Electricity: motive power systems – Positional servo systems – With signal- – voltage- – or current-limiting
Patent
1995-02-13
1997-07-22
Cabeca, John W.
Electricity: motive power systems
Positional servo systems
With signal-, voltage-, or current-limiting
318671, 363 74, 363 98, G05B 1101
Patent
active
056507054
ABSTRACT:
A motor control system (10) for controlling a multiple number of motors, each motor having a multiple number of phases. System (10) can be used to dynamically vary the step sizes from microsteps to full steps (i.e. "syncro-stepping the motor"). System (10) comprises current drivers (30,31) for controlling current in the motor windings, signed comparators (40,41) for providing a charge and a discharge comparison of actual currents to desired currents, current control state machines (50,51) for controlling drivers (30,31) in a respective operational state, a timing state machine (60) for controlling drivers (30,31) in a desired timing mode, digital-to-analog converters (90,91) for converting digital values to analog signals that correspond to desired currents, a microcomputer (70) that receives external commands from an outer loop and processes them in a unique inner loop software process which controls position, velocity, acceleration, and step sizes of motor (10) by generally using an interrupt rate (110), velocity register (120), adder 130), and position register (140), and a timer (71)for providing timing to the overall system (10).
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Cabeca John W.
Lisa Donald J.
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