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Method for controlling a stepping motor

  • US 5,640,075 A
  • Filed: 03/29/1995
  • Issued: 06/17/1997
  • Est. Priority Date: 09/29/1992
  • Status: Expired due to Fees
First Claim
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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:

  • 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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