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EP-4042558-B1 - SYSTEMS AND METHODS FOR CONTROLLING STEPPING MOTOR

EP4042558B1EP 4042558 B1EP4042558 B1EP 4042558B1EP-4042558-B1

Inventors

  • SHI, Xiaoling
  • YANG, Zengqi
  • LI, JIANPING

Dates

Publication Date
20260513
Application Date
20200807

Claims (13)

  1. A system for controlling a stepping motor (120), comprising: a processing unit (310) configured to determine a driving voltage based on a function, wherein the function includes a predetermined electric current and operating parameters of the stepping motor (120), characterized in that the function includes U = I ωL + ω C sin γ 2 + I R + ω C cos γ 2 , wherein |U| denotes an amplitude of the driving voltage, |I| denotes an amplitude of the predetermined electric current, the predetermined electric current is a sinusoidal current, ω denotes an angular frequency of the driving voltage, |C| denotes a back electromotive force constant of the stepping motor (120), L denotes a phase inductance of the stepping motor (120), γ denotes a load angle of the stepping motor (120), and R denotes a sum of a phase resistance of the stepping motor (120) and an on-resistance of the H-bridge (130, 640); and an outputting unit (330) configured to drive the stepping motor (120) to work based on the driving voltage via an H-bridge (130, 640).
  2. The system of claim 1, wherein the system further includes a controller (110), and the controller (110) is configured to perform operations including: driving the stepping motor (120) with a first working voltage; obtaining a first working current of the stepping motor (120) under the first working voltage; and determining the back electromotive force constant based on the first working voltage and the first working current.
  3. The system of claim 2, wherein the back electromotive force constant is determined according to C = 1 ω U 1 sin ϕ − I 1 · ωL 2 + U 1 cos ϕ − I 1 · R 2 , wherein |C| denotes the back electromotive force constant of the stepping motor (120), ω denotes an angular frequency of the first working voltage, |U 1 | denotes an amplitude of the first working voltage, ϕ denotes a phase of the first working voltage, |I 1 | denotes an amplitude of the first working current, L denotes the phase inductance of the stepping motor (120), and R denotes the sum of the phase resistance of the stepping motor (120) and the on-resistance of the H-bridge (130, 640).
  4. The system of any one of claims 1-3, wherein the controller (110) is configured to perform operations including: determining the phase resistance of the stepping motor (120) based on an operating environment of the stepping motor (120).
  5. The system of claim 4, wherein the phase resistance of the stepping motor (120) is determined according to R 1 = R 25°c × (1 + (T-25)*0.004), wherein R 1 denotes the phase resistance of the stepping motor (120), R 25°C denotes a phase resistance of the stepping motor (120) when the stepping motor (120) is operated at 25°C, and T denotes a temperature of the operating environment.
  6. The system of any one of claims 1-5, wherein the controller (110) is configured to perform operations including: driving the stepping motor (120) with a second working voltage; obtaining a second working current of the stepping motor (120) under the second working voltage; and determining the load angle of the stepping motor (120) based on the second working voltage and the second working current.
  7. The system of claim 6, wherein the load angle is determined according to y = arctan U 2 sin ϕ − I 2 • ωL U 2 cos ϕ − I 2 • R , wherein γ denotes the load angle, |U 2 | denotes an amplitude of the second working voltage, ϕ denotes a phase of the second working voltage, |I 2 | denotes an amplitude of the second working current, ω denotes an angular frequency of the second working voltage, L denotes the phase inductance of the stepping motor (120), and R denotes the sum of the phase resistance of the stepping motor (120) and the on-resistance of the H-bridge (130, 640).
  8. The system of any one of claims 1-7, wherein the controller (110) is configured to perform operations including: storing a table indicating a relationship between the driving voltage and the angular frequency.
  9. The system of any one of claims 1-8, wherein to drive the stepping motor (120) to work based on the driving voltage via the H-bridge (130, 640), the outputting unit (330) is configured to perform operations including: obtaining pulse width modulation (PMW) signals by inputting an amplitude of the driving voltage to a sinusoidal pulse width modulation (SPWM) generation module; and controlling the H-bridge (130, 640) to drive the stepping motor (120) by inputting the PWM signals to the H-bridge (130, 640).
  10. A method for controlling a stepping motor (120), comprising: determining a driving voltage based on a function, wherein the function includes a predetermined electric current and operating parameters of the stepping motor (120), characterized in that the function includes U = I ωL + ω C sin γ 2 + I R + ω C cos γ 2 wherein |U| denotes an amplitude of the driving voltage, |I| denotes an amplitude of the predetermined electric current, the predetermined electric current is a sinusoidal current, ω denotes an angular frequency of the driving voltage, |C| denotes a back electromotive force constant of the stepping motor (120), L denotes a phase inductance of the stepping motor (120), γ denotes a load angle of the stepping motor (120), and R denotes a sum of a phase resistance of the stepping motor (120) and an on-resistance of the H-bridge (130, 640); and driving the stepping motor (120) to work based on the driving voltage via an H-bridge (130, 640).
  11. The method of claim 10, further comprising: driving the stepping motor (120) with a first working voltage; obtaining a first working current of the stepping motor (120) under the first working voltage; and determining the back electromotive force constant based on the first working voltage and the first working current.
  12. The method of any one of claims 10-12, further comprising: determining the phase resistance of the stepping motor (120) based on a temperature of an operating environment of the stepping motor (120).
  13. A non-transitory readable medium, comprising at least one set of instructions for controlling a stepping motor (120), wherein when executed by at least one processor (220) of an electrical device, the at least one set of instructions directs the at least one processor (220) to perform operations including: determining a driving voltage based on a function, wherein the function includes a predetermined electric current and operating parameters of the stepping motor (120), characterized in that the function includes U = I ωL + ω C sin γ 2 + I R + ω C cos γ 2 , wherein |U| denotes an amplitude of the driving voltage, |I| denotes an amplitude of the predetermined electric current, the predetermined electric current is a sinusoidal current, ω denotes an angular frequency of the driving voltage, |C| denotes a back electromotive force constant of the stepping motor (120), L denotes a phase inductance of the stepping motor (120), γ denotes a load angle of the stepping motor (120), and R denotes a sum of a phase resistance of the stepping motor (120) and an on-resistance of the H-bridge (130, 640); and driving the stepping motor (120) to work based on the driving voltage via an H-bridge (130, 640).

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority of Chinese Application No. 201911349218.7, filed on December 24, 2019. TECHNICAL FIELD The present disclosure generally relates to systems and methods for controlling a stepping motor. BACKGROUND Stepping motors are widely used. Existing methods for driving a stepping motor use an integrated circuit driving chip with a built-in Pulse width modulation (PWM) chopper controller to drive the stepping motor to generate PWM choppers and acquire currents of windings of the stepping motor. A duty ratio of a PWM chopper generator may be controlled by feedback currents, thereby the currents of the windings of the stepping motor are within predetermined values. However, the output feedback currents are not constant values, resulting in nonperiodic ripples that exist in the currents of windings when the stepping motor is not working. Noises are produced. In addition, the stepping motor vibrates due to the distortion at zero crossing point. Thus, it is desirable to provide systems and methods for controlling stepping motors to solve the problems of noises and vibrations of the stepping motors. JP H05 207799 A relates to a control system for controlling a stepping motor driven by an H-bridge, wherein a coil voltage is determined based on equations 4-8, the equations including a coil current, a coil resistance, a coil inductance and a motor back electromotive force constant of the stepping motor. SUMMARY The invention is set out in the appended set of claims. Additional features will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and the accompanying drawings or may be learned by production or operation of the examples. The features of the present disclosure may be realized and attained by practice or use of various aspects of the methodologies, instrumentalities, and combinations set forth in the detailed examples discussed below. BRIEF DESCRIPTION OF THE DRAWINGS The present disclosure is further described in terms of exemplary embodiments. These exemplary embodiments are described in detail with reference to the drawings. These embodiments are non-limiting exemplary embodiments, in which like reference numerals represent similar structures throughout the several views of the drawings, and wherein: FIG. 1 is a schematic diagram illustrating an exemplary system for controlling a stepping motor according to some embodiments of the present disclosure;FIG. 2 is a schematic diagram illustrating exemplary hardware and/or software components of a computing device according to some embodiments of the present disclosure;FIG. 3 is a block diagram illustrating an exemplary controller according to some embodiments of the present disclosure;FIG. 4 is a flowchart illustrating an exemplary process for controlling a stepping motor according to some embodiments of the present disclosure;FIG. 5 is a schematic diagram illustrating an exemplary circuit model of a stepping motor according to some embodiments of the present disclosure;FIG. 6 is a schematic diagram illustrating an exemplary system for controlling a stepping motor according to some embodiments of the present disclosure;FIG. 7 is a schematic diagram illustrating an exemplary current waveform of a stepping motor according to some embodiments of the present disclosure; andFIG. 8 is a schematic diagram illustrating an exemplary current waveform of a stepping motor according to some embodiments of the present disclosure. DETAILED DESCRIPTION The following description is presented to enable any person skilled in the art to make and use the present disclosure, and is provided in the context of a particular application and its requirements. The present disclosure is not limited to the embodiments shown but is to be accorded the widest scope consistent with the claims. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" when used in this disclosure, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. These and other features, and characteristics of the present disclosure, as well as the methods of operations and functions of the related elements of structure and the combination of parts and economies of manufacture, may become more apparent upon consideration of the following description with reference to the accompanying drawing(s), all of which form part of this specification. It is