A synchronous acceleration and deceleration circuit

Abstract

This utility model relates to the field of control or regulation technology for electric motors, generators, or electromechanical converters. A synchronous acceleration / deceleration circuit includes a delay timing circuit, an acceleration / deceleration synchronization circuit, and a multiplexing circuit. The delay timing circuit, through input synchronization signals and multiple delay times, outputs acceleration / deceleration synchronization signals to the acceleration / deceleration synchronization circuit. The acceleration / deceleration synchronization circuit, through input acceleration / deceleration synchronization signals, step direction selection signals, and position signals, outputs the final acceleration / deceleration distance and final acceleration / deceleration position to the multiplexing circuit. The multiplexing circuit outputs step control signals and direction control signals to the motor. This invention solves the problems of high wear and insufficient positioning accuracy caused by high-frequency start / stop of motors in existing technologies, achieving precise compensation of running time, seamless switching between multiple modes, and rapid calibration of absolute position.

Description

Technical Field

[0001] This utility model relates to the field of control or regulation technology of electric motors, generators or electromechanical converters, and in particular to a device for controlling synchronous motors or other electromechanical motors that use electronic commutators that depend on rotor position. Background Technology

[0002] Stepper motors are widely used in modern society. They are essential in industrial automation, medical applications, and any other application requiring rotation. Furthermore, due to the significant differences in these applications, the specific drive requirements for stepper motors are numerous. Currently, most stepper motor motion profiles are driven using external microcontroller programming. The drive signals are programmed into the microcontroller and then input into the chip to drive the motor. However, this method is not only costly and complex to use, but also wastes microcontroller resources.

[0003] For example, Chinese Patent CN104038117B discloses a fast braking circuit for a three-phase electromagnetic geared permanent magnet low-speed synchronous motor, providing the following technical solution: This invention discloses a fast braking circuit for a three-phase electromagnetic geared permanent magnet low-speed synchronous motor. This invention includes an operation control circuit and a low-speed synchronous motor drive circuit, specifically including a regulated power supply module U0, a clock U5, a processor IC1, a forward / reverse module U1, an upper half-wave solid-state relay U2, a lower half-wave solid-state relay U3, an AC solid-state relay U4, an inductor L1, AB phase resistors R1, AB phase capacitors C1, BC phase resistors R2, BC phase capacitors C2, and a three-phase electromagnetic geared permanent magnet low-speed synchronous motor M, etc. This invention addresses the parking and forward-reverse switching transitions of a three-phase electromagnetic geared permanent magnet low-speed synchronous motor by reconfiguring the three-phase windings into a single-loop structure and employing a half-cycle rectifier braking control circuit. This shortens parking and braking times, significantly improving the positioning control performance of the motor. The solution is simple, reliable, cost-effective, and versatile. However, the aforementioned rapid braking circuit for a three-phase electromagnetic geared permanent magnet low-speed synchronous motor cannot achieve synchronous acceleration / deceleration control and precise time compensation, leading to easy step loss and low positioning efficiency in high-frequency reciprocating scenarios. Utility Model Content

[0004] This invention solves the problems of high wear and insufficient positioning accuracy of motors during high-frequency start-stop in the prior art. It proposes a synchronous acceleration and deceleration circuit, which achieves the goals of accurate compensation of running time, seamless switching between multiple modes, and rapid calibration of absolute position.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A synchronous acceleration / deceleration circuit includes a delay timing circuit, an acceleration / deceleration synchronization circuit, and a multiplexing circuit. The delay timing circuit inputs a synchronization signal and multiple delay times, and outputs an acceleration / deceleration synchronization signal to the acceleration / deceleration synchronization circuit. The acceleration / deceleration synchronization circuit inputs the acceleration / deceleration synchronization signal, a stepping direction selection signal, and a position signal, and outputs the final acceleration / deceleration distance and the final acceleration / deceleration position to the multiplexing circuit. The multiplexing circuit outputs a stepping control signal and a direction control signal to the motor.

[0006] This structure achieves coordinated operation of timing control, path compensation, and signal multiplexing through modular design, ensuring the real-time performance of synchronous acceleration and deceleration control at the hardware level. At the same time, it enables seamless switching between two operating modes through multiplexing circuits, significantly reducing the reliance on external processor computing power.

[0007] Preferably, in the delay timing circuit, chip U1 includes flip-flops U1.1 and U1.2. A synchronization signal is input to the input of flip-flop U1.1, and its output is connected to the input of flip-flop U1.2. The output signal of flip-flop U1.2 is inverted by an inverter and then input together with the output signal of flip-flop U1.1 into an AND gate. The final output is the total output synchronization pulse signal of chip U1, which is output to the RST port of chip U2. A first-level delay time is input to the input of chip U2, and its output is a first-level delay pulse connected to the RST port of chip U3. A second-level delay time is input to the input of chip U3, and its output is a second-level delay pulse, which is used as an acceleration / deceleration synchronization signal to the acceleration / deceleration synchronization circuit.

[0008] Preferably, in the acceleration / deceleration synchronization circuit, chip U4 includes flip-flops U4.1 and U4.2. The step direction selection signal is input to the input terminal of flip-flop U4.1, and the output terminal is connected to the input terminal of flip-flop U4.2. The output signals of flip-flop U4.1 and flip-flop U4.2 are input together to an XOR gate, and the final output is the total output step direction selection switching pulse signal of chip U4, which is output to the first and second multiplexers.

[0009] Preferably, in the acceleration / deceleration synchronization circuit, the LATCH port of chip U5 receives the acceleration / deceleration synchronization signal generated from the output of chip U3, the input of chip U5 is connected to an external distance signal, and the distance input signal is transmitted to the second input port of chip U6 through the output; the first input port of chip U6 receives the remaining acceleration / deceleration distance signal generated from the output of chip U7, and the output of chip U6 outputs the acceleration / deceleration distance to the first multiplexer.

[0010] The system automatically calculates the superposition of the old and new distances each time a synchronization signal arrives, achieving dynamic compensation for incomplete distances. This ensures that when a new motion command is initiated at any time, the system can automatically adjust the total amount of motion to maintain a linear relationship between time and position.

[0011] Preferably, in the acceleration / deceleration synchronization circuit, the input terminal of the first multiplexer receives the acceleration / deceleration path generated from the output terminal of the chip U6 and the absolute position generated from the output terminal of the absolute position circuit. It selects the direction of acceleration / deceleration through the step direction selection switching pulse signal generated from the output terminal of the chip U4, and the output terminal transmits the final acceleration / deceleration path to the multiplexing circuit and the second input terminal of the chip U7.

[0012] By configuring a smart switching mechanism for the multiplexer, seamless hardware-level switching between absolute position mode and relative position mode is achieved. This supports scenarios requiring absolute positioning, such as camera focusing, while also meeting the relative position control requirements during continuous shooting, significantly improving the flexibility of system applications.

[0013] Preferably, in the acceleration / deceleration synchronization circuit, the input terminal of the second multiplexer receives the absolute position generated by the output terminal of the external acceleration / deceleration position and absolute position circuit, selects the position by the step direction selection switching pulse signal generated by the output terminal of chip U4, and transmits the final acceleration / deceleration position to the multiplexing circuit.

[0014] Preferably, the multiplexing circuit includes an acceleration / deceleration unit and a distance compensation unit. The first input terminal of the acceleration / deceleration unit receives the final acceleration / deceleration distance generated from the output terminal of the first multiplexer. The second input terminal of the acceleration / deceleration unit receives the final acceleration / deceleration position generated from the output terminal of the second multiplexer. The output terminal outputs the final acceleration / deceleration position to the first input terminal of the chip U7, outputs an acceleration / deceleration step signal to the third multiplexer, and outputs an acceleration / deceleration direction signal to the fourth multiplexer.

[0015] Preferably, the input of the distance compensation unit receives the distance time signal and synchronization signal from the outside, as well as the first-level delay time and the second-level delay time. The output of the unit outputs the distance compensation step signal to the third multiplexer and the output of the unit outputs the distance compensation direction signal to the fourth multiplexer.

[0016] The independently designed VD compensation channel retains the original time-velocity linear calculation characteristics and optimizes the velocity curves under different scenarios through parameterized configuration of delay time, ensuring the timing consistency of multi-axis linkage.

[0017] Preferably, the third multiplexer input receives acceleration / deceleration step signals generated from the output of the acceleration / deceleration unit and distance compensation step signals generated from the output of the distance compensation unit, selects between them using an external step direction selection signal, and transmits motor stepping control to the motor at the output. The fourth multiplexer input receives acceleration / deceleration direction signals generated from the output of the acceleration / deceleration unit and distance compensation direction signals generated from the output of the distance compensation unit, selects between them using an external step direction selection signal, and transmits motor direction control to the motor at the output.

[0018] Preferably, the output of the absolute position circuit receives motor direction control generated from the output of the fourth multiplexer, the EN port receives motor stepping control generated from the output of the third multiplexer, and the output outputs the absolute position to the first multiplexer and the second multiplexer.

[0019] The closed-loop absolute position counter design tracks the final effective drive signal in real time. Through the coordinated sampling of the EN enable signal and the DIR direction signal, it ensures that the position count is completely synchronized with the actual rotation of the motor, providing reliable global position feedback for the system and realizing precise positioning without the need for external sensors.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows.

[0021] 1. This utility model incorporates synchronous control into the acceleration / deceleration function, making the initiation of acceleration / deceleration controllable. Furthermore, it adds a distance compensation function, allowing the synchronous acceleration / deceleration function to be flexible in terms of end time; any unfinished distance will be retained and added to the next synchronous acceleration / deceleration run.

[0022] 2. This invention incorporates an absolute position function. The acceleration / deceleration function operates in absolute position mode, meaning the distance traveled each time is added to the actual position, starting from the last reached position. However, the synchronous acceleration / deceleration and distance compensation functions operate in relative position mode, meaning the distance traveled each time starts from 0. Adding the absolute position function allows users to freely switch between the three modes. Especially when switching from synchronous acceleration / deceleration and distance compensation functions to acceleration / deceleration function, the previously traveled relative distance is still added to the actual position during acceleration / deceleration. This ensures that the absolute position always originates from the initial starting point.

[0023] 3. This utility model integrates delayed timing control, dynamic distance compensation, and hardware multiplexing technology through modular design. It uses dual D flip-flops and a programmable delay counter to construct a precise timing chain. By generating synchronous pulse signals through edge detection and multi-level delay, it eliminates the risk of motor mis-triggering and establishes a time reference. The direction switching detection mechanism based on XOR logic, combined with the intelligent arbitration of the multiplexer, achieves seamless hardware-level switching between absolute and relative position modes. While ensuring the consistency of position data, it supports dynamic distance superposition compensation to meet the requirements of high-speed and precise positioning. The multiplexing circuit integrates dual channels for acceleration / deceleration and VD compensation. It achieves single-cycle control switching through the final-stage multiplexer. With the help of a closed-loop absolute position counter, it tracks the motor status in real time, reducing the processor load while ensuring the consistency of multi-axis linkage timing. Ultimately, it achieves fully autonomous and precise positioning control without the need for external sensors. Attached Figure Description

[0024] Figure 1 This is a circuit diagram of a synchronous acceleration / deceleration circuit according to the present invention.

[0025] Illustration: 1. Distance; 2. Time; 3. Synchronization signal; 4. Step direction selection; 5. First-level delay time; 6. Second-level delay time; 7. Distance compensation direction signal; 8. Distance compensation step signal; 9. Motor stepping control; 10. Motor direction control; 11. Acceleration / deceleration position. Detailed Implementation

[0026] 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.

[0027] See Figure 1 As shown, a synchronous acceleration / deceleration circuit includes a delay timing circuit, an acceleration / deceleration synchronization circuit, and a multiplexing circuit. The delay timing circuit inputs a synchronization signal and multiple delay times, and outputs an acceleration / deceleration synchronization signal to the acceleration / deceleration synchronization circuit. The acceleration / deceleration synchronization circuit inputs the acceleration / deceleration synchronization signal, a stepping direction selection signal, and a position signal, and outputs the final acceleration / deceleration distance and the final acceleration / deceleration position to the multiplexing circuit. The multiplexing circuit outputs a stepping control signal and a direction control signal to the motor.

[0028] like Figure 1 In one embodiment shown, Figure 1This is a circuit diagram of a synchronous acceleration / deceleration circuit according to this utility model. The circuit mainly consists of a delay timing circuit, an acceleration / deceleration synchronization circuit, a multiplexing circuit, and an absolute position circuit, forming a collaborative working system. In the delay timing circuit section, a multi-stage cascaded timing processing structure is used to achieve precise synchronization control. Specifically, chip U1 consists of two D flip-flops, U1.1 and U1.2, forming an edge detection module. The synchronization signal input terminal is connected to the data input port of U1.1, and its output terminal is connected to the clock input terminal of U1.2 via an inverter. The two flip-flops are combined using an AND gate to generate a synchronization pulse signal, which is output to the reset terminal of U2. The first-stage delay time parameter is input to the U2 subtraction counter through the DT1 register. When the synchronization pulse is triggered, U2 starts counting down until it reaches zero, generating a first-stage delay pulse signal. This signal triggers the U3 second-stage delay counter to start the countdown of the DT2 parameter, ultimately outputting a second-stage delay pulse as the acceleration / deceleration synchronization signal.

[0029] The core module of the acceleration / deceleration synchronization circuit includes state switching detection, distance compensation calculation, and position synchronization mechanism. Chip U4 uses a dual D flip-flop structure (U4.1 and U4.2) to form the direction switching detection unit. The step direction selection signal is input to the data terminal of U4.1, and its output is XORed with the output of U4.2 to generate a direction switching pulse. This pulse signal simultaneously controls the selection state of the first and second multiplexers. Chip U5 acts as a signal latch. After receiving the second-level delayed pulse from U3, it locks the externally input target distance signal and transmits it to the second input terminal of adder U6. Subtractor U7 calculates the remaining distance for acceleration / deceleration in real time and inputs the difference (target distance - current position) to the first input terminal of U6, forming a dynamic distance compensation mechanism.

[0030] The multiplexed control module employs a dual-mode parallel architecture. The acceleration / deceleration unit receives the final target distance from the first multiplexer and the current position parameters from the second multiplexer, generating stepping pulses and direction signals through an internal speed profile algorithm. The synchronously operating distance compensation unit independently processes the time-distance parameters, automatically calculating the constant speed based on preset DT1 and DT2 delay parameters and running time. The third and fourth multiplexers dynamically switch the output signals of the acceleration / deceleration mode and the distance compensation mode according to the external mode selection signal, ultimately forming a closed-loop control system with the output motor stepping control signal and direction control signal.

[0031] The absolute position circuit employs a bidirectional counter structure to achieve position information fusion. Its EN enable terminal receives the stepping pulse signal from the third multiplexer, and its DIR direction terminal connects to the direction output of the fourth multiplexer, realizing forward and reverse position accumulation. This circuit forms a feedback loop with the first and second multiplexers via a data bus. When the system switches operating modes, it can synchronously inject the absolute position parameters into the position register of the acceleration / deceleration module, ensuring coordinate system consistency between different modes.

[0032] In the specific circuit connection, the output of the U6 adder is connected to channel 0 of the first multiplexer, and simultaneously forms a data loop with the minuend of the U7 subtractor. Channel 0 of the second multiplexer is connected to the current position output of the acceleration / deceleration unit, and channel 1 is connected to the output bus of the absolute position counter. The acceleration / deceleration unit and the distance compensation unit in the multiplexed circuit are designed with independent clock domains and exchange data through an asynchronous FIFO. In addition to driving the motor, the output of the third multiplexer also generates the enable clock for the absolute position counter through a frequency divider circuit.

[0033] In another embodiment, this invention improves and combines acceleration / deceleration and distance compensation functions. Based on the original acceleration / deceleration (automatic acceleration / deceleration) and distance compensation (VD compensation) functions, it implements synchronous acceleration / deceleration and absolute position functions, allowing for different operating modes to be selected in different application environments and seamless switching between them. Specifically, it includes: 1. Automatic acceleration / deceleration function The automatic acceleration / deceleration mode improves upon acceleration and deceleration by adding a synchronization function to the writing of actual position and target distance. It also calculates the remaining distance based on the written acceleration / deceleration target distance and actual acceleration / deceleration position, and performs compensation calculations during the next synchronous write to compensate for the unfinished distance in the new run.

[0034] In this mode, all registers related to acceleration and deceleration need to be set. The synchronous acceleration and deceleration function will automatically accelerate and decelerate according to the set parameters. The speed profile control method is the same as that of the automatic acceleration and deceleration function.

[0035] 2. Distance compensation function Once the target position and running time are set, the chip will automatically provide a constant running speed. After a first-level delay and a second-level delay, it will start running at a constant speed to ensure that it reaches the target position when the running time ends, and stops immediately after reaching the target position.

[0036] To ensure that the motor can reach the target position within a specified time, and if there is any unfinished motor distance at the start of a new movement, the chip will increase the speed so that the motor can complete the sum of the remaining distance and the new distance within the running time.

[0037] 3. Absolute position function The target distance for the distance compensation function is a relative distance. The actual position is cleared to zero each time the synchronization signal starts, and the target distance only represents the distance and direction of this synchronization operation.

[0038] The target distance in the synchronous acceleration / deceleration function is the absolute distance. The actual position will be continuously accumulated according to the step direction signal generated by the acceleration / deceleration function, but it will not be accumulated in the two synchronous modes.

[0039] Adding an absolute position, counting is based solely on the final generated step direction signal, representing the absolute position of the motor's operation. Writing the absolute position will simultaneously update the target distance and actual position in the acceleration / deceleration module function.

[0040] In another embodiment, the present invention includes the following modules: 1. Delay Timing Module U1: Detects the rising edge of the synchronization signal. When the VD signal is at its rising edge, the first register U1.1 of U1 will output 1, and U1.2 will output 0. The synchronization signal pulse will output a clock pulse signal.

[0041] U2: Level 1 Delay Count. When the synchronization signal pulse arrives, U2 is enabled and reset to DT1, then decrements by 1 every clock cycle until U2 equals 0. At this point, a clock pulse signal is output to indicate that the Level 1 delay count is complete.

[0042] U3: Second-level delay counter. When the first-level delay pulse arrives, U3 is enabled and reset to DT2, and decrements by 1 every clock cycle until U3 equals 0. At this point, a clock pulse signal will be output to indicate that the second-level delay count is complete.

[0043] 2. Acceleration / deceleration synchronization module U4: Edge detection calculation. When the step direction selection signal is at the rising or falling edge, the first register U4.1 and the second register U4.2 of U4 will output opposite values, and the step direction selection switching pulse will output a clock pulse signal. When the pulse signal is enabled, the absolute position will be written into the acceleration and deceleration distance and position, thereby synchronizing the relative position of the distance compensation operation to the absolute position of acceleration and deceleration.

[0044] U5: Signal latch. When the second-level delay pulse arrives, U5 is enabled to determine the distance input for this synchronous acceleration / deceleration operation.

[0045] U6: Addition calculation. The synchronous operation for this run is: Acceleration / deceleration distance = Distance input + Remaining acceleration / deceleration distance. This distance, along with the absolute position, is input to the acceleration / deceleration module after passing through the step direction selection pulse signal for automatic acceleration / deceleration.

[0046] U7: Subtraction calculation. Remaining acceleration / deceleration distance = Acceleration / deceleration distance (written) - Acceleration / deceleration position (read). This distance will be added to the distance input as the total acceleration / deceleration distance.

[0047] 3. Reusable Modules This module utilizes patented technologies: acceleration / deceleration and VD compensation. It inputs the signals processed by the previous modules into two multiplexing modules to obtain step signals and direction signals.

[0048] 4. Step direction selection After acceleration / deceleration and VD compensation generate the stepping signal STEP and the direction signal DIR, the stepping direction selection signal performs a 2-to-1 selection to obtain the final motor stepping control signal and motor direction control signal. 5. Absolute position U8: Accumulates the final motor stepping control signal and motor direction control signal. STEP (one clock pulse) enables the absolute position to be accumulated or subtracted, selected by the DIR signal. The accumulated absolute position represents the current actual position.

[0049] The target distance for VD distance compensation is a relative distance. The actual position is reset to zero at the start of each synchronization signal, and the target distance only represents the distance and direction of this synchronization. The target distance for acceleration / deceleration functions is an absolute distance, and the actual position will continuously accumulate based on the step direction signal generated by the acceleration / deceleration function, but it will not accumulate in VD distance compensation mode.

[0050] The absolute position is counted only based on the final generated step direction signal, representing the absolute position of the movement. When switching from VD distance compensation mode to acceleration / deceleration mode or writing the absolute position, the absolute position will be written into the distance and position in the acceleration / deceleration module function.

[0051] In addition, regarding the distance compensation unit, the distance compensation unit in this embodiment is specifically as follows (which can be implemented through existing technology): 1. Delay timing module U1: Detects the rising edge of the synchronization signal. When the VD signal is at its rising edge, the first register U1_1 of U1 will output 1, U1_2 will output 0, and VD_PLS_POS will output a clock pulse signal.

[0052] U2: Level 1 delay counter. When the VD_PLS_POS pulse arrives, U2 is enabled and reset to DT1, then decrements by 1 every clock cycle until U2 equals 0. At this point, DT1_PLS will output a clock pulse signal, indicating that the level 1 delay counter is complete.

[0053] U3: Second-level delay counter. When the DT1_PLS pulse arrives, U3 is enabled and reset to DT2, and decrements by 1 every clock cycle until U3 equals 0. At this time, DT2_PLS will output a clock pulse signal to indicate that the second-level delay counter is complete.

[0054] 2. Speed ​​Calculation Module U4, U5: Data latch. When the DT1_PLS pulse arrives, U4 and U5 are enabled to latch the path PSUM and time RUNT respectively, thus obtaining the write path PSUM_write and write time RUNT_write for this synchronous operation.

[0055] U6: Addition calculation. The total distance traveled in this synchronous run is XTARGET = PSUM_write + PSUM_remain_DT2.

[0056] PSUM_remain_DT2 is the remaining distance expected to end at DT2.

[0057] U7: Division calculation. The speed of this synchronous operation is VACTUAL_pr = XTARGET / RUNT_write.

[0058] 3. Step direction signal generation module U8: Data latch. When the DT2_PLS pulse arrives, U8 is enabled to latch VACTUAL_pr, obtaining the actual speed VACTUAL for this synchronous operation.

[0059] U9: Count Overflow. When U9 reaches full scale or overflows, it outputs a clock pulse signal STEP as a step signal. The direction signal DIR is equal to the most significant bit of VACTUAL, representing the direction of operation.

[0060] 4. Remaining Distance Calculation Module U10: Counting and Accumulation Module. It accumulates data based on the step and direction signals. STEP (one clock pulse) enables XACTUAL for incrementing or decrementing, selected by the DIR signal. The accumulated XACTUAL result represents the current actual position.

[0061] U11: Subtraction calculation. Current remaining distance PSUM_remain = XTARGET - XACTUAL. This represents the remaining distance to the current position.

[0062] U12: Multiplication calculation. When the DT1_PLS pulse arrives, calculate the distance traveled at the current actual speed within the DT2 time interval: distance_DT2 = VACTUAL * DT2.

[0063] U13: Subtraction calculation. Estimated remaining distance PSUM_remain_DT2 = PSUM_remain - distance_DT2. This represents the estimated distance remaining at the end of DT2. The total distance after compensation is subsequently added to the distance written to PSUM_write.

[0064] This invention improves upon the shortcomings of the two modules and enables switching between their operation. This function is based on a design concept proposed during camera development: adding acceleration / deceleration to distance compensation to reduce motor wear during high-speed operation. Additionally, focusing upon startup requires acceleration / deceleration, necessitating continuous image capture and distance compensation. Furthermore, after multiple runs, a convenient one-click return to a fixed origin position is desired; however, the relative distance of the synchronization function would disrupt the position coordinates. Therefore, absolute position was incorporated, and the two are combined.

[0065] In summary, this utility model is based on the patented acceleration / deceleration function and the patented distance compensation function. Both existing functions have certain technical drawbacks. For the acceleration / deceleration function, synchronous operation cannot be achieved, and the running time is uncontrollable. After determining the speed profile, only the target distance can be controlled, which is not feasible when high time accuracy is required. However, the acceleration / deceleration function is very beneficial to the motor's start-stop losses, greatly reducing motor wear, and the internal automatic deceleration function also significantly reduces the demand for external computing power. For the distance compensation function, its start-stop speed difference is large; it directly reaches the running speed upon startup and directly drops from the running speed to 0 upon shutdown, resulting in greater motor wear. However, the distance compensation function can guarantee absolute controllability of the running time and is simple to set up, requiring only the target distance and running time.

[0066] Based on the advantages and disadvantages of the two methods, two main functions were implemented: Function 1: Synchronous Acceleration / Deceleration Function. Synchronous control is added to the acceleration / deceleration function, making the initiation of acceleration / deceleration controllable. A distance compensation function is also added, allowing the synchronous acceleration / deceleration function to not have an absolute requirement for the end time; any remaining distance will be retained and added to the next synchronous acceleration / deceleration run.

[0067] Function 2: Absolute Position Function. Because the acceleration / deceleration function operates in absolute position mode, meaning the distance traveled each time is added to the actual position, starting from the last reached position. However, the synchronous acceleration / deceleration and distance compensation functions operate in relative position mode, meaning the distance traveled each time starts from 0. Adding an absolute position function allows users to freely switch between the three modes. Especially when switching from synchronous acceleration / deceleration and distance compensation functions to acceleration / deceleration function, the previously traveled relative distance will still be added to the actual position during acceleration / deceleration. This ensures that the absolute position always originates from the initial starting point.

[0068] 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 synchronous acceleration-deceleration circuit, characterized by comprising: It includes a delay timing circuit, an acceleration / deceleration synchronization circuit, and a multiplexing circuit. The delay timing circuit inputs a synchronization signal and a multi-level delay time, and outputs an acceleration / deceleration synchronization signal to the acceleration / deceleration synchronization circuit. The acceleration / deceleration synchronization circuit inputs the acceleration / deceleration synchronization signal, a stepping direction selection signal, and a position signal, and outputs the final acceleration / deceleration distance and the final acceleration / deceleration position to the multiplexing circuit. The multiplexing circuit outputs a stepping control signal and a direction control signal to the motor.

2. A synchronous acceleration-deceleration circuit according to claim 1, wherein In the delay timing circuit, chip U1 includes flip-flops U1.1 and U1.

2. A synchronization signal is input to the input of flip-flop U1.1, and its output is connected to the input of flip-flop U1.

2. The output signal of flip-flop U1.2 is inverted by an inverter and then input together with the output signal of flip-flop U1.1 into an AND gate. The final output is the total output synchronization pulse signal of chip U1, which is output to the RST port of chip U2. A first-level delay time is input to the input of chip U2, and its output is a first-level delay pulse connected to the RST port of chip U3. A second-level delay time is input to the input of chip U3, and its output is a second-level delay pulse as an acceleration / deceleration synchronization signal to the acceleration / deceleration synchronization circuit.

3. The synchronous acceleration-deceleration circuit according to claim 1, wherein In the acceleration / deceleration synchronization circuit, chip U4 includes flip-flops U4.1 and U4.

2. The step direction selection signal is input to the input terminal of flip-flop U4.1, and the output terminal is connected to the input terminal of flip-flop U4.

2. The output signals of flip-flop U4.1 and flip-flop U4.2 are input together to an XOR gate, and the final output is the total output step direction selection switching pulse signal of chip U4, which is output to the first and second multiplexers.

4. A synchronous acceleration-deceleration circuit according to claim 3, wherein In the acceleration / deceleration synchronization circuit, the LATCH port of chip U5 receives the acceleration / deceleration synchronization signal generated from the output of chip U3, the input is connected to the external distance signal, and the distance input signal is transmitted to the second input port of chip U6 through the output. The first input port of chip U6 receives the acceleration / deceleration remaining distance signal generated from the output of chip U7, and the output output sends the acceleration / deceleration distance to the first multiplexer.

5. A synchronous acceleration-deceleration circuit according to claim 4, wherein In the acceleration / deceleration synchronization circuit, the input terminal of the first multiplexer receives the acceleration / deceleration path generated by the output terminal of the chip U6 and the absolute position generated by the output terminal of the absolute position circuit. It selects the direction of acceleration / deceleration through the step direction selection switching pulse signal generated by the output terminal of the chip U4, and the output terminal transmits the final acceleration / deceleration path to the multiplexing circuit and the second input terminal of the chip U7.

6. A synchronous acceleration / deceleration circuit according to claim 4 or 5, characterized in that, In the acceleration / deceleration synchronization circuit, the input terminal of the second multiplexer receives the absolute position generated by the output terminal of the external acceleration / deceleration position and absolute position circuit, and selects the position by the step direction selection switching pulse signal generated by the output terminal of chip U4. The output terminal transmits the final acceleration / deceleration position to the multiplexing circuit.

7. A synchronous acceleration-deceleration circuit according to claim 6, wherein The multiplexing circuit includes an acceleration / deceleration unit and a distance compensation unit. The first input terminal of the acceleration / deceleration unit receives the final acceleration / deceleration distance generated from the output terminal of the first multiplexer. The second input terminal of the acceleration / deceleration unit receives the final acceleration / deceleration position generated from the output terminal of the second multiplexer. The output terminal outputs the final acceleration / deceleration position to the first input terminal of chip U7, outputs an acceleration / deceleration step signal to the third multiplexer, and outputs an acceleration / deceleration direction signal to the fourth multiplexer.

8. A synchronous acceleration-deceleration circuit according to claim 7, wherein The input of the distance compensation unit receives the distance time signal and synchronization signal from the outside, as well as the first-level delay time and the second-level delay time. The output of the unit outputs the distance compensation step signal to the third multiplexer and the distance compensation direction signal to the fourth multiplexer.

9. A synchronous acceleration-deceleration circuit according to claim 8, wherein The third multiplexer input receives acceleration / deceleration step signals generated from the output of the acceleration / deceleration unit and distance compensation step signals generated from the output of the distance compensation unit. It selects these signals using an external step direction selection signal, and its output transmits motor stepping control to the motor. The fourth multiplexer input receives acceleration / deceleration direction signals generated from the output of the acceleration / deceleration unit and distance compensation direction signals generated from the output of the distance compensation unit. It selects these signals using an external step direction selection signal, and its output transmits motor direction control to the motor.

10. The synchronous acceleration-deceleration circuit according to claim 6, wherein The output of the absolute position circuit receives motor direction control generated from the output of the fourth multiplexer, the EN port receives motor stepping control generated from the output of the third multiplexer, and the output outputs the absolute position to the first multiplexer and the second multiplexer.

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