Applications of closed-loop stepping motor control in multi-motor systems
作者:
R.J.Hill,
P.P.Acarnley,
期刊:
Radio and Electronic Engineer
(IET Available online 1984)
卷期:
Volume 54,
issue 11-12
页码: 457-461
年代: 1984
DOI:10.1049/ree.1984.0107
出版商: IERE
数据来源: IET
摘要:
Stepping motors, as digital machines, are commonly used in electromechanical systems since they can easily be interfaced to and controlled by computers. Electrical and mechanical interaction in multiple-motor systems, however, can lead to severe control problems, and in intelligent systems such as programmable XYtables, rotor position feedback from each machine is necessary to implement effective control algorithms.This paper describes new methods of detecting rotor position in stepping motors with chopper drives. By monitoring the motor phase current waveforms and detecting the chopping current rise-times, motor phase excitation angle may be varied continuously over a step cycle, and performance may be maximized.Two industrial applications are described: accurate trajectory control in an XY table, where close position coordination between two motors is necessary; and velocity control in a two-motor system where mechanical interaction creates a variable inertia load for one motor.
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