CS230685B1 - Connected for synchronous start, walk and braking control of two or more stepper motors - Google Patents

Abstract

The invention falls into the field of high-current electrical engineering - stepper motors and solves the synchronous start-up, running and braking of two or more stepper motors using two comparison circuits of signals from each of the identical phases of the motor sensors, of which the signals ί from the motor sensor with the lowest instantaneous speed control the synchronous start-up and running, while the signals from the motor sensor with the highest instantaneous speed control the braking. The comparison circuits (OP) and (OR) and the combinational logic circuit (KLO) best characterize the invention.

Description

BACKGROUND OF THE INVENTION The invention relates to a circuit for controlling synchronous start-up, running and braking of two or more stepper motors with feedback from position sensors and a speed controller.

Synchronous operation of two stepper motors has so far been performed with no-feedback control only at low stepper motor speeds in the start-stop area, ie up to approximately 800 Hz *

For higher speeds, complex mechanical gears, such as gears, were used. Due to production and material. Low energy efficiency makes the whole electric drive inefficient *

It is also known to synchronously start and run two or more stepper motors with feedback connected in parallel and fed from a common output stage. Because of the same winding resistance, bearing friction, rotor inertia, magnetic fields in air gaps, etc. *, synchronization of two or more stepper motors is necessary in different applications.

characterized in that the outputs of the identical phases of the stepper motor position sensors are connected to the inputs of two comparator circuits, one for evaluating the stepper motor with the smallest, the other for evaluating the stepper motor with the highest instantaneous speed, whose outputs are connected to the inputs of the combinational logic circuit to which other input is connected

- 2 230 68S output of the start-up or run-out or braking circuit, the output of the combination logic circuit is connected to the speed controller input of the stepper motors.

An example of a circuit according to the invention is described below and its operation is explained by means of a drawing, in which only two step motors KM1, KM2 are shown for clarity. whose shafts are mechanically firmly connected to two-phase position sensors CP1, CP2, of which the connection of one phase is marked fully, the connection of the other by dashed line. The output signals of each position sensor are offset by o · Two comparator circuits OP or OR, respectively, are connected to the outputs of each identical phase of sensors ČP1 and ČP2, one of which determines the motor with the smallest and the other with the highest instantaneous speed. Outputs of both comparator circuits OP, 0R are connected to inputs of combinational logic circuit KLO. to the next input is connected output V of the circuit for start and run or for braking stepper motors KM1, KM2. The output of the combinational logic circuit KLQ is connected to the stepper speed controller R controlling either the common output stage or the separate output stages of the individual step motors, not shown in the drawing.

The start and run control of the stepper motors KM1, KM2 is derived from the stepper motor with the lowest instantaneous speed as indicated by the encoder and during braking from the motor with the highest instantaneous speed. The signals from the position sensors CP1, CP2 are constantly compared in each step in the comparison circuits OP and OR, in the comparison circuit OP the signal from the motor position sensor with the lowest instantaneous speed is evaluated, while in the comparison circuit OR: the signal from the position sensor engine.

Outputs from both comparator circuits OP and OR are applied to the inputs of the combinational logic circuit KLO, where a signal, e.g. logic 0, is output from the output. In the start and run control circuit, in which case the output of the combination logic circuit KLO is the same as the signal

- 3 230 08S from the position sensor CP1, CP2 of the slowest stepping motor, or for braking control, for example, by a logic 1 signal, in which case at the output of the combination logic circuit KLO the signal is identical to the signal from the position sensor of the fastest stepping motor.

The output of the combinational logic circuit KLO is then controlled by the speed controller S, to whose outputs the known output stage common to all motors or the parallel connected output stages of the individual motors are not shown in the drawing.

Claims (1)

SUBJECT OF THE INVENTION 230 685 Wiring for synchronous start, run and braking control of two or more stepper motors with feedback from position sensors and speed controller, characterized in that the outputs of the same phase sensors (CP1, ,P2) of the stepper motors (KM1, KM2) are connected to inputs of two comparator circuits (0P, 0R), one for evaluating the stepper motor (KM1, KM2) with the lowest instantaneous speed, the other for evaluating the stepper motor with the highest instantaneous speed, whose outputs are connected to the inputs of the combinational logic circuit (KLO), the output (V) of the start-up or run-out or braking circuit is connected, the output of the combination logic circuit (KLC) is connected to the input of the stepper motor speed controller (R) (KM1, KM2).