Device Modeling of Stepping Motor using SPICE
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This document discusses stepping motor device modeling. It describes frequency models including 3-element, 5-element, and ladder models. It also discusses adding internal voltage dependency to frequency models. Graphs and circuit diagrams are provided to show impedance characteristics and example motor drive circuits. Simulation results examine effects of clock speed on current rise time and develop a function to model back EMF voltage based on motor speed. The goal is to accurately model stepping motor behavior for integration into system simulations.
![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.](https://image.slidesharecdn.com/devicemodelingsteppingmotor15apr2020-200415095428/85/Device-Modeling-of-Stepping-Motor-using-SPICE-8-320.jpg)
![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.](https://image.slidesharecdn.com/devicemodelingsteppingmotor15apr2020-200415095428/85/Device-Modeling-of-Stepping-Motor-using-SPICE-12-320.jpg)
![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.](https://image.slidesharecdn.com/devicemodelingsteppingmotor15apr2020-200415095428/85/Device-Modeling-of-Stepping-Motor-using-SPICE-13-320.jpg)
![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.](https://image.slidesharecdn.com/devicemodelingsteppingmotor15apr2020-200415095428/85/Device-Modeling-of-Stepping-Motor-using-SPICE-14-320.jpg)
![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.](https://image.slidesharecdn.com/devicemodelingsteppingmotor15apr2020-200415095428/85/Device-Modeling-of-Stepping-Motor-using-SPICE-15-320.jpg)
![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.](https://image.slidesharecdn.com/devicemodelingsteppingmotor15apr2020-200415095428/85/Device-Modeling-of-Stepping-Motor-using-SPICE-16-320.jpg)
Device Modeling of Stepping Motor using SPICE
- 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.