JPH0697876B2 - Pentagon chopper driving method for 5-phase stepping motor - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pentagon chopper driving method for a 5-phase stepping motor.

[0002]

2. Description of the Related Art A conventional pentagon chopper driving method is used as a driving method of a five-phase stepping motor including a stator having five exciting windings (hereinafter referred to as windings) and a rotor having permanent magnet poles. It is used. As shown in Fig. 1, this driving method connects the winding ends of five windings (1) and (2) to each other, and connects the winding beginnings of windings (2) and (3) indicated by "●". Then, the winding ends of the windings (3) and (4) are connected to each other, the winding start ends of the windings (4) and (5) are connected to each other, and the winding end of the winding (5) and the winding (1) are connected. And the windings are connected to each other, and the windings are connected in series in the order of (1), (2), (3), (4) and (5). Then, these windings are formed by using 10 transistor switching elements T _{r1 to} T _r10 under the excitation sequence shown in FIG. 2, and each winding has one cycle shown in FIGS. 3 (a) to 3 (j) for each excitation step. Driving is performed by passing each of the excitation currents. That is, the rotor is shown in FIG.
First, as shown in FIG. 1, the switching elements T _r9 , T _r7 , and T _r3 whose emitters are connected to the positive terminal (+) of the power source V are turned on, and the collector is of the negative polarity of the power source V as shown in FIG. Switching elements T _r2 , T connected to the terminal (-)
_{When r6} is turned on, the four windings shown in Fig. 3 (a) as the "+" potential (excitation current inflow point) and the "●" point as negative potential (excitation current outflow point). (2) (3) (4)
A current in the direction of the arrow in the figure is passed through (5). Next, the switching elements T _r9 , T _r3 , T _r8 , T _r6 , and T _r2 are turned on, and the four windings (1), (3), (4), and (5) are supplied with current in the direction of the arrow in FIG. Shed. Next, the windings (1), (2), (4), and (5) have currents in the directions of the arrows shown in FIG.
(3) A current in the direction of the arrow in FIG. 3 (d) is applied to (5), and then the current is applied in the order of FIG. 3 (e) → (q) → ... Then, finally, the switching element T _r7 of FIG. T _r3 and T _r10 ,
By turning on T _r6 and T _r2 and driving the current in the arrow direction shown in FIG. 3 (j) through the four windings (1), (2), (3) and (4), the drive is performed in the excitation order. Current flow in / out point A,
Table 1 summarizes the potential relationships among B, C, D, and E.

[Table 1] In this pentagon drive system, the maximum output is always exhibited because it is a four-phase excitation in which a current is always applied to a winding of four phases out of five phases, that is, 4-4φ full-step excitation. Moreover, as shown in FIG. 3, at each excitation step, the current inflow point (“○” in the figure)
Points) or current outflow points (“●” points in the figure) must be located at both ends of one of the five different phases. Therefore, for example, in the winding (1) shown by "x" in which current inflow points are formed at both ends as shown in FIG. 3A, the switching elements T _r7 and T _r9 are short-circuited, or Alternatively, when a current outflow point is created as shown in FIG. 3 (b), both ends of the winding (2) are short-circuited, and the windings (1) (2) (3) (4) ( Short-circuiting occurs in the order of 5). Therefore, at this time, due to the short circuit of the induced voltage generated in the winding, the current in the direction for controlling the rotor is made to flow, and the known dynamic braking is performed. Therefore, there is an advantage that the resonance phenomenon is effectively eliminated by allowing the rotor to perform excellent damping without performing feedback control. In addition to this, in the case of another driving method such as the standard driving method, 20 transistor switching elements for control are required in principle as shown in FIG.
It is possible to obtain an excellent advantage in the circuit configuration which requires only 10 times.

[0003]

On the other hand, on the other hand, as described above, despite the fact that there are five input / output points of the power supply, the ends of different one-phase windings are always short-circuited with the same potential in each excitation step process. 4-
It is limited to 4φ excitation, and has a disadvantage that so-called 4-5φ excitation for half excitation cannot be performed unlike the standard method. When such a driving method is adopted, for example, as shown in (a) in FIG. 3, a point (A, B, E in the figure) for passing current for two phases and a point for passing only current for one phase ( In the figure, C and D), and the point at which the current for two phases or one phase flows is successively changed in the excitation process as shown in FIGS. For this reason, the control circuit becomes complicated in structure and at the same time requires a large power source capacity, which is economically disadvantageous as compared with other driving methods.
In addition to this, when the change in the potential at the current inflow / outflow point is viewed along the excitation sequence, the control transistor switching element has an off-time for the rapid potential change of H-L-H-L as shown in Table 1 above. The transistor is used under harsh conditions because it is repeatedly and repeatedly received. Therefore, it is necessary to devise a device for avoiding breakage of the transistor, and the circuit configuration is significantly complicated in addition to the complicated circuit for supplying the current. For this reason, although it is clear that it is superior to other drive systems depending on the use conditions, it has not been practically used at present. The present invention has been made for the purpose of providing a pentagon driving method capable of 4-5φ driving.

[0004]

The present invention is shown in FIG.
As is apparent from the comparison diagram of the conventional method and the connection of the present invention in the 4-4φ excitation method shown in (a) and (b), the conventional method has the winding (1) → ( 2) → (3)
→ (4) → (5) are connected in this order, and the winding (1)
(2) is the end of winding (not the point "●" in the figure), (2)
(3) start of winding (dots in the figure), (3) and (4) end of winding, (4) and (5) start of winding, (5) and (1)
The winding start end and the winding end end are connected in series. On the other hand, in the present invention, as shown in FIG. 5 (b), the windings are (2) → (4) → (1) → (3) → (5) or (1).
→ (3) → (5) → (2) → (4) are connected in this order, and the windings (2) and (4) start and end, and (4) and (1) start and end, 1) (3) starts and ends, (3)
(5) winding end and winding start, (5) (2) connecting winding ends to each other, excitation winding (2) (4) (1) (3)
Pentagon connection is made in the order of (5), and a short-circuited non-excitation phase occurs every other one-phase excitation winding, and when two non-excitation phases occur, two sets of two-phase series windings sandwich this. Excitation current flows, so that when no non-excitation phase occurs, the excitation current flows through the two series windings and the three-phase series excitation windings.
The control transistor switching element is turned on / off to select the current inflow point “◯” and the current outflow point “●”.

[0005]

[Operation / Effect] When the current flows from the winding end to the winding start direction + (plus), the current flowing from the winding start to the winding end direction is- (minus), and the winding that generates torque is (1) ( 3) (5) (2) (4) shows FIG.
When the current inflow / outflow points are initially selected at points C, A, and E as shown in (3), (a) becomes (+2) (+3) (+4) (+5), and the torque acts additively. Next, by selecting the current inflow point as the point C and the outflow point as the point A as shown in FIG. 6 (a ₁ ), the series circuit of the windings (5) and (3) and the windings (2), (4) ( (A ₁ ) is (+2) (+3) if the current of the required magnetic excitability is applied to all five phases by forming the series circuit of ₁ ).
The torque becomes (+4) (+ 5) (-1) and the torque acts additively. Next, as shown in FIG. 6B, the current inflow and outflow points are shown in FIG.
If current is applied to four phases other than the short-circuit phase (2) in the same manner as in,
(B) is (+3) (+ 4) (+ 5) (- 1) and the torque acts additively made, then selecting the flow out point of the current as shown in FIG. 6 (b ₁₎ D, the A To form a series circuit of windings (2), (5) and (3) and a series circuit of windings (4) and (1).
(B ₁ ) is (+3) (+4) (+
5) (-1) (-2) and the torque works additively,
From FIG. 7 (c) below, (c) is (+4) (+ 5) (-
1) (-2) and (c ₁ ) are (+4) (+5) (-1)
(-2) (-3), (d) are (+5) (-1) (-2)
(−3) and (d ₁ ) are (+5) (− 1) (− 2) (−
3) (-4) and (e) are (-1) (-2) (-3) (-
4) and (e ₁ ) are (-1) (-2) (-3) (-4)
(-5), the five-phase windings are arranged as shown in FIG. 5 (b), so that currents of required polarities that constantly add torque can be supplied in the order of 4φ → 5φ → 4φ → 5φ. Therefore, it is possible to realize 4-5φ excitation and realize half driving. The potential change at the current inflow and outflow points at this time is as shown in Table 2. Since there is always an off time between the H level and the L level as in 4-4φ excitation, the transistor protection circuit is unnecessary. The 4-5φ driving bipolar pentagon chopper driving method can be realized while obtaining the effects of the conventional motor.

[Table 2]

[Brief description of drawings]

FIG. 1 is a winding connection diagram of a conventional method.

FIG. 2 is a conventional excitation sequence diagram.

FIG. 3 is an excitation state diagram for each step of the conventional method.

FIG. 4 is a switch circuit diagram of a standard method.

5 (a) and 5 (b) are comparison diagrams of winding connection in the related art and the present invention.

FIG. 6 is an excitation state diagram of each step in 4-5φ excitation according to the present invention.

[Explanation of symbols]

(1) Winding (2) Winding (3) Winding (4) Winding (5) Winding T _{r1 to} T _r10 Transistor switching element A, B, C, D, E Current inflow or outflow point.

Claims (1)

[Claims] 1. Excitation windings (1) and (2) are connected at the end of winding, excitation windings (2) and (3) are connected at the beginning of winding, and excitation windings (3) and (4) are connected. ) Are connected to each other, the excitation windings (4) and (5) are connected to each other, and the winding end of the excitation winding (5) and the winding start of the excitation winding (1) are connected to each other. Then, the excitation windings connected in series in the order of (1), (2), (3), (4), and (5) to form a pentagon connection are provided in the stator,
The outflow point and the inflow point of the exciting current in each exciting step are selected by turning on / off the switching element, and the one-phase exciting winding is sequentially short-circuited in the order of (1) (2) (3) (4) (5). However, in the pentagon chopper driving method of the 5-phase stepping motor in which the exciting current of the required polarity necessary for rotation is passed through the other 4-phase exciting windings, in the winding start and exciting winding of the exciting winding (2), The winding ends of the wire (4) are connected to each other, the winding windings of the excitation windings (4) and (1) are connected to each other, and the winding winding ends of the excitation winding (1) and the winding windings of the excitation winding (3) are connected to each other. And the winding end of the exciting winding (3) and the winding start of the exciting winding (5) are connected to each other, and the exciting windings (5) and (2) are connected.
Connect the winding ends to each other and set the excitation winding to (2) (4)
Pentagon connection is made in the order of (1), (3), and (5), and a short-circuited non-excited phase occurs at every other one-phase exciting winding, and when the non-excited phase occurs, two phases sandwiching this The exciting current flows through two sets of series windings, and when the non-excitation phase does not occur, the exciting current inflow and outflow points at each exciting step are set so that the exciting current flows through the two series windings and the series exciting windings of three phases. 5 to select and excite 4-5 phase
Pentagon chopper driving method for phase stepping motor.