BN V MT PHNG PHP IU KHIN NG C BC NCS.

Triu Tuyn Hong TS Nguyn Hng Quang Trng HBK H ni B mn T ng ha

Tm tt: Trong nhng nm gn y ng c bc v ang c s dng rng ri trong cc h iu khin chnh xc. Tuy nhin, vn cn tn ti nhng vn pht sinh trong vic iu khin mt cch hiu qu ng c ny, ngay c i vi nhng ngi c k s c kinh nghim. Trn c s phn tch c im cc phng php iu khin loi ng c thng dng, bi bo s a ra phng n khc phc nhc im nhm gim thiu nhng sai lm d phm phi trong vic thit k nhng h thng c s dng ng c bc. ABSTRACT: In recent years, the step motor has been widely used in highly precision control system. There are still some issues related to effectively controlling this type of motor even in the use of experienced engineers. On the basis of analysing the novel control schemes, this paper would present some solutions to overcome its disadvantages in an effort to minimise the error in designing the step motor control system. 1. GII THIU NG C BC ng c bc ni chung c th c chia thnh hai loi chnh, ng c bc ngun n cc (unipolar motor) v ng c ngun lng cc (bipolar motor). Trc y, loi ng c ngun n cc c s dng rng ri hn do tnh n gin trong cu trc iu khin ca chng. Tuy nhin, vi s pht trin ca cc mch s c tch hp cao, ng c bc ngun lng cc ngy cng c s dng rng ri hn. Mt khc, trong cng mt iu kin hot ng, cc ng c bc ngn lng cc lun cho mt m men ln hn cc ng c bc ngun n. Cng chnh v nhng l do trn m bi bo s ch trng hn n phng php iu khin loi ng c ngun lng cc ny.

2. C TNH C NG C BC V CC PHNG PHP IU KHIN

Ty thuc vo m men yu cu trn trc ng c v tc quay m ta c th p dng cc phng php iu khin khc nhau cho ng c bc. Trong vng tc thp ch cn s dng phng php iu khin in p trc tip, khi dng in s c gii hn bi chnh ni tr ca cc cun dy ng c. Tuy nhin ti vng tc cao, nu tip tc s dng phng php ny, m men s b gim nghim trng do tnh cm ca cc cun dy s gii hn kh nng tng ca dng in (Hnh 1). Mt phng php thng p dng ci thin tnh hnh ny l s dng in tr ni thm vo cc cun dy ng c. Khi hng s thi gian ca ng c s gim (v L/nR thay v L/R) dng in tng nhanh hn lm c tnh c ca ng c cng hn. Tuy vy, ng c s cn mt in p iu khin

ln hn nhiu v hn 70% cng sut ngun nui s ta nhit trn cc in tr ni thm ny. Chnh v l do ny m phng php iu khin kiu bm (bm xung) thng c s dng nhm nng cao hiu sut, tng cng cho c tnh c ng c bc. Hnh 2 m t dng in trong ng c bc khi iu khin nu ln 3 phng php trn. Trong thc t, phng php iu khin bm xung (bm xung) c s dng rt rng ri. C rt nhiu phng php thc hin, nhng v c bn c th phn thnh 3 loi chnh nh sau: 1. Phng php bm xung duy tr tn s khng i (Hnh 3, y l phng php ph bin nht) cng c chia thnh 2 loi sau y: a. Phng php bm xung pha. b. Phng php bm xung c bo v (inhibit bm xung). 2. Phng php bm xung duy tr thi gian toff khng i (Hnh 8). 3. Phng php bm xung vi tn s bm xung t do (Hnh 9). Mi phng php u c nhng u nhc im ring v mc ch s dng cng khc nhau. Sau y chng ti s phn tch chi tit c im chung v ring ca cc phng php nu trn. 3. PHNG PHP BM XUNG TN S KHNG I Nguyn tc c bn ca phng php bm xung l duy tr dng in qua cc cun dy ng c khng i vi mi cp tc . lm c iu ny, mt in tr sun Rs c thm vo mch ly tn hiu phn hi dng in. Dng in phn hi ny c so snh vi dng t. Nu dng t cn ln hn dng trong cun dy th cho php cc transistor mch lc dn dng, khi dng trong cun dy s tip tc tng, v ngc li nu nh chy qua ng c gim nh hn dng t, cc transistor ngay lp tc s b kha v dng trong cun dy s gim xung. Phng php bm xung tn s khng i c cu trc c bn nh trong hnh 3. Tn hiu phn hi dng in thng qua b so snh s c so snh vi tn hiu dng t (Vref) ri a ti chn reset (R) ca RS FlipFlop. Tn hiu clock ng b (quy nh tn s bm xung ca mch) c a ti chn set (S) ca RS FlipFlop. Nh vy, u ra Q ca RS FlipFlop (c tc dng iu khin ON/OFF cc transistor mch ng lc) lun c SET mi khi c tn hiu t xung ng b v b RESET mi khi dng in trong cun dy vt qu gi tr t. (Tc dng ca xung ng b s c gii thch r hn trong phn di y.) Hnh 3.

