Systems and methods for controlling stepping motor

Patent metadata

Field	Value
Publication number	US-12015370-B2
Application number	US-202217662849-A
Country	US
Kind code	B2
Filing date	May 11, 2022
Priority date	Dec 24, 2019
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

The present disclosure relates to systems and methods for controlling a stepping motor. A method may include determining a driving voltage based on a function, wherein the function includes a predetermined electric current and operating parameters of the stepping motor; and driving the stepping motor to work based on the driving voltage via an H-bridge.

First claim

What is claimed is:

1. A system for controlling a stepping motor, comprising:
at least one storage medium including a set of instructions for controlling a stepping motor; and
at least one processor in communication with the storage medium, wherein when executing the set of instructions, the at least one processor is directed 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, and the function includes |U|=√{square root over ((|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,
ωdenotes an angular frequency of the driving voltage,
|C| denotes a back electromotive force constant of the stepping motor,
L denotes a phase inductance of the stepping motor,
γ denotes a load angle of the stepping motor, and
R denotes a sum of a phase resistance of the stepping motor and an on-resistance of the H-bridge; and

driving the stepping motor to work based on the driving voltage via an H-bridge.

2. The system of claim 1 , wherein the operations further include:
driving the stepping motor with a first working voltage;
obtaining a first working current of the stepping motor 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

❘
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C

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=

1
ω

⁢

(

❘
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U
1

❘
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⁢
sin
⁢
ϕ

-

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I
1

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·
ω

⁢
L

)

2

+

(

❘
"\[LeftBracketingBar]"

U
1

❘
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⁢
cos
⁢
ϕ

-

❘
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I
1

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·
R

)

2

,

wherein
|C| denotes the back electromotive force constant of the stepping motor,
ωdenotes 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,
|1 1 | denotes an amplitude of the first working current,
L denotes the phase inductance of the stepping motor, and
R denotes the sum of the phase resistance of the stepping motor and the on-resistance of the H-bridge.

4. The system of claim 1 , wherein the operations further include:
determining the phase resistance of the stepping motor based on an operating environment of the stepping motor.

5. The system of claim 4 , wherein the phase resistance of the stepping motor 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,
R 25° C. denotes a phase resistance of the stepping motor when the stepping motor is operated at 25° C., and
T denotes a temperature of the operating environment.

6. The system of claim 1 , wherein the operations further include:
driving the stepping motor with a second working voltage;
obtaining a second working current of the stepping motor under the second working voltage; and
determining the load angle of the stepping motor 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

γ
=

arctan
⁢

❘
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U
2

Assignees

• Zhejiang Dahua Technology Co

Inventors

• Shi Xiaoling
• Yang Zengqi
• Li Jianping

Classifications

• H02P8/34

  Monitoring operation (H02P8/36 takes precedence) · CPC title

• H02P8/12 Primary

  Control or stabilisation of current · CPC title

• H02P8/32 Primary

  Reducing overshoot or oscillation, e.g. damping · CPC title

• H02P8/00 Primary

  Arrangements for controlling dynamo-electric motors rotating step by step · CPC title