is connected to IO6 port of chip U4.

[0053] The principle of closed-loop control of the five-wire stepper motor designed in this utility model is as follows:

[0054] Based on the working principle of stepper motors, the controller needs to apply or remove voltage to each coil of the stepper motor in an orderly and periodic cycle to drive the stepper motor to rotate smoothly. This invention allows the MCU module to control the drive module while simultaneously driving the controlled stepper motor, and the detection module to obtain the current value flowing through the controlled stepper motor in real time during the current operation. This current value is compared with a set current value. If the deviation is within the set range, the controlled stepper motor's operating state under the current operation is consistent with the requirements. If the deviation exceeds the set range, the direction, difference, and slope of the deviation can be used to comprehensively determine the abnormal state of the controlled stepper motor under the current operation, thereby achieving closed-loop control of the five-wire stepper motor.

[0055] 1. Motor connection test

[0056] When it is necessary to detect whether the controlled stepper motor is connected, all the coils of the controlled stepper motor can be powered at the same time. At this time, the MCU module detects whether the current on RS1 is normal to determine whether the controlled stepper motor is connected.

[0057] 2. Step loss detection

[0058] During the normal operation of the controlled stepper motor, the total current flowing through the controlled stepper motor is detected in real time. If the current is the same as when the controlled stepper motor is powered off, it is considered that the current is in a step loss state. For example, if the MCU module requires the drive module to supply power to phase A of the controlled stepper motor, but no corresponding current is detected flowing through RS1 at this time, it can be considered that the current is in a step loss state.

[0059] 3. Step loss detection

[0060] During the normal operation of the controlled stepper motor, the total current flowing through the controlled stepper motor is detected in real time. If the current is significantly greater than the set current for the current step, the controlled stepper motor is considered to be in a stepless state. For example, if the MCU module requires the drive module to supply power to phase A of the controlled stepper motor, but the current detected on RS1 is much greater than the current when phase A is working normally, it can be considered to be in a stepless state.

[0061] 4. Stall detection

[0062] Based on the step loss detection, if the current detected on RS1 is greater than the current set for each operation in several consecutive cycles, the controlled stepper motor can be considered to be in a stalled state.

[0063] 5. Torque control

[0064] A stepper motor essentially generates a rotating magnetic field by controlling the power supply logic of each coil on the stator. The strength of the magnetic field is related to the intensity of the current flowing through the coil; a stronger magnetic field means a stronger attraction and repulsion force on the permanent magnets on the rotor, resulting in greater output torque. This invention introduces a detection module to achieve a closed-loop control system. It can detect the total current flowing through the controlled stepper motor, allowing the MCU module to further subdivide the coil power supply logic in the smallest unit of time within a cycle. By supplying power to the coils in the form of PWM, the strength of the magnetic field generated by the stator is controlled by controlling the intensity of the current flowing through the coils, thereby controlling the output torque of the rotor.

[0065] This utility model is not limited to the above-described embodiments. Any changes made to its shape or material composition, as long as the structural design provided by this utility model is adopted, are considered a variation of this utility model and should be regarded as within the protection scope of this utility model.

Claims

1. A closed loop control circuit for a five wire stepper motor, characterized by, The MCU module, the driving module and the detection module are included, the input end of the Darlington transistor array U2 of the driving module is connected with the IO port of the single-chip microcomputer U4 through the current-limiting resistor, the output end is connected to the step motor interface, receives the control signal of the MCU module and drives the step motor, the output end of the operational amplifier U3 of the detection module is connected with the IO port of the single-chip microcomputer U4, the MCU module is connected with the detection module to read the amplified current detection signal, the two ends of the detection resistor of the driving module are connected with the input end of the operational amplifier U3, the voltage signal output by the driving module is subjected to current detection by the detection module, and the IO port of the single-chip microcomputer U4 of the MCU module is further connected with the communication interface CN2 of the communication module.

