Apparatus, method, and system for controlling stepping motor
View Patent ↗A stepping motor controller that alleviates the CPU burden of motor control tasks. An acceleration control starter initializes a pointer register with a given start angle address upon receipt of a control start signal. Duty cycles for different motor angles are previously calculated and stored in a duty cycle memory. A duty cycle selector looks up this memory to select specific duty cycles corresponding to the angle address held in the pointer register. The stepping motor is driven with pulse signals that a pulse generator produces according to the selected duty cycles. An angle address calculator adds a given address increment to the pointer register. A revolution detector detects one revolution of the stepping motor by comparing the angle address of the pointer register with an end angle address, which permits an acceleration constant calculator to change the angular increment upon detection of one revolution.
1. An apparatus for controlling a stepping motor, comprising:
an angle address register storing a start angle address representing a start angle of the stepping motor, as well as an end angle address representing an end angle of the stepping motor;
a pointer register holding an angle address representing a rotation angle of the stepping motor;
an acceleration control starter that initializes the pointer register with the start angle address stored in the angle address register upon receipt of a control start signal;
a duty cycle memory storing duty cycles corresponding to different angle addresses including the start angle address stored in the angle address register;
a duty cycle selector that looks up the duty cycle memory to select duty cycles corresponding to the angle address held in the pointer register;
a pulse generator that produces pulse signals having the duty cycles selected by the duty cycle selector to drive the stepping motor;
an angle address calculator that updates the pointer register with a new angle address calculated by adding a given address increment to the angle address held in the pointer register;
a revolution detector that detects one revolution of the stepping motor by comparing the angle address of the pointer register with the end angle address and produces a detection result signal indicating the detection of one revolution of the stepping motor;
a count trigger generator that generates a trigger signal based on the detection result signal from the revolution detector; and
an acceleration constant calculator that changes the address increment each time the trigger signal is received from the count trigger generator.
2. The apparatus according to claim 1 , wherein the acceleration control starter produces a signal indicating completion of control when the stepping motor has stopped.
3. The apparatus according to claim 1 , wherein the duty cycle memory stores duty cycles previously calculated for angle addresses between the start angle address and end angle address stored in the angle address register.
4. A method of controlling a stepping motor, comprising:
providing an angle address register storing a start angle address representing a start angle of the stepping motor, as well as an end angle address representing an end angle of the stepping motor;
providing a pointer register holding an angle address representing a rotation angle of the stepping motor;
providing a duty cycle memory storing duty cycles corresponding to different angle addresses including the start angle address stored in the angle address register;
initializing the pointer register with the start angle address stored in the angle address register upon receipt of a control start signal;
looking up the duty cycle memory to select duty cycles corresponding to the angle address held in the pointer register;
producing pulse signals having the selected duty cycles to drive the stepping motor;
updating the pointer register with a new angle address calculated by adding a given address increment to the angle address held in the pointer register;
detecting one revolution of the stepping motor by comparing the angle address of the pointer register with the end angle address;
generating a trigger signal based on a detection result signal indicating the detection of one revolution of the stepping motor; and
changing the address increment each time the trigger signal is generated.
5. The method according to claim 4 , further comprising the step of producing a signal indicating completion of control when the stepping motor has stopped.
6. The method according to claim 4 , wherein the duty cycle memory stores duty cycles previously calculated for angle addresses between the start angle address and end angle address stored in the angle address register.
7. A stepping motor control system comprising:
(a) a central processing unit (CPU) that produces a control start signal;
(b) a stepping motor controller comprising:
an angle address register storing a start angle address representing a start angle of the stepping motor, as well as an end angle address representing an end angle of the stepping motor,
a pointer register holding an angle address representing a rotation angle of the stepping motor,
an acceleration control starter that initializes the pointer register with the start angle address stored in the angle address register upon receipt of a control start signal,
a duty cycle memory storing duty cycles corresponding to different angle addresses including the start angle address stored in the angle address register,
a duty cycle selector that looks up the duty cycle memory to select duty cycles corresponding to the angle address held in the pointer register,
a pulse generator that produces pulse signals having the duty cycles selected by the duty cycle selector to drive the stepping motor,
an angle address calculator that updates the pointer register with a new angle address calculated by adding a given address increment to the angle address held in the pointer register,
a revolution detector that detects one revolution of the stepping motor by comparing the angle address of the pointer register with the end angle address and produces a detection result signal indicating the detection of one revolution of the stepping motor,
a count trigger generator that generates a trigger signal based on the detection result signal from the revolution detector, and
an acceleration constant calculator that changes the address increment each time the trigger signal is received from the count trigger generator; and
(c) a stepping motor driven with the pulse signals.
8. The stepping motor control system according to claim 7 , wherein the acceleration control starter produces a signal indicating completion of control when the stepping motor has stopped.
9. The stepping motor control system according to claim 7 , wherein the duty cycle memory stores duty cycles previously calculated for different angle addresses between the start angle address and end angle address stored in the angle address register.