Position command and pulse timing command optimization for step motors, using a position sensor
AssigneeSeiberco Incorporated
InventorMasayuki Someya
Life of this patent
Estimating the term…
Abstract
Optimized pulse commands are utilized for reducing vibration in a step motor, the optimized commands being created by correcting position, velocity, acceleration, deceleration, and movement distance terms of a basic motion profile with position feedback information generated during operation.
Claims9
A method for controlling movement of a step motor having a rotor, said method comprising the steps:
- defining a motion profile for movement of said step motor rotor through a certain distance and under a certain load;
- operatively connecting position-sensing means to said rotor to adapt said step motor for use as a training tool;
- impressing, in accordance with pulse commands dictated by said motion profile, successions of energizing pulses upon windings of said training tool to effect actual operation of said training tool with said rotor moving through said certain distance under said certain load;
- using said position-sensing means to determine the actual position of said rotor at each of a multiplicity of instants during said actual operation of said training tool;
- comparing, for each of said instants, the determined actual position of said rotor with the corresponding rotor position established by said defined motion profile;
- utilizing said comparisons to create optimized pulse commands for moving said rotor of said training tool through said certain distance under said certain load;
- recording said optimized pulse commands;
- and
- subsequently running a said step motor, devoid of said position-sensing means, under the control of said recorded, optimized pulse commands.
The method of claim I wherein said step motor includes an operatively connected driver that receives or creates a position command, comprised of a said pulse command, for each of a multiplicity of control cycles;
- and wherein at least one of said instants at which said actual position is determined occurs in each of said control cycles.
A step motor system comprised of a step motor having a rotor, and a programmed electronic memory component operatively connected for controlling rotation of said rotor, operation of said motor being effected by impressing successions of energizing pulses upon windings thereof;
- said programmed memory component of said motor system being the product of a programming procedure carried out with an electronic memory component operatively connected to a said step motor, adapted for use as a training tool, during operation thereof in accordance with a defined motion profile for effecting movement of said rotor through a certain distance under a certain load, said training tool adaptation comprising operative connection of position-sensing means to a said step motor;
- said programming procedure comprising:
- determining the actual position of said training tool rotor at each of a multiplicity of instants occurring during operation of said training tool in accordance with said defined motion profile;
- comparing, for each of said instants, the determined actual position of said training tool rotor with the corresponding position of said training tool rotor established by said defined motion profile;
- utilizing said comparisons to create optimized pulse commands for movement of said training tool rotor through said certain distance under said certain load;
- and recording said optimized pulse commands in said memory component to create said programmed electronic memory component.
Dependencies are inferred from the claim text.