DE102007043930A1 - Control device for stepping motor, has computing unit for computing deviation between position instruction and rotor position, and another computing unit for computing rotor speed instruction on basis of position instruction - Google Patents

Abstract

The control device has a computing unit for computing a deviation between the position instruction (10) and the rotor position, and another computing unit for computing a rotor speed instruction on the basis of the position instruction. An evaluation unit is provided for evaluating whether the position deviation is within a specified range. A phase adjustment unit is provided for adjusting the phase of the coil current instruction on the basis of the rotor position instruction, if the position deviation is within the specified range.

Description

BACKGROUND OF THE INVENTION

1. Field of the invention

The The present invention relates to a control device for a stepper motor and more particularly a method of controlling the Lead angle.

2. Description of the state of the technique

In general, a control apparatus for a stepping motor uses a pulse signal as a command signal. In other words, the controller controls a position with a number of pulses and the speed with a pulse frequency. Previous examples of methods for setting the value of a lead angle corresponding to the torque of the stepping motor in such a control device are shown in FIG Japanese Patent No. 3715276 and the Japanese Patent Application Laid-Open No. 11-113289 disclosed. In a method 1, disclosed in Japanese Patent No. 3715276 , and a method 2, disclosed in US 5,156,237 Japanese Patent Application Laid-Open No. 11-113289 , a current phase θ _{i of} each phase winding is determined as described below.

Method 1

When δ _θ <90 ° θ i = θ com

If δ _θ > 90 ° θ i = θ fb + 90 ° + K v · Ω + K e · Ω · δ θ where θ _{com is} a position _command , θ _{fb is} a rotor position, δ _{θ is} a position deviation, θ _{i is} a current phase, K _{v is} a proportional constant, K _{e is} a proportional constant, and ω is the rotor speed.

Method 2

If δ _θ <90 ° + K _v · ω _fb θ i = θ com

If δ _θ > 90 ° θ i = θ fb + 90 ° + K v · ω fb where ω _{fb is} the rotor speed.

According to the methods of the past, the command for the rotor position and the rotor position are compared. If the positional deviation is within a predetermined range, an energizing phase is set with the position command as a stable point. When the positional deviation exceeds the predetermined range, a lead angle value is set to an optimum value. The optimum forward angle value means in the methods of the past a forward angle value with which a maximum torque relative to the speed ω _fb can be generated.

however becomes in the past methods a motor, if the position deviation the previously exceeds certain range, with the maximum Accelerates torque that can be generated. Therefore, the Rotational speed of the rotor, which is in a position of the position command (Target position) turns, substantially exceeding the speed of a speed command (target speed) and cause an inadequacy described below.

To the Example, when a rotor shaft is rotated by an external force When the rotor shaft is open, the rotor rotates with the rotor maximum torque to return to a home position. When returning to the starting position it is likely that the rotational speed of the rotor is an abnormal speed reached. Since the rotor is not slowed down until the rotor is in reaches the vicinity of the starting position, the rotor can through the inertia of the rotor and an operating condition one Exceed position in which the rotor should stop. If the inertia is large, the rotor may become unable to stop as he repeatedly passes the position and moves back. A similar phenomenon may be due to insufficient acceleration torque during operation, fluctuations in an operating condition and the like occur.

AIM AND SUMMARY OF THE INVENTION

The The present invention has been made in view of the problems in the past and it is an object of the present invention to provide a control device for a stepper motor, reduce the torque generated by a motor can and control the expansion of a speed deviation can when the rotational speed of a rotor exceeds a speed command.

