Keisuke Yagi and Noriyuki Hori
Stepping motor, Prevention of loss-of-synchronism, Self-tuning gain, Current regulation
A self-tuning current-regulator is designed for a stepping-motor such that loss-of-synchronism (LOS) between the input pulses and the angular position is prevented by increasing motor current when the torque load is applied to the motor shaft. This is based on the observation that the driver voltage drops as the torque disturbance increases and this can be interpreted as a reduction of a gain. An adjustable gain is self-tuned such that the motor current is increased to maintain, under torque variations, the overall gain constant, which is set to meet the torque requirement with a suitable safety-margin. The proposed driver is tested through extensive experiments on a commercial driver for an industrial stepping-motor to illustrate the practical veracity of the proposed method.
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