JP2000299997A - Drive control system - Google Patents

Abstract

(57) [Problem] To provide a drive control system capable of detecting out-of-step of a motor and driving the load accurately. SOLUTION: An actual rotation speed of a motor controlled by a stepping motor / driver given a predetermined command pulse is detected, and a detected speed obtained by the detection is compared with a command speed output from a control unit. . If the detected speed is not within the range indicated by the command speed-step-out detection allowable speed and the command speed + step-out detection allowable speed, it is determined that the motor is out of step.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a drive control system for a stepping motor / driver.

[0002]

2. Description of the Related Art In recent years, a stepping motor / driver has been widely used in a system for high-speed positioning drive in a transport device, a floppy disk drive device, and the like, and many other systems. Many commonly used stepping motors / drivers drive a motor by inputting a pulse command to the driver.

For example, FIG. 5 is a block diagram showing a configuration of a conventional drive control system for a stepping motor / driver. The system shown in FIG.
The control unit 102 sends a command pulse to a stepping motor / driver 150 including a driver 103 and a motor 104, and the motor 104 operates according to the pulse. As a result, the load 105 connected to the motor 104 is driven.

[0004]

However, in the above-described conventional drive control system (stepping motor / driver), the command pulse is sent from the control unit 102 to the stepping motor / driver 150 in one direction, and the motor 104 is actually driven. Does not have a function to determine whether the motor is driven as instructed. Therefore, once the motor loses synchronism, there is a problem that the motor cannot be controlled at all and the motor is in an uncontrollable state.

Further, in the above-mentioned conventional drive control system, when motor control becomes impossible, not only cannot accurate control of a load (object) be performed, but also there is a danger of an accident caused by a runaway motor.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object to provide a drive control system capable of detecting out-of-step of a motor and accurately driving a load to be controlled by the motor. It is to provide.

[0007]

According to a first aspect of the present invention, there is provided a drive control system for controlling a stepping motor by giving a command pulse to the stepping motor / driver. Means for detecting a speed, means for setting a predetermined detection allowable range centered on the command speed based on the command pulse, and when the rotation speed is outside the detection allowable range,
A drive control system including means for determining that the stepping motor is out of synchronization and determining that the stepping motor is operating normally when the rotation speed is within the detection allowable range.

According to a second aspect of the present invention, in a drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, means for detecting a rotation angle of the stepping motor, and a command pulse based on the command pulse Means for setting a predetermined detection allowable range centered on the amount; determining that the stepping motor is in a step-out state when the rotation angle is out of the detection allowable range; If so, a means for determining that the stepping motor is operating normally is provided.

Preferably, the rotation angle is represented by a displacement of a detection angle of the stepping motor per unit time.

According to a third aspect of the present invention, in a drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, a means for detecting a rotation speed of a load of the stepping motor, and Means for setting a predetermined detection allowable range having a load command speed as a center value, and determining that the stepping motor is out of step if the rotation speed of the load is outside the detection allowable range. Means for determining that the stepping motor is operating normally when the rotation speed is within the detection allowable range.

According to a fourth aspect of the present invention, in a drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, a means for detecting a drive position of a load of the stepping motor, and a step based on the command pulse Means for setting a predetermined detection allowable range having a command pulse amount as a center value; and determining that the stepping motor is in a step-out state when the driving position is out of the detection allowable range. Means for determining that the stepping motor is operating normally when the detection is within the detection allowable range.

Preferably, the drive position is represented by a displacement amount of the load detection position per unit time.

Preferably, the predetermined detection allowable range is a first allowable range obtained by adding a first allowable value to the center value, and a second allowable value is subtracted from the center value. This is a range formed by the second allowable range obtained as described above.

[0014] Preferably, the first allowable value and the second allowable value are equal in absolute value. Preferably, the first allowable value and the second allowable value have different absolute values.

Preferably, when the step-out state is detected, the stepping motor is stopped and then the stepping motor is driven again.

[0016]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. First, Embodiment 1 of the present invention will be described.

