Stepper Motors

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량하 국
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energize 구조 고정자 (tator/phase) 권선 회전자 (Rotator) 자화 비자화 모터의권선에전력이공급되면자기필드가생성되어회전자가회전한다.

8 회전자의종류에따른분류 영구자석형 (Permanent Magnetic, PM) 가변릴럭턴스형 (Variable Reluctance, VR) 연철기어형태의회전자 하이브리드타입 Mixed type (PM & VR) 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 8

10 비자화회전자 ( 연철 ) 가변릴럭턴스형스텝모터 해상도증가방법 상 (Phase) 추가 릴럭턴스에의해회전 릴럭턴스 ( 자기저항 ) : 자기회로에서자기력선속 ( 磁氣力線束 ) 에대한저항력. 자기회로의길이에비례하고그단면적, 투자율 ( 透磁率 ) 에반비례한다. oft-iron Rotor 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 1

13 Unipolar vs Bipolar Bipolar 양방향전류 Full winding energization 1 3 Bipolar 2 4 Unipolar : center 탭추가 단방향전류 Half winding energization Unipolar Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 13

16 Bipolar 스텝모터풀스텝 1 상 제어 Winding B tep Winding A A A Winding B B B PORTB PIC Microcontroller RB RB1 RB2 RB3 RB4 RB5 RB6 RB Motor Drive B B current A Winding current A A 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 16

18 peed (RPM) 회전당스텝수 (steps/rev.) = 36 / [# Angle/step] example 36 / 9 = 4 스텝 / 회전 PP (Pulses Per econd) = [ target RPM / 6 sec] x 회전당스텝수 example [ 12 RPM / 6 sec ] x ( 4 steps/revolution ) = 8 [pulses/second] 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 18

Winding B 제어타이밍 PP를통해타이머인터럽트타이밍을계산 Motor

19 Winding B 제어타이밍 PP를통해타이머인터럽트타이밍을계산 Motor control pulse generate at Timer IR PIC Microcontroller Timer RB RB1 RB2 RB3 RB4 RB5 Motor Drive B B RB6 RB7 A Winding A A 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 19

20 Main routine Full tep 1 상통전 알고리즘 TMR Interrupt Initialization TRID PORTD Timer interrupt TMR Value Pulse_Counter = tep equence: TEP[1] = 1 xxxx TEP[2] = 1 xxxx TEP[3] = 1 xxxx TEP[4] = 1 xxxx Pulse_Counter++ Pulse_Counter > 4? O PORTD= TEP[ i ] YE Pulse_Counter = ** i = Pulse_Counter Loop return 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 2

21 Bipolar 스텝모터풀스텝 2 상 제어 Winding B tep 권선 A A A A A 권선 B B B B B PIC Microcontroller RB RB1 RB2 RB3 RB4 RB5 RB6 RB7 1 1 Motor Drive PORTB B B 1 Winding current A 1 A A current 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 21

23 Main routine 풀스텝 2 상 알고리즘 TMR Interrupt Initialization TRID PORTD Timer interrupt TMR Value Pulse_Counter = tep equence : TEP[] = 11 xxxx TEP[1] = 11 xxxx TEP[2] = 11 xxxx TEP[3] = 11 xxxx Pulse_Counter++ Pulse_Counter > 4? O PORTD = TEP[ i ] YE Pulse_Counter = ** i = Pulse_Counter Loop return 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 23

25 Pulse Pulse Angle of Rotation 안티레조넌스 (Anti-resonance) Overshoot Ringing 1.a A 2.b B 1.b A 2.a B 18 9 Ringing Time 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 25

Pulse Pulse Angle of Rotation 안티레조넌스 (Anti-resonance) 최악의경우 Miss tep 발생 1.a A 2.b B 2.a B 18 9 1.

29 Winding B Bipolar 스텝모터하프스텝제어 스텝 권선 A A A A A A A 권선 B B B B B B B PORTB PIC Microcontroller RB RB1 RB2 RB3 RB4 RB5 RB6 RB Motor Drive B B current A Winding current A A 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 29

31 하프스텝알고리즘 Main routine Initialize PORTD, TMR Pulse_Counter = tep equence: TEP[1] = 1 xxxx TEP[2] = 11 xxxx TEP[3] = 1 xxxx TEP[4] = 11 xxxx TEP[5] = 1 xxxx TEP[6] = 11 xxxx TEP[7] = 1 xxxx TEP[8] = 11 xxxx Loop TMR Interrupt Pulse_Counter++ Pulse_Counter > 8? O PORTD = TEP[ i ] return YE Pulse_Counter = ** i = Pulse_Counter 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 31

36 Gate Voltage Coil Current Microstepping 구현 PWM Duty Cycle control Current control on coil V+ current O HIGH IMAX PWM Time 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 36 Time

38 Microsteps vs. tep Rate Microsteps Increase eed tep rate Increase umber of Microsteps tep Rate Factor for Equivalent Full tep RPM Full tep/ 4 tep Rate x 4 Full tep/ 8 tep Rate x 8 Full tep/16 tep Rate x 16 Full tep/32 tep Rate x Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 38

39 Microstep Look-Up Table Microstep Winding A (current) Winding B (current) PWM1 DC PWM2 DC +1 +in 5.6 1% 9.8% in % 2% in % 29% in % 38% in 28 1% 47% in % 56% in 39 1% 63% in 45 1% 71% in 5.6 1% 77% in % 83% in % 88% in % 93% in % 95.6% in % 98% in % 99.5% in 9 1% 1% 32 teps/2 = 16 teps 9 /16 teps = /tep in 5.6 =.98 or 9.8% Duty Cycle 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 39

40 Microstepping 하나의권선에서다른권선으로전류가점진적으로변화함 PWM 듀티사이클의변화를통해구현됨 추가적인퍼포먼스 (performance) 필요 ine function Lookup Table 활용 효과적인 Anti-resonances 솔루션 28 Microchip Technology Incorporated. All Rights Reserved. tepper Motor Control lide 4

S O L U T I O N I N N O V A T I O N T P C M E C H A T R O N I C S TPC TPC SERVO & STEP MOTOR, DRIVER Series TDB2000 (일체형/분리형,

S O L U T I O N I N N O V A T I O N T P C M E C H A T R O N I C S TPC-1606-1 www.tpcpage.co.kr TPC SERVO & STEP MOTOR, DRIVER Series TDB2000 (일체형/분리형, 제어기능 내장) TDB3000 (EtherCAT) TDCI (일체형, 제어기능 내장) TDB/TDU