# US 11,909,348 B2 · Control device for stepping motor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,909,348 B2 - Document ID: US11909348B2 - Status: Granted - Kind: B2 - Application number: 17/914,049 - Filed: 2021-03-02 - Published: 2023-04-27 - Granted: 2024-02-20 - Earliest claimed: 2020-03-30 - Assignees: Oriental Motor Co., Ltd. - Applicants: Oriental Motor Co., Ltd. - Inventors: Masayuki Someya; Akihiko Houda - Web page: https://patentgrep.com/patent/US11909348B2 ## CPC - H02P 8/12: Control or stabilisation of current - H02K 37/00: Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors - H02P 8/14: Arrangements for controlling speed or speed and torque (H02P8/12, H02P8/22 take precedence) - H02P 8/22: Control of step size; Intermediate stepping, e.g. microstepping - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract A stepping motor control device is provided, which controls a stepping motor including a rotor position detector by micro-step driving. The control device has a plurality of operation modes including an adjustment mode and a use mode. In the adjustment mode, the control device generates control data for a closed loop control for controlling the winding current of the stepping motor based on the detection value of the rotor position detector, and performs a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data. In the use mode, the control device performs the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated in the adjustment mode. ## Claims ### Claim 1 A stepping motor control device which controls a stepping motor including a rotor position detector by micro-step driving, the control device including a memory, the control device comprising a plurality of operation modes including an adjustment mode and a use mode, the control device being configured or programmed to, in the adjustment mode, generate control data for controlling a winding current of the stepping motor based on a command and a detection value of the rotor position detector so as to perform a closed loop control for a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data, wherein the command is adjusted to attain a predetermined response of the stepping motor, and the control device is configured or programmed to save, in the memory, the control data that is generated when the predetermined response is attained, the control device being configured or programmed to, in the use mode, perform the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated and saved in the memory in the adjustment mode, thereby reproducing the predetermined response of the stepping motor. ### Claim 2 A stepping motor control device which controls a stepping motor including a rotor position detector by micro-step driving, the control device comprising a plurality of operation modes including an adjustment mode and a use mode, the control device being configured or programmed to, in the adjustment mode, generate control data for a closed loop for controlling a winding current of the stepping motor based on a detection value of the rotor position detector, and perform a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data, the control device being configured or programmed to, in the use mode, perform the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated in the adjustment mode, wherein the control data is generated, in the closed loop control in the adjustment mode, so that a winding current phase θi of the stepping motor is equal to a phase θi=θfb±K+F(ωfb) obtained by adding a predetermined value ±1c wherein K is a constant, and has a positive sign for one of the acceleration operation and the deceleration operation and has a negative sign for the other of the acceleration operation and the deceleration operation, and a function F(ωfb) of a rotor speed ωfb to the detection value θfb of the rotor position detector. ### Claim 3 (depends on 2) The stepping motor control device according to claim 2, wherein an absolute value of the predetermined value ±K is a value corresponding to an electrical angle of less than 90 degrees. ### Claim 4 (depends on 3) The stepping motor control device according to claim 3, wherein the absolute value of the predetermined value ±K is a value corresponding to an electrical angle of not less than 60 degrees. ### Claim 5 (depends on 2) The stepping motor control device according to claim 2, wherein the control data indicates at least one of a rotor position, a position command, a current command, and a voltage command. ### Claim 6 (depends on 2) The stepping motor control device according to claim 2, wherein the open loop control in the use mode includes a stepping motor winding current control to be performed without the use of the detection value of the rotor position detector. ### Claim 7 A stepping motor control device which controls a stepping motor including a rotor position detector by micro-step driving, the control device comprising a plurality of operation modes including an adjustment mode and a use mode, the control device being configured or programmed to, in the adjustment mode, generate control data for a closed loop for controlling a winding current of the stepping motor based on a detection value of the rotor position detector, and perform a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data, the control device being configured or programmed to, in the use mode, perform the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated in the adjustment mode, wherein, in the adjustment mode, a duration of an acceleration period during which the acceleration operation is performed and a duration of a deceleration period during which the deceleration operation is performed are adjusted so that a rotor is moved toward a target position and the rotor speed is reduced to zero at the target position by the acceleration operation and the deceleration operation, and wherein, in the use mode, the acceleration operation and the deceleration operation are performed based on control data resulting from the adjustment. ### Claim 8 (depends on 7) The stepping motor control device according to claim 7, further comprising automatic adjustment device which is configured or programmed to, in the adjustment mode, automatically adjust the duration of the acceleration period during which the acceleration operation is performed and the duration of the deceleration period during which the deceleration operation is performed, so that the rotor is moved toward the target position and the rotor speed is reduced to zero at the target position by the acceleration operation and the deceleration operation. ### Claim 9 (depends on 7) The stepping motor control device according to claim 7, wherein the control data to be generated in the adjustment mode includes control data for a position holding control for controlling the winding current of the stepping motor so that the target position serves as an excitation stable point after the deceleration operation, the control device being configured or programmed to, in the adjustment mode, perform a position holding operation for holding the rotor at the target position according to the control data, the control device being configured or programmed to, in the use mode, perform the position holding operation for holding the rotor at the target position by reproducing the winding current of the stepping motor based on the control data generated for the position holding control in the adjustment mode after the deceleration operation. ### Claim 10 (depends on 7) The stepping motor control device according to claim 7, wherein the control data indicates at least one of a rotor position, a position command, a current command, and a voltage command. ### Claim 11 (depends on 7) The stepping motor control device according to claim 7, wherein the open loop control in the use mode includes a stepping motor winding current control to be performed without the use of the detection value of the rotor position detector. ### Claim 12 (depends on 1) The stepping motor control device according to claim 1, wherein the control data indicates at least one of a rotor position, a position command, a current command, and a voltage command. ### Claim 13 (depends on 1) The stepping motor control device according to claim 1, wherein the open loop control in the use mode includes a stepping motor winding current control to be performed without the use of the detection value of the rotor position detector. ### Claim 14 A stepping motor control device which controls a stepping motor including a rotor position detector by micro-step driving, the control device comprising a plurality of operation modes including an adjustment mode and a use mode, the control device being configured or programmed to, in the adjustment mode, generate control data for a closed loop for controlling a winding current of the stepping motor based on a detection value of the rotor position detector, and perform a stepping motor acceleration operation and a stepping motor deceleration operation according to the control data, the control device being configured or programmed to, in the use mode, perform the stepping motor acceleration operation and the stepping motor deceleration operation so that a winding current observed in the adjustment mode is reproduced by an open loop control for controlling the winding current of the stepping motor based on the control data generated in the adjustment mode, wherein the control data is generated, in the closed loop control in the adjustment mode, so that a winding current phase θi of the stepping motor is equal to a phase θi=θfb±K obtained by adding a predetermined value ±K, wherein K is a constant, and has a positive sign for one of the acceleration operation and the deceleration operation and has a negative sign for the other of the acceleration operation and the deceleration operation, to the detection value θfb of the rotor position detector.