2003 Volume 123 Issue 3 Pages 211-218
Stepping motors are generally used as a positioning servo in the OA (Office Automation) and FA (Factory Automation) system because the construction cost is very low and the construction of system is very easy. Since they are generally driven by an open loop controller, the response of stepping motors is oscillatory and it is possible to be out of drive. Therefore they are driven by a closed loop controller in the special system, which requires the high reliability and stability. The lead angle control is used as a closed loop controller of stepping motors because an applied voltage amplitude is not able to be controlled. However a closed loop control of stepping motors is hardly used at present. This paper presents the lead angle control based on the vector control in the constant voltage drive range for 2 phases HB type stepping motors. In the constant voltage range, since the HB type stepping motor is modeled as a surface permanent magnet motor, the motor torque is controlled by the q-axis current. The d-axis current is calculated by the voltage limit condition because of the constant voltage amplitude operation. The control performances are examined by the simulations and experimental results.