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Delayed Closed-Loop Scheme for Stepping Motor Control

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4 Author(s)
Bechtle, B. ; IBM Thomas J. Watson Research Center, Yorktown Heights, New York 10598 USA ; Schunemann, C. ; Skudelny, G. ; Zimmermann, V.

An efficient method for control of stepping motor speed and position, the delayed closed-loop (DCL) mode, is described. The new technique permits control of high-speed motor motion by means of a programmed speed-displacement characteristic. The method combines the static-speed control characteristic of the open-loop mode with the stable dynamic behavior of the closed-loop mode. Unlike other schemes for delayed closed-loop control, the present configuration features an extension of delay time to more than one step duration, significantly improving the velocity control. The phase angle can also be varied to ±180°, permitting adequate control of deceleration as well as acceleration. A stability analysis is made of the DCL control method. In an illustrative example, the technique is applied to control of the carriage drive on an experimental high-speed line printer.

Note: The Institute of Electrical and Electronics Engineers, Incorporated is distributing this Article with permission of the International Business Machines Corporation (IBM) who is the exclusive owner. The recipient of this Article may not assign, sublicense, lease, rent or otherwise transfer, reproduce, prepare derivative works, publicly display or perform, or distribute the Article.  

Published in:

IBM Journal of Research and Development  (Volume:20 ,  Issue: 3 )