Do cu trc ca hu ht cc b iu khin v cu to ca ng c bc, phng php bm xung ny c chia thnh pha bm xung v inhibit bm xung. Khc bit c bn ca hai phng php ny l: pha bm xung s thc hin ON/OFF trn cc transistor thuc pha nht nh, v inhibit bm xung s thc hin ON/OFF tt c cc transistor trong mch cu nh tn hiu inhibit (enable). S phn loi ny cn c vo nguyn tc gii phng nng lng trn cun dy khc nhau hai ch ny . Gi thit iu khin mt cun dy ng c bipolar nh hnh bn, v A ang c gi tr 1, B c gi tr 0. Dng ng c chy qua Q1, cun dy, Q4 v R s. Khi in p trn Rs t ti in p t (Uref), nu ch pha bm xung th khi ngay lp tc B phi c gi tr 1 kho transistor Q4 (hoc A phi c gi tr 0 tng ng vi vic kha Q1 tu theo thit k). Khi nng lng tch tr trong cun dy ng c s tiu tn bng cch khp vng qua Q1, cun dy, D3 (hoc D2, cun dy, Q4, Rs nu A c gi tr 0, tuy nhin nn trnh trng hp ny). Do in p trong ch ny ch bng tng in p thun trn it v in p bo ha trn transistor nn nng lng trong cun dy gim rt chm dn n dng in suy gim chm. ng thi, r rng khng th thc hin ch pha bm xung i vi loi ng c bc unipolar v i vi loi ng c unipolar cc transistor nhnh A v B iu khin cc cun dy c lp nhau nn khng cho php dn dng cng mt lc nh vi loi ng c bipolar Hnh 4: Cu trc Driver in hnh nu trn. Do vy nu p dng ch pha bm xung th khi nhnh A dn dng bm xung li c thc hin i vi nhnh B (thay v cho chnh nhnh A) v ngc li. Nu ng c bc hot ng ch fullstep 2 cun dy th ch ny c gi l bm xung 2 pha, fullstep 1 cun dy l bm xung 1 pha. Vn trong trng hp trn nu thc hin ch inhibit bm xung, khi thay v ko A xung mc 0 hay a B ln mc 1 th tnh hiu INH1 s kha tt c 4 transistor trong mch cu. Lc ny nng lng trong cun dy s gii phng theo ng D2, cun dy, D3 v do lc ny in p trn cun dy rt ln (bng in p ngun cng vi hai ln in p thun trn it) lm dng in gim rt nhanh trong ch ny. R rng vic nhanh dng in gim (nng lng tch tr trong cun dy gim nhanh) rt c ngha trong vic iu khin ng c bc tc cao v i vi nhng ng c c cng sut ln (R rt nh trong khi L (tnh cm) ln). V vy, ch inhibit bm xung cho php iu khin ng c bipolar tc ln v l phng php duy nht khi iu khin ng c unipolar. Dng sng cho hai ch pha bm xung v inhibit bm xung c trnh by trong hnh 5. Tuy nhin, i vi ch pha bm xung do tnh cht gim chm ca dng in trong cun dy nn c p dng i vi nhng ng c c L (tnh cm) nh. Nu i vi nhng ng c ny ta p dng phng php inhibit bm xung th dng in n nh

trong cun dy c th gim xung gi tr rt thp lm gim mnh m men trn trc ng c. trnh nhiu gy ra trong qu trnh bm xung i vi ng c (c bit i vi nhng ng c cng sut ln) v ng thi kim sot c nhiu ny, tt c qu trnh bm xung nn c ng b vi xung clock c tn s xc nh (tn s ny ph thuc vo ng c, tc lm vic ca ng c, loi bm xung s dng, v gi tr thc nghim vo khong 20KHz). Nu trong h thng c s dng nhiu ng c bc th nhng ng c ny nn c cng tn s bm xung v c ly theo tn s ca ng c c cng sut ln nht. Mt im quan trng phi cp n trong phng php iu khin bm xung ny l xt n s n nh ca h thng. Khi mch iu khin ang thc hin bm xung s pht sinh ra nhiu ln cho mch v nh hng ti s n nh ca ton b h thng. Nhng xung dng nhiu gy ra trn in tr phn hi dng nhng xung kim nh la b so snh v chng c to nn trong qu trnh tiu tn nng lng trn cun dy khp vng qua in tr Rs. Tuy nhng xung kim ny ch din ra trong thi gian rt ngn (t 50 150ns) nhng s lm b so snh hot ng sai v reset RS FlipFlop dn n cc transistor b kha qu sm (chng s ch c m li xung ng b tip theo _ hnh 6a). Chnh iu ny s lm cho mch iu khin hot ng mt tn Hnh 5: a, Dng sng pha chopping b, Dng sng inhibit chopping

Ch : Dng in qua Rs trong c hai ch chopping ny u gin on v mi qu trnh u ng b vi xung oscilator clock.(OSC_tn s chopping c gi khng i) s thp hn tn s ng b quy nh (thng nh hn 2,3 thm tr 4 ln tn s mong mun). y chnh l l do ti sao khng nn dng tiu tn trn cun dy khp vng qua in tr phn hi (Rs). C hai cch khc phc vn trn, mt l thm vo mch mt b lc RC c tc dng lc nhiu xung kim (phi thm phn t vo trong mch) v hai l, tng rng xung SET

cho RS FlipFlop (thi gian ny phi ln hn thi gian xy ra nhiu trn R s). C hai phng php ny c trnh by trn hnh 6b. Mt vn khc c nh hng ln n s n nh ca h thng chnh l chn ch thc hin bm xung. Nu s dng phng php inhibit bm xung nh trnh by phn trn, nng lng trong cun dy c gii phng rt nhanh. Chnh nh kh nng ny m ch ny c th iu khin c nhng ng c bc cng sut ln tc lm vic cao. Tuy nhin cng chnh s gim rt nhanh ca dng ny s lm mt n nh h thng. Tht vy, nu b qua nh hng ca sc phn in ng (EMF) ta c th tnh c in p trn cun dy trong thi gian dn dng (t1) v thi gian kho ca cc transistor (t2) nh sau: U1 = Ungun 2Ubo ho - URs v U2 = Ungun + 2Uit thun (1) Mt khc, tc tng v gim dng b gii hn bi cng thc: U = L di/dt (2)

Mong mun Thc t

Hnh 6: a, nh hng ca nhiu vi h thng

b, Hng khc phc: tng rng xung SET cho FlipFlop Thm b lc nhiu RC

R rng in p trn cun dy trong thi gian gii phng nng lng (U2) ln hn in p t vo cun dy trong thi gian dn ca cc transistor (U1) tc l theo (2) ta s c thi gian t1 s ln hn t2 (t1 > t2). Nh vy, thi gian dn dng (t1) s ln hn 50% chu k xung ng b (OSC. CLOCK). Nu tnh ti sc phn in ng th t1 thm tr s cn ln hn nhiu v sc phn in ng c xu hng ngn cn s tng dng v h tr s gim dng. Trong iu kin ny, nu ngu nhin trong ln u tin dng in t ti gii hn ngay sau khi c xung tn hiu ng b (Hnh 7), khu so snh s ngay lp tc ra lnh kho cc transistor v dng s gim dn. V tc gim dng l rt nhanh v thi gian gim dng ln (xp x 1 chu k xung ng b) nn khi c xung ng b tip theo m cc transistor dng gim xung mt gi tr rt nh. Chnh v vy dng in s khng kp tng n gi tr gii hn trong 1 chu k xung ng b v ch t ti gi tr t ny ti xung ng b th 2. Qu trnh s lp li nh vy dn n ng c s hot ng tn s ch bng tn s bm xung mong mun. Trong thc t, mch iu khin s hot ng 1 trong 2 tn s nu trn tu thuc vo ngu nhin.

iu ny khng xy ra vi ch pha bm xung do tnh gim chm ca dng in. khc phc hin tng ny ta c th tng tn s bm xung sao cho tn s ny ln hn tn s bm xung nh nht (tu thuc vo h thng), hay s dng xung ng b ngoi nhm tng rng xung set cho RS FlipFlop ln ti 30% chu k xung v trong qu trnh qu khi ng mch iu khin, mch lc nn c tch khi mch iu khin. Mt im ng quan tm cui cng v phng php iu khin bm xung ny l nh hng ca sc phn in ng i vi ng c. Sc phn in ng nh phn tch c xu hng ko di chu k bm xung nh nht ca ng c (lm gim tn s bm xung gii hn c quyt nh bi xung ng b OSC. CLOCK, tn s ny cng ln dng in trn ti cng mn v to t sng hi trong mch). Trong nhng trng hp c bit khi in p ngun cp nh hn so vi sc phn in ng khi trng hp mt n nh nh trn c th xy ra. Khi ny, phng php bm xung duy tr tn s khng i l khng th thc hin c, ta buc phi s dng nhng phng php bm xung khc (nh phng php bm xung duy tr thi gian toff, th ni thi gian ton l thch hp nht s c trnh by chi tit di y). 4. PHNG PHP BM XUNG DUY TR THI GIAN TOFF KHNG I c ny vi r qua duy tr php ny Chnh v transistor im khc bit c bn ca phng php phng php nu trn c th nhn thy chnh tn gi ca phng php. Thay v tn s bm xung khng i phng ch duy tr thi gian toff khng i. ch cn duy tr thi gian kho ca cc lc nn phng php ny khng b mt

Hnh 8

ng b nh phng php trn v c bit thch hp vi nhng loi ng c bc c sc phn in ng ln. Cu trc b iu khin c trnh by trong hnh 8. Thay v s dng RS FlipFlop nh phng php bm xung tn s khng i phng php ny s dng mt trigger to thi gian tr toff (c quyt nh bi thng s mch RC). Khi dng in t ti gi tr t, b so snh s kch hot trigger kho cc transistor mch lc v bt u tnh thi gian toff . Kt thc toff cc transistor li dn dng. Phng php ny c tnh b xung cho phng php th nht trnh by phn trn. Nhc im ca phng php l tn s bm xung khng c nh khng bit trc v tu thuc ti nn kh kim sot nhiu hn so vi phng php trn. 5. PHNG PHP BM XUNG VI TN S T DO y l phng php bm xung n gin nht. Phng php ny khng yu cu kim sot tn s bm xung cng nh thi gian t off nn tn s hot ng l tu thuc vo c tnh ca h thng. Do vy phng php mang tt c nhng nhc im ca c 2 phng php phn tch trn v c bit nhiu do mch gy ra khng th kim sot c, tu thuc vo c tnh ca h thng v tc hot ng ca ng c. Tuy nhin u im ca phng php l c cu trc mch iu khin cc k n gin. Tn hiu phn hi dng in sau khi qua khu so snh s trc tip ra lnh ON/OFF cc transistor. Nh vy ng c s lun duy tr c dng lm vic khng i i vi mi cp tc cho php. Cu trc mch iu khin c m t nh hnh 9. 6. KT LUN Sau y l mt vi lu cho nh thit k trong vic ch to h thng iu khin c s dng ng c bc. Thng thng trn nhn ca mt ng c bc c ghi 3 thng s quan trng sau: Hnh 9 dng in nh mc, in p c bn (in p ny bng tch s gia ni tr cun dy ng c v dng in nh mc), v gc quay cho mi bc (thng thng l 1,8). Hai thng s u tin thc s quan trng trong vic thit k mch iu khin cho ng c bc v ta c th xc nh c dng in t (Uref) v in p ngun cp (yu cu t nht ln hn 8 ln in p c bn). Nh phn tch it s dng bm xung l c yu cu phi tuyn nhanh (fast Cc h it nh cc yu cu nu Hnh 7: Hin tng mt dng na khi b tr cc ng b cc it pha c ni vi t thay v ni vi cc Emiter ca cc transistor trn, vai tr ca cc trong mch ch bit quan trng. V vy, chn loi it c c diode) v chu dng. 1N4001 khng tho mn trn. Mt iu cn ch it ny trong mch l di ca mch cu nn lc nhm trnh cc xung

kim trn in tr phn hi gy nhiu nh la b so snh pht sinh trong qu trnh vn hnh ng c.

Tu thuc vo yu cu kinh t, k thut m nh thit k nn chn phng php bm xung ph hp. Ch ch rng trong hai ch pha v inhibit bm xung, ch inhibit bm xung lm nng ng c v cu iu khin hn c, do thi gian dng chy qua cc thit b cng sut ln hn cc ch khc. i vi cc ch pha bm xung th bm xung 1 pha t gy pht nhit trn cu iu khin hn so vi ch bm xung 2 pha. i vi mch iu khin ng c bc cng sut va v ln, cc bin php bo v qu dng, ngn mch... phi c ch nhm trnh nhng h hng khng ng c. Trn c s nhng nghin cu v phn tch nu trn, chng ti thit k thnh cng mch driver iu khin ng c bc a nng c chnh xc cao, tn s lm vic ln v n nh (Hnh 10): Hnh10: H iu khin ng c bc 1 Driver c kh nng iu khin chnh xc ng c cc loi: ng c bc bipolar, unpipolar, h tr c hai ch bm xung pha v inhibit vi tc ng c ln n gn 300 vng/pht. 2 Ph hp vi nhng ng c c dng in nh mc < 2A. 3 in p lm vic ca driver t 7 40VDC. 4 C kh nng h tr iu khin PWM cho hai ng c in mt chiu. 5 Tng thch ghp ni (TTL, CMOS) vi cc loi vi iu khin thng dng. 6 C bo v qu nhit v ngn mch cho mch iu khin. 7. Acknowlegement The authors gratefully acknowledge the receipt of a grant from the Flemish Interuniversity Council for University Development cooperation (VLIR UOS) which enabled them to carry out this work.

TI LIU THAM KHO: [1] Sax, Herbert., Stepper Motor Driving [2] Sax, Herbert.,Constant Current Chopper Drive Ups Stepper- Motor Performance [3] Hopkins, Thomas.,Unsing the L6506 for Current Control of Stepping Motors [4] SGS-Thomson Microelectronics.,The L297 Steper Motor Controller [5] Leenouts, Albert.,The Art and Practice of Step Motor Control. Ventura CA: Intertec Communications Inc. 1987 [6] Hopkins, Thomas., Controlling Voltage Transisnts in Full Bridge Drivers [7] ScrocchiG. and Fusaroli G., Short Circuit Protection on L6203.