Method and apparatus for controlling a stepper motor with a programmable parabolic velocity profile
AssigneeDesign Components, Incorporated
InventorsSimyon Palmin, Vladimir Shlain
Life of this patent
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Abstract
A stepper motor is accelerated and decelerated with a parabolic velocity profile to efficiently utilize the available torque of the motor. The times between pulses to obtain a parabolic velocity profile are determined by a microprocessor-based stepper motor controller from desired values of start/stop velocity, maximum velocity and time to reach maximum velocity. The required times are stored in a random access memory and are used to supply to the motor a pulse train which follows the parabolic velocity profile during acceleration and deceleration. The controller is easily programmable to accommodate different motor characteristics, different applications and different operating parameters.
Claims16
A method for controlling a stepper motor comprising:
- supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor;
- and
- controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a start/stop velocity V.sub.0 at a time t=0 and a maximum velocity V.sub.m at a time t=T.
A stepper motor controller comprising:
- means for supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor;
- and
- means for controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a start/stop velocity V.sub.0 at a time t=0 and a maximum velocity V.sub.m at a time t=T.
A method for controlling a stepper motor comprising:
- selecting a desired time T to increase the motor velocity from a known start/stop velocity V.sub.0 to a desired maximum velocity V.sub.m ;
- determining from V.sub.0, V.sub.m and T the required times between motor energizing pulses to provide a parabolic velocity profile between V.sub.0 at a time t=0 and V.sub.m at a time t=T;
- and
- supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled to provide said parabolic velocity profile.
Apparatus for controlling a stepper motor comprising:
- means for determining the required times between motor energizing pulses to provide a parabolic velocity profile between a start/stop velocity V.sub.0 at a time t=0 and a maximum velocity V.sub.m at a time t=T;
- and
- means for supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled in accordance with the required times to provide said parabolic velocity profile.
A method for controlling a stepper motor comprising:
- supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor;
- and
- controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a maximum velocity V.sub.m at a time t=t.sub.s and a start/stop velocity V.sub.0 at a time t=t.sub.s +T.
A stepper motor controller comprising:
- means for supplying to the stepper motor a series of electrical pulses of suitable amplitude and pulse width to advance the stepper motor;
- and
- means for controlling the times between said pulses to provide a parabolic stepper motor velocity profile between a maximum velocity V.sub.m at a time t=t.sub.s and a start/stop velocity V.sub.O at a time t=t.sub.s +T.
A method for controlling a stepper motor comprising:
- selecting a desired time T to decrease the motor velocity from a maximum velocity V.sub.m to a start/stop velocity V.sub.0 ;
- determining from V.sub.0, V.sub.m and T the required times between motor energizing pulses to provide a parabolic velocity profile between the maximum velocity V.sub.m at a time t=t.sub.s and the start/stop velocity V.sub.0 at a time t=t.sub.s +T;
- and
- supplying to the stepper motor a train of energizing pulses with times between individual pulses controlled to provide said parabolic velocity profile.
Dependencies are inferred from the claim text.