Controller of stepping motor, control method of stepping motor, and stepping motor drive controlling system
View Patent ↗According to one embodiment, a controller of a stepping motor includes a table generating unit and a current controlling unit. The table generating unit generates a data table of a threshold by using values of induced voltage at frequencies of switching signal that changes a set value of a drive current, the threshold being proportional to a frequency of the switching signal within an operation region in which the frequency of the switching signal is lower than a predetermined frequency, the values of the induced voltage including a first induced voltage generated at a first frequency of the switching signal and a second induced voltage generated at a second frequency of the switching signal. The current controlling unit controls a value of the drive current in accordance with a comparison result between the threshold and an induced voltage that is detected at a frequency lower than the predetermined frequency.
1. A controller of a stepping motor, the controller comprising: a table generating unit that generates a data table of a threshold by using values of induced voltage at frequencies of switching signal that changes a set value of a drive current, the threshold being proportional to a frequency of the switching signal within an operation region in which the frequency of the switching signal is lower than a predetermined frequency, the values of the induced voltage including a first induced voltage generated at a first frequency of the switching signal and a second induced voltage generated at a second frequency of the switching signal; and a current controlling unit that is configured to: comparing the threshold and an induced voltage that is detected at a frequency lower than the predetermined frequency with each other within the operation region in which the frequency of the switching signal is lower than the predetermined frequency; and controlling a value of the drive current in accordance with a result of the comparing.
2. The controller of the stepping motor according to claim 1 , wherein
the first frequency is a lower-limit frequency at which the induced voltage is saturated.
3. The controller of the stepping motor according to claim 1 , further comprising:
a mode setting unit that changes into an excitation mode in which a period of the switching signal is extended, when a time interval from a time point at which the drive current becomes zero until a next switching signal is output is shorter than a predetermined time interval.
4. The controller of the stepping motor according to claim 2 , further comprising:
a mode setting unit that changes into an excitation mode in which a period of the switching signal is extended, when a time interval from a time point at which the drive current becomes zero until a next switching signal is output is shorter than a predetermined time interval.
5. The controller of the stepping motor according to claim 4 , wherein
the mode setting unit changes into the excitation mode, when a number of times that a time interval from a time point at which the drive current becomes zero until a next switching signal is output is shorter than a predetermined time interval is equal to or more than a previously set number.
6. The controller of the stepping motor according to claim 1 , further comprising:
a mode setting unit that changes into an excitation mode in which a period of the switching signal is shortened, when a time interval from a time point at which the drive current becomes zero until a next switching signal is output is longer than a predetermined time interval.
7. The controller of the stepping motor according to claim 1 , wherein
the table generating unit generates the data table of the threshold by using values of the first induced voltage and the second induced voltage when the drive current is zero.
8. The controller of the stepping motor according to claim 2 , wherein
the table generating unit generates the data table of the threshold by using values of the first induced voltage and the second induced voltage when the drive current is zero.
9. The controller of the stepping motor according to claim 3 , wherein
the table generating unit generates the data table of the threshold by using values of the first induced voltage and the second induced voltage when the drive current is zero.
10. A control method of a stepping motor, the method comprising:
generating a data table of a threshold by using values of induced voltage at frequencies of switching signal that changes a set value of a drive current, the threshold being proportional to a frequency of the switching signal within an operation region in which the frequency of the switching signal is lower than a predetermined frequency, the values of the induced voltage including a first induced voltage generated at a first frequency of the switching signal and a second induced voltage generated at a second frequency of the switching signal; and
comparing the threshold and an induced voltage that is detected at a frequency lower than the predetermined frequency with each other within the operation region in which the frequency of the switching signal is lower than the predetermined frequency; and
controlling a value of the drive current in accordance with a result of the comparing.
11. The control method of the stepping motor according to claim 10 , wherein
the generating includes generating the data table of the threshold by using values of the first induced voltage and the second induced voltage when the drive current is zero.
12. The control method of the stepping motor according to claim 10 , further comprising:
changing into an excitation mode in which a period of the switching signal is extended, when a time interval from a time point at which the drive current becomes zero until a next switching signal is output is shorter than a predetermined time interval.
13. The control method of the stepping motor according to claim 11 , further comprising:
changing into an excitation mode in which a period of the switching signal is extended, when a number of times that a time interval from a time point at which the drive current becomes zero until a next switching signal is output is shorter than a predetermined time interval is equal to or more than a previously set number.
14. The control method of the stepping motor according to claim 10 , further comprising:
changing into an excitation mode in which a period of the switching signal is shortened, when a time interval from a time point at which the drive current becomes zero until a next switching signal is output is longer than a predetermined time interval.
15. A stepping motor drive controlling system comprising: a stepping motor including an exciting coil that generates a magnetic field by a drive current; and a controller that controls the drive current, wherein the controller includes: a table generating unit that generates a data table of a threshold by using values of induced voltage at frequencies of switching signal that changes a set value of a drive current, the threshold being proportional to a frequency of the switching signal within an operation region in which the frequency of the switching signal is lower than a predetermined frequency, the values of the induced voltage including a first induced voltage generated at a first frequency of the switching signal and a second induced voltage generated at a second frequency of the switching signal; and a current controlling unit that is configured to: comparing the threshold and an induced voltage that is detected at a frequency lower than the predetermined frequency with each other within the operation region in which the frequency of the switching signal is lower than the predetermined frequency; and controlling a value of the drive current in accordance with a result of the comparing.
16. The stepping motor drive controlling system according to claim 15 , wherein
the first frequency is a lower-limit frequency at which the induced voltage is saturated.
17. The stepping motor drive controlling system according to claim 15 , further comprising:
a mode setting unit that changes into an excitation mode in which a period of the switching signal is extended, when a time interval from a time point at which the drive current becomes zero until a next switching signal is output is shorter than a predetermined time interval.
18. The stepping motor drive controlling system according to claim 17 , wherein
the mode setting unit changes into the excitation mode, when a number of times that a time interval from a time point at which the drive current becomes zero until a next switching signal is output is shorter than a predetermined time interval is equal to or more than a previously set number.
19. The stepping motor drive controlling system according to claim 15 , wherein
the table generating unit generates the data table of the threshold by using values of the first induced voltage and the second induced voltage when the drive current is zero.
20. The stepping motor drive controlling system according to claim 15 , further comprising:
a mode setting unit that changes into an excitation mode in which a period of the switching signal is shortened, when a time interval from a time point at which the drive current becomes zero until a next switching signal is output is longer than a predetermined time interval.