2. The five-phase stepper motor closed loop control circuit according to claim 1, wherein, In the driving module, the terminal CN3 is connected with the step motor, the 1 pin of the resistor R2 is connected with the 1 pin of the chip U2, the 1 pin of the resistor R3 is connected with the 2 pin of the chip U2, the 1 pin of the resistor R4 is connected with the 3 pin of the chip U2, the 1 pin of the resistor R5 is connected with the 4 pin of the chip U2, the 2 pin of the terminal CN3 is connected with the 10 pin of the chip U2, the 3 pin of the terminal CN3 is connected with the 9 pin of the chip U2, the 4 pin of the terminal CN3 is connected with the 8 pin of the chip U2, the 5 pin of the terminal CN3 is connected with the 7 pin of the chip U2, the 6 pin of the chip is connected with the 1 pin of the capacitor C3 and the 1 pin of the capacitor EC3, the 2 pin of the resistor RS1 is connected with the 2 pin of the capacitor C3 and the 2 pin of the capacitor EC3.

3. A five-phase stepper motor closed loop control circuit according to claim 2, wherein, In the detection module, the 1 pin of the chip U3 is connected with the 1 pin of the resistor R6, the 2 pin of the resistor R6 is connected with the 5 pin of the chip U2 and the 1 pin of the resistor RS1, the 3 pin of the chip U3 is connected with the 2 pin of the resistor R7 and the 1 pin of the resistor R8, the 2 pin of the chip U3 and the 2 pin of the capacitor C5 are grounded, the 4 pin of the chip U3 is connected with the 1 pin of the resistor R7 and the 1 pin of the resistor R9, and the 2 pin of the resistor R7 is connected with the 1 pin of the resistor R8.

4. The five-phase stepper motor closed loop control circuit according to claim 3, wherein, In the MCU module, the IO1 port of the chip U4 is connected with the 2 pin of the resistor R2, the IO2 port of the chip U4 is connected with the 2 pin of the resistor R3, the IO3 port of the chip U4 is connected with the 2 pin of the resistor R4, the IO4 port of the chip U4 is connected with the 2 pin of the resistor R5, the IO5 port of the chip U4 is connected with the 2 pin of the resistor R9, the VCC port of the chip U4 is connected with the 1 pin of the capacitor C4 and the 1 pin of the capacitor EC4, and the 2 pin of the capacitor C4 and the 2 pin of the capacitor EC4 are grounded.

5. The five-phase stepper motor closed loop control circuit according to claim 1, wherein, The MCU module, the driving module, the communication module and the detection module are all powered by the power module.

6. A five-phase stepper motor closed loop control circuit according to claim 5, wherein, In the power module, the 1 pin of the terminal CN1 is connected with the 1 pin of the resistor R1, the 2 pin of the resistor R1 is connected with the 1 pin of the capacitor EC1, the 1 pin of the capacitor C1 and the 2 pin of the chip U1, the 2 pin of the terminal CN1 is connected with the 2 pin of the capacitor EC1 and the 2 pin of the capacitor C1, and the 3 pin of the chip U1 is connected with the 1 pin of the capacitor EC2 and the 1 pin of the capacitor C2, the 1 pin of the chip U1 and the 2 pin of the capacitor EC2 and the 2 pin of the capacitor C2 are grounded, and the chip U1 is a three-terminal voltage stabilizing chip.

7. A five-phase stepper motor closed loop control circuit according to claim 6, wherein, The terminal CN1 is connected with an external power supply device, and the chip U1 supplies power for the MCU module, the detection module and the communication interface of the rear end.

8. The five-phase stepper motor closed loop control circuit according to claim 7, wherein, The communication module comprises a terminal CN2, a 4-pin of the terminal CN2 is grounded, a 2-pin of the terminal CN2 is connected with an IO7 port of the chip U4, and a 3-pin of the terminal CN2 is connected with an IO6 port of the chip U4.

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