Control and force-sensing method and apparatus for motors
US4631657A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | May 1, 1985 |
| Grant date | Dec 23, 1986 |
| Priority date | — |
| Expiry date | May 1, 2005 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45083
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and apparatus for controlling a stepper motor and for force sensing and force control. Stepper motor drive waveforms are provided which are constructed of a sequence of stairsteps, the size and duration thereof being determined as a function of the desired rotational velocity of the stepper motor. Means and a method for accelerating the stepper motor by varying the step size and step duration of the stairsteps in the drive waveform are discussed. Additionally, means and a method are discussed for sensing and controlling the force applied by the stepper motor to a load by way of evaluating the displacement of the actual position of the stepper motor shaft from the commanded or desired position of the shaft. Means and a method for implementing a compliant function in a similar manner are described.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.