Pulse motor control apparatus

• US 4,528,491 A
• Filed: 12/20/1983
• Issued: 07/09/1985
• Est. Priority Date: 12/28/1982
• Status: Expired due to Term

• Current Assignee: Tokyo Keiki Inc.
• Original Assignee: Tokyo Keiso Company
• Inventors: Hayashi, Kiyoshi, Takeuchi, Kunihiko, Shimomura, Yasuo
• Primary Examiner(s): Dobeck, B.
• Assistant Examiner(s): Bergmann, Saul M.
• Application Number:
  US06/564,082
• Time in Patent Office: 567 Days
• Field of Search: 318/685, 318/696, 318/603, 318/567, 318/568, 318/341
• US Class Current: 318/603
• CPC Class Codes: G05B 19/40 Open loop systems, e.g. using stepping motor
• CPC Class Codes: G05B 2219/42171 Velocity profile, variable gain, multiplication factors, rom ram
• CPC Class Codes: H02P 8/00 Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step vector control H02P21/00

Abstract

Displacement table data, which consist of pulse number data for N individual displacement divisions which altogether constitute a given rotational displacement of a pulse motor, are stored in a memory so that the sum of pulse numbers stored in the individual divisions may be equal to a given pulse number corresponding to the displacement of the pulse motor. Pulse period table data, which consist of pulse period data for determining the speed of the pulse motor for divisions corresponding in number to the number of divisions of the displacement table data, are stored in another memory. The pulse motor control is effected by causing generation of pulses corresponding in number to the pulse number data for the individual displacement divisions of the displacement table and having pulse periods for the individual divisions of pulse period table, and by executing the generation of pulses for the successive divisions.

Claims

1. A pulse motor control apparatus comprising:

a pulse motor;

a first memory means for storing a plurality of different pulse number data blocks corresponding in number to the number of pulses required for the maximum displacement of said pulse motor, each of said pulse number data blocks consisting of pulse number data obtained by dividing a given number of pulse motor drive pulses by a number N, said pulse number data being stored in N displacement divisions such that the sum of the pulse numbers stored in the respective displacement divisions is equal to said given number of pulse motor drive pulses;

a second memory means for storing displacement pattern data consisting of a plurality of different pulse period data blocks, each of said pulse period data blocks consisting of pulse period data stored in N pulse period divisions corresponding to said displacement divisions; and

a pulse generating means for generating successive pulses supplied to said pulse motor, said successive pulses being generated as pulses which correspond in number to the pulse numbers of said respective displacement divisions in the pulse number data block stored in said first memory means corresponding to a specified number of pulse motor drive pulses and which have pulse periods of the respective pulse period divisions in the pulse period data block stored in said second memory means corresponding to a specified displacement pattern;

wherein said pulse generating means includes;

a displacement setter for selecting the displacement of said pulse motor by specifying the block number of any of said pulse number data blocks stored in said first memory means; and

a pattern setter for selecting the displacement pattern of said pulse motor by specifying the block number of any of said pulse period data blocks stored in said second memory means.

2. A pulse motor control apparatus according to claim 1, wherein said pulse generating means includes:

a timer means in which pulse period data T_o to T_N-1 of the respective pulse period divisions A_o to A_N-1 in the specified pulse period data block stored in said second memory means are preset one after another, said timer means issuing pulses of preset pulse periods;

a first counter means in which pulse number data n_o to n_N-1 of the respective displacement divisions A_o to A_N-1 in the specified pulse number data block stored in said first memory means are preset one after another, said first counter means counting the pulses issued from said timer means and producing an output whenever the count coincides with the preset pulse number; and

a second counter means for presetting, in response to the count output of said first counter means, the pulse number data and pulse period data of the next displacement and pulse period divisions in said first counter means and said timer means, respectively, said second counter means inhibiting the issuance of pulses when its count coincides with the number N of divisions.

3. A pulse motor control apparatus according to claim 1, wherein the number N of said displacement and pulse period divisions in said first and second memory means is equal to 16.

4. A pulse motor control apparatus comprising:

a pulse motor;

a first memory means for storing a plurality of different pulse number data blocks corresponding in number to the number of pulses required for the maximum displacement of said pulse motor, each of said pulse number data blocks consisting of pulse number data obtained by dividing a given number of pulse motor drive pulses by a number N, said pulse number data being stored in N displacement divisions such that the sum of the pulse numbers stored in the respective displacement divisions is equal to said given number of pulse motor drive pulses;

a second memory means for storing displacement pattern data consisting of a plurality of different pulse period data blocks, each of said pulse period data blocks consisting of pulse period data stored in N pulse period divisions corresponding to said displacement divisions; and

a pulse generating means for generating successive pulses supplied to said pulse motor, said successive pulses being generated as pulses which correspond in number to the pulse numbers of said respective displacement divisions in the pulse number data block stored in said first memory means corresponding to a specified number of pulse motor drive pulses and which have pulse periods of the respective pulse period divisions in the pulse period data block stored in said second memory means corresponding to a specified displacement pattern;

wherein said pulse generating means includes;

a timer means in which pulse period data To to T_N-1 of the respective pulse period divisions A_o to A_N-1 in the specified pulse period data block stored in said second memory means are preset one after another, said timer means issuing pulses of preset pulse periods;

a first counter means in which pulse number data n_o to n_N-1 of the respective pulse period divisions A_o to A_N-1 in the specified pulse number data block stored in said first memory means are preset one after another, said first counter means counting the pulses issued from said timer means and producing an output whenever the count coincides with the present pulse number; and

a second counter means for presetting, in response to the count output of said first counter means, the pulse number data and pulse period data of the next displacement and pulse period divisions in said first counter means and said timer means, respectively, said second counter means inhibiting the issuance of pulses when its count coincides with the number N of divisions.

5. A pulse motor control apparatus comprising:

a pulse motor;

a first memory means for storing a plurality of different pulse number data blocks corresponding in number to the number of pulses required for the maximum displacement of said pulse motor, each of said pulse number data blocks consisting of pulse number data obtained by dividing a given number of pulse motor drive pulses by a number N, said pulse number data being stored in N displacement divisions such that the sum of the pulse numbers stored in the respective displacement divisions is equal to said given number of pulse motor drive pulses;

a second memory means for storing displacement pattern data consisting of a plurality of different pulse period data blocks, each of said pulse period data blocks consisting of pulse period data stored in N pulse period divisions corresponding to said displacement divisions; and

a pulse generating means for generating successive pulses supplied to said pulse motor, said successive pulses being generated as pulses which correspond in number to the pulse numbers of said respective displacement divisions in the pulse number data block stored in said first memory means corresponding to a specified number of pulse motor drive pulses and which have pulse periods of the respective pulse period divisions in the pulse period data block stored in said second memory means corresponding to a specified displacement pattern;

wherein the number N of said displacement and pulse period divisions in said first and second memory means is equal to 16.