In order to achieve the object, the present invention provides a control apparatus for a stepping motor based on a rotor position command (θ _com ) for controlling a position of a rotor and a rotor position (θ _fb ) as one Current position of the rotor determines a phase (θ _i ) of a Wicklungstrombefehls that controls an electric current that is fed into a winding, and generates current commands (I _acom and I _bcom ) for respective phases based on the _{Wicklungsstrombefehls} (θ _i ). The control device contains means for calculating position deviations ( 30 ) for calculating a deviation (δ _θ ) between the position command and the rotor position, means for calculating rotor speed commands ( 21 ) for calculating a rotor speed command (ω _com ) on the basis of the position command, means for calculating the rotor speed ( 22 ) for calculating the rotor speed (ω _fb ) on the basis of the rotor position, means for calculating the speed deviation ( 31 ) for calculating a deviation (δ _ω ) between the rotor speed command and the rotor speed, means for generating fixed values ( 24 ) for generating a positive fixed value (+ K) and a negative fixed value (-K), if the position deviation is respectively positive or negative, first assessment means ( 27 ) for judging whether the positional deviation is within a predetermined range, second judging means ( 28 ) for judging whether a sign of the positional deviation and a sign of the speed deviation agree with each other, and means for phase adjustment ( 34 to 35 ) for adjusting the phase of the winding current command based on the rotor position command when the position deviation is within the predetermined range for adjusting the phase of the winding current command based on a value obtained by summing the rotor position, the fixed value and a correction value of the lead angle corresponds to the rotor speed when the positional deviation exceeds the predetermined range and a sign of the positional deviation and a sign of the speed deviation coincide with each other, and for adjusting the phase of the winding current command based on a value obtained by summing the rotor position of the fixed value , a correction value of the lead angle corresponding to the rotor speed, and the speed deviation multiplied by a predetermined constant (K _do ), when the position deviation exceeds the preset value I exceed and a sign of the position deviation and a sign of the speed deviation do not match, is obtained.

It it is desirable that the fixed value be a value that is equivalent an electrical angle of 90 °.

For example, the predetermined range is set to have a lower limit value obtained by summing the negative fixed value and a value defined by a function (f (ω _fb )) of the rotor speed, and an upper one Limit, which is obtained by summation of the positive fixed value and a value which is defined by the function of the rotor speed.

For example, the predetermined range is set to have a lower limit value obtained by summing the negative fixed value and a value obtained by multiplying the rotor speed by a predetermined coefficient (K _v ) and an upper one Limit value obtained by summing the positive fixed value and a value obtained by multiplying the rotor speed by the predetermined coefficient. In this case, the predetermined coefficient (K _v ) may be 0.

The correction value of the lead angle is set to a value defined by the function (f (ω _fb )) of the rotor speed. The correction value of the lead angle may be a value obtained by summing a value that is a product of the predetermined coefficient (K _v ) and the rotor speed, or a value that is a product of the predetermined coefficient (K _v ) and the rotor speed , and a value which is a product of the predetermined coefficient (K _e ), the rotor speed and the position deviation is obtained.

The Phase of the winding current command based on the rotor position command is set, may include the speed deviation.

Corresponding The present invention provides an excitation phase for generation set a maximum torque when the rotational speed of the rotor is less than a speed command. The excitation phase is for reducing the torque generated by a motor and set to control the expansion of a speed deviation when the rotational speed of the rotor exceeds the speed command. This makes it possible an excessive Rotation speed of the rotor and trapping at the time to avoid if the position deviation is a predetermined Range exceeds, and the rotor stable and fast to position.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is a block diagram showing the overall structure of a control device for a stepping motor according to a first embodiment game of the present invention shows;

2 Fig. 12 is a block diagram showing an example of the construction of an arithmetic unit;

3 Fig. 12 is a diagram showing a model of the formation of a current command phase corresponding to a combination of the polarities of a position deviation and a velocity deviation; and

4 Fig. 16 is a block diagram showing another example of the construction of the arithmetic unit.

DETAILED DESCRIPTION THE PREFERRED EMBODIMENTS

1 Fig. 10 is a block diagram showing the overall structure of a control apparatus for a stepping motor according to an embodiment of the present invention.

In 1 becomes a position command θ _com for a rotor of a stepping motor 50 in the form of a pulse signal via an input terminal 10 of the position command into an arithmetic unit 20 fed. A position detector 60 is available to detect a current position of the rotor (hereinafter referred to as rotor position) θ _fb . An output signal of the position detector 60 becomes the arithmetic unit 20 fed. In this embodiment, a two-phase hybrid motor becomes a stepping motor 50 used.

The arithmetic unit 20 calculates a current command I _acom for the A phase and a current command I _bcom for the B phase on the basis of the position command θ _com and the rotor position θ _fb , as described later. A current amplifier unit 40 includes a well-known PWM inverter and outputs electrical current signals to respective phase windings of stepper motor 50 which correspond to the current commands I _acom and I _bcom .

2 is a block diagram, the details of the arithmetic unit 20 shows.

In 2 calculates a first subtractor 30 a deviation δ _θ between the position command θ _com and the rotor position θ _fb with respect to the rotor. A first differentiating circuit 21 differentiates the position command θ _com to generate a speed command ω _com . A second differentiating circuit 22 differentiates the rotor position θ _fb for generating a rotational speed of the rotor ω _fb . A speed compensator 23 multiplies the rotational speed of the rotor ω _fb by a proportional constant K _v for speed compensation. A fixed value generator 24 generates a fixed value + K when the position deviation δ _{θ is} positive, and generates a fixed value -K when the position deviation δ _{θ is} negative. As the value K, a value equivalent to an electrical angle of 90 ° is desirable. In this embodiment, the value K is set to such a value.

A second subtractor 31 subtracts the rotational speed of the rotor ω _fb from the velocity command ω _com and outputs the velocity deviation δ _ω . A first adder 32 sums the fixed value K or -K in the fixed value generator 24 is generated, and an output value K _v · ω _{fb of} the speed _compensator 23 ,

A first speed difference compensator 25 and a second speed difference compensator 26 multiply the velocity deviation δ _ω , that of the subtractor 31 is delivered, each with the proportional constant K _di and K _do to compensate for the speed.

A first assessment element 27 performs a comparative assessment of the position deviation δ _θ and an output value K + K _v · ω _fb and -K + K _v · ω _{fb of} the first adder 32 by. If -K + K _v * ω _fb <δ _θ <K + K _v * ω _fb , the first judgment _element connects 27 a first switch element 35 with a connection side "a". If this condition is not met, the first appraisal element connects 27 the switch element 35 with a connection side "b". A second appraisal element 28 disconnects a second switch element 36 only if the signs (positive or negative) of the position deviation δ _θ and the speed deviation δ _ω coincide with one another.

A second adder 33 sums the position command θ _com and an output signal K _di δ _{ω of} the first speed difference _compensator 25 and derives a result of the addition to the terminal point "a" of the first switch element 35 , A third adder 34 sums an output signal K _do · δ _{ω of} the second speed difference _compensator 26 that via the second switch element 36 is present, the output value K + K _v · ω _fb and -K + K _v · ω _{fb of} the first adder 32 and the rotor position θ _fb, and supplies a result of the addition to the terminal point "b" of the first switch element 35 , A coordinate converter 29 gives the resulting current commands I _acom = K _i * sinθ _i and I _bcom = K _i * cosθ _i on the basis of a current command phase θ _i , which will be described later, about the first switch element 35 from.

specific Operations of the control device according to this embodiment will be explained below.

As described below, the control apparatus according to this embodiment calculates the current command phase θ _i on the basis of the rotor position command θ _com and the rotor position θ _fb, and generates the current command of the A phase I _acom and the B phase I _bcom from the current command phase θ _i . The use of the current command phase θ _i calculated on the basis of the position command θ _com is basically the same as the use of the current command phase θ _i in the case of a conventional control system for an open-loop stepping motor.

It is judged based on a range of the position deviation δ _θ whether the phase of the current command θ _{i is} calculated on the basis of the rotor position command θ _com or the rotor position θ _fb .

In the arithmetic unit 20 , in the 2 is shown, connects the appraisal element 27 the switch element 35 with the terminal side "a" when the range of the positional deviation δ _θ satisfies the following formula (1). -K + K v · ω fb <δ θ <K + K v · ω fb (1).

As a result, as indicated by the following formula (2), a result of addition by the adder becomes 33 from the switch element 35 delivered as the phase of the current command θ _i . In this way, when the positional deviation δ _{θ is} within the range of the displayed formula (1), the phase of the current command θ _{i is} calculated on the basis of the position command θ _com (see area E in FIG 3 ). θ i = θ com + K di · δ ω (2).

As the fixed value K in the formula (1), it is desirable to use a value equivalent to an electrical angle of 90 °. However, the fixed value K is not limited to this. The phase of the current command θ _i can be set to θ _i = θ _com . However, when an expression K _di · δ _{ω is added} on the basis of the current deviation δ _ω as in the formula (2), it acts on the control of the vibration during the rotation.

The phase of the current command θ _i calculated on the basis of the rotor position θ _fb will be described below.

