Device Modeling of Stepping Motor using SPICE

1. ステッピングモータのデバイスモデリング
1
2020年4月15日
ビー・テクノロジー
1.ステッピングモーターのスパイスモデル
1.1周波数モデルについて
周波数の任意の点
周波数の任意の帯域
3素子モデル
5素子モデル
ラダーモデル
1.2周波数モデル＋内部電圧依存性について

2. 2
1.1周波数モデルについて
TECO ELEC. & MACH.CO.,LTD.’s Unipolar Stepping Motor 4H4018-X0101
•DC Voltage........................DC 12.0 V
•Rated Current....................0.23 A/Phase
•Step Angle.........................1.8(degrees)
•Leads ................................6
All Rights Reserved Copyright (C) Bee Technologies Inc.

3. 3
1.1周波数モデルについて
The Winding Impedance vs. Frequency characteristics
are obtained with a Precision Impedance Analyzer
(Agilent 4294A).
10
100
1000
10000
1.0E+02 1.0E+03 1.0E+04 1.0E+05 1.0E+06 1.0E+07 1.0E+08
Impedance(Ohm)
Frequency (Hz)
Measurement
Simulation
All Rights Reserved Copyright (C) Bee Technologies Inc.

4. 4
1.1周波数モデルについて
IN+
IN-
OUT+
OUT-
AEMF
L1
1 2
C1
R1
N1
0
N2
RS
All Rights Reserved Copyright (C) Bee Technologies Inc.

5. 5
1.2周波数モデル＋内部電圧依存性について
2
IN+
IN-
OUT+
OUT-
AEMF
L1
1 2
C1
R1
N1
1
0
N2
RS
Impedance
Back EMF
All Rights Reserved Copyright (C) Bee Technologies Inc.

6. 6
1.2周波数モデル＋内部電圧依存性について
10
100
1000
10000
1.0E+02 1.0E+03 1.0E+04 1.0E+05 1.0E+06 1.0E+07 1.0E+08
Impedance(Ohm)
Frequency (Hz)
Measurement
Simulation
RSC
R1
R2
CS
C1
C2
2
IN+
IN-
OUT+
OUT-
AEMF
L1
1 2
R3
1
0
RSL
3素子モデルからラダーモデルへ
All Rights Reserved Copyright (C) Bee Technologies Inc.

7. 7
1.2周波数モデル＋内部電圧依存性について
PWM Controller IC
• Current Mode
• Voltage Mode
Output Device
• MOSFET
• BJT
• Darlington Transistor
• etc…
STEPPING
MOTOR
Microcontroller
All Rights Reserved Copyright (C) Bee Technologies Inc.

8. 8
1.2周波数モデル＋内部電圧依存性について
Dbreak
D1
+
-
+
-
S1
S
RON = 10E-3
+
-
+
-
S2
S
RON = 10E-3
+
-
+
-
S3
S
RON = 10E-3
+
-
+
-
S4
S
RON = 10E-3
Dbreak
D2
VCC
0 /A
0
0
0
VCC
B
A
VCCVCC VCC
Vcc
24
0
/B
A
CLK
TD = 0
TF = 10n
PW = {0.49/pps}
PER = {1/pps}
V1 = 0
TR = 10n
V2 = 5
0
PARAMETERS:
pps = 600
CLK
Abar
Dbreak
D3
VCC
Dbreak
D4
VCC
Bbar
B
FA
I
/FA
FB
/FB
Stepping Motor Driver
Acom
/A
B
Bcom
A
/B
U6
4H4018X0101
PPS = {pps}
• The clock signal and the motor model are synchronized.
Input the value in the “PARAMETERS: pps= ” to set the
speed condition.
Input Speed
[pps] here.
Clock signal
(600pps)
Unipolar stepping motor
(driven with 600pps)
IDEAL MOSFT
All Rights Reserved Copyright (C) Bee Technologies Inc.

9. 9
1.2周波数モデル＋内部電圧依存性について
RCLK
10MEG
/FB
TD = {2/pps}
TF = 10n
PW = {4/pps}
PER = {8/pps}
V1 = 5
TR = 10n
V2 = 0
IREFBbar
IN+
IN-
OUT+
OUT-
E7
IF(V(IREFBbar)>V(IBbar),5,0)
EVALUE R11
100
IN+
IN-
OUT+
OUT-
E8
IF(V(SWA)>2.5,I_SET-3m,I_SET-30m)
EVALUE
0
IN+
IN-
OUT+
OUT-
EI/B
I(Bbar)
EVALUE
R12
100
C7
10n
0
IBbar
0
C8
100p
SWBbar
0
U5
AND2
/FB
0
/FATD = 0
TF = 10n
PW = {4/pps}
PER = {8/pps}
V1 = 5
TR = 10n
V2 = 0
SWA
IREFA
IN+
IN-
OUT+
OUT-
E1
IF(V(IREFA)>V(IA),5,0)
EVALUE R5
100
C1
100p
0
IN+
IN-
OUT+
OUT-
E2
IF(V(SWA)>2.5,I_SET-3m,I_SET-30m)
EVALUE
0
IN+
IN-
OUT+
OUT-
EIA
I(A)
EVALUE
R6
100
C3
10n
0
FATD = 0
TF = 10n
PW = {4/pps}
PER = {8/pps}
V1 = 0
TR = 10n
V2 = 5
0
IA
U2
AND2
SWB
IREFB
IN+
IN-
OUT+
OUT-
E3
IF(V(IREFB)>V(IB),5,0)
EVALUE R7
100
C2
100p
0
IN+
IN-
OUT+
OUT-
E4
IF(V(SWA)>2.5,I_SET-3m,I_SET-30m)
EVALUE
0
IN+
IN-
OUT+
OUT-
EIB
I(B)
EVALUE
R8
100
C4
10n
0
FB
TD = {2/pps}
TF = 10n
PW = {4/pps}
PER = {8/pps}
V1 = 0
TR = 10n
V2 = 5
IB
0
U3
AND2
SWAbar
IREFAbar
IN+
IN-
OUT+
OUT-
E5
IF(V(IREFAbar)>V(IAbar),5,0)
EVALUE R9
100
C5
100p
0
IN+
IN-
OUT+
OUT-
E6
IF(V(SWA)>2.5,I_SET-3m,I_SET-30m)
EVALUE
0
IN+
IN-
OUT+
OUT-
EI/A
I(Abar)
EVALUE
R10
100
C6
10n
0
IAbar
0
U4
AND2
FA
/FA
FB
CLK
PARAMETERS:
I_SET = 0.103
• Input the set current value and configure the phase
sequence control signal. PWM will regulate the phase
current a the set current level.
Phase sequence
control signal
Set current
(0.100A)
Modulated
control signal
All Rights Reserved Copyright (C) Bee Technologies Inc.

10. 10
1.2周波数モデル＋内部電圧依存性について
Time
30ms 40ms 50ms 60ms 70ms 80ms 90ms 100ms 110ms 120ms 130ms
V1(/FB)
0V
7.5V
SEL>>
V1(FB)
0V
7.5V
V1(/FA)
0V
7.5V
V1(FA)
0V
7.5V
V(CLK)
0V
7.5V
T=1/pps
FA Phase Excitation
/FA Phase Excitation
FB Phase Excitation
/FB Phase Excitation
Clock
All Rights Reserved Copyright (C) Bee Technologies Inc.

11. 11
1.2周波数モデル＋内部電圧依存性について
Time
0s 5.0ms
I(S1:3)
0A
100mA
SEL>>
V(FA)
0V
7.5V
V(CLK)
0V
7.5V
All Rights Reserved Copyright (C) Bee Technologies Inc.

12. 12
1.2周波数モデル＋内部電圧依存性について
Time
0s 2.0ms
I(S1:3)
0A
150mA
SEL>>
(172.935u,100.000m)
V(FA)
0V
7.5V
V(CLK)
0V
7.5V
Current Rise Time vs. Speed Simulation
Clock Rate = 600pps
Phase A current rise time is 172.935usec.
At 600[pps] clock rate.
Phase A
Phase A Current
(ID of MOSFET)
Clock
tr=172.935
600[pps]
All Rights Reserved Copyright (C) Bee Technologies Inc.

13. 13
1.2周波数モデル＋内部電圧依存性について
Time
0s 2.0ms
I(S1:3)
0A
150mA
SEL>>
(173.619u,100.000m)
V(FA)
0V
7.5V
V(CLK)
0V
7.5V
Current Rise Time vs. Speed Simulation
Clock Rate = 750pps
Phase A current rise time is 173.619usec. At
750[pps] clock rate.
Phase A
Phase A Current
(ID of MOSFET)
Clock
750[pps]
tr=173.619
All Rights Reserved Copyright (C) Bee Technologies Inc.

14. 14
1.2周波数モデル＋内部電圧依存性について
Time
0s 2.0ms
I(S1:3)
0A
150mA
SEL>>
(174.773u,100.000m)
V(FA)
0V
7.5V
V(CLK)
0V
7.5V
Current Rise Time vs. Speed Simulation
Clock Rate = 1000pps
Phase A current rise time is 174.773usec. At
1000[pps] clock rate.
Phase A
Phase A Current
(ID of MOSFET)
Clock
1000[pps]
tr=174.773
All Rights Reserved Copyright (C) Bee Technologies Inc.

15. 15
1.2周波数モデル＋内部電圧依存性について
Speed
Rise time
Simulation
[pps] [usec]
600 172.935
750 173.619
1000 174.773
The measurement and simulation result of
phase current rise time.
All Rights Reserved Copyright (C) Bee Technologies Inc.

16. 16
1.2周波数モデル＋内部電圧依存性について
Speed
Rise time
Simulation
[pps] [usec]
600 172.935
750 173.619
1000 174.773
E_AEMF VALUE
?
?
?
Speed (pps)
Back
EMF
Voltage
(v)
関数を作成する
All Rights Reserved Copyright (C) Bee Technologies Inc.

17. 17
1.2周波数モデル＋内部電圧依存性について
2
IN+
IN-
OUT+
OUT-
AEMF
L1
1 2
C1
R1
N1
1
0
N2
RS
Impedance
Back EMF
All Rights Reserved Copyright (C) Bee Technologies Inc.