Mixed mode stepper motor controller and method

Details Mixed mode stepper motor controller and method Mixed mode stepper motor controller and method

1992-05-04

1993-06-01

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

With particular motor control system responsive to the...

318696, G05B 1940

Patent

active

052163458

ABSTRACT:
A mixed mode controller (100) for use with a motor having a mechanism (110, 114) for generating a command signal to operate the motor and a first circuit (104) for adjusting the gain of the command signal to provide high speed operation. A second circuit (102) is provided for converting the command signal to a drive signal to excite a winding (106) and to damp the motor. In a preferred embodiment, a step rate signal introduced into the motor controller (100) is operated upon by an accumulator (110) and a memory (114) to generate a voltage command signal. The motor controller (100) includes a low bandwidth current control feedback loop (104) utilized to adjust the gain of the voltage command signal by comparing a command motor current and an actual motor current in a summer circuit (126). The feedback loop (104) provides for automatic gain control of the voltage command signal for yielding high speed operation. The gain-adjusted voltage command signal is thereafter applied to a bipolar voltage driver (102) having high motor damping characteristics. The voltage driver (102) is utilized to control the application of a bus voltage to the motor winding (106) of a stepper motor via a transistor control logic circuit (148). Also included is a time constant correction network (138) for accelerating the settling of variations in the motor current to steady state. Thus, the correction network (138) ensures a rapid response to changes in the commanded motor current.

REFERENCES:
patent: 4908561 (1990-03-01), Hashimoto
patent: 4928049 (1990-05-01), Pietrobon et al.
patent: 5015937 (1991-05-01), Wright et al.
patent: 5061888 (1991-10-01), Hiraoka

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