Method of minimizing resonance in stepping motor and improved driver therefor
OwnerEric K. Pritchardinventor
Life of this patent
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Abstract
A stepping motor driver is adjusted to minimize resonance by adjusting a variable frequency source to adjust the fundamental frequency of the drive to the frequency of a filter, driving the driver and motor with the adjusted frequency source, sensing the motion of the motor and providing the sensed motion to an indicator through the filter. The driver is adjusted to minimize the indication. Adjustment at various harmonics are performed by using 1/N the adjusted frequency, where N is the harmonic of interest. The improved driver includes a plurality of voltage sources adjustable for resonance compensation at the fundamental frequency and 1/N thereof. DC offset, relative gain and orthogonality of the motor driver signal adjustments are provided.
Claims13
Method of adjusting a stepping motor driver for minimizing the effects of resonance comprising:
- driving a filter with a variable frequency source via a motor driver;
- measuring the frequency response of the filter;
- varying the frequency of the source until a maximum measurement is achieved;
- driving a stepping motor with said driver and source at the adjusted frequency;
- measuring the response of said motor through said filter;
- and
- adjusting the driver of said motor until a minimum measurement is achieved.
Method of adjusting a stepping motor driver for minimizing the effects of resonance comprising:
- driving a stepping motor with a driver at a frequency so that the fundamental or other desired harmonic of the stepping motor position command signal from said driver is approximately equal to the resonant frequency of a filter;
- measuring the response of said motor through said filter;
- and
- adjusting the driver of said motor until a minimum response is achieved.
Method of adjusting a stepping motor driver for minimizing the effects of resonance comprising:
- driving a stepping motor by a driver at a frequency;
- adjusting a filter so that it selects the fundamental frequency of the position command signal from said driver or other desired harmonic thereof;
- measuring the response of said motor through said filter;
- and
- adjusting the driver of said motor until a minimum response is achieved.
A system for minimizing the effects of resonance in a stepping motor comprising:
- an adjustable stepping motor driver for producing motor drive signals;
- a variable frequency source providing a source signal to said driver;
- a sensor means for sensing the motion of a stepping motor;
- a filter means connected to the output of said sensor means;
- and
- an indicator means connected to the output of said filter for indicating the amplitude of the filters means output;
- said driver being adjusted at the resonant frequency and 1/N the resonant frequency thereof to minimize the indicated output of said filter.
Dependencies are inferred from the claim text.