CN100542006C - Controller for motor - Google Patents
Controller for motor Download PDFInfo
- Publication number
- CN100542006C CN100542006C CNB2005101160761A CN200510116076A CN100542006C CN 100542006 C CN100542006 C CN 100542006C CN B2005101160761 A CNB2005101160761 A CN B2005101160761A CN 200510116076 A CN200510116076 A CN 200510116076A CN 100542006 C CN100542006 C CN 100542006C
- Authority
- CN
- China
- Prior art keywords
- instruction
- signal
- pulse train
- pulse
- latch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 10
- 230000005574 cross-species transmission Effects 0.000 claims description 4
- 238000005070 sampling Methods 0.000 description 26
- 230000000630 rising effect Effects 0.000 description 13
- 238000003860 storage Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000001788 irregular Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000003607 modifier Substances 0.000 description 1
Images
Landscapes
- Control Of Stepping Motors (AREA)
Abstract
Motor drive of the present invention comprises: first calculation element, and the step number that is used for the instruction of paired pulses string is counted; Latch means is used for storing by latch signal the count value of first calculation element, thereby obtains position command; The reference signal generation device is used to produce latch signal and reference clock signal; First counting device is used for the pulse spacing with the instruction of reference clock signal metrical pulse string; Second counting device is used for beginning time interval till the generation of latch signal with reference clock signal metering from the generation of pulse train instruction; And, use with the command pulse interval information of first counting device metering with the time difference information that second counting device measures and come the correction position instruction.
Description
Technical field
The present invention relates to the controller for motor that a kind of position command by pulse train positions control, particularly a kind of micro-stepping control device of stepper motor.
Background technology
For stepper motor control device in the past, the corresponding rotation direction signal uses pulse train instruction rise counting or the countdown of forward-backward counter to applying from the outside, and with the storage of the excitation signal of corresponding forward-backward counter count value in ROM, thereby the data of ROM are converted to voltage signal by D/A converter, and amplify the voltage signal of D/A converter, thereby drive stepper motor by driving amplifier.For described formation, become quasi-sine-wave by the data that make ROM, and the number of cutting apart of the one-period of quasi-sine-wave is increased, thereby stepper motor is rotated glibly.
In described stepper motor control device, rotate glibly in order to make stepper motor, must be in each processing of carrying out output when producing the pulse train instruction fast from the generation of ROM quasi-sine-wave to the voltage signal that is used to drive stepper motor.And, in the device that constitutes by hardware such as logic IC and OP amplifiers, can carry out the processing of higher speed.But, at present, in order to carry out complex calculations and to improve maintainable, the device that is equipped with microcomputer etc. increases, and in the device that is equipped with microcomputer etc., in order to carry out predetermined computing when producing the pulse train instruction and to stepper motor output appropriate voltage, need the high speed of processing speed such as microcomputer, thereby have the high problem of device overall price each.In addition, because also there is boundary in the high speed of processing speeds such as microcomputer, so also there is the problem that is difficult to carry out accurately motor control.
As countermeasure, count with the step number of fixing cycle paired pulses string instruction by the internal reference signal of using stepper motor, thereby carry out carrying out sampling processing (hereinafter referred to as sampling processing) to the processing speed of microcomputer etc. with the fixed cycle, but produce the irregular time difference between the generation constantly of sampling processing cycle and the pulse train instruction that applies from the outside, and the change that in rotation, produces position command, thereby become the reason of vibration.
Summary of the invention
Goal of the invention is to provide a kind of controller for motor of rotation motor glibly.
According to the present invention, be the motor drive that pulse train instruction that a kind of basis applies from the outside is connected with sine wave shape stage electric current, comprising: first calculation element, the step number that is used for the instruction of paired pulses string is counted; Latch means is used for storing by latch signal the count value of first calculation element, thereby obtains position command; The reference signal generation device is used to produce latch signal and reference clock signal; First counting device is used for the pulse spacing with the instruction of reference clock signal metrical pulse string; Second counting device is used for beginning time interval till the generation of latch signal with reference clock signal metering from the generation of pulse train instruction; And, use with the command pulse interval information of first counting device metering with the time difference information that second counting device measures and come the correction position instruction.
In described controller for motor, owing to utilize by the command pulse blank signal of first counting circuit metering with by the time difference information that second counting circuit measures and come the correction position instruction, so when producing irregular time difference between the generation constantly of sampling processing cycle and the instruction of the pulse train that applies from the outside, owing to needn't make processing time high speeds such as microcomputer, thereby carry out stable sampling processing, so stepper motor is rotated glibly.
Description of drawings
Fig. 1 is a principle key diagram of the present invention;
Fig. 2 is the schematic diagram of stepper motor control device of the present invention;
Fig. 3 is the details drawing of the part of stepper motor control device shown in Figure 2;
Fig. 4 is the action specification figure of Fig. 2, stepper motor control device shown in Figure 3;
Fig. 5 is the schematic diagram of another stepper motor control device of the present invention;
Fig. 6 is the details drawing of the part of stepper motor control device shown in Figure 5;
Fig. 7 is the action specification figure of Fig. 5, stepper motor control device shown in Figure 6.
Embodiment
Fig. 1 is a principle key diagram of the present invention, is the schematic diagram of pulse train instruction and position command relation.(A) be illustrated in and apply pulse train instruction P
*(n) position command the time is θ
*(n).Relative therewith, be (B), and (B) compare shift time T2 (n) with (A) with the situation of pulse t (n) to the position command sampling.Therefore, at stepper motor during with average revolution ω=θ d/T1 (n) rotation, with sampling pulse t (n) sampling the time engrave, should consider that position command is not θ
*(n), but further changes delta θ (n) (C) value afterwards.That is, with sampling pulse t (n) to by pulse train instruction P
*(n) the position command θ that gives
*When (n) sampling, produce the error of Δ θ (n).And, because pulse train instruction P
*(n) and sampling pulse t (n) be asynchronous, so Δ θ (n) when each sampling, all change, thereby in instruction, produce vibration component.
Therefore, use formula (1) for example to come the correction value Δ θ (n) of estimated position instruction, and use formula (2) is revised original position command θ with correction value Δ θ (n)
*(n), thus draw revised position command θ c (n).
Δθ(n)＝{T2(n)/T1(n)}θd (1)
θc(n)＝θ
＊(n)+Δθ(n) (2)
Wherein, T1 (n) is indicating impulse string instruction P
*The count value at interval (n), T2 (n) is that expression is from pulse train instruction P
*The count value in the time interval of generation (n) between the generation of sampling pulse t (n) (latch signal), θ d is the step angle of each pulse of the pulse train instruction that applies from the outside.In addition, the n in the bracket represents and n pulse train instruction P
*(n) Dui Ying value in the narration afterwards, is omitted when the order of indicating impulse especially (n).
In addition, for example at input pulse string instruction P
*(n+1) produce before under the situation of sampling pulse t (n) ', in formula (1), use T2 (n) ' to replace T2 (n), thereby be modified among Fig. 1 the state shown in (C ').
By Fig. 2 stepper motor control device of the present invention is described.The 2nd, the direction command input terminals, the 4th, the pulse train command input terminals, 8,10 is first phase, the second phase current command input terminals, the 12nd, pulse train is instructed P
*Be converted to position command θ
*Calculator, the 14th, the position command corrector, the 16th, the current-order generator, the 18th, current controller, the 20th, inverter, 22,24 is first to reach the second phase current detector, the 26th, stepper motor mutually.
The action of general description stepper motor control device shown in Figure 2.Be applied to direction command input terminals 2, pulse train command input terminals 4 from the position command of outside with the form of direction of rotation and pulse train, thereby use calculator 12 direction of rotation signal U/D, pulse train instruction P
*Be converted to position command θ
*Step angle input terminal 6 is input terminals that several signals is cut apart in definite micro-stepping, thus the proportional step angle θ of the rotation amount d of setting and each pulse.Position command corrector 14 is with position command θ
*With step angle θ d as input, thereby output correction position instruction θ
*Be described in detail later correction position instruction θ
*The object lesson of production method.Current-order generator 16 will be set in the current amplitude instruction I α p in the current- order input terminal 8,10
*, I β p
*With correction position instruction θ
*As input, thereby output current instruction i is α
*, i β
*
And, constituting current control device by current controller 18, inverter 20 and current detector 22,24, current control device control motor applies voltage, makes electrical current i α f, i β f and the current-order i α of stepper motor 26
*, i β
*Unanimity, thus realize that micro-stepping drives.
Fig. 3 is the details drawing of the part of stepper motor control device shown in Figure 2.Calculator 12 is by paired pulses string instruction P
*The forward-backward counter 28 (first calculation element) counted of step number and the latch cicuit 30 (latch means) of the count value by latch signal Ts storage forward-backward counter 28 constitute, and, forward-backward counter 28 corresponding rotation direction signal U/D paired pulses strings instruction P
*Step number further rise the counting or countdown, latch cicuit 30 is stored the count value of forward-backward counter 28 by latch signal (signal synchronous with the sampled signal) Ts that is produced by reference signal production part 42, thereby is converted to the position command θ of binary value in each fixed cycle
*
Action with reference to figure 4 explanation position command correctors 14.Reference clock signal CKs and latch signal Ts that reference signal generation device 42 produces as the control signal of commutator pulse generation device 32.Latch signal Ts carries out frequency division to reference clock signal CKs and produces.Commutator pulse generation device 32 produces internal control timing signal pt1, pt2 and pt3 by circuits for triggering 50,52 and 54.Internal control timing signal pt1 is with reference clock signal CKs paired pulses string instruction P
*Signal after sampling, internal control timing signal pt2 are the internal control timing signal pt1 pulse signals afterwards of delay reference clock signal C Ks in time.In addition, internal control timing signal pt3 is the signal that returns " H " when becoming " L " and rising edge at latch signal Ts when the rising edge of internal control timing signal pt1.
At input pulse string instruction P
*The rising edge of internal control timing signal pt2 of tight back, calculator 34 is eliminated, thus calculator 34 is by during till counting the next internal control timing signal pt2 that is metered into subsequently and producing to reference clock signal CKs.
The value of storage computation device 34 when latch cicuit 38 is eliminated the rising edge of the internal control timing signal pt1 before tight at calculator 34.Therefore, the output T1 of latch cicuit 38 (command pulse interval information) is and pulse train instruction P
*Suitable value of the time interval.
In addition, the value of latch cicuit 40 storage computation device 34 when the rising edge of internal control timing signal pt3.The rising edge of internal control timing signal pt3 and the trailing edge of latch signal Ts are unanimous on the whole, and the output T2 (time difference information) of latch cicuit 40 is and instructs P from the input pulse string
*Suitable value of time till beginning to produce to latch signal Ts.
The output T1 that divider 44 uses latch cicuits 38 carries out division arithmetic to the output T2 of latch cicuit 44, by symbol switching device shifter 48 output of divider 44 is converted to the tape symbol information corresponding with direction of rotation signal U/D, thereby obtains correction value Δ θ.In addition, because the θ d in the formula (1) is pulse train instruction P
*The step angle of each pulse, so be equivalent to the minimum change value of latch cicuit 30.Therefore, since with position command θ as the output of latch cicuit 30
*θ d in the formula (1) of correction value Δ θ when carrying out add operation becomes 1, so the output of symbol switching device shifter 48 is equivalent to execution formula (1) calculated result.
By 36 couples of position command θ of adder as the output of latch cicuit 30
*Carry out value after the add operation with correction value Δ θ as the output of symbol switching device shifter 48 and be equivalent to revised position command θ c as formula (2) operation result, correction value Δ θ is position command θ
*The more lower-order digit of minimum bit, revised position command θ c is to position command θ
*Low level carry out linear insert and expand after value.
46 pairs of multipliers carry out multiplying as position command θ c after the correction of the output of adder 36 and step angle θ d, and are converted to corresponding micro-stepping and cut apart several correction position instruction θ
*Promptly, because the output of position command corrector 14 is inputs of current-order generator 16, and the address information as the amplitude data of retrieving the sinusoidal waveform current-order is used, so, for example under the situation of the situation of θ d=1 and θ d=2, for the variation of each pulse address, the latter is the former twice, so the former rotates the step angle of twice to the latter relatively.
In addition, the latch signal Ts of reference signal generation device 42 is to the signal after the reference clock signal CKs frequency division, and, by periodically carrying out the micro-stepping control of stepper motor synchronously, thereby can constitute the controller for motor that reduces the vibration component of following sampling processing with latch signal Ts.
In stepper motor control device of the present invention, even between the generation constantly of sampling processing cycle and the instruction of the pulse train that applies from the outside, produce the irregular time difference, owing to can reduce the sampling error of position command, can in very wide rotating range, realize suppressing stable pulse string instruction P
*The sampling processing of swing.Therefore, can needn't make under the situation of processing speed high speeds such as microcomputer, stepper motor is rotated glibly.
By Fig. 5 other stepping motor drive devices of the present invention are described.The 60th, the direction command input terminals, the 62nd, the pulse train command input terminals, the 64th, the step angle input terminal, the 66th, pulse train is instructed P
*Be converted to position command θ
*Calculator, the 68th, the position command corrector, the 70th, adder, the 72nd, multiplier, and constitute correction position ordering calculation device 74 by direction command input terminals 60, pulse train command input terminals 62, step angle input terminal 64, calculator 66, position command corrector 68, adder 70, multiplier 72.
The action of general description stepper motor control device shown in Figure 5.Be applied to direction command input terminals 60, pulse train command input terminals 62 from the position command of outside with the form of direction of rotation and pulse train, thereby use calculator 66 direction of rotation signal U/D, pulse train instruction P
*Be converted to position command θ
*Step angle input terminal 64 is input terminals that several signals is cut apart in definite micro-stepping, thus the proportional step angle θ of the rotation amount d of setting and each pulse.Position command corrector 68 is with direction of rotation signal U/D, pulse train instruction P
*As input, thus output modifier Δ θ.70 couples of position command θ of adder
*θ carries out add operation with the correction value Δ, thereby obtains revised position command θ c.72 couples of revised position command θ c of multiplier and carry out multiplying with the proportional step angle θ of the rotation amount of each pulse d, thus obtain correction position instruction θ
*Be described in detail later correction position instruction θ
*The object lesson of production method.Current-order generator 16 will be set in the current amplitude instruction I α p in the current- order input terminal 8,10
*, I β p
*With correction position instruction θ
*As input, thereby output current instruction i is α
*, i β
*
Fig. 6 is the details drawing of the part of stepper motor control device shown in Figure 5.Calculator 66 is by paired pulses string instruction P
*The forward-backward counter 76 (first calculation element) counted of step number and the latch cicuit 78 (latch means) of the count value by latch signal Ts storage forward-backward counter 76 constitute, and, forward-backward counter 76 corresponding rotation direction signal U/D paired pulses strings instruction P
*Step number rise the counting or countdown, latch cicuit 78 is stored the count value of forward-backward counter 76 by latch signal (signal synchronous with the sampled signal) Ts that is produced by reference signal generation device 88, thereby is converted to the position command θ of binary value in each fixed cycle
*
Action with reference to figure 7 explanation position command correctors 68.Control signal reference clock signal CKs and latch signal Ts that reference signal generation device 88 produces as commutator pulse generation device 80.Latch signal Ts carries out producing behind the frequency division to reference clock signal CKs.Commutator pulse generation device 80 produces internal control timing signal pt1, pt2 and pt3 by circuits for triggering 94,96 and 98.Internal control timing signal pt1 is with reference clock signal CKs paired pulses string instruction P
*Signal after sampling, internal control timing signal pt2 are the internal control timing signal pt1 pulse signals afterwards of delay reference clock signal C Ks in time.In addition, internal control timing signal pt3 is the signal that returns " L " when becoming " H " and rising edge at reference clock signal CKs when the rising edge of latch signal Ts.
At input pulse string instruction P
*The rising edge of internal control timing signal pt2 of tight back, calculator 82 is eliminated, thus by during till reference clock signal CKs being counted the next internal control timing signal pt2 that is metered into subsequently and producing.
The value of storage computation device 82 when latch cicuit 84 is eliminated the rising edge of the internal control timing signal pt1 before tight at calculator 82.Therefore, the output T1 of latch cicuit 84 (command pulse interval information) is and pulse train instruction P
*Suitable value of the time interval.
In addition, the value of latch cicuit 86 storage computation device 82 when the rising edge of internal control timing signal pt3.The rising edge of internal control timing signal pt3 and the trailing edge of latch signal Ts are unanimous on the whole, and the output T2 (time difference information) of latch cicuit 86 is and instructs P from the input pulse string
*Suitable value of time till beginning to produce to latch signal Ts.
The output T1 that divider 90 uses latch cicuits 84 carries out division arithmetic to the output T2 of latch cicuit 86, by symbol switching device shifter 92 output of divider 90 is converted to the tape symbol information corresponding with direction of rotation signal U/D, thereby obtains correction value Δ θ.And the output of symbol switching device shifter 92 is equivalent to execution formula (1) calculated result.
In addition, calculator 82 count value when the rising edge of internal control timing signal pt2 is eliminated, but because after stepper motor enters halted state, pulse train instruction P
*Be not transfused to, thus internal control timing signal pt2 maintain under the state of " H ", thereby the count value of calculator 82 is not eliminated, and calculator 82 continues reference clock signal CKs is counted.Therefore, the count value of calculator 82 surpasses predetermined value, thereby calculator 82 overflows, and then calculator 82 output spill over OVFs.And, because when divider 90 input spill over OVFs, divider 90 outputs zero are so correction value Δ θ is zero.Therefore, after stepper motor entered halted state, correction value Δ θ was zero.
By 70 couples of position command θ of adder as the output of latch cicuit 78
*The value of carrying out after the add operation with correction value Δ θ as the output of symbol switching device shifter 92 is equivalent to as position command θ c after the correction of formula (2) operation result,
72 pairs of multipliers carry out multiplying as position command θ c after the correction of the output of adder 70 and step angle θ d, and are converted to corresponding micro-stepping and cut apart several correction position instruction θ
*That is, the output of adder 70 is the output of current-order generator 16, and uses as the address information of the amplitude data of retrieving the sinusoidal waveform current-order.
In addition, the latch signal Ts of reference signal generation device 88 is to the signal after the reference clock signal CKs frequency division, and, by periodically carrying out the micro-stepping control of stepper motor synchronously, thereby can constitute the controller for motor that reduces the vibration component of following sampling processing with latch signal Ts.
In stepper motor control device of the present invention, even between the generation constantly of sampling processing cycle and the instruction of the pulse train that applies from the outside, produce the irregular time difference, owing to reduced the sampling error of position command, can in very wide rotating range, realize having suppressed pulse train instruction P
*The sampling processing of swing.Therefore, can needn't make under the situation of processing speed high speeds such as microcomputer, stepper motor is rotated glibly.In addition, because after stepper motor entered halted state, correction value Δ θ was zero, so stepper motor stops on the multiple position of step angle θ d.
The present invention is except being the control device of stepper motor of purpose with the Position Control, can also be used for the pulse train be instruction stepper motor speed control unit, be position control, the speed control unit of the AC servo motor of instruction with the pulse train.
In addition, the situation of direction of rotation of providing and pulse train is provided the form illustration of pulse train instruction, but also goes for the pulse train instruction of different directions or the instruction form that the instruction of two-phase square wave pulse train waits other.
In addition, the present invention is object with the controller for motor that uses microcomputer and control, but also goes for all for the control device that carries out sampling processing from the signal of the asynchronous input in outside.
In addition, though in the control device that carries out sampling processing, thereby most of carrying out the device of software processes for being equipped with microcomputer etc., the present invention is not limited in the hardware and software processing unit, also goes for the device of hardware configuration.
Claims (4)
1. the pulse train instruction that applies from the outside of a basis is connected with the controller for motor of sine wave shape stage electric current,
Comprise: first calculation element is used for the step number of described pulse train instruction is counted; Latch means is used for storing by latch signal the count value of described first calculation element, thereby obtains position command; The reference signal generation device is used to produce described latch signal and reference clock signal; First counting device is used for measuring the pulse spacing that described pulse train instructs with described reference clock signal; Second counting device was used for the time interval of described reference clock signal metering till from the generation of described pulse train instruction to the generation of described latch signal;
And, use by described pulse spacing of described first counting device metering with by the described time interval of described second counting device metering and revise described position command.
2. controller for motor as claimed in claim 1 synchronously periodically carries out the micro-stepping control of stepper motor with described latch signal.
3. controller for motor as claimed in claim 1, when motor stopped, the correction value of described position command was zero.
4. controller for motor as claimed in claim 3, it has second calculation element, be used for described reference clock signal is counted, and remove the count value of described second calculation element, output spill over when the count value of described second calculation element surpasses predetermined value when being output in the instruction of described pulse train; When described spill over was output, described correction value was zero.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004315023A JP3949134B2 (en) | 2004-10-29 | 2004-10-29 | Stepping motor control device |
| JP2004315023 | 2004-10-29 | ||
| JP2005159349 | 2005-05-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1767365A CN1767365A (en) | 2006-05-03 |
| CN100542006C true CN100542006C (en) | 2009-09-16 |
Family
ID=36723702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005101160761A Active CN100542006C (en) | 2004-10-29 | 2005-10-28 | Controller for motor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3949134B2 (en) |
| CN (1) | CN100542006C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2011232432B2 (en) * | 2010-03-23 | 2015-12-24 | Pelco Inc. | Voltage-controlled stepper motor driver |
| JP6160189B2 (en) * | 2012-06-01 | 2017-07-12 | 株式会社リコー | Motor control apparatus, image processing apparatus, and motor control method |
| CN107425759B (en) * | 2017-06-30 | 2020-04-03 | 哈尔滨工业大学 | Method and device for eliminating MT method speed measurement error of incremental photoelectric encoder |
| EP3913789A4 (en) * | 2019-01-18 | 2022-03-02 | Panasonic Intellectual Property Management Co., Ltd. | Motor control device |
| CN111262483B (en) * | 2020-02-04 | 2022-02-08 | 迈克医疗电子有限公司 | Motor motion control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4490664A (en) * | 1981-10-20 | 1984-12-25 | Fuji Xerox Co., Ltd. | Step motor exciting apparatus |
| US4818908A (en) * | 1985-08-12 | 1989-04-04 | Matsushita Electric Industrial Co., Ltd. | Brushless motor having phase advance |
| US5006773A (en) * | 1988-03-28 | 1991-04-09 | Nec Electronics Inc. | Microcomputer control of stepper motor using reduced number of parts |
| CN1150353A (en) * | 1995-07-31 | 1997-05-21 | 松下电器产业株式会社 | Motor control apparatus equipped with control means for controlling rotational position of motor |
| CN1521939A (en) * | 2003-02-05 | 2004-08-18 | ��ķ�ɷ�����˾ | Motor driver |
-
2004
- 2004-10-29 JP JP2004315023A patent/JP3949134B2/en not_active Expired - Fee Related
-
2005
- 2005-10-28 CN CNB2005101160761A patent/CN100542006C/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4490664A (en) * | 1981-10-20 | 1984-12-25 | Fuji Xerox Co., Ltd. | Step motor exciting apparatus |
| US4818908A (en) * | 1985-08-12 | 1989-04-04 | Matsushita Electric Industrial Co., Ltd. | Brushless motor having phase advance |
| US5006773A (en) * | 1988-03-28 | 1991-04-09 | Nec Electronics Inc. | Microcomputer control of stepper motor using reduced number of parts |
| CN1150353A (en) * | 1995-07-31 | 1997-05-21 | 松下电器产业株式会社 | Motor control apparatus equipped with control means for controlling rotational position of motor |
| CN1521939A (en) * | 2003-02-05 | 2004-08-18 | ��ķ�ɷ�����˾ | Motor driver |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3949134B2 (en) | 2007-07-25 |
| CN1767365A (en) | 2006-05-03 |
| JP2006129624A (en) | 2006-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100542006C (en) | Controller for motor | |
| CN100477483C (en) | Motor controller | |
| Brandstetter et al. | Sensorless control of permanent magnet synchronous motor using luenberger observer | |
| CN106788059A (en) | The delay compensation method of high dynamic electric motor servo-controlled system | |
| CN103986392B (en) | A kind of control method of low-speed direct driving type AC servo | |
| CN115411983A (en) | Acceleration and deceleration curve optimization method, control method and system of stepping motor | |
| CN108959792B (en) | Real-time simulation system and method for synchronous motor | |
| CN107181435A (en) | Drive device, step-motor driving method, program recorded medium and electronic watch | |
| Lygouras et al. | High-performance position detection and velocity adaptive measurement for closed-loop position control | |
| Anuchin et al. | Speed measurement for incremental position encoder using period-based method with Sinc3 filtering | |
| WO2003054485A1 (en) | Application encoder and absolute value signal generation method | |
| Pajchrowski | Application of neural networks for compensation of torque ripple in high performance PMSM motor | |
| Zheng et al. | Parameters adaptive backstepping control of PMSM using DTC method | |
| CN100476965C (en) | Method and device for generating CD driver double frequency motor frequency pulse generator signal | |
| Ni et al. | Analysis and design of position and velocity estimation scheme for PM servo motor drive with binary hall sensors | |
| Starikov et al. | Technical Implementation of the High-Speed Response Servo Drive at the Programmable Logic Device | |
| US7088072B2 (en) | Motor control system | |
| JPH02136100A (en) | Position controller | |
| CN111669080B (en) | Permanent magnet synchronous motor active disturbance rejection composite control system and control method thereof | |
| EP3679645B1 (en) | Method of controlling a brushless dc motor | |
| Liu et al. | Research on position compensation and velocity estimation method of servo system based on limited precision encoder | |
| JPS602085A (en) | Speed controller for motor | |
| SU911456A1 (en) | Discrete electric drive | |
| CN117421516A (en) | Analysis method and system for discrete error of state equation of five-phase induction motor | |
| JP3982766B2 (en) | Stepping motor control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |