Inventors:
Marc Cresens - Bedford MA
International Classification:
H02P 800
Abstract:
A method is disclosed for the reduction of vibrations in a system using a stepping motor, driving parts at a constant velocity. On a test rig, the dynamic behaviour of the stepping motor in micro stepping mode is measured by a system comprising a rotation encoder. The measured data are filtered and used to compensate the unwanted speed fluctuations. In a first method, compensation is done by modification of the theoretical current-vector angles of basic micro stepping, while keeping the current-vector length constant. In a second method, first the current-vector angles are optimized, where after the current-vector lengths are optimized to correct the stepping motor for a wide range of speeds and load torques. In both methods, the stepping frequency is constant over all steps and determined by the desired angular speed of the stepping motor.