• Bedingung "a": δ_θ > +K + K_v·ω_fb, δ_θ > 0, δ_ω > 0 (das Schalterelement 36 ist getrennt) θi = θfb + K + Kv·ωfb (3)
• Bedingung "b": δ_θ > +K + K_v·ω_fb, δ_θ > 0, δ_ω < 0 (das Schalterelement 36 ist geschlossen) θi = θfb + K + Kv·ωfb + Kd0·δω (4)
• Bedingung "c": δ_θ < –K + K_v·ω_fb, δ_θ < 0, δ_ω < 0 (das Schalterelement 36 ist getrennt) θi = θfb – K + Kv·ωfb (5)
• Bedingung "d": δ_θ < –K + K_v·ω_fb, δ_θ < 0, δ_ω > 0 (das Schalterelement 36 ist geschlossen) θi = θfb – K + Kv·ωfb + Kd0·δω (6)

The first appraisal element 27 connects the switch element 35 to the terminal side "b" when a range of the positional deviation θ _δ exceeds the range of the formula (1), that is, when δ _θ > K + K _v · ω _fb or δ _θ <-K + K _v · ω _fb . In this case, the second appraisal element separates 28 the switch element 36 only if the signs (positive or negative) of the position deviation δ _θ and the speed deviation δ _ω coincide with one another. Thus, four current command phases θ _i (see areas A to D in FIG 3 ) is calculated according to the following conditions "a" to "d". These current command phases θ _i become the switching element according to the conditions "a" to "d" 35 issued.

• Condition "a": δ _θ > + K + K _v · ω _fb , δ _θ > 0, δ _ω > 0 (the switch element 36 is disconnected) θ i = θ fb + K + K v · ω fb (3)
• Condition "b": δ _θ > + K + K _v · ω _fb , δ _θ > 0, δ _ω <0 (the switching element 36 is closed) θ i = θ fb + K + K v · ω fb + K d0 · δ ω (4)
• Condition "c": δ _θ <-K + K _v · ω _fb , δ _θ <0, δ _ω <0 (the switch element 36 is disconnected) θ i = θ fb - K + K v · ω fb (5)
• Condition "d": δ _θ <-K + K _v · ω _fb , δ _θ <0, δ _ω > 0 (the switch element 36 is closed) θ i = θ fb - K + K v · ω fb + K d0 · δ ω (6)

The current command phases θ _i calculated by the formula (2) and the formulas (3) to (6) become the coordinate converter 29 and converted into current commands I _acom and I _bcom for the corresponding phases. The motor 50 is not limited to a two-phase motor and may be, for example, a three-phase or five-phase motor. In this case, the coordinate converter converts 29 the current command phase θ _i into current commands in a number equal to the number of phases of the motor 50 equivalent.

According to the current command phase θ _i , which is calculated according to formula (2), the motor becomes 50 accelerated to a commanded speed at maximum torque. In this case, since the expression K _v · ω _{fb of} the speed _compensation is integrated into the judging formula (1), the switching when generating a maximum torque which is a delay in an electric current and a delay in the calculation due to the inductance of the Winding compensated, possible.

On the other hand, according to the current command phases θ _i determined on the basis of the rotor position θ _fb , ie, the current command phases θ _i calculated by the formulas (3) to (6), the following effect is present.

For example, if the engine 50 rotates excessively in a CW direction, the velocity deviation δ _{ω is} negative and the position deviation δ _θ is positive. Thus, the current command phase δω _{is determined} on the basis of formula (4). In this case, since a third expression K _d0 · δ _ω of formula (4) is a negative ver value is a lead angle with respect to the rotor position θ _{fb is} reduced. As a result, the torque decreases.

In this way, in the example described above, an energization phase is set to reduce the generated torque and to control the speed deviation. Thus, it is possible to avoid excessive rotation of the rotor and trapping (crossing and undershooting) due to expansion of the speed deviation and to stably and quickly position the rotor. The stable and fast positioning of the rotor is also possible with the current command phase θ _i , which is determined by formula (6).

If the expression K _d0 · δ _ω in formula (4) is larger than the fixed value K, torque is generated in the opposite direction. Thus, a value of the coefficient K _{d0 is} set to obtain an appropriate control effect of the speed _deviation .

In accordance with the current command phases θ _i determined by the formulas (3) and (5), a lead angle value at which the motor generates a maximum torque is set.

The gist of the present invention is to use a value of a lead angle for generating a maximum torque on the basis of a result of judging the polarities of the position deviation δ _θ and the velocity deviation δ _ω at the time when the rotational speed of the rotor ω _fb does not reach the speed command ω _com , and adds a value obtained by multiplying the speed deviation δ _ω by a coefficient to the advance angle value by the maximum torque (since the polarity of δ _{ω is} opposite to that of δ _θ becomes the advance angle value reduced by this addition) on the basis of a result of judgment of the polarities at the time when the rotational speed of the rotor ω _fb exceeds the speed command ω _com . Thus, there is no limitation on a method to approximately reach the lead angle value for the generation of the maximum torque. Therefore, as the correction value of the lead angle (in the above-described embodiment, K _v · ω _fb ), not only a proportional function of the rotor speed ω _fb but also a second-degree function and a third-degree function f (ω _fb ) and the like can be utilized.

In the embodiment described above, the rotor speed ω _{fb is used} as the correction value for the lead angle. However, the positional deviation δ _θ may be used in addition to the rotor speed ω _fb . 4 shows an arithmetic unit 20 ' which utilizes both the rotor speed ω _fb and the position deviation δ _θ as the correction value of the lead angle.

The arithmetic unit 20 ' differs from the arithmetic unit 20 of the first embodiment, that a velocity / position deviation compensator 37 is available and an output value of the fixed value generator 24 in the second assessment unit 8th is fed.

In the arithmetic unit 20 ' connects the first appraisal unit 27 the switch element 35 with the terminal side "a" when a range of the positional deviation δ _θ satisfies the following formula (7). In this case, the current command phase θ _i = θ _com + K _di δ _ω of formula (2) via the switch element 35 delivered as in the first embodiment. As in the first embodiment, the current command phase θ _{i can be set} to θ _i = θ _com . -K <δ θ <+ K (7)

• Bedingung "a": δ_θ > K, δ_θ > 0, δ_ω > 0 (das Schalterelement 36 ist getrennt) θi= θfb + K + Kv·ωfb + Ke·ωfb·δθ (8)
• Bedingung "b": δ_θ > K, δ_θ > 0, δ_ω < 0 (das Schalterelement 36 ist geschlossen) θi = θfb + K + Kv·ωfb + Ke·ωfb·δθ + Kd0·δω (9)
• Bedingung "c": δ_θ < –K, δ_θ < 0, δ_ω < 0 (das Schalterelement 36 ist getrennt) θi = θfb – K + Kv·ωfb + Ke·ωfb·δθ (10)
• Bedingung "d": δ_θ < –K + K_v·ω_fb, δ_θ < 0, δ_ω > 0 (das Schalterelement 36 ist geschlossen) θi = θfb – K + Kv·ωfb + Ke·ωfb·δθ + Kd0·δω (11)

When a range of the positional deviation δ _θ exceeds the range of formula (7), since the switch element becomes 35 is connected to the terminal side "b", the current command phase θ _{i is set} on the basis of the rotor position θ _fb . The speed / position deviation compensator 37 receives the rotational speed of the rotor ω _fb and the positional _{deviation of} the rotor δ _θ , performs an arithmetic operation for multiplying the rotational speed of the rotor ω _fb and the positional _deviation of the rotor δ _e by a predetermined coefficient K _e , and feeds a result of the arithmetic operation K _e · ω _fb · δ _θ into the adder 32 one. This will be in the arithmetic unit 20 ' four current command phases θ _i calculated according to the following conditions "a" to "d" and through the switch element 35 according to conditions "a" to "d".

• Condition "a": δ _θ > K, δ _θ > 0, δ _ω > 0 (the switch element 36 is disconnected) θ i = θ fb + K + K v · ω fb + K e · ω fb · δ θ (8th)
• Condition "b": δ _θ > K, δ _θ > 0, δ _ω <0 (the switch element 36 is closed) θ i = θ fb + K + K v · ω fb + K e · ω fb · δ θ + K d0 · δ ω (9)
• Condition "c": δ _θ <-K, δ _θ <0, δ _ω <0 (the switch element 36 is disconnected) θ i = θ fb - K + K v · ω fb + K e · ω fb · δ θ (10)
• Condition "d": δ _θ <-K + K _v · ω _fb , δ _θ <0, δ _ω > 0 (the switch element 36 is closed) θ i = θ fb - K + K v · ω fb + K e · ω fb · δ θ + K d0 · δ ω (11)

An operating effect by using the arithmetic unit 20 ' is the same as the operation effect obtained when the arithmetic unit 20 is being used. Therefore, the explanation of the operation effect is omitted.

10

POSITION COMMAND

20

ARITHMETIC UNIT

21

FIRST DIFFERENTIAL CIRCUIT

22

SECOND DIFFERENTIAL CIRCUIT

23

velocity compensator

24

FIXED VALUE GENERATOR

25

FIRST GESCHWINDIGKEITSDIFFERENZKOMPENSATOR

26

SECOND GESCHWINDIGKEITSDIFFERENZKOMPENSATOR

27

FIRST EVALUATION UNIT

28

SECOND EVALUATION UNIT

29

COORDINATE CONVERTERS

30

FIRST subtractor

31

SECOND subtractor

32

FIRST ADDER

33

SECOND ADDER

34

THIRD ADDER

35

FIRST SWITCH ELEMENT

36

SECOND SWITCH ELEMENT

37

SPEED / POSITION deviation compensator

40

POWER AMPLIFIER UNIT

50

STEP MOTOR

60

POSITION DETECTOR

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - JP 3715276 [0002, 0002]
• - JP 11-113289 [0002, 0002]

Claims (9)

A stepping motor control apparatus that determines a phase (θ _i ) of a winding current command that controls an electric current based on a rotor position command (θ _com ) for controlling a position of a rotor and a rotor position (θ _fb ) as a current position of the rotor; which is fed into a winding and generates current commands (I _acom and I _bcom ) for respective phases on the basis of the phase of the winding current command (θ _i ), the control device comprising: means for calculating position deviations ( 30 ) for calculating a deviation (δ _θ ) between the position command and the rotor position: means for calculating rotor speed commands ( 21 ) for calculating a rotor speed command (ω _com ) based on the position command; Means for calculating the rotor speed ( 22 ) for calculating the rotor speed (ω _fb ) based on the rotor position; Means for calculating the speed deviation ( 31 ) for calculating a deviation (δ _ω ) between the rotor speed command and the rotor speed; Means for generating fixed values ( 24 ) for generating a positive fixed value (+ K) and a negative fixed value (-K) when the position deviation is positive or negative; first assessment means ( 27 ) for judging whether the positional deviation is within a predetermined range; second assessment means ( 28 ) for judging whether a sign of the positional deviation and a sign of the speed deviation coincide with each other; and phase adjustment means ( 34 to 35 ) for adjusting the phase of the winding current command based on the rotor position command when the position deviation is within the predetermined range for adjusting the phase of the winding current command based on a value obtained by summing the rotor position, the fixed value and a correction value of the lead angle corresponds to the rotor speed when the positional deviation exceeds the predetermined range and a sign of the positional deviation and a sign of the speed deviation coincide with each other, and for adjusting the phase of the winding current command based on a value obtained by summing the rotor position of the fixed value , a correction value of the lead angle corresponding to the rotor speed, and the speed deviation multiplied by a predetermined constant (K _do ), when the position deviation exceeds the preset value I exceed and a sign of the position deviation and a sign of the speed deviation do not match, is obtained. Control device for a stepping motor according to claim 1, wherein the fixed value is a value that is equivalent an electrical angle of 90 °. A stepping motor control apparatus according to claims 1 and 2, wherein the predetermined range has a lower limit value obtained by summing the negative fixed value and a value defined by a function (f (ω _fb )) of the rotor speed, and an upper limit obtained by summing the positive fixed value and a value defined by the function of the rotor speed. A stepping motor control apparatus according to claims 1 and 2, wherein the predetermined range has a lower limit value obtained by summing the negative fixed value and a value obtained by multiplying the rotor speed by a predetermined coefficient (K _v ). and an upper limit obtained by summing the positive fixed value and a value obtained by multiplying the rotor speed by the predetermined coefficient. A stepping motor control apparatus according to claim 4, wherein said predetermined coefficient (K _v ) is 0. A control apparatus for a stepping motor according to claim 1, wherein the correction value of the lead angle is a value defined by a function of the rotor speed (f (ω _fb )). The control apparatus for a stepping motor according to claim 1, wherein the correction value of the lead angle is a value that is a product of a predetermined coefficient (K _v ) and the rotor speed. The stepping motor control apparatus according to claim 1, wherein the correction value of the lead angle is a value obtained by summing a value that is a product of a predetermined coefficient (K _v ) and the rotor speed and a value representing a product a predetermined coefficient (K _e ), the rotor speed and the position deviation. Control device for a stepping motor according to claim 1, wherein the phase of the winding current command, set based on the rotor position command, the speed deviation includes.