T. Okada and N. Hori (Japan)
Stepping motor, digital driver, self-tuning control, dead zone compensation.
An experimental digital driver, which contains both fixed
and adjustable gains, is designed with particular reference
to a current regulation problem for a stepping-motor,
which undergoes rapid and large changes in its gains.
Using only signals that are readily available in the driver
and needing neither the angular position of the shaft nor
its rate, an open-loop nature of a stepping motor can be
preserved. From extensive experiments, it was found that
stable and safe operations were achieved using a
combination of fixed controller blocks and pre
compensator blocks with self-tuning parameters, which
change as the speed of rotation varies. For this method to
work, it is important to include a dead-zone compensator
and a nonlinear digital filter, in addition to analog, an