Closed loop control circuitry for step motors

Details Closed loop control circuitry for step motors Closed loop control circuitry for step motors

1985-02-01

1987-04-14

Shoop, Jr., William M.

Electricity: motive power systems

Open-loop stepping motor control systems

318685, H02P 800

Patent

active

046581944

ABSTRACT:
Control circuitry for a self-synchronously driven step motor under closed loop control includes, for determining the rotor position, a technologically simplified back EMF waveform detector circuit which includes fewer than five operational amplifiers, and preferably only one operational amplifier, and which delivers, for each motor phase, a back EMF signal and the negative thereof. Use can be made of these signals individually or in various combinations, with the aid of a back EMF selector arrangement and an adder connected thereto, for controlling the stator field. By sum and difference formation of back EMF signals by the adder and by assigning such signals each to a respective energization state of the motor phases, the rotor can be moved by half-steps as well as full-steps, to provide a finer degree of control. Additionally it is possible with such circuitry to detect the end position of the rotor and its maximum degree of overrunning, which yield values that can be used for achieving desired damping of the rotor.

REFERENCES:
Eighth Symposium on Incremental Motion Control, Kuo, Editor, Waveform Detection of PM Step Motors, Kuo et al., pp. 243-256, 1979.
"Closed-Loop Control of Step Motors Using Waveform Detection", by J. R. Frus and B. C. Kuo, Proceedings: International Conference on Step Motors and Systems, University of Leeds, Leeds, England, Jul. 13-15, 1976, pp. 44-53.
"Closed Loop Control of PM Step Motors by Sensing Back EMF", by T. Higuchi, Proceedings: Eleventh Annual Symposium on Incremental Motion Control Systems and Devices, Incremental Motion Control Systems Society, Champaign, Ill., May 1982, pp. 289-294.
"Analysis and Sinthesis of the Closed-Loop Stepping Motor Control System", by A. Keleman, V. Trifa and M. Crivili, Proceedings: Seventh Annual Symposium on Incremental Motion Control Systems and Devices, Incremental Motion Control Systems Society, Champaign, Ill., May 1978, pp. 359-368.
"Direct Detection of Back EMF in Permanent-Magnet Step Motors", by V. D. Hair, Proceedings: Twelfth Annual Symposium on Incremental Motion Control Systems and Devices, Incremental Motion Control Systems Society, Champaign, Ill., Jun. 1983, pp. 211-219.
"Closed-Loop Control of a 3.6 Floppy-Disk Drive PM Motor by Back EMF Sensing", by B. C. Kuo and K. Butts, Proceedings: Eleventh Annual Symposium on Incremental Motion Control Systems and Devices, Incremental Motion Control Systems Society, Champaign, Ill., May 1982, pp. 295-308.
"Damping of Step Motors", by B. C. Kuo, Incremental Motion Control, vol. II, chapter 8, pp. 215-233, SRL Publishing Company, Champaign, Ill.
"Closed-Loop Control of Step Motors", by B. C. Kuo, Incremental Motion Control, vol. II, chapter 9, pp. 234-255, SRL Publishing Company, Champaign, Ill.
"Closed-Loop Control By Current Sensing", by B. C. Kuo and A. Cassat, Incremental Motion Control, vol. II, chapter 10, pp. 256-289, SRL Publishing Company, Champaign, Ill.

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