Embodiment 1 FIG. 1 is a functional block diagram of the drive control system according to Embodiment 1 of the present invention.
A drive control system (hereinafter, also simply referred to as a system) shown in FIG. 1 includes a control device 1 including a control unit 2 and a speed comparator 6, which will be described later, and a stepping motor / driver 50 including a stepping motor driver 3 and a stepping motor 4. , A speed detector 7 for detecting the rotation speed of the motor 4, and a load (object) 5 driven by the stepping motor / driver 50.

The controller 1 sends a command pulse 21 to the driver 3 of the stepping motor / driver 50 and outputs a motor command speed 22 to the speed comparator 6. Therefore, the speed comparator 6 in the control device 1 compares the detected speed 24, which is detected by the speed detector 7 and indicates the actual rotation speed of the motor, with the command speed 22 output from the control unit 2, The step-out of the motor is detected by the method described below.

That is, the speed comparator 6 detects the detected speed 24
If there is a relationship between the detected speed and the command speed 22 (detected speed <(command speed−step-out detection allowable speed) (1) or (command speed + step-out detection allowable speed) <detected speed (2) , It is determined that the motor 4 has stepped out.

In other words, if the speed comparator 6 determines that the detected speed is within the range represented by the command speed-step-out detection permissible speed and the command speed + step-out detection permissible speed, the motor 4 operates according to the command. It is determined that the motor is driven at an appropriate speed and that the motor is not out of step.

When such speed detection is performed and it is determined that the motor 4 is out of step, the speed comparator 6 sends a step-out detection signal 23 to the control unit 2. In response to the result, the control unit 2 controls the command pulse 21 sent to the driver 3 to an appropriate one, or controls to stop the operation of the motor 4 and drive again.

The step-out detection permissible speed itself can be arbitrarily given according to the drive control system to be applied. The step-out detection permissible speed on the "+" side and the "-"
The out-of-step detection allowable speed on the side does not need to have the same absolute value. Further, the re-drive start pattern is appropriately given according to the drive control system to be applied.

As described above, according to the present embodiment, the detected speed obtained by detecting the actual rotation speed of the motor is compared with the command speed output from the control unit, and the detected speed is determined. If the motor speed is out of the range indicated by the command speed-step-out detection allowable speed and the command speed + step-out detection allowable speed, it is determined that the motor is in the step-out state. It can be easily determined whether or not the device is operating.

Further, when the step-out of the motor is detected by the input of the step-out detection signal, the output of the command pulse is immediately stopped, and the motor is stopped. It can respond appropriately to this, and can execute accurate load driving.

Embodiment 2 Hereinafter, Embodiment 2 of the present invention will be described. FIG. 2 is a functional block diagram of the drive control system according to the present embodiment. In the figure, the same components as those of the drive control system shown in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted here.

The control device 1 of the drive control system according to the present embodiment comprises a control unit 2 and an angular displacement comparator 8 for detecting step-out, which will be described later. Stepping motor / driver 50 including stepping motor driver 3 and stepping motor 4
Of the motor 4 is detected.

The detected angle 34 detected by the angle detector 9 is sent to the angular displacement comparator 8, which compares the detected angle 34 with the motor command pulse from the controller 2. Compare quantity 32. When the detected angle 34 and the command pulse amount 32 have the following relationship, it is determined that the motor is out of step. The command pulse amount 32 is a value obtained by converting the total number of command pulses output from the control unit 2 to the driver 3 per a certain unit time into a rotation angle of the motor 4.

The angular displacement comparator 8 detects a detected angular displacement, which is a detected angular displacement, that is, detects the detected angular displacement between the motor detected angle per unit time and the command pulse amount. If there is a relationship of angular displacement <(command pulse amount−step-out detection allowable angle) (3) or (command pulse amount + step-out detection allowable angle) <detected angle displacement amount (4), motor 4 is Judge that the step-out.

That is, if the detected angular displacement is within the range represented by the command pulse amount−the out-of-step detection allowable angle and the command pulse amount + the out-of-step detection allowable angle, the angular displacement amount comparator 8 Is determined to be driven at an appropriate speed as instructed and is not out of step.

As a result of such detection, when the angular displacement comparator 8 determines that the motor 4 has stepped out, the angular displacement comparator 8 sends a step-out detection signal 33 to the control unit 2. . Then, since the motor 4 is out of synchronization, the control unit 2 controls the command pulse 21 sent to the driver 3 to an appropriate one, or controls to stop the operation of the motor 4 and drive again.

In this case as well, the step-out detection allowable angle itself can be arbitrarily given according to the drive control system to be applied, and the step-out detection allowable angle on the “+” side and the “−” side May not have the same absolute value. Further, the re-drive start pattern is appropriately given according to the drive control system to be applied.

As described above, according to the present embodiment, the amount of displacement of the detected angle of the motor per unit time is compared with the amount of command pulses from the control unit, and the detected amount of angular displacement is determined by the command. If it is not within the range of the pulse amount-the step-out detection allowable angle and the command pulse amount + the step-out detection allowable angle, it is determined that the motor is in the step-out state, and the motor operates at the appropriate speed as instructed. Can be easily determined.

When a step out of the motor is detected by the input of the step out detection signal, the output of the command pulse is immediately stopped, and after the motor is stopped, the motor is driven again.
Step-out can be appropriately dealt with, and accurate load drive can be performed.

Embodiment 3 Hereinafter, Embodiment 3 of the present invention will be described. FIG. 3 is a functional block diagram of the drive control system according to the present embodiment. In the figure, the same components as those of the drive control system shown in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted here.

The control device 1 of the drive control system according to the present embodiment includes a control unit 2 and a speed comparator 10,
The load (object) 5 of the stepping motor / driver 50 composed of the stepping motor driver 3 and the stepping motor 4 is provided with a speed detector (for load) 11 for detecting the speed of the load.

The speed comparator 10 is provided with the speed detector 1
1. The load speed (detection speed) 44 detected by the control unit 1 and the control unit 2
Is compared with the load command speed 42 (the speed on the load shaft) sent from the controller, and when they have the relationship described below, it is determined that the motor is out of step.

That is, the speed comparator 10 detects the detection speed 4
If the command speed 4 and the command speed 42 satisfy the following relationship, the detection speed <(command speed−step-out detection allowable speed) (5) or (command speed + step-out detection allowable speed) <detection speed (6) It is determined that the motor 4 has stepped out.

This means, conversely, that the speed comparator 10
If the detected speed 44 is within the range indicated by the command speed-step-out detection allowable speed and the command speed + step-out detection allowable speed, the motor 4 is driven at an appropriate speed as instructed. It means that you are not out of sync.

If it is determined that the motor 4 is out of synchronization as a result of the above detection, the speed comparator 10
Out of step detection signal 43 is transmitted. Then, the control unit 2 controls the command pulse 21 to be sent to the driver 3 to an appropriate one, or stops the operation of the motor 4 and restarts the operation.

In this case as well, the above-mentioned step-out detection allowable speed itself can be arbitrarily given according to the drive control system to be applied. May not have the same absolute value. Further, the re-drive start pattern is appropriately given according to the drive control system to be applied.

As described above, according to the present embodiment, the detected speed obtained by detecting the rotation speed of the load of the motor is compared with the command speed output from the control unit to determine the detected speed. Is the command speed-the out-of-step detection allowable speed and the command speed +
By determining that the motor is in a step-out state when it is not within the range indicated by the step-out detection allowable speed, it is possible to easily determine whether the motor is operating at an appropriate speed as instructed.

Further, when the step-out of the motor is detected by the input of the step-out detection signal, the output of the command pulse is stopped immediately, the motor is stopped, and then the motor is driven again. And appropriate load drive can be performed.

Embodiment 4 FIG. Hereinafter, Embodiment 4 of the present invention will be described. FIG. 4 is a functional block diagram of the drive control system according to the present embodiment. In the figure, the same components as those of the drive control system shown in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted here.

The drive control system according to the present embodiment
It comprises a control device 1, a stepping motor / driver 50, a load (object) 5, and a position detector 13 described later. The control device 1 includes a control unit 2 and a position displacement amount comparator 12. The stepping motor / driver 50 includes the stepping motor driver 3 and the stepping motor 4 as in the above embodiment.

In the drive control system according to this embodiment, the position (detection position) of the load 5 is detected.
Is provided with a position detector 13.
3 is sent to the position displacement comparator 12 as the detected position displacement. Here, the detected position displacement amount is a displacement amount of the detected position of the load 5 detected per unit time.

The position displacement amount comparator 12 calculates the detected position 54 detected by the position detector 13, the command pulse amount 52 of the motor 4 output from the control unit 2 (movement amount on the load shaft), and the like. And if they have the relationship described below, it is determined that the motor is out of step. It should be noted that the command pulse amount refers to the control unit 2 per a certain unit time.
Is a value obtained by converting the total number of command pulses output to the driver 3 into the position of the load.

That is, the position displacement amount comparator 12 determines that the detected position (detected position displacement amount) 54 and the command pulse amount 52 are: detected position displacement amount <(command pulse amount−step-out detection allowable position) (7) Alternatively, if there is a relationship of (command pulse amount + step-out detection allowable position) <detection position displacement amount (8), it is determined that the motor 4 has stepped-out.

The above relationship is as follows.
If the detected position displacement is within the range indicated by the command pulse amount-step-out detection allowable position and the command pulse amount + step-out detection allowable position, the motor 4 is driven at an appropriate speed as instructed. Means that you are not out of sync.

As described above, when it is determined that the motor 4 is out of step, the position displacement amount comparator 12 sends the out-of-step detection signal 53 to the control unit 2. As a result, the control unit 2
Controls the command pulse 21 sent to the driver 3 to an appropriate one, or stops the operation of the motor 4 and drives it again.

In this case as well, the step-out detection allowable position itself can be arbitrarily given according to the drive control system to be applied, and the step-out detection allowable position on the "+" side and the "-" side The absolute values of the out-of-step detection allowable positions may not be the same. Further, the re-drive start pattern is appropriately given according to the drive control system to be applied.

As described above, according to the present embodiment, the detected position obtained by detecting the position of the motor load is compared with the command pulse amount output from the control unit, and the detected position is determined. When the motor is out of the range indicated by the command pulse amount-step-out detection allowable position and the command pulse amount + step-out detection allowable position, it is determined that the motor is out of step. It can be easily determined that the vehicle is not operating at the speed.

When the step-out of the motor is detected by the input of the step-out detection signal, the output of the command pulse is immediately stopped, and the motor is stopped. It can respond appropriately to this, and can execute accurate load driving.

[0053]

As described above, according to the first aspect, in the drive control system for controlling the stepping motor by giving the command pulse to the stepping motor / driver, the rotation speed of the stepping motor is detected. Means for setting a predetermined detection allowable range centered on a command speed based on the command pulse, and determining that the stepping motor is out of synchronization when the rotation speed is outside the detection allowable range. Means for judging that the stepping motor is operating normally when the rotation speed is within the detection allowable range, to determine whether the motor is operating at an appropriate speed as instructed. Can be easily determined.

According to the second invention, in a drive control system for giving a command pulse to a stepping motor / driver and controlling the stepping motor, means for detecting the rotation angle of the stepping motor, Means for setting a predetermined detection allowable range with the command pulse amount as a center value, and determining that the stepping motor is in a step-out state when the rotation angle is out of the detection allowable range, and setting the rotation angle to Means for determining that the stepping motor is operating normally when it is within the detection allowable range makes it possible to easily determine whether the motor is operating at an appropriate speed as instructed. .

Also, the rotation angle (rotation speed) of the motor can be easily grasped by expressing the rotation angle by the displacement of the detection angle of the stepping motor per unit time.

According to the third aspect of the present invention, in a drive control system for giving a command pulse to a stepping motor / driver and controlling the stepping motor, means for detecting a rotation speed of a load of the stepping motor, Means for setting a predetermined detection allowable range having a load command speed based on the center value as a center value, and determining that the stepping motor is in a step-out state when the rotation speed of the load is outside the detection allowable range. Means for judging that the stepping motor is operating normally when the rotation speed of the load is within the detection allowable range, to determine whether the motor is operating at an appropriate speed as instructed. It can be easily determined.

According to the fourth aspect of the present invention, there is provided a drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, comprising: a means for detecting a driving position of a load of the stepping motor; Means for setting a predetermined detection allowable range centering on the command pulse amount based on the command pulse, and determining that the stepping motor is in a step-out state when the driving position is out of the detection allowable range. Means for determining that the stepping motor is operating normally when the drive position is within the detection allowable range makes it easy to make sure that the motor is not operating at an appropriate speed as instructed. Can be determined.

In addition, since the drive position is represented by the displacement of the load detection position per unit time, the position (drive speed) of the motor load can be easily grasped.

Further, the predetermined detection allowable range is defined as a first allowable range obtained by adding a first allowable value to the center value.
By setting a range formed by subtracting the second permissible value from the center value and the second permissible range, the out-of-step detection range can be flexibly specified.

Further, by making the absolute values of the first allowable value and the second allowable value equal, it is easy to specify the step-out detection range. Further, by making the absolute values of the first allowable value and the second allowable value different,
A step-out detection range can be flexibly set.

When the step-out state is detected, the stepping motor is stopped, and then the stepping motor is driven again, thereby suppressing runaway of the motor and accurately and safely detecting an object (load). Can be driven.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of a drive control system according to a first embodiment of the present invention.

FIG. 2 is a functional block diagram of a drive control system according to Embodiment 2 of the present invention.

FIG. 3 is a functional block diagram of a drive control system according to Embodiment 3 of the present invention.

FIG. 4 is a functional block diagram of a drive control system according to Embodiment 4 of the present invention.

FIG. 5 is a block diagram showing a configuration of a conventional stepping motor / driver drive control system.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Control device, 2 ... Control part, 3 ... Stepping motor driver, 4 ... Stepping motor, 5 ... Load (object), 6 ... Speed comparator, 7, 11 ... Speed detector, 8 ... Angle displacement comparison Device, 9 ... angle detector, 10 ... speed comparator,
12: Position displacement amount comparator, 13: Position detection, 21: Command pulse, 24, 44: Detection speed, 22, 42: Command speed, 32, 52: Command pulse amount, 34: Detection angle, 53
… Step-out detection signal

Claims (10)

[Claims] 1. A drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, comprising: means for detecting a rotation speed of the stepping motor; Means for setting a predetermined detection allowable range to perform, when the rotation speed is out of the detection allowable range, it is determined that the stepping motor is out of synchronization, and when the rotation speed is within the detection allowable range. Means for determining that the stepping motor is operating normally. 2. A drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, comprising: means for detecting a rotation angle of the stepping motor; and a command pulse amount based on the command pulse as a central value. Means for setting a predetermined detection allowable range, wherein if the rotation angle is outside the detection allowable range, it is determined that the stepping motor is out of step, and the rotation angle is within the detection allowable range. And a means for determining that the stepping motor is operating normally. 3. The drive control system according to claim 2, wherein the rotation angle is represented by a displacement of a detection angle of the stepping motor per unit time. 4. A drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, comprising: means for detecting a rotation speed of a load of the stepping motor; and a load command speed based on the command pulse. Means for setting a predetermined detection allowable range as a center value, and when the rotational speed of the load is outside the detection allowable range,
Means for determining that the stepping motor is out of step and determining that the stepping motor is operating normally when the rotational speed of the load is within the detection allowable range. Drive control system. 5. A drive control system for providing a command pulse to a stepping motor / driver and controlling the stepping motor, comprising: a means for detecting a drive position of a load of the stepping motor; and a command pulse amount based on the command pulse. Means for setting a predetermined detection allowable range as a center value; and determining that the stepping motor is in a step-out state when the driving position is outside the detection allowable range, and that the driving position is within the detection allowable range. And a means for determining that the stepping motor is operating normally. 6. The drive control system according to claim 5, wherein the drive position is represented by an amount of displacement of the load detection position per unit time. 7. The predetermined detection allowable range is obtained by adding a first allowable value to the center value and subtracting a second allowable value from the center value. The drive control system according to claim 1, wherein the drive control system is a range formed by the second allowable range. 8. The drive control system according to claim 7, wherein the first allowable value and the second allowable value have the same absolute value. 9. The drive control system according to claim 7, wherein the first allowable value and the second allowable value have different absolute values. 10. The drive control system according to claim 1, wherein when the step-out state is detected, the stepping motor is stopped and then the stepping motor is driven again.