Variable torque control of a stepper motor

• US 9,461,570 B1
• Filed: 02/27/2015
• Issued: 10/04/2016
• Est. Priority Date: 04/05/2013
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Poulad, Navid, Xu, Jijie, Coley, Christopher D.
• Primary Examiner(s): GLASS, ERICK DAVID
• Application Number:
  US14/634,683
• Time in Patent Office: 585 Days
• Field of Search: 318/685
• US Class Current: 1/1
• CPC Class Codes: H02P 3/025 holding the rotor in a fixed position after deceleration
• CPC Class Codes: H02P 8/12 Control or stabilisation of current
• CPC Class Codes: H02P 8/14 Arrangements for controlling speed or speed and torque H02P8/12, H02P8/22 take precedence
• CPC Class Codes: H02P 8/30 Holding position when stopped

Abstract

A stepper motor may be controlled by a controller to provide extended revolution of a motor shaft while operating in a first mode and to allow a user to manually intervene with an intended position or rotation of the motor shaft while operating in a second mode. In some embodiments, the controller may adjust a torque applied to the stepper mode during operation of the stepper motor. The controller may reduce a torque applied by the stepper motor to a lower torque while the user intervenes with the intended position or rotation of the motor and increase the torque to a holding torque after the user intervention has ended. Thus, the controller may dynamically adjust a torque of the stepper motor in response to detection of the user intervention.

Claims

1. A stepper motor assembly comprising:

a stepper motor having at least a stator and a motor shaft, the motor shaft to rotate relative to the stator to a control position or to maintain the control position;

an encoder to detect rotation of the motor shaft relative to the stator and output position feedback in response to the detected rotation;

a driver to cause the motor shaft to rotate relative to the stator to the control position or to maintain the control position; and

a controller configured to;

receive the position feedback;

provide a signal to the driver to cause movement of the motor shaft;

determine occurrence of intervention with movement of the motor shaft relative to the stator based at least in part on the position feedback; and

;

decrease at least temporarily, a torque applied between the motor shaft and the stator during at least a portion of the occurrence of the intervention.

2. The stepper motor assembly as recited in claim 1, wherein the controller increases the torque to at least a holding torque to maintain a new position of the motor shaft relative to the stator.

3. The stepper motor assembly as recited in claim 1, further comprising a proximity sensor to transmit a signal to the controller to indicate an end of the intervention.

4. The stepper motor assembly as recited in claim 1, wherein the driver receives a vector control signal and generates a vector control current, based at least in part on the vector control signal, to be output to the stepper motor to cause the motor to rotate relative to the stator to the control position or to maintain the control position.

5. A method comprising:

determining intervention of rotation of a motor shaft of a stepper motor relative to a stator of the stepper motor based on one or more of;

a control position of the motor shaft relative to the stator being different than an actual position of the motor shaft, or

a current feedback received by a controller indicating that the actual position is different than the control position;

decreasing a torque applied between the motor shaft and the stator during at least a portion of the intervention; and

increasing the torque to at least a holding torque to maintain a new position of the motor shaft relative to the stator.

6. The method as recited in claim 5, further comprising, prior to the decreasing the torque, increasing the torque toward a maximum torque in response to the current feedback indicating that the actual position is different than the control position.

7. The method as recited in claim 5, wherein the control position is based on a vector control current that specifies an amount of current for each coil of the stepper motor.

8. The method as recited in claim 5, wherein the control position is based on a vector control current that causes the motor shaft to rotate relative to the stator to the control position or to maintain the control position.

9. The method as recited in claim 5, wherein the control position is based on a vector control current and wherein the new position is based on a new vector control current different than the vector control current.

10. The method as recited in claim 5, wherein the determining the intervention comprises receiving a signal from a proximity sensor.

11. The method as recited in claim 5, further comprising determining an end of the intervention based at least in part on at least one of the control position indicating no rotation of the motor shaft relative to the stator during a first threshold amount of time or no current feedback being received by the controller during a second threshold amount of time.

12. The method as recited in claim 5, wherein the increasing the torque to at least the holding torque includes:

increasing the torque toward a maximum torque after determining an end of the intervention; and

decreasing the torque toward a minimum torque that maintains a position of the motor shaft relative to the stator to determine the holding torque.

13. The method as recited in claim 5, further comprising, prior to the determining the intervention, controlling the stepper motor to cause a constant angular velocity of the motor shaft relative to the stator.

14. The method as recited in claim 5, further comprising, after the increasing the torque to the at least the holding torque, controlling the stepper motor to cause a constant angular velocity of the motor shaft relative to the stator.

15. A system comprising:

a stepper motor to rotate a motor shaft, relative to a stator, to a control position or to maintain the control position; and

a controller to receive position feedback and to generate a control to cause the stepper motor to rotate relative to the stator to the control position or to maintain the control position, the controller to determine a torque between the motor shaft and the stator, the torque determined by at least;

determining intervention with the stepper motor based at least in part on the position feedback;

decreasing the torque during at least a portion of the intervention; and

increasing the torque to maintain a new position of the motor shaft relative to the stator.

16. The system as recited in claim 15, further comprising an encoder to detect rotation of the motor shaft relative to the stator and output the position feedback to the controller in response to the detected rotation.

17. The system as recited in claim 15, further comprising a proximity sensor to provide a signal indicating the position feedback.

18. The system as recited in claim 15, further comprising a driver to receive the control from the controller and to generate a vector control current to be output to the stepper motor to cause the stepper motor to rotate the motor shaft relative to the stator to the control position or to maintain the control position.

19. The system as recited in claim 15, further comprising a driver to detect current feedback from the stepper motor in response to an actual position of the motor shaft relative to the stator being different than the control position, wherein the controller receives the current feedback from the driver, and wherein, prior to decreasing the torque, the controller increases the torque toward a maximum torque in response to the current feedback indicating that the actual position is different than the control position.

20. The system as recited in claim 15, further comprising a driver to generate a new vector control current that corresponds to the new position of the motor shaft relative to the stator, the new vector control current to maintain the new position.