Method for controlling a stepping motor
First Claim
1. A method for controlling the armature of a stepping motor with field windings in main steps and/or micro steps to a target position defined by the target value of a control signal, comprising:
- a control unit including a memory for an angle table with a multitude of addresses, wherein;
under each of said addresses are stored one step angle and at least two region parameters defining an incrementation region and a decrementation region;
values of said step angles stored under succeeding incremented addresses increase by a microstep or multiples of a microstep from an initial address having an initial value of zero to a final address having a final value equating a main step;
a switching device connected to said field windings which controls magnitude and direction of phase currents in said field windings so that a vector of a resulting magnetic field follows a vector angle of said control signal controlling said switching device;
the method comprising in each interval of a system clock the steps of;
reading out said step angle and associated region parameters from said memory under an actual address;
changing said vector angle of said control signal in accordance with said step angle read out from said memory;
forming an actual value as a sum of all step angles read out from said memory starting from an initial position;
forming a target deviation as a difference between said actual value and a target value;
comparing said target deviation with said region parameters to determine in which of said at least two regions said target deviation is located; and
defining an address for a next interval corresponding to a result of said comparison.
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Abstract
A method for controlling a stepping motor includes the steps of storing step angles as an angle table in memory so that the magnitudes of the step angles rise as microsteps from an initial position having an initial value of zero to a final position having a final value in the order of magnitude of a coarse step; connecting field windings of the stepping motor to a switching device which sets a magnitude and direction of phase currents in the field windings as a function of a vector angle of a required vector which is switched onwards by one of the step angles per interval of a system clock, reading out from the memory the stored values in an increasing direction on one hand for acceleration and in a reverse direction on the other hand for braking, the step angle being dependent on the stored values which are read out from memory.
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Citations
17 Claims
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1. A method for controlling the armature of a stepping motor with field windings in main steps and/or micro steps to a target position defined by the target value of a control signal, comprising:
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a control unit including a memory for an angle table with a multitude of addresses, wherein; under each of said addresses are stored one step angle and at least two region parameters defining an incrementation region and a decrementation region; values of said step angles stored under succeeding incremented addresses increase by a microstep or multiples of a microstep from an initial address having an initial value of zero to a final address having a final value equating a main step; a switching device connected to said field windings which controls magnitude and direction of phase currents in said field windings so that a vector of a resulting magnetic field follows a vector angle of said control signal controlling said switching device; the method comprising in each interval of a system clock the steps of; reading out said step angle and associated region parameters from said memory under an actual address; changing said vector angle of said control signal in accordance with said step angle read out from said memory; forming an actual value as a sum of all step angles read out from said memory starting from an initial position; forming a target deviation as a difference between said actual value and a target value; comparing said target deviation with said region parameters to determine in which of said at least two regions said target deviation is located; and defining an address for a next interval corresponding to a result